version: 66.03
glider: 16
mission: 9
dive: 181
start: 7 13 108 17 10 34
data:
$ID,16
$MISSION,9
$DIVE,181
$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,-2096802.1
$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,19
$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
$GPS1,170428,6252.330,-1308.732,24,2.2,44,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-48.1
$GPS2,171017,6252.301,-1308.605,17,2.5,36,-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,4.8,42374,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,154,0.00,0.00,-125.55,0.000,2,0.000,0.000,71,2223,3019
$GC,158,-0.85,-146.6,4.0,-3.4,7,183,11.45,2.60,-8.20,0.000,4,0.170,0.074,2108,813,3380
$GC,337,-0.69,-146.6,28.0,-10.4,15,342,0.20,2.60,0.00,0.000,6,0.097,0.052,2147,2228,3380
$GC,664,-0.60,-146.6,56.0,-8.3,31,669,0.10,2.62,0.00,0.000,4,0.101,0.058,2165,808,3380
$GC,731,-0.60,-146.6,61.2,-7.1,34,735,0.00,2.60,0.00,0.000,6,0.000,0.052,2165,2232,3380
$GC,1052,-0.60,-146.6,83.7,-6.9,50,1056,0.00,2.65,0.00,0.000,4,0.000,0.074,2165,3644,3381
$GC,1085,-0.60,-146.6,86.5,-8.5,51,1091,0.00,2.58,0.00,0.000,6,0.000,0.052,2165,2225,3381
$GC,1402,-0.60,-146.6,112.4,-8.4,67,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2224,3381
$GC,1710,-0.60,-146.6,137.1,-8.1,82,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2225,3381
$GC,2019,-0.60,-146.6,162.2,-8.0,97,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2225,3381
$GC,2328,-0.60,-146.6,184.7,-6.8,112,2333,0.00,2.70,0.00,0.000,4,0.000,0.078,2165,3645,3381
$GC,2362,-0.60,-146.6,187.1,-6.8,113,2368,0.00,2.58,0.00,0.000,6,0.000,0.052,2165,2223,3381
$GC,2677,-0.60,-146.6,207.1,-6.2,129,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2223,3381
$GC,2988,-0.60,-146.6,225.3,-6.0,144,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2223,3381
$GC,3296,-0.60,-146.6,246.4,-7.2,159,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2223,3381
$GC,3605,-0.60,-146.6,269.0,-7.1,174,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2223,3381
$GC,3914,-0.60,-146.6,291.1,-7.2,189,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2223,3380
$GC,4223,-0.60,-146.6,313.3,-7.0,204,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2222,3380
$GC,4533,-0.60,-146.6,334.6,-6.9,219,4537,0.00,2.70,0.00,0.000,4,0.000,0.079,2165,3645,3380
$GC,4572,-0.60,-146.6,337.5,-7.1,221,4577,0.00,2.58,0.00,0.000,6,0.000,0.053,2165,2225,3380
$GC,4899,-0.60,-146.6,360.1,-7.0,237,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2225,3380
$GC,5208,-0.60,-146.6,381.7,-7.0,252,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2225,3380
$GC,5518,-0.60,-146.6,404.1,-7.3,267,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2225,3380
$GC,5827,-0.60,-146.6,426.5,-7.1,282,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2225,3380
$GC,6136,-0.60,-146.6,448.4,-7.0,297,6141,0.00,2.67,0.00,0.000,4,0.000,0.078,2165,3641,3380
$GC,6175,-0.60,-146.6,451.4,-7.5,299,6180,0.00,2.55,0.00,0.000,6,0.000,0.052,2165,2230,3380
$GC,6503,-0.60,-146.6,474.0,-6.9,315,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3379
$GC,6811,-0.60,-146.6,495.0,-6.7,330,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3379
$GC,7121,-0.60,-146.6,516.4,-7.0,345,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3379
$GC,7430,-0.60,-146.6,538.9,-7.5,360,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3380
$GC,7739,-0.60,-146.6,560.4,-6.8,375,7743,0.00,2.67,0.00,0.000,4,0.000,0.077,2165,3646,3379
$GC,7783,-0.60,-146.6,563.8,-7.8,377,7787,0.00,2.55,0.00,0.000,6,0.000,0.053,2165,2230,3379
$GC,8104,-0.60,-146.6,585.3,-6.8,393,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3379
$GC,8413,-0.60,-146.6,606.7,-6.8,408,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3379
$GC,8722,-0.60,-146.6,627.9,-6.9,423,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3379
$GC,9032,-0.60,-146.6,650.3,-7.4,438,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3378
$GC,9341,-0.60,-146.6,672.7,-6.7,453,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3378
$GC,9650,-0.60,-146.6,692.5,-6.6,468,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3378
$GC,9960,-0.60,-146.6,709.0,-3.9,483,9964,0.00,2.67,0.00,0.000,4,0.000,0.080,2165,3646,3378
$GC,10010,-0.60,-146.6,710.4,-2.5,485,10014,0.00,2.55,0.00,0.000,6,0.000,0.053,2165,2228,3378
$GC,10327,-0.65,-146.6,720.9,-4.4,500,10331,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,822,3378
$GC,10377,-0.74,-146.6,723.4,-5.2,502,10382,0.12,2.55,0.00,0.000,6,0.051,0.055,2125,2231,3378
$GC,10693,-0.66,-146.6,746.4,-8.1,517,10695,0.15,0.00,0.00,0.000,6,0.089,0.000,2154,2231,3377
$GC,11002,-0.66,-146.6,767.3,-6.8,532,11006,0.00,2.62,0.00,0.000,4,0.000,0.067,2154,822,3377
$GC,11046,-0.71,-146.6,770.5,-6.8,534,11051,0.00,2.60,0.00,0.000,6,0.000,0.059,2154,2235,3376
$STATE,11137,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11137,begin apogee
$GC,11144,-0.31,0.0,776.7,6.9,539,11281,0.38,0.00,131.98,1.144,6,0.090,0.000,2230,2235,2781
$STATE,11281,end apogee,CONTROL_FINISHED_OK
$STATE,11282,begin climb
$GC,11285,0.85,146.6,783.3,0.0,546,11428,1.17,2.85,130.82,1.127,4,0.077,0.084,2480,3650,2183
$GC,11499,1.00,283.7,779.6,2.2,556,11630,0.17,2.62,121.95,1.114,6,0.048,0.058,2528,2241,1625
$GC,11954,1.00,283.7,744.0,8.9,578,11958,0.00,2.67,0.00,0.000,4,0.000,0.071,2527,824,1624
$GC,12020,1.00,283.7,737.4,10.5,581,12025,0.00,2.62,0.00,0.000,6,0.000,0.059,2528,2242,1623
$GC,12341,1.00,283.7,709.9,7.2,597,12345,0.00,2.67,0.00,0.000,4,0.000,0.070,2528,828,1623
$GC,12418,1.00,283.7,705.0,6.2,600,12425,0.00,2.62,0.00,0.000,6,0.000,0.058,2528,2244,1622
$GC,12735,1.00,283.7,681.8,7.9,616,12739,0.00,2.70,0.00,0.000,4,0.000,0.082,2528,3654,1621
$GC,12796,1.00,283.7,676.5,8.9,619,12801,0.00,2.62,0.00,0.000,6,0.000,0.060,2528,2239,1622
$GC,13123,1.00,283.7,650.4,7.2,635,13127,0.00,2.65,0.00,0.000,4,0.000,0.070,2528,823,1620
$GC,13162,1.00,283.7,647.7,7.3,637,13167,0.00,2.62,0.00,0.000,6,0.000,0.056,2528,2243,1620
$GC,13489,1.00,283.7,624.0,7.5,653,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2243,1620
$GC,13798,1.00,283.7,599.1,8.3,668,13803,0.00,2.65,0.00,0.000,4,0.000,0.066,2528,825,1620
$GC,13862,1.00,283.7,594.2,8.1,671,13866,0.00,2.60,0.00,0.000,6,0.000,0.053,2528,2246,1620
$GC,14188,1.00,283.7,569.7,7.5,687,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2245,1620
$GC,14497,1.00,283.7,545.8,7.6,702,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2246,1620
$GC,14807,1.00,283.7,522.3,7.7,717,14811,0.00,2.65,0.00,0.000,4,0.000,0.064,2528,821,1620
$GC,14868,1.00,283.7,517.5,7.5,720,14873,0.00,2.60,0.00,0.000,6,0.000,0.053,2528,2246,1620
$GC,15196,1.00,283.7,493.5,7.1,736,15197,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2246,1620
$GC,15505,1.00,283.7,470.7,7.7,751,15510,0.00,2.65,0.00,0.000,4,0.000,0.064,2528,820,1620
$GC,15578,1.00,283.7,464.6,8.8,754,15582,0.00,2.60,0.00,0.000,6,0.000,0.052,2529,2246,1620
$GC,15893,1.00,283.7,439.5,8.1,769,15894,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2245,1621
$GC,16203,1.00,283.7,414.0,8.3,784,16207,0.00,2.62,0.00,0.000,4,0.000,0.063,2528,825,1621
$GC,16260,1.00,283.7,409.2,8.5,786,16265,0.00,2.58,0.00,0.000,6,0.000,0.052,2527,2240,1621
$GC,16575,1.00,283.7,382.5,8.4,802,16576,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2240,1620
$GC,16885,1.00,283.7,355.3,8.7,817,16889,0.00,2.62,0.00,0.000,4,0.000,0.064,2528,819,1621
$GC,16946,1.00,283.7,350.0,7.6,820,16951,0.00,2.60,0.00,0.000,6,0.000,0.053,2528,2245,1621
$GC,17274,1.00,283.7,323.0,8.1,836,17275,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2245,1621
$GC,17583,1.00,283.7,297.8,8.3,851,17588,0.00,2.62,0.00,0.000,4,0.000,0.063,2528,824,1621
$GC,17639,1.00,283.7,293.0,9.1,853,17645,0.00,2.58,0.00,0.000,6,0.000,0.053,2528,2240,1621
$GC,17954,1.00,283.7,268.3,8.0,869,17955,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2239,1622
$GC,18264,1.00,283.7,243.8,8.2,884,18268,0.00,2.62,0.00,0.000,4,0.000,0.064,2528,818,1622
$GC,18308,1.00,283.7,240.2,8.0,886,18312,0.00,2.60,0.00,0.000,6,0.000,0.053,2528,2242,1622
$GC,18628,1.00,283.7,216.1,7.3,902,18629,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2242,1622
$GC,18938,1.00,283.7,194.8,7.0,917,18942,0.00,2.62,0.00,0.000,4,0.000,0.064,2528,819,1622
$GC,18993,1.00,283.7,190.4,6.9,919,18999,0.00,2.58,0.00,0.000,6,0.000,0.052,2528,2240,1622
$GC,19308,1.00,283.7,166.6,7.8,935,19310,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2240,1623
$GC,19619,1.00,283.7,143.1,7.5,950,19623,0.00,2.62,0.00,0.000,4,0.000,0.063,2528,818,1623
$GC,19663,1.00,283.7,139.6,7.5,952,19667,0.00,2.58,0.00,0.000,6,0.000,0.051,2528,2240,1623
$GC,19984,1.00,283.7,114.7,7.5,968,19985,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2240,1623
$GC,20295,1.00,283.7,93.0,6.9,983,20299,0.00,2.62,0.00,0.000,4,0.000,0.062,2528,820,1623
$GC,20327,1.00,283.7,90.3,6.9,984,20334,0.00,2.58,0.00,0.000,6,0.000,0.052,2527,2239,1623
$GC,20643,1.00,283.7,68.0,6.8,1000,20644,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2240,1623
$GC,20955,1.00,283.7,46.7,7.1,1015,20956,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2240,1623
$GC,21262,1.00,283.7,22.5,8.8,1030,21266,0.00,2.60,0.00,0.000,4,0.000,0.061,2528,823,1623
$GC,21328,1.00,283.7,17.0,7.9,1033,21332,0.00,2.58,0.00,0.000,6,0.000,0.051,2528,2245,1623
$STATE,21564,end climb,SURFACE_DEPTH_REACHED
$STATE,21564,begin surface coast
$FINISH,0.7,1.027170
$STATE,21586,end surface coast,CONTROL_FINISHED_OK
$STATE,21586,begin surface
$SM_CCo,21608,130.98,0.596,0,0,508,557.32
$SM_GC,1.11,0.00,0.00,130.98,0.000,0.000,0.596,74,2247,508,-10.24,0.48,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1847
$TCM_TEMP,16.50
$XPDR_PINGS,24
$ALTIM_TOP_PING,20.0,18.5
$ALTIM_BOTTOM_PING,700.3,85.0
$24V_AH,23.6,31.904
$10V_AH,10.1,16.005
$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,24.275,136.275,384.750,130.975,0.000,18.052,28.569,148.662,12.500,0.000,0.000,37.246,1825.103,16896.326,685.072,2153.657,524.889,0.000,1742.560,0.000,2085.768,0.000,45.916
$DEVICE_MAMPS,169.507,84.370,1143.597,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,767.780,716.535,623.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53650,1046
$CAP_FILE_SIZE,137724,0
$CFSIZE,260165632,247439360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130708,231408,6255.147,-1309.518,34,1.1,35,-12.1