version: 66.03
glider: 16
mission: 9
dive: 179
start: 7 13 108 4 27 56
data:
$ID,16
$MISSION,9
$DIVE,179
$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,-2096731.9
$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,18
$R_STBD_OVSHOOT,17
$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
$GPS1,041738,6247.350,-1304.973,34,1.6,34,-12.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-53.2
$GPS2,042737,6247.356,-1304.705,11,1.7,16,-12.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$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,2.5,51911,-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,-146.6,0.0,0.0,0,167,0.00,0.00,-139.23,0.000,6,0.000,0.000,70,2245,3379
$GC,170,-0.85,-146.6,6.7,-6.0,7,192,11.48,2.72,0.00,0.000,4,0.170,0.064,2108,809,3381
$GC,383,-0.67,-146.6,42.4,-10.0,16,388,0.22,2.60,0.00,0.000,6,0.097,0.053,2152,2229,3381
$GC,701,-0.60,-146.6,68.6,-9.1,31,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2229,3381
$GC,1009,-0.53,-146.6,100.6,-9.3,46,1011,0.15,0.00,0.00,0.000,6,0.097,0.000,2181,2229,3381
$GC,1317,-0.53,-146.6,121.1,-6.2,61,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2229,3381
$GC,1627,-0.53,-146.6,137.2,-4.7,76,1631,0.00,2.62,0.00,0.000,4,0.000,0.061,2181,813,3381
$GC,1683,-0.63,-146.6,139.9,-5.1,78,1689,0.00,2.60,0.00,0.000,6,0.000,0.054,2181,2237,3381
$GC,1999,-0.63,-146.6,157.1,-6.1,94,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2237,3381
$GC,2308,-0.63,-146.6,178.5,-7.3,109,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2237,3381
$GC,2621,-0.63,-146.6,200.5,-7.0,124,2625,0.00,2.65,0.00,0.000,4,0.000,0.078,2181,3641,3381
$GC,2653,-0.63,-146.6,203.2,-8.0,125,2660,0.00,2.58,0.00,0.000,6,0.000,0.056,2181,2228,3381
$GC,2970,-0.68,-146.6,224.8,-6.9,141,2972,0.12,0.00,0.00,0.000,6,0.044,0.000,2138,2228,3381
$GC,3279,-0.58,-146.6,252.9,-9.1,156,3281,0.17,0.00,0.00,0.000,6,0.086,0.000,2173,2227,3380
$GC,3589,-0.58,-146.6,275.3,-7.1,171,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2227,3380
$GC,3897,-0.58,-146.6,296.4,-6.5,186,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2227,3380
$GC,4207,-0.58,-146.6,315.3,-6.1,201,4211,0.00,2.70,0.00,0.000,4,0.000,0.080,2173,3646,3380
$GC,4240,-0.58,-146.6,317.7,-6.5,202,4246,0.00,2.58,0.00,0.000,6,0.000,0.057,2173,2230,3380
$GC,4555,-0.58,-146.6,338.1,-6.5,218,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3379
$GC,4865,-0.58,-146.6,358.6,-6.7,233,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3379
$GC,5174,-0.58,-146.6,379.8,-7.0,248,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3380
$GC,5484,-0.58,-146.6,401.1,-6.7,263,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3380
$GC,5793,-0.58,-146.6,421.0,-6.5,278,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3379
$GC,6102,-0.58,-146.6,440.6,-6.4,293,6106,0.00,2.65,0.00,0.000,4,0.000,0.080,2173,3641,3379
$GC,6134,-0.58,-146.6,442.9,-7.3,294,6140,0.00,2.58,0.00,0.000,6,0.000,0.057,2173,2228,3379
$GC,6450,-0.58,-146.6,463.8,-6.8,310,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3379
$GC,6759,-0.58,-146.6,485.2,-7.1,325,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3379
$GC,7068,-0.58,-146.6,505.4,-6.3,340,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3379
$GC,7378,-0.58,-146.6,524.0,-6.0,355,7382,0.00,2.67,0.00,0.000,4,0.000,0.079,2173,3640,3378
$GC,7417,-0.58,-146.6,526.6,-6.9,357,7422,0.00,2.55,0.00,0.000,6,0.000,0.055,2173,2229,3378
$GC,7744,-0.58,-146.6,548.1,-6.7,373,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2229,3378
$GC,8054,-0.63,-146.6,568.6,-6.6,388,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2229,3378
$GC,8363,-0.67,-146.6,587.9,-5.9,403,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2229,3378
$GC,8673,-0.72,-146.6,604.3,-5.1,418,8678,0.15,2.65,0.00,0.000,4,0.044,0.078,2125,3641,3378
$GC,8718,-0.59,-146.6,607.7,-8.3,420,8723,0.22,2.58,0.00,0.000,6,0.086,0.055,2169,2221,3378
$GC,9040,-0.59,-146.6,625.5,-5.4,436,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3378
$GC,9348,-0.59,-146.6,645.0,-6.7,451,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3379
$GC,9658,-0.59,-146.6,666.4,-6.5,466,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3378
$GC,9967,-0.59,-146.6,684.6,-5.9,481,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3377
$GC,10277,-0.63,-146.6,703.2,-6.5,496,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3377
$GC,10586,-0.68,-146.6,722.4,-6.0,511,10590,0.00,2.70,0.00,0.000,4,0.000,0.081,2169,3642,3377
$GC,10636,-0.74,-146.6,725.6,-6.0,513,10641,0.15,2.55,0.00,0.000,6,0.045,0.056,2125,2228,3377
$GC,10952,-0.65,-146.6,747.8,-7.2,528,10954,0.17,0.00,0.00,0.000,6,0.087,0.000,2159,2228,3377
$GC,11261,-0.65,-146.6,764.7,-5.6,543,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2228,3376
$STATE,11505,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11506,begin apogee
$GC,11512,-0.31,0.0,780.5,6.3,555,11648,0.35,0.00,131.43,1.139,6,0.085,0.000,2231,2228,2781
$STATE,11649,end apogee,CONTROL_FINISHED_OK
$STATE,11649,begin climb
$GC,11652,0.85,146.6,785.8,0.0,562,11789,1.20,0.00,131.38,1.118,6,0.076,0.000,2482,2228,2183
$GC,12098,0.90,200.8,769.1,4.5,584,12153,0.00,2.72,48.97,1.090,4,0.000,0.068,2482,831,1962
$GC,12199,1.01,250.8,764.0,4.6,588,12251,0.17,2.62,45.92,1.084,6,0.048,0.058,2530,2240,1758
$GC,12573,0.97,250.8,734.0,8.4,607,12574,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2241,1757
$GC,12883,0.92,250.8,707.5,8.5,622,12888,0.15,2.72,0.00,0.000,4,0.091,0.082,2497,3654,1756
$GC,12939,0.97,250.8,703.0,7.2,624,12945,0.00,2.62,0.00,0.000,6,0.000,0.061,2496,2243,1756
$GC,13256,1.02,250.8,681.3,6.7,640,13261,0.12,2.65,0.00,0.000,4,0.051,0.068,2533,821,1754
$GC,13334,0.94,250.8,675.0,8.1,643,13341,0.15,2.62,0.00,0.000,6,0.088,0.056,2502,2245,1754
$GC,13649,0.94,250.8,652.7,7.0,659,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2245,1753
$GC,13959,0.94,250.8,629.8,7.5,674,13963,0.00,2.65,0.00,0.000,4,0.000,0.066,2502,821,1753
$GC,14003,0.94,250.8,626.4,8.0,676,14007,0.00,2.60,0.00,0.000,6,0.000,0.053,2502,2242,1753
$GC,14323,0.94,250.8,603.7,7.3,692,14324,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2242,1753
$GC,14633,0.94,250.8,581.9,7.1,707,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2242,1753
$GC,14942,0.94,250.8,561.1,6.7,722,14943,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2242,1753
$GC,15251,0.96,263.1,542.4,5.7,737,15265,0.00,0.00,11.65,0.884,6,0.000,0.000,2502,2242,1708
$GC,15561,0.97,275.9,524.9,5.7,752,15582,0.00,2.70,12.38,0.884,4,0.000,0.063,2502,826,1656
$GC,15611,1.04,289.2,521.9,5.6,754,15630,0.10,2.60,13.30,0.885,6,0.051,0.051,2536,2238,1602
$GC,15960,1.04,289.2,495.7,7.9,771,15961,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2239,1601
$GC,16267,1.04,289.2,469.9,8.5,786,16271,0.00,2.62,0.00,0.000,4,0.000,0.064,2535,825,1602
$GC,16329,1.04,289.2,464.5,8.4,789,16333,0.00,2.58,0.00,0.000,6,0.000,0.051,2536,2243,1601
$GC,16655,1.04,289.2,436.9,8.4,805,16657,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2243,1602
$GC,16964,1.04,289.2,410.1,8.7,820,16969,0.00,2.65,0.00,0.000,4,0.000,0.064,2536,818,1602
$GC,17031,1.04,289.2,404.0,8.7,823,17036,0.00,2.60,0.00,0.000,6,0.000,0.052,2536,2244,1602
$GC,17352,1.04,289.2,376.4,8.6,839,17353,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2245,1602
$GC,17661,1.04,289.2,350.2,8.2,854,17665,0.00,2.62,0.00,0.000,4,0.000,0.064,2536,824,1602
$GC,17710,1.04,289.2,346.0,9.1,856,17715,0.00,2.58,0.00,0.000,6,0.000,0.051,2535,2240,1602
$GC,18027,1.04,289.2,321.4,7.4,871,18028,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2239,1603
$GC,18335,1.04,289.2,300.0,6.5,886,18340,0.00,2.62,0.00,0.000,4,0.000,0.064,2536,823,1603
$GC,18369,1.06,310.9,297.6,5.4,887,18395,0.00,2.58,19.92,0.785,6,0.000,0.053,2535,2239,1513
$GC,18705,1.06,310.9,275.4,6.6,904,18706,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2240,1513
$GC,19014,1.06,310.9,250.7,8.4,919,19018,0.00,2.62,0.00,0.000,4,0.000,0.064,2536,824,1513
$GC,19080,1.06,310.9,244.7,9.5,922,19084,0.00,2.58,0.00,0.000,6,0.000,0.052,2536,2239,1512
$GC,19401,1.06,310.9,215.7,9.4,938,19402,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2239,1512
$GC,19710,1.06,310.9,186.8,9.5,953,19714,0.00,2.62,0.00,0.000,4,0.000,0.064,2536,822,1513
$GC,19754,1.06,310.9,182.5,9.6,955,19758,0.00,2.58,0.00,0.000,6,0.000,0.052,2535,2242,1512
$GC,20075,1.06,310.9,155.5,7.9,971,20076,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2242,1513
$GC,20384,1.06,310.9,132.4,7.6,986,20388,0.00,2.62,0.00,0.000,4,0.000,0.064,2535,823,1513
$GC,20446,1.06,310.9,127.4,8.0,989,20450,0.00,2.58,0.00,0.000,6,0.000,0.053,2536,2241,1513
$GC,20773,1.06,310.9,99.9,8.5,1005,20777,0.00,2.62,0.00,0.000,4,0.000,0.064,2536,821,1513
$GC,20823,1.06,310.9,95.4,8.1,1007,20827,0.00,2.58,0.00,0.000,6,0.000,0.053,2536,2241,1513
$GC,21139,1.06,310.9,66.8,8.7,1022,21143,0.00,2.62,0.00,0.000,4,0.000,0.064,2535,820,1513
$GC,21172,1.06,310.9,63.6,9.5,1023,21178,0.00,2.58,0.00,0.000,6,0.000,0.053,2536,2241,1513
$GC,21489,1.06,310.9,36.6,8.8,1039,21493,0.00,2.62,0.00,0.000,4,0.000,0.064,2535,820,1513
$GC,21516,1.06,310.9,34.0,8.7,1040,21521,0.00,2.58,0.00,0.000,6,0.000,0.052,2536,2240,1513
$GC,21833,1.06,310.9,8.2,7.9,1055,21837,0.00,2.65,0.00,0.000,4,0.000,0.076,2536,3657,1513
$GC,21888,1.06,310.9,2.9,10.1,1057,21894,0.00,2.60,0.00,0.000,6,0.000,0.062,2535,2239,1514
$STATE,21912,end climb,SURFACE_DEPTH_REACHED
$STATE,21912,begin surface coast
$FINISH,0.5,1.027155
$STATE,21934,end surface coast,CONTROL_FINISHED_OK
$STATE,21934,begin surface
$SM_CCo,21956,119.25,0.604,0,0,508,557.32
$SM_GC,1.14,0.00,0.00,119.25,0.000,0.000,0.604,71,2237,508,-10.25,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1842
$TCM_TEMP,17.60
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.5,19.3
$ALTIM_BOTTOM_PING,750.0,40.3
$24V_AH,23.6,31.582
$10V_AH,10.2,15.812
$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,25.800,125.800,414.950,119.250,0.000,36.516,72.113,292.160,13.250,0.000,0.000,16.924,1852.784,17271.924,740.173,2076.116,730.609,0.000,1758.594,0.000,2030.161,0.000,49.033
$DEVICE_MAMPS,170.274,82.069,1138.995,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,777.231,725.832,604.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53697,1060
$CAP_FILE_SIZE,144203,0
$CFSIZE,260165632,247570432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,130708,103727,6249.894,-1305.957,35,2.7,55,-12.0