version: 66.03
glider: 16
mission: 9
dive: 180
start: 7 13 108 10 45 16
data:
$ID,16
$MISSION,9
$DIVE,180
$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,-2096764.2
$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,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
$GPS1,103727,6249.894,-1305.957,35,2.7,55,-12.0
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,1
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-54.2
$GPS2,104456,6249.888,-1306.066,14,1.7,31,-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,2.9,47099,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-121.32,0.000,2,0.000,0.000,70,2237,2897
$GC,151,-0.85,-146.6,3.5,-2.7,6,181,11.40,2.67,-12.60,0.000,4,0.167,0.071,2109,811,3381
$GC,374,-0.72,-146.6,30.5,-11.3,16,379,0.17,2.60,0.00,0.000,6,0.097,0.054,2143,2231,3381
$GC,702,-0.62,-146.6,64.1,-10.2,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2231,3381
$GC,1011,-0.53,-146.6,90.5,-8.1,47,1013,0.20,0.00,0.00,0.000,6,0.093,0.000,2183,2231,3381
$GC,1322,-0.57,-146.6,111.1,-6.8,62,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2231,3381
$GC,1629,-0.57,-146.6,132.4,-7.1,77,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2231,3381
$GC,1938,-0.62,-146.6,153.7,-6.5,92,1943,0.00,2.65,0.00,0.000,4,0.000,0.077,2183,3644,3381
$GC,1979,-0.66,-146.6,156.5,-6.8,94,1984,0.12,2.58,0.00,0.000,6,0.046,0.054,2140,2228,3381
$GC,2306,-0.56,-146.6,184.8,-8.7,110,2308,0.17,0.00,0.00,0.000,6,0.086,0.000,2174,2228,3381
$GC,2615,-0.56,-146.6,206.1,-6.6,125,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3381
$GC,2925,-0.56,-146.6,225.9,-6.4,140,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3381
$GC,3233,-0.56,-146.6,244.9,-6.0,155,3238,0.00,2.67,0.00,0.000,4,0.000,0.080,2174,3643,3381
$GC,3273,-0.56,-146.6,247.5,-6.8,157,3277,0.00,2.58,0.00,0.000,6,0.000,0.054,2174,2230,3381
$GC,3600,-0.56,-146.6,268.0,-6.5,173,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3381
$GC,3909,-0.56,-146.6,288.6,-6.7,188,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3381
$GC,4218,-0.56,-146.6,309.6,-6.8,203,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3381
$GC,4527,-0.56,-146.6,332.1,-7.4,218,4531,0.00,2.67,0.00,0.000,4,0.000,0.080,2175,3643,3381
$GC,4566,-0.56,-146.6,335.2,-8.2,220,4571,0.00,2.58,0.00,0.000,6,0.000,0.055,2175,2228,3380
$GC,4894,-0.56,-146.6,358.6,-7.2,236,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2229,3381
$GC,5203,-0.56,-146.6,380.9,-7.3,251,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3381
$GC,5512,-0.56,-146.6,403.1,-7.2,266,5517,0.00,2.70,0.00,0.000,4,0.000,0.080,2174,3649,3381
$GC,5546,-0.56,-146.6,405.7,-8.0,267,5552,0.00,2.58,0.00,0.000,6,0.000,0.054,2174,2229,3380
$GC,5862,-0.56,-146.6,427.8,-7.0,283,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3381
$GC,6170,-0.56,-146.6,449.2,-6.8,298,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3380
$GC,6480,-0.56,-146.6,469.4,-6.2,313,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2229,3380
$GC,6790,-0.56,-146.6,488.6,-6.0,328,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3380
$GC,7099,-0.56,-146.6,505.7,-5.4,343,7103,0.00,2.67,0.00,0.000,4,0.000,0.078,2174,3643,3380
$GC,7138,-0.61,-146.6,508.0,-6.7,345,7143,0.00,2.58,0.00,0.000,6,0.000,0.054,2174,2223,3380
$GC,7466,-0.61,-146.6,526.4,-5.7,361,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2223,3380
$GC,7776,-0.65,-146.6,544.6,-5.7,376,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2223,3380
$GC,8086,-0.69,-146.6,560.9,-5.3,391,8087,0.12,0.00,0.00,0.000,6,0.047,0.000,2134,2223,3380
$GC,8394,-0.60,-146.6,584.4,-7.8,406,8396,0.17,0.00,0.00,0.000,6,0.086,0.000,2169,2223,3380
$GC,8703,-0.60,-146.6,605.0,-7.0,421,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2224,3379
$GC,9013,-0.60,-146.6,627.9,-7.8,436,9017,0.00,2.70,0.00,0.000,4,0.000,0.078,2169,3649,3379
$GC,9074,-0.60,-146.6,633.3,-9.3,439,9079,0.00,2.58,0.00,0.000,6,0.000,0.051,2169,2223,3379
$GC,9401,-0.60,-146.6,656.0,-6.2,455,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2222,3379
$GC,9712,-0.65,-146.6,672.6,-5.3,470,9716,0.00,2.70,0.00,0.000,4,0.000,0.078,2168,3646,3379
$GC,9751,-0.65,-146.6,675.0,-6.1,472,9758,0.00,2.55,0.00,0.000,6,0.000,0.051,2169,2230,3379
$GC,10086,-0.69,-146.6,694.1,-6.4,488,10091,0.00,2.58,0.00,0.000,4,0.000,0.064,2169,819,3378
$GC,10120,-0.79,-146.6,696.4,-6.1,489,10127,0.20,2.58,0.00,0.000,6,0.041,0.054,2112,2238,3379
$GC,10438,-0.65,-146.6,728.2,-10.4,505,10440,0.22,0.00,0.00,0.000,6,0.087,0.000,2156,2239,3378
$GC,10745,-0.65,-146.6,752.8,-7.9,520,10746,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2239,3378
$GC,11054,-0.65,-146.6,776.3,-7.5,535,11058,0.00,2.67,0.00,0.000,4,0.000,0.086,2156,3639,3378
$GC,11086,-0.65,-146.6,778.7,-7.7,536,11093,0.00,2.58,0.00,0.000,6,0.000,0.059,2156,2233,3378
$STATE,11173,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11173,begin apogee
$GC,11180,-0.31,0.0,783.5,5.3,541,11316,0.35,0.00,132.05,1.146,6,0.088,0.000,2227,2232,2781
$STATE,11316,end apogee,CONTROL_FINISHED_OK
$STATE,11317,begin climb
$GC,11319,0.85,146.6,786.8,0.0,548,11456,1.23,0.00,131.55,1.124,6,0.080,0.000,2481,2232,2183
$GC,11769,0.91,210.0,771.1,4.3,570,11828,0.00,0.00,57.12,1.101,6,0.000,0.000,2481,2232,1925
$GC,12135,1.00,228.8,752.4,5.5,588,12160,0.15,2.83,18.60,1.042,4,0.052,0.084,2523,3650,1847
$GC,12195,0.92,228.8,747.9,8.2,591,12200,0.12,2.65,0.00,0.000,6,0.095,0.061,2500,2239,1848
$GC,12523,0.92,228.8,724.5,7.0,607,12527,0.00,2.67,0.00,0.000,4,0.000,0.071,2499,822,1846
$GC,12562,0.92,228.8,721.6,7.8,609,12566,0.00,2.65,0.00,0.000,6,0.000,0.058,2500,2248,1846
$GC,12888,0.94,241.7,701.9,5.6,625,12907,0.00,0.00,12.75,0.999,6,0.000,0.000,2499,2248,1795
$GC,13217,0.97,272.7,684.9,5.2,641,13248,0.00,0.00,28.62,1.062,6,0.000,0.000,2499,2248,1669
$GC,13546,1.02,272.7,665.6,6.5,657,13551,0.10,2.67,0.00,0.000,4,0.057,0.067,2531,825,1668
$GC,13602,1.02,272.7,661.0,8.7,659,13608,0.00,2.60,0.00,0.000,6,0.000,0.055,2531,2238,1667
$GC,13918,0.97,272.7,632.9,9.2,675,13923,0.00,2.70,0.00,0.000,4,0.000,0.079,2531,3654,1667
$GC,13952,0.93,272.7,629.6,8.9,676,13959,0.15,2.62,0.00,0.000,6,0.087,0.058,2500,2232,1667
$GC,14268,0.93,272.7,601.7,8.6,692,14272,0.00,2.62,0.00,0.000,4,0.000,0.067,2500,822,1667
$GC,14312,0.93,272.7,597.8,8.3,694,14316,0.00,2.60,0.00,0.000,6,0.000,0.054,2500,2244,1666
$GC,14633,0.93,272.7,572.5,7.8,710,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2244,1667
$GC,14942,0.93,272.7,549.4,7.3,725,14947,0.00,2.65,0.00,0.000,4,0.000,0.064,2500,823,1667
$GC,14992,0.93,272.7,545.5,7.4,727,14997,0.00,2.58,0.00,0.000,6,0.000,0.052,2500,2241,1666
$GC,15308,0.93,272.7,522.3,7.5,742,15312,0.00,2.67,0.00,0.000,4,0.000,0.077,2500,3654,1667
$GC,15347,0.93,272.7,519.3,7.8,744,15352,0.00,2.60,0.00,0.000,6,0.000,0.058,2500,2243,1668
$GC,15674,0.93,272.7,495.1,7.2,760,15675,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2243,1667
$GC,15983,0.93,272.7,472.4,7.3,775,15984,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2243,1668
$GC,16292,0.93,272.7,449.7,7.5,790,16297,0.00,2.62,0.00,0.000,4,0.000,0.066,2500,823,1668
$GC,16325,0.93,272.7,447.1,7.3,791,16331,0.00,2.60,0.00,0.000,6,0.000,0.051,2500,2245,1669
$GC,16641,0.93,272.7,423.5,7.4,807,16642,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2246,1669
$GC,16950,0.93,272.7,400.7,7.3,822,16951,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2246,1669
$GC,17259,0.93,272.7,378.4,7.1,837,17260,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2245,1669
$GC,17568,0.93,272.7,356.3,7.0,852,17569,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2246,1670
$GC,17878,0.93,272.7,335.0,6.9,867,17879,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2246,1670
$GC,18187,0.93,272.7,313.7,6.9,882,18191,0.00,2.62,0.00,0.000,4,0.000,0.064,2500,821,1670
$GC,18231,0.93,272.7,310.5,7.0,884,18235,0.00,2.58,0.00,0.000,6,0.000,0.054,2500,2240,1670
$GC,18552,0.93,272.7,287.9,7.2,900,18553,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2240,1669
$GC,18860,0.93,272.7,265.9,7.1,915,18862,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2240,1671
$GC,19170,0.93,272.7,243.5,7.0,930,19174,0.00,2.62,0.00,0.000,4,0.000,0.064,2500,818,1670
$GC,19213,0.93,272.7,240.2,7.2,932,19218,0.00,2.60,0.00,0.000,6,0.000,0.053,2500,2249,1671
$GC,19535,0.93,272.7,217.0,7.0,948,19536,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2249,1671
$GC,19844,0.93,272.7,194.9,7.0,963,19845,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2249,1671
$GC,20153,0.93,272.7,172.7,7.4,978,20154,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2249,1671
$GC,20463,0.93,272.7,149.8,7.7,993,20464,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2249,1671
$GC,20772,0.93,272.7,126.7,7.3,1008,20776,0.00,2.62,0.00,0.000,4,0.000,0.063,2500,821,1671
$GC,20812,0.93,272.7,124.0,6.8,1010,20816,0.00,2.58,0.00,0.000,6,0.000,0.053,2500,2245,1672
$GC,21139,0.95,291.5,104.4,5.5,1026,21158,0.00,0.00,17.30,0.658,6,0.000,0.000,2500,2245,1592
$GC,21470,0.99,291.5,82.7,7.2,1042,21471,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2245,1591
$GC,21778,1.04,291.5,59.6,7.4,1057,21780,0.12,0.00,0.00,0.000,6,0.048,0.000,2538,2245,1591
$GC,22087,0.97,291.5,31.8,8.6,1072,22092,0.15,2.62,0.00,0.000,4,0.081,0.061,2504,821,1591
$GC,22142,1.02,291.5,27.8,7.6,1074,22149,0.00,2.55,0.00,0.000,6,0.000,0.051,2503,2239,1591
$GC,22461,1.08,296.4,6.4,5.9,1090,22472,0.15,2.65,5.35,0.486,4,0.045,0.072,2555,3651,1571
$STATE,22509,end climb,SURFACE_DEPTH_REACHED
$STATE,22509,begin surface coast
$FINISH,1.1,1.027091
$STATE,22515,end surface coast,CONTROL_FINISHED_OK
$STATE,22515,begin surface
$SM_CCo,22539,126.62,0.592,0,0,508,557.32
$SM_GC,1.15,0.00,0.00,126.62,0.000,0.000,0.592,72,2223,508,-10.24,-0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1862
$TCM_TEMP,19.90
$XPDR_PINGS,17
$ALTIM_TOP_PING,18.8,17.6
$ALTIM_BOTTOM_PING,751.1,41.9
$24V_AH,23.6,31.746
$10V_AH,10.2,15.910
$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,26.150,120.925,403.350,126.625,0.000,18.347,28.227,257.763,11.500,0.000,0.000,31.795,1900.486,17737.684,744.411,2096.143,637.179,0.000,1746.123,0.000,2036.043,0.000,51.945
$DEVICE_MAMPS,167.206,85.904,1145.898,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,796.230,751.569,636.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53583,1092
$CAP_FILE_SIZE,144436,0
$CFSIZE,260165632,247504896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130708,170428,6252.330,-1308.732,24,2.2,44,-12.0