version: 66.03
glider: 16
mission: 9
dive: 174
start: 7 11 108 18 44 57
data:
$ID,16
$MISSION,9
$DIVE,174
$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,-2096629.9
$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,19
$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
$GPS1,183838,6240.079,-1236.735,29,1.0,29,-11.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.4
$GPS2,184438,6240.050,-1236.732,12,1.8,17,-11.7
$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,319.3,30181,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.45,0.000,2,0.000,0.000,74,2231,3024
$GC,151,-0.85,-146.6,4.3,-3.6,6,176,11.48,2.70,-7.82,0.000,4,0.171,0.087,2110,3643,3380
$GC,356,-0.64,-146.6,34.6,-12.6,15,361,0.25,2.60,0.00,0.000,6,0.094,0.056,2159,2230,3381
$GC,678,-0.64,-146.6,62.9,-8.4,31,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2230,3381
$GC,987,-0.64,-146.6,84.1,-6.1,46,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2230,3381
$GC,1296,-0.64,-146.6,102.7,-6.4,61,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2230,3381
$GC,1605,-0.64,-146.6,124.6,-7.3,76,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2230,3381
$GC,1915,-0.64,-146.6,148.5,-7.9,91,1919,0.00,2.72,0.00,0.000,4,0.000,0.080,2159,3645,3381
$GC,1955,-0.64,-146.6,151.8,-8.7,93,1959,0.00,2.60,0.00,0.000,6,0.000,0.056,2159,2228,3381
$GC,2281,-0.64,-146.6,177.6,-7.7,109,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3382
$GC,2594,-0.64,-146.6,200.7,-7.6,124,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3381
$GC,2899,-0.64,-146.6,224.4,-7.8,139,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3381
$GC,3210,-0.64,-146.6,250.5,-8.3,154,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3381
$GC,3521,-0.64,-146.6,275.7,-8.0,169,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3381
$GC,3828,-0.64,-146.6,300.6,-8.2,184,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3381
$GC,4137,-0.64,-146.6,325.6,-8.0,199,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2228,3381
$GC,4446,-0.64,-146.6,349.7,-7.3,214,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3381
$GC,4755,-0.64,-146.6,372.5,-7.2,229,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3381
$GC,5064,-0.64,-146.6,394.3,-6.8,244,5069,0.00,2.70,0.00,0.000,4,0.000,0.082,2159,3640,3381
$GC,5098,-0.64,-146.6,396.7,-7.3,245,5104,0.00,2.58,0.00,0.000,6,0.000,0.058,2159,2229,3380
$GC,5414,-0.64,-146.6,418.3,-6.9,261,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3380
$GC,5723,-0.64,-146.6,439.3,-6.8,276,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3380
$GC,6033,-0.64,-146.6,460.3,-6.9,291,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3380
$GC,6342,-0.64,-146.6,483.2,-7.8,306,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3380
$GC,6651,-0.64,-146.6,508.0,-8.5,321,6656,0.00,2.70,0.00,0.000,4,0.000,0.081,2159,3640,3380
$GC,6684,-0.64,-146.6,511.0,-9.6,322,6690,0.00,2.58,0.00,0.000,6,0.000,0.055,2159,2227,3380
$GC,7000,-0.64,-146.6,536.4,-7.9,338,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2227,3380
$GC,7309,-0.64,-146.6,560.6,-7.6,353,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2227,3379
$GC,7619,-0.64,-146.6,584.4,-7.5,368,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2227,3379
$GC,7928,-0.64,-146.6,606.3,-7.2,383,7932,0.00,2.70,0.00,0.000,4,0.000,0.081,2159,3640,3379
$GC,7983,-0.64,-146.6,610.4,-7.4,385,7989,0.00,2.58,0.00,0.000,6,0.000,0.054,2159,2225,3379
$GC,8299,-0.64,-146.6,632.2,-7.2,401,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2225,3379
$GC,8608,-0.64,-146.6,653.4,-6.7,416,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2225,3378
$GC,8917,-0.64,-146.6,675.0,-7.1,431,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2224,3379
$GC,9227,-0.64,-146.6,695.8,-6.4,446,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2225,3378
$GC,9536,-0.64,-146.6,714.0,-5.5,461,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2225,3378
$GC,9845,-0.64,-146.6,730.2,-5.2,476,9850,0.00,2.72,0.00,0.000,4,0.000,0.084,2159,3641,3378
$GC,9908,-0.64,-146.6,733.9,-5.9,479,9913,0.00,2.58,0.00,0.000,6,0.000,0.056,2159,2226,3378
$GC,10235,-0.64,-146.6,752.0,-5.8,495,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2226,3378
$GC,10545,-0.64,-146.6,774.1,-7.7,510,10549,0.00,2.72,0.00,0.000,4,0.000,0.087,2159,3638,3377
$GC,10584,-0.64,-146.6,777.3,-8.4,512,10588,0.00,2.60,0.00,0.000,6,0.000,0.059,2159,2225,3378
$GC,10910,-0.64,-146.6,800.1,-6.4,528,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2225,3377
$GC,11220,-0.64,-146.6,819.1,-5.8,543,11225,0.00,2.72,0.00,0.000,4,0.000,0.089,2159,3637,3377
$GC,11261,-0.69,-146.6,821.8,-7.6,545,11265,0.00,2.60,0.00,0.000,6,0.000,0.061,2160,2227,3376
$STATE,11522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11523,begin apogee
$GC,11529,-0.31,0.0,837.9,6.1,558,11666,0.35,0.00,133.15,1.197,6,0.100,0.000,2228,2226,2781
$STATE,11667,end apogee,CONTROL_FINISHED_OK
$STATE,11667,begin climb
$GC,11670,0.85,146.6,842.3,0.0,565,11807,1.20,0.00,132.50,1.175,6,0.078,0.000,2479,2225,2182
$GC,12104,0.85,151.0,826.1,5.9,586,12111,0.00,0.00,5.38,0.840,6,0.000,0.000,2479,2226,2165
$GC,12412,0.88,179.1,808.3,5.2,601,12441,0.00,0.00,26.58,1.125,6,0.000,0.000,2479,2226,2050
$GC,12741,0.92,213.4,790.4,5.1,617,12774,0.00,0.00,31.42,1.130,6,0.000,0.000,2479,2225,1911
$GC,13071,1.02,255.6,774.1,4.8,633,13118,0.20,2.83,39.35,1.137,4,0.071,0.084,2523,3648,1738
$GC,13154,0.95,255.6,768.3,8.4,637,13158,0.00,2.67,0.00,0.000,6,0.000,0.063,2523,2232,1739
$GC,13480,0.95,255.6,741.6,8.6,653,13484,0.00,2.67,0.00,0.000,4,0.000,0.075,2523,830,1737
$GC,13530,0.95,255.6,737.5,7.7,655,13534,0.00,2.62,0.00,0.000,6,0.000,0.058,2523,2238,1737
$GC,13846,0.91,255.6,713.4,7.4,670,13848,0.12,0.00,0.00,0.000,6,0.097,0.000,2499,2238,1737
$GC,14154,0.91,255.6,691.1,7.9,685,14159,0.00,2.72,0.00,0.000,4,0.000,0.084,2499,3653,1736
$GC,14194,0.91,255.6,687.6,8.1,687,14199,0.00,2.62,0.00,0.000,6,0.000,0.061,2499,2243,1736
$GC,14520,0.91,255.6,661.1,8.1,703,14525,0.00,2.67,0.00,0.000,4,0.000,0.071,2499,826,1736
$GC,14565,0.91,255.6,657.3,8.5,705,14569,0.00,2.62,0.00,0.000,6,0.000,0.055,2499,2243,1735
$GC,14886,0.91,255.6,634.3,6.6,721,14887,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2243,1736
$GC,15195,0.93,274.8,616.3,5.5,736,15215,0.00,0.00,17.77,0.997,6,0.000,0.000,2499,2243,1660
$GC,15525,1.01,298.3,598.5,5.4,752,15549,0.00,0.00,22.23,1.002,6,0.000,0.000,2499,2243,1564
$GC,15853,1.07,298.3,579.2,6.3,768,15858,0.15,2.67,0.00,0.000,4,0.050,0.066,2534,820,1564
$GC,15903,1.07,298.3,575.1,8.4,770,15908,0.00,2.62,0.00,0.000,6,0.000,0.054,2534,2241,1563
$GC,16220,1.03,298.3,547.8,8.8,785,16221,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2241,1563
$GC,16528,1.03,298.3,519.9,9.3,800,16532,0.00,2.65,0.00,0.000,4,0.000,0.065,2534,825,1564
$GC,16561,1.03,298.3,516.9,8.5,801,16567,0.00,2.60,0.00,0.000,6,0.000,0.053,2534,2240,1564
$GC,16877,1.03,298.3,487.9,9.5,817,16878,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2240,1564
$GC,17185,1.03,298.3,458.9,9.4,832,17187,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2240,1564
$GC,17495,1.03,298.3,430.9,8.8,847,17499,0.00,2.65,0.00,0.000,4,0.000,0.066,2534,819,1565
$GC,17534,1.03,298.3,427.4,9.2,849,17539,0.00,2.62,0.00,0.000,6,0.000,0.054,2534,2242,1565
$GC,17861,1.03,298.3,398.6,8.9,865,17862,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2242,1565
$GC,18170,1.03,298.3,371.8,8.7,880,18175,0.00,2.65,0.00,0.000,4,0.000,0.066,2534,824,1565
$GC,18203,1.03,298.3,368.9,8.1,881,18209,0.00,2.60,0.00,0.000,6,0.000,0.054,2534,2240,1565
$GC,18520,0.97,298.3,340.3,9.1,897,18522,0.12,0.00,0.00,0.000,6,0.087,0.000,2508,2240,1566
$GC,18828,0.97,298.3,315.2,8.1,912,18829,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1566
$GC,19138,0.97,298.3,290.2,8.0,927,19142,0.00,2.65,0.00,0.000,4,0.000,0.067,2508,818,1566
$GC,19193,0.97,298.3,285.7,7.7,929,19199,0.00,2.62,0.00,0.000,6,0.000,0.054,2508,2247,1566
$GC,19508,0.97,298.3,259.4,8.7,945,19509,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2247,1567
$GC,19818,0.97,298.3,231.7,9.0,960,19822,0.00,2.65,0.00,0.000,4,0.000,0.066,2508,824,1567
$GC,19857,0.97,298.3,228.0,9.2,962,19862,0.00,2.60,0.00,0.000,6,0.000,0.054,2508,2240,1567
$GC,20183,0.97,298.3,199.9,8.4,978,20184,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1567
$GC,20493,0.97,298.3,174.4,8.2,993,20494,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1567
$GC,20802,0.97,298.3,148.7,7.8,1008,20806,0.00,2.65,0.00,0.000,4,0.000,0.066,2508,817,1567
$GC,20846,0.97,298.3,145.0,8.6,1010,20850,0.00,2.60,0.00,0.000,6,0.000,0.053,2508,2246,1569
$GC,21167,0.97,298.3,120.0,8.2,1026,21168,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2246,1566
$GC,21476,0.97,298.3,92.9,8.5,1041,21477,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2246,1567
$GC,21787,0.97,298.3,70.1,7.3,1056,21791,0.00,2.65,0.00,0.000,4,0.000,0.064,2508,818,1567
$GC,21842,0.97,298.3,65.6,8.1,1058,21848,0.00,2.58,0.00,0.000,6,0.000,0.053,2508,2238,1567
$GC,22158,0.97,298.3,45.1,6.4,1074,22162,0.00,2.62,0.00,0.000,4,0.000,0.064,2508,821,1568
$GC,22198,0.97,298.3,42.4,6.6,1076,22202,0.00,2.60,0.00,0.000,6,0.000,0.054,2508,2242,1567
$GC,22525,0.97,298.3,18.1,8.0,1092,22526,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2242,1568
$STATE,22728,end climb,SURFACE_DEPTH_REACHED
$STATE,22728,begin surface coast
$FINISH,0.5,1.002080
$STATE,22750,end surface coast,CONTROL_FINISHED_OK
$STATE,22750,begin surface
$SM_CCo,22771,125.32,0.615,0,0,508,557.32
$SM_GC,1.38,0.00,0.00,125.32,0.000,0.000,0.615,71,2243,508,-10.25,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1869
$TCM_TEMP,17.70
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,750.7,96.9
$24V_AH,23.5,30.773
$10V_AH,10.2,15.314
$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,24.450,111.150,408.375,125.325,0.000,18.124,27.289,177.539,14.500,0.000,0.000,17.538,1900.691,17989.672,726.136,2084.740,552.288,0.000,1726.438,0.000,2043.533,0.000,46.235
$DEVICE_MAMPS,171.041,88.972,1197.287,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,808.722,757.549,638.878,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56809,1103
$CAP_FILE_SIZE,138822,0
$CFSIZE,260165632,247918592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120708,010807,6240.603,-1245.405,41,1.3,53,-11.7