version: 66.03
glider: 16
mission: 9
dive: 172
start: 7 11 108 6 5 59
data:
$ID,16
$MISSION,9
$DIVE,172
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,557.32159
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2096597.9
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2781
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.434687
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,055707,6239.458,-1219.491,34,1.0,34,-11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-59.4
$GPS2,060538,6239.390,-1219.513,11,1.8,16,-11.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,308.6,43192,-11.0,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-120.90,0.000,2,0.000,0.000,73,2235,2998
$GC,151,-0.85,-146.6,4.0,-3.2,6,178,11.48,2.70,-8.80,0.000,4,0.172,0.087,2109,3641,3381
$GC,348,-0.67,-146.6,33.8,-13.5,15,353,0.22,2.60,0.00,0.000,6,0.093,0.056,2153,2231,3381
$GC,676,-0.61,-146.6,66.6,-10.3,31,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2231,3381
$GC,985,-0.61,-146.6,97.4,-8.5,46,989,0.00,2.70,0.00,0.000,4,0.000,0.078,2153,3640,3381
$GC,1025,-0.57,-146.6,100.6,-7.9,48,1030,0.10,2.60,0.00,0.000,6,0.099,0.056,2172,2227,3381
$GC,1352,-0.57,-146.6,119.2,-6.2,64,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2227,3381
$GC,1661,-0.57,-146.6,144.4,-8.2,79,1666,0.00,2.72,0.00,0.000,4,0.000,0.079,2172,3647,3382
$GC,1695,-0.57,-146.6,147.1,-8.3,80,1701,0.00,2.60,0.00,0.000,6,0.000,0.056,2172,2228,3381
$GC,2011,-0.57,-146.6,172.6,-7.9,96,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3383
$GC,2320,-0.57,-146.6,192.8,-6.5,111,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3382
$GC,2630,-0.57,-146.6,215.1,-7.7,126,2634,0.00,2.72,0.00,0.000,4,0.000,0.081,2172,3644,3382
$GC,2679,-0.57,-146.6,219.1,-7.8,128,2684,0.00,2.60,0.00,0.000,6,0.000,0.056,2172,2226,3382
$GC,2995,-0.57,-146.6,243.9,-8.5,143,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2225,3382
$GC,3304,-0.57,-146.6,268.0,-7.7,158,3309,0.00,2.72,0.00,0.000,4,0.000,0.081,2172,3642,3382
$GC,3338,-0.57,-146.6,270.8,-8.1,159,3344,0.00,2.60,0.00,0.000,6,0.000,0.057,2172,2226,3382
$GC,3653,-0.57,-146.6,293.3,-6.8,175,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2226,3381
$GC,3962,-0.57,-146.6,314.8,-7.1,190,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2226,3381
$GC,4272,-0.57,-146.6,335.8,-6.7,205,4276,0.00,2.72,0.00,0.000,4,0.000,0.082,2172,3643,3381
$GC,4315,-0.57,-146.6,339.0,-7.6,207,4320,0.00,2.60,0.00,0.000,6,0.000,0.057,2172,2223,3381
$GC,4637,-0.57,-146.6,360.0,-6.5,223,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2222,3381
$GC,4946,-0.57,-146.6,380.0,-6.3,238,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2222,3381
$GC,5255,-0.57,-146.6,398.0,-5.9,253,5260,0.00,2.72,0.00,0.000,4,0.000,0.083,2171,3640,3381
$GC,5300,-0.57,-146.6,400.9,-6.9,255,5304,0.00,2.58,0.00,0.000,6,0.000,0.058,2172,2227,3381
$GC,5621,-0.57,-146.6,419.9,-5.8,271,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2227,3381
$GC,5931,-0.57,-146.6,437.5,-5.8,286,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2227,3381
$GC,6240,-0.57,-146.6,455.1,-6.1,301,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2227,3381
$GC,6549,-0.57,-146.6,476.6,-7.5,316,6554,0.00,2.72,0.00,0.000,4,0.000,0.082,2172,3647,3381
$GC,6593,-0.61,-146.6,480.4,-7.7,318,6598,0.00,2.60,0.00,0.000,6,0.000,0.057,2172,2224,3381
$GC,6915,-0.65,-146.6,502.3,-6.4,334,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2224,3381
$GC,7224,-0.65,-146.6,516.7,-4.3,349,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2224,3380
$GC,7533,-0.65,-146.6,534.6,-6.7,364,7537,0.00,2.72,0.00,0.000,4,0.000,0.082,2172,3644,3381
$GC,7573,-0.65,-146.6,537.5,-7.6,366,7577,0.00,2.60,0.00,0.000,6,0.000,0.057,2172,2227,3380
$GC,7899,-0.65,-146.6,560.4,-6.2,382,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2227,3380
$GC,8209,-0.69,-146.6,574.0,-3.6,397,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2227,3380
$GC,8518,-0.69,-146.6,591.1,-7.6,412,8520,0.12,0.00,0.00,0.000,6,0.048,0.000,2130,2227,3380
$GC,8827,-0.62,-146.6,623.6,-10.2,427,8829,0.17,0.00,0.00,0.000,6,0.082,0.000,2165,2227,3380
$GC,9137,-0.62,-146.6,641.0,-4.5,442,9141,0.00,2.72,0.00,0.000,4,0.000,0.083,2165,3644,3379
$GC,9181,-0.62,-146.6,643.3,-5.5,444,9186,0.00,2.58,0.00,0.000,6,0.000,0.055,2166,2230,3380
$GC,9502,-0.62,-146.6,661.2,-7.6,460,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3380
$GC,9812,-0.62,-146.6,692.1,-10.3,475,9816,0.00,2.70,0.00,0.000,4,0.000,0.084,2166,3640,3380
$GC,9844,-0.62,-146.6,695.6,-10.6,476,9850,0.00,2.58,0.00,0.000,6,0.000,0.057,2165,2230,3379
$GC,10161,-0.66,-146.6,713.7,-3.8,492,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3379
$GC,10470,-0.70,-146.6,729.6,-6.7,507,10475,0.00,2.72,0.00,0.000,4,0.000,0.084,2166,3644,3379
$GC,10510,-0.75,-146.6,732.7,-7.8,509,10515,0.15,2.60,0.00,0.000,6,0.048,0.058,2126,2229,3379
$GC,10839,-0.67,-146.6,761.1,-9.3,525,10841,0.12,0.00,0.00,0.000,6,0.092,0.000,2150,2228,3379
$GC,11145,-0.67,-146.6,782.4,-6.7,540,11150,0.00,2.75,0.00,0.000,4,0.000,0.089,2150,3641,3379
$GC,11195,-0.67,-146.6,785.7,-6.1,542,11199,0.00,2.60,0.00,0.000,6,0.000,0.061,2150,2231,3378
$GC,11511,-0.67,-146.6,804.2,-5.2,557,11515,0.00,2.62,0.00,0.000,4,0.000,0.074,2150,819,3378
$GC,11561,-0.75,-146.6,809.0,-10.9,559,11566,0.00,2.60,0.00,0.000,6,0.000,0.059,2150,2227,3378
$STATE,11608,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11608,begin apogee
$GC,11615,-0.31,0.0,813.0,8.3,561,11752,0.40,0.00,133.98,1.183,6,0.090,0.000,2231,2227,2781
$STATE,11753,end apogee,CONTROL_FINISHED_OK
$STATE,11753,begin climb
$GC,11756,0.85,146.6,818.2,0.0,568,11898,1.20,2.88,132.85,1.157,4,0.071,0.087,2484,3645,2183
$GC,12006,1.02,404.6,806.6,-1.1,580,12240,0.17,2.62,226.62,1.147,6,0.060,0.060,2526,2241,1131
$GC,12550,1.09,404.6,763.9,10.4,606,12555,0.00,2.70,0.00,0.000,4,0.000,0.075,2526,825,1130
$GC,12629,1.16,404.6,755.6,9.8,609,12636,0.12,2.65,0.00,0.000,6,0.084,0.059,2551,2241,1131
$GC,12945,1.16,404.6,724.2,10.4,625,12946,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2241,1131
$GC,13254,1.16,404.6,693.7,10.4,640,13259,0.00,2.67,0.00,0.000,4,0.000,0.072,2551,828,1130
$GC,13339,1.16,404.6,684.4,11.1,644,13344,0.00,2.62,0.00,0.000,6,0.000,0.058,2551,2244,1130
$GC,13665,1.16,404.6,649.4,10.0,660,13670,0.00,2.67,0.00,0.000,4,0.000,0.069,2551,828,1130
$GC,13716,1.16,404.6,644.8,8.7,662,13720,0.00,2.60,0.00,0.000,6,0.000,0.056,2551,2239,1129
$GC,14031,1.16,404.6,619.8,9.5,677,14035,0.00,2.67,0.00,0.000,4,0.000,0.069,2551,820,1130
$GC,14086,1.16,404.6,614.5,9.2,679,14092,0.00,2.62,0.00,0.000,6,0.000,0.054,2552,2242,1130
$GC,14402,1.16,404.6,581.7,10.7,695,14406,0.00,2.67,0.00,0.000,4,0.000,0.069,2551,822,1129
$GC,14446,1.16,404.6,576.7,11.1,697,14450,0.00,2.60,0.00,0.000,6,0.000,0.054,2551,2241,1130
$GC,14766,1.16,404.6,542.1,10.8,713,14771,0.00,2.67,0.00,0.000,4,0.000,0.069,2551,823,1130
$GC,14830,1.16,404.6,535.3,11.1,716,14834,0.00,2.62,0.00,0.000,6,0.000,0.054,2551,2245,1130
$GC,15156,1.16,404.6,499.1,10.6,732,15160,0.00,2.67,0.00,0.000,4,0.000,0.069,2551,827,1130
$GC,15205,1.16,404.6,493.8,9.6,734,15210,0.00,2.60,0.00,0.000,6,0.000,0.054,2551,2238,1130
$GC,15521,1.16,404.6,460.3,10.6,749,15526,0.00,2.65,0.00,0.000,4,0.000,0.069,2551,827,1130
$GC,15584,1.16,404.6,453.8,10.3,752,15588,0.00,2.62,0.00,0.000,6,0.000,0.055,2551,2245,1130
$GC,15910,1.16,404.6,421.1,9.9,768,15914,0.00,2.67,0.00,0.000,4,0.000,0.069,2551,825,1131
$GC,15976,1.16,404.6,414.5,10.1,771,15981,0.00,2.60,0.00,0.000,6,0.000,0.054,2551,2241,1130
$GC,16298,1.16,404.6,382.8,10.1,787,16302,0.00,2.67,0.00,0.000,4,0.000,0.068,2551,821,1131
$GC,16347,1.16,404.6,377.4,9.9,789,16351,0.00,2.62,0.00,0.000,6,0.000,0.055,2551,2244,1131
$GC,16663,1.16,404.6,343.0,10.8,804,16667,0.00,2.67,0.00,0.000,4,0.000,0.069,2551,826,1132
$GC,16725,1.16,404.6,336.2,9.9,807,16729,0.00,2.62,0.00,0.000,6,0.000,0.055,2551,2248,1132
$GC,17051,1.16,404.6,299.9,11.0,823,17055,0.00,2.67,0.00,0.000,4,0.000,0.069,2551,826,1132
$GC,17114,1.16,404.6,293.0,10.6,826,17118,0.00,2.60,0.00,0.000,6,0.000,0.055,2551,2238,1132
$GC,17440,1.16,404.6,257.5,10.7,842,17444,0.00,2.67,0.00,0.000,4,0.000,0.069,2551,818,1132
$GC,17502,1.16,404.6,250.8,10.0,845,17506,0.00,2.62,0.00,0.000,6,0.000,0.055,2551,2249,1132
$GC,17828,1.16,404.6,214.9,11.3,861,17833,0.00,2.70,0.00,0.000,4,0.000,0.070,2551,821,1132
$GC,17884,1.16,404.6,208.4,10.5,863,17889,0.00,2.62,0.00,0.000,6,0.000,0.054,2551,2246,1132
$GC,18199,1.16,404.6,170.5,12.3,879,18204,0.00,2.67,0.00,0.000,4,0.000,0.068,2551,824,1132
$GC,18261,1.16,404.6,162.8,12.6,882,18266,0.00,2.60,0.00,0.000,6,0.000,0.054,2551,2241,1132
$GC,18588,1.16,404.6,124.7,11.3,898,18593,0.00,2.67,0.00,0.000,4,0.000,0.068,2551,818,1132
$GC,18644,1.16,404.6,118.1,10.4,900,18651,0.00,2.60,0.00,0.000,6,0.000,0.054,2551,2241,1132
$GC,18962,1.12,404.6,83.2,10.4,916,18967,0.00,2.67,0.00,0.000,4,0.000,0.068,2551,819,1132
$GC,19025,1.12,404.6,76.3,9.6,919,19030,0.00,2.60,0.00,0.000,6,0.000,0.054,2551,2241,1132
$GC,19354,1.12,404.6,40.2,10.6,935,19359,0.00,2.65,0.00,0.000,4,0.000,0.068,2551,825,1132
$GC,19395,1.12,404.6,35.7,9.6,937,19399,0.00,2.60,0.00,0.000,6,0.000,0.053,2551,2244,1132
$STATE,19719,end climb,SURFACE_DEPTH_REACHED
$STATE,19719,begin surface coast
$FINISH,0.7,1.024163
$STATE,19742,end surface coast,CONTROL_FINISHED_OK
$STATE,19742,begin surface
$SM_CCo,19764,73.68,0.621,0,0,508,557.32
$SM_GC,1.46,0.00,0.00,73.68,0.000,0.000,0.621,68,2246,508,-10.27,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1869
$TCM_TEMP,17.70
$XPDR_PINGS,19
$ALTIM_TOP_PING,18.7,17.3
$ALTIM_BOTTOM_PING,775.9,46.4
$24V_AH,23.5,30.446
$10V_AH,10.1,15.116
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.025,175.025,493.450,73.675,0.000,36.261,59.695,223.171,12.000,0.000,0.000,16.671,1730.311,15161.844,726.172,2087.830,648.377,0.000,1796.001,0.000,2029.941,0.000,50.650
$DEVICE_MAMPS,171.808,88.972,1182.714,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,692.630,653.580,533.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47336,954
$CAP_FILE_SIZE,145084,0
$CFSIZE,260165632,248061952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110708,113756,6239.481,-1228.932,39,1.7,39,-11.6