version: 66.03
glider: 16
mission: 9
dive: 176
start: 7 12 108 8 10 4
data:
$ID,16
$MISSION,9
$DIVE,176
$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,-2096663.8
$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,18
$R_STBD_OVSHOOT,16
$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
$GPS1,080408,6241.560,-1250.829,33,1.3,33,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-56.4
$GPS2,080945,6241.538,-1250.808,15,1.8,15,-11.8
$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,334.4,19739,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-121.07,0.000,2,0.000,0.000,70,2243,2996
$GC,153,-0.85,-146.6,4.2,-3.5,6,180,11.50,2.70,-8.77,0.000,4,0.171,0.076,2111,807,3382
$GC,366,-0.70,-146.6,32.9,-11.4,15,373,0.17,2.62,0.00,0.000,6,0.098,0.054,2144,2236,3382
$GC,684,-0.60,-146.6,64.1,-9.7,31,686,0.12,0.00,0.00,0.000,6,0.100,0.000,2168,2236,3383
$GC,991,-0.60,-146.6,88.1,-7.0,46,996,0.00,2.65,0.00,0.000,4,0.000,0.063,2168,810,3382
$GC,1032,-0.60,-146.6,90.7,-7.0,48,1036,0.00,2.60,0.00,0.000,6,0.000,0.054,2168,2230,3382
$GC,1358,-0.60,-146.6,114.2,-7.7,64,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3382
$GC,1668,-0.60,-146.6,136.1,-6.8,79,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3382
$GC,1976,-0.60,-146.6,160.6,-8.6,94,1981,0.00,2.67,0.00,0.000,4,0.000,0.077,2168,3645,3383
$GC,2017,-0.60,-146.6,164.3,-9.7,96,2021,0.00,2.60,0.00,0.000,6,0.000,0.058,2168,2230,3382
$GC,2343,-0.60,-146.6,192.2,-8.0,112,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3382
$GC,2652,-0.60,-146.6,214.3,-6.6,127,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3382
$GC,2961,-0.60,-146.6,233.7,-6.3,142,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3382
$GC,3271,-0.60,-146.6,255.3,-7.1,157,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2229,3382
$GC,3580,-0.60,-146.6,277.2,-6.8,172,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3382
$GC,3889,-0.60,-146.6,296.5,-5.9,187,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3382
$GC,4199,-0.60,-146.6,315.3,-6.1,202,4203,0.00,2.70,0.00,0.000,4,0.000,0.083,2168,3647,3382
$GC,4231,-0.60,-146.6,317.5,-7.0,203,4237,0.00,2.60,0.00,0.000,6,0.000,0.059,2168,2229,3382
$GC,4547,-0.60,-146.6,336.9,-6.4,219,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2229,3382
$GC,4856,-0.60,-146.6,356.6,-6.4,234,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2229,3382
$GC,5165,-0.60,-146.6,377.2,-6.9,249,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2229,3382
$GC,5475,-0.60,-146.6,398.4,-6.6,264,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3382
$GC,5784,-0.60,-146.6,418.7,-6.4,279,5789,0.00,2.70,0.00,0.000,4,0.000,0.083,2168,3643,3382
$GC,5818,-0.60,-146.6,421.1,-7.1,280,5824,0.00,2.58,0.00,0.000,6,0.000,0.060,2168,2230,3382
$GC,6134,-0.60,-146.6,441.2,-6.4,296,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2229,3382
$GC,6444,-0.60,-146.6,461.8,-6.7,311,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3381
$GC,6752,-0.60,-146.6,482.4,-6.6,326,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3381
$GC,7061,-0.60,-146.6,501.8,-6.1,341,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3381
$GC,7372,-0.60,-146.6,520.4,-5.8,356,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2229,3381
$GC,7681,-0.60,-146.6,537.8,-5.5,371,7685,0.00,2.70,0.00,0.000,4,0.000,0.082,2168,3644,3381
$GC,7714,-0.60,-146.6,539.9,-6.4,372,7720,0.00,2.58,0.00,0.000,6,0.000,0.058,2168,2228,3381
$GC,8029,-0.60,-146.6,559.2,-6.3,388,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3381
$GC,8338,-0.60,-146.6,579.6,-6.9,403,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3381
$GC,8648,-0.60,-146.6,602.6,-7.7,418,8652,0.00,2.70,0.00,0.000,4,0.000,0.082,2169,3641,3381
$GC,8692,-0.60,-146.6,606.4,-8.2,420,8696,0.00,2.58,0.00,0.000,6,0.000,0.056,2168,2226,3380
$GC,9013,-0.60,-146.6,631.3,-7.9,436,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2226,3380
$GC,9322,-0.60,-146.6,655.0,-7.5,451,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2226,3380
$GC,9632,-0.60,-146.6,676.7,-6.7,466,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2226,3380
$GC,9941,-0.60,-146.6,695.5,-5.6,481,9945,0.00,2.70,0.00,0.000,4,0.000,0.083,2168,3641,3380
$GC,9991,-0.64,-146.6,698.5,-5.9,483,9996,0.00,2.58,0.00,0.000,6,0.000,0.055,2168,2221,3380
$GC,10307,-0.64,-146.6,713.2,-4.4,498,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2221,3379
$GC,10616,-0.69,-146.6,729.9,-6.2,513,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2221,3379
$GC,10926,-0.74,-146.6,748.7,-5.9,528,10931,0.15,2.72,0.00,0.000,4,0.048,0.084,2121,3643,3379
$GC,10954,-0.66,-146.6,750.9,-8.5,529,10959,0.17,2.58,0.00,0.000,6,0.088,0.059,2156,2232,3379
$GC,11270,-0.66,-146.6,771.3,-6.7,544,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2233,3379
$GC,11579,-0.66,-146.6,791.6,-6.3,559,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2232,3378
$STATE,11844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11844,begin apogee
$GC,11851,-0.31,0.0,809.8,6.7,572,11987,0.38,0.00,133.00,1.164,6,0.086,0.000,2233,2232,2781
$STATE,11988,end apogee,CONTROL_FINISHED_OK
$STATE,11988,begin climb
$GC,11991,0.85,146.6,815.1,0.0,579,12129,1.17,0.00,130.90,1.141,6,0.067,0.000,2484,2232,2183
$GC,12439,0.88,175.8,796.8,5.2,601,12468,0.00,0.00,27.12,1.087,6,0.000,0.000,2484,2232,2064
$GC,12768,0.91,202.9,778.0,5.3,617,12795,0.00,0.00,25.45,1.083,6,0.000,0.000,2484,2232,1953
$GC,13098,1.00,249.7,761.7,4.7,633,13143,0.15,0.00,42.65,1.108,6,0.052,0.000,2522,2232,1762
$GC,13446,1.00,249.7,734.8,8.7,650,13450,0.00,2.75,0.00,0.000,4,0.000,0.086,2522,3650,1762
$GC,13501,1.00,249.7,729.4,9.5,652,13507,0.00,2.62,0.00,0.000,6,0.000,0.062,2522,2240,1762
$GC,13817,1.00,249.7,703.5,7.4,668,13821,0.00,2.65,0.00,0.000,4,0.000,0.071,2522,821,1762
$GC,13879,1.00,249.7,698.7,7.1,671,13883,0.00,2.62,0.00,0.000,6,0.000,0.057,2522,2240,1761
$GC,14205,1.00,249.7,676.7,6.5,687,14207,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2240,1761
$GC,14514,1.00,249.7,657.7,6.1,702,14519,0.00,2.70,0.00,0.000,4,0.000,0.081,2522,3651,1761
$GC,14559,1.00,249.7,654.5,6.9,704,14563,0.00,2.60,0.00,0.000,6,0.000,0.059,2522,2241,1761
$GC,14880,1.00,249.7,632.2,7.2,720,14884,0.00,2.62,0.00,0.000,4,0.000,0.069,2522,825,1761
$GC,14919,1.00,249.7,629.2,8.1,722,14923,0.00,2.60,0.00,0.000,6,0.000,0.054,2522,2241,1760
$GC,15245,1.00,249.7,603.1,8.5,738,15246,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2241,1761
$GC,15555,1.00,249.7,577.9,8.1,753,15559,0.00,2.67,0.00,0.000,4,0.000,0.079,2522,3652,1761
$GC,15610,0.95,249.7,573.2,8.5,755,15616,0.00,2.60,0.00,0.000,6,0.000,0.059,2522,2240,1761
$GC,15926,0.95,249.7,548.6,7.5,771,15927,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2240,1761
$GC,16236,0.95,249.7,525.8,7.5,786,16237,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2240,1762
$GC,16544,0.95,249.7,502.7,7.6,801,16549,0.00,2.70,0.00,0.000,4,0.000,0.080,2522,3654,1762
$GC,16578,0.95,249.7,500.0,7.6,802,16584,0.00,2.60,0.00,0.000,6,0.000,0.060,2522,2241,1762
$GC,16893,0.95,249.7,476.9,7.3,818,16895,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2240,1762
$GC,17202,0.95,249.7,454.1,7.7,833,17203,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2240,1762
$GC,17512,0.95,249.7,430.3,7.6,848,17516,0.00,2.70,0.00,0.000,4,0.000,0.080,2522,3651,1763
$GC,17551,0.95,249.7,426.9,9.4,850,17555,0.00,2.62,0.00,0.000,6,0.000,0.061,2522,2235,1763
$GC,17878,0.95,249.7,400.2,8.2,866,17879,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2235,1763
$GC,18187,0.95,249.7,376.8,7.5,881,18188,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2235,1763
$GC,18496,0.95,249.7,355.0,6.8,896,18497,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2235,1763
$GC,18806,0.95,249.7,334.4,6.4,911,18807,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2235,1763
$GC,19114,0.95,249.7,314.0,6.5,926,19116,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2235,1763
$GC,19424,0.95,249.7,292.8,7.0,941,19428,0.00,2.70,0.00,0.000,4,0.000,0.080,2522,3652,1763
$GC,19474,0.95,249.7,288.8,8.7,943,19478,0.00,2.60,0.00,0.000,6,0.000,0.061,2522,2241,1764
$GC,19789,0.95,249.7,266.0,7.1,958,19790,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2241,1764
$GC,20099,0.95,249.7,244.2,7.1,973,20100,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2240,1764
$GC,20408,0.95,249.7,221.7,7.4,988,20409,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2240,1764
$GC,20717,0.95,249.7,197.3,8.0,1003,20722,0.00,2.70,0.00,0.000,4,0.000,0.080,2523,3654,1764
$GC,20756,0.95,249.7,193.9,8.3,1005,20761,0.00,2.60,0.00,0.000,6,0.000,0.061,2522,2241,1765
$GC,21084,0.95,249.7,166.8,8.2,1021,21085,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2240,1764
$GC,21393,0.95,249.7,140.2,8.7,1036,21394,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2241,1765
$GC,21702,0.95,249.7,116.1,7.0,1051,21703,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2241,1765
$GC,22012,0.95,249.7,96.1,6.1,1066,22013,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2240,1765
$GC,22321,0.95,249.7,76.2,6.9,1081,22322,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2241,1765
$GC,22630,0.95,249.7,50.1,8.5,1096,22634,0.00,2.67,0.00,0.000,4,0.000,0.078,2522,3653,1765
$GC,22692,0.95,249.7,44.5,9.3,1099,22697,0.00,2.60,0.00,0.000,6,0.000,0.060,2522,2237,1765
$GC,23020,0.95,250.3,22.3,6.0,1115,23021,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2238,1765
$STATE,23326,end climb,SURFACE_DEPTH_REACHED
$STATE,23326,begin surface coast
$FINISH,0.7,1.027113
$STATE,23348,end surface coast,CONTROL_FINISHED_OK
$STATE,23348,begin surface
$SM_CCo,23370,147.45,0.599,0,0,509,557.32
$SM_GC,1.23,0.00,0.00,147.45,0.000,0.000,0.599,72,2233,509,-10.24,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1844
$TCM_TEMP,16.60
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,726.1,92.5
$24V_AH,23.6,31.089
$10V_AH,10.2,15.513
$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,24.400,100.500,359.125,147.450,0.000,18.024,29.854,159.662,13.000,0.000,0.000,15.321,1931.079,18585.654,696.079,2106.100,532.704,0.000,1701.433,0.000,2069.734,0.000,44.597
$DEVICE_MAMPS,171.041,85.904,1164.306,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,826.970,777.797,649.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56722,1131
$CAP_FILE_SIZE,137445,0
$CFSIZE,260165632,247783424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120708,144346,6242.297,-1258.933,43,2.9,63,-11.9