version: 66.03
glider: 16
mission: 9
dive: 186
start: 7 15 108 0 39 56
data:
$ID,16
$MISSION,9
$DIVE,186
$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,-2096926.6
$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,23
$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
$GPS1,003322,6304.594,-1316.735,42,7.3,62,-12.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-53.4
$GPS2,003937,6304.535,-1316.653,34,1.8,39,-12.2
$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,16.3,19430,-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,-146.6,0.0,0.0,0,149,0.00,0.00,-121.40,0.000,2,0.000,0.000,74,2249,2939
$GC,152,-0.85,-146.6,3.7,-3.1,6,182,11.43,2.70,-10.43,0.000,4,0.169,0.070,2107,816,3380
$GC,356,-0.67,-146.6,30.7,-12.8,15,361,0.22,2.58,0.00,0.000,6,0.094,0.050,2152,2228,3380
$GC,678,-0.61,-146.6,59.7,-9.7,31,683,0.00,2.60,0.00,0.000,4,0.000,0.057,2152,814,3380
$GC,751,-0.61,-146.6,68.0,-11.2,34,755,0.00,2.58,0.00,0.000,6,0.000,0.050,2152,2230,3380
$GC,1067,-0.56,-146.6,106.3,-10.5,49,1069,0.12,0.00,0.00,0.000,6,0.097,0.000,2176,2230,3380
$GC,1377,-0.56,-146.6,124.8,-4.6,64,1381,0.00,2.65,0.00,0.000,4,0.000,0.072,2176,3644,3381
$GC,1410,-0.56,-146.6,126.5,-5.2,65,1416,0.00,2.55,0.00,0.000,6,0.000,0.049,2176,2228,3380
$GC,1728,-0.56,-146.6,138.7,-4.6,81,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2228,3380
$GC,2036,-0.56,-146.6,156.7,-6.2,96,2040,0.00,2.67,0.00,0.000,4,0.000,0.074,2176,3642,3380
$GC,2068,-0.56,-146.6,159.2,-7.4,97,2074,0.00,2.55,0.00,0.000,6,0.000,0.048,2175,2224,3380
$GC,2384,-0.56,-146.6,181.6,-7.4,113,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2224,3381
$GC,2693,-0.56,-146.6,203.7,-6.8,128,2698,0.00,2.70,0.00,0.000,4,0.000,0.074,2176,3649,3380
$GC,2726,-0.56,-146.6,206.3,-8.1,129,2732,0.00,2.55,0.00,0.000,6,0.000,0.047,2176,2225,3380
$GC,3042,-0.56,-146.6,226.4,-6.0,145,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3380
$GC,3351,-0.56,-146.6,246.9,-6.8,160,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3380
$GC,3661,-0.56,-146.6,267.9,-6.9,175,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3380
$GC,3970,-0.60,-146.6,289.6,-7.0,190,3974,0.00,2.67,0.00,0.000,4,0.000,0.076,2176,3641,3380
$GC,4014,-0.65,-146.6,293.0,-7.7,192,4018,0.00,2.53,0.00,0.000,6,0.000,0.047,2176,2231,3380
$GC,4335,-0.65,-146.6,313.8,-6.2,208,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2231,3380
$GC,4644,-0.69,-146.6,333.3,-6.3,223,4646,0.12,0.00,0.00,0.000,6,0.051,0.000,2140,2231,3380
$GC,4954,-0.62,-146.6,358.7,-8.4,238,4956,0.12,0.00,0.00,0.000,6,0.087,0.000,2165,2231,3380
$GC,5262,-0.62,-146.6,382.2,-7.8,253,5267,0.00,2.67,0.00,0.000,4,0.000,0.076,2165,3644,3379
$GC,5302,-0.62,-146.6,385.5,-8.8,255,5307,0.00,2.55,0.00,0.000,6,0.000,0.049,2164,2226,3379
$GC,5629,-0.62,-146.6,411.1,-7.9,271,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2226,3379
$GC,5938,-0.62,-146.6,434.7,-7.5,286,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2226,3380
$GC,6247,-0.62,-146.6,456.1,-6.6,301,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2226,3379
$GC,6557,-0.62,-146.6,477.0,-6.8,316,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2226,3379
$GC,6866,-0.62,-146.6,497.5,-6.6,331,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2226,3379
$GC,7175,-0.62,-146.6,518.5,-6.7,346,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2226,3379
$GC,7485,-0.62,-146.6,539.2,-7.1,361,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2226,3379
$GC,7794,-0.62,-146.6,561.9,-7.5,376,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2226,3379
$GC,8103,-0.62,-146.6,587.0,-8.4,391,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2226,3378
$GC,8413,-0.62,-146.6,613.6,-8.6,406,8417,0.00,2.67,0.00,0.000,4,0.000,0.075,2165,3643,3378
$GC,8468,-0.62,-146.6,618.7,-9.3,408,8474,0.00,2.53,0.00,0.000,6,0.000,0.048,2164,2229,3378
$GC,8783,-0.62,-146.6,644.1,-8.0,424,8787,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,812,3378
$GC,8828,-0.68,-146.6,647.6,-7.7,426,8832,0.00,2.58,0.00,0.000,6,0.000,0.051,2164,2235,3378
$GC,9148,-0.68,-146.6,669.7,-6.5,442,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2235,3378
$GC,9458,-0.68,-146.6,687.8,-5.8,457,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2236,3377
$GC,9768,-0.68,-146.6,705.6,-5.7,472,9769,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2236,3377
$GC,10077,-0.68,-146.6,722.5,-5.8,487,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2235,3377
$GC,10386,-0.68,-146.6,742.9,-7.0,502,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2236,3377
$GC,10695,-0.68,-146.6,763.2,-6.6,517,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2236,3377
$GC,11005,-0.73,-146.6,777.5,-5.9,532,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2236,3377
$GC,11314,-0.81,-146.6,797.4,-7.5,547,11316,0.20,0.00,0.00,0.000,6,0.046,0.000,2113,2236,3376
$STATE,11517,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11517,begin apogee
$GC,11524,-0.31,0.0,815.2,9.2,557,11661,0.57,0.00,133.85,1.167,6,0.086,0.000,2230,2235,2781
$STATE,11662,end apogee,CONTROL_FINISHED_OK
$STATE,11662,begin climb
$GC,11665,0.85,146.6,822.1,0.0,564,11809,1.17,2.72,132.05,1.146,4,0.072,0.065,2481,839,2182
$GC,11902,0.95,242.8,814.3,3.4,575,11998,0.12,2.62,86.75,1.126,6,0.054,0.058,2513,2243,1791
$GC,12314,0.95,242.8,781.5,7.6,595,12318,0.00,2.70,0.00,0.000,4,0.000,0.082,2513,3647,1790
$GC,12347,0.91,242.8,778.7,8.5,596,12353,0.00,2.62,0.00,0.000,6,0.000,0.060,2513,2238,1790
$GC,12662,0.91,242.8,754.9,8.2,612,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2238,1789
$GC,12972,0.91,242.8,730.7,8.0,627,12976,0.00,2.72,0.00,0.000,4,0.000,0.083,2513,3648,1788
$GC,13057,0.91,242.8,723.1,8.9,631,13061,0.00,2.62,0.00,0.000,6,0.000,0.058,2513,2231,1788
$GC,13383,0.91,242.8,694.9,8.8,647,13387,0.00,2.62,0.00,0.000,4,0.000,0.068,2513,829,1787
$GC,13433,0.91,242.8,690.2,9.3,649,13437,0.00,2.60,0.00,0.000,6,0.000,0.055,2513,2242,1786
$GC,13748,0.91,242.8,665.4,6.8,664,13753,0.00,2.65,0.00,0.000,4,0.000,0.080,2513,3647,1786
$GC,13820,0.91,242.8,660.3,7.6,667,13824,0.00,2.58,0.00,0.000,6,0.000,0.054,2513,2238,1786
$GC,14136,0.94,278.1,643.0,5.0,682,14169,0.00,0.00,31.40,1.032,6,0.000,0.000,2513,2238,1647
$GC,14465,0.96,295.3,625.1,5.5,698,14487,0.00,2.72,16.62,0.976,4,0.000,0.064,2513,831,1576
$GC,14521,1.01,295.3,621.6,6.5,700,14525,0.00,2.60,0.00,0.000,6,0.000,0.052,2513,2238,1576
$GC,14837,1.01,295.3,601.9,6.2,715,14838,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2238,1577
$GC,15146,1.01,295.3,582.0,6.8,730,15147,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2238,1577
$GC,15455,1.01,295.3,559.1,8.0,745,15460,0.00,2.62,0.00,0.000,4,0.000,0.063,2513,825,1577
$GC,15500,1.01,295.3,555.2,8.8,747,15504,0.00,2.60,0.00,0.000,6,0.000,0.051,2513,2245,1577
$GC,15820,1.01,295.3,528.8,8.7,763,15821,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2245,1577
$GC,16129,1.01,295.3,502.7,8.5,778,16131,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2245,1577
$GC,16439,1.01,295.3,477.4,8.1,793,16440,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2245,1577
$GC,16748,1.01,295.3,454.3,7.1,808,16752,0.00,2.62,0.00,0.000,4,0.000,0.064,2513,827,1577
$GC,16788,1.06,295.3,451.4,8.2,810,16792,0.00,2.58,0.00,0.000,6,0.000,0.051,2513,2242,1577
$GC,17115,1.06,295.3,427.5,7.3,826,17116,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2242,1578
$GC,17423,1.06,295.3,404.3,7.7,841,17428,0.00,2.62,0.00,0.000,4,0.000,0.064,2513,826,1578
$GC,17464,1.10,295.3,401.0,8.9,843,17469,0.12,2.58,0.00,0.000,6,0.063,0.051,2542,2239,1578
$GC,17791,1.05,295.3,371.4,9.4,859,17792,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2238,1578
$GC,18100,1.01,295.3,343.7,8.6,874,18102,0.12,0.00,0.00,0.000,6,0.084,0.000,2518,2238,1578
$GC,18409,1.01,295.3,320.1,7.8,889,18410,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2238,1579
$GC,18718,1.01,295.3,295.4,8.0,904,18719,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2238,1579
$GC,19027,1.01,295.3,270.2,8.2,919,19031,0.00,2.62,0.00,0.000,4,0.000,0.063,2518,820,1579
$GC,19077,1.01,295.3,265.9,8.8,921,19081,0.00,2.58,0.00,0.000,6,0.000,0.051,2518,2243,1579
$GC,19393,1.01,295.3,240.5,7.9,936,19394,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2243,1579
$GC,19702,1.01,295.3,218.3,7.0,951,19703,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2243,1579
$GC,20012,1.01,295.3,197.4,6.6,966,20016,0.00,2.62,0.00,0.000,4,0.000,0.063,2518,826,1579
$GC,20056,1.05,295.3,194.2,8.9,968,20060,0.00,2.58,0.00,0.000,6,0.000,0.051,2518,2242,1579
$GC,20377,1.05,295.3,171.8,6.8,984,20381,0.00,2.65,0.00,0.000,4,0.000,0.074,2518,3653,1579
$GC,20410,1.10,295.3,169.6,7.0,985,20416,0.00,2.58,0.00,0.000,6,0.000,0.054,2518,2235,1580
$GC,20726,1.10,295.3,149.1,6.7,1001,20730,0.00,2.58,0.00,0.000,4,0.000,0.063,2518,825,1580
$GC,20766,1.14,295.3,146.3,6.3,1003,20771,0.12,2.58,0.00,0.000,6,0.049,0.051,2548,2242,1580
$GC,21096,1.08,295.3,118.3,9.5,1019,21097,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2242,1580
$GC,21403,1.03,295.3,89.0,9.5,1034,21408,0.12,2.65,0.00,0.000,4,0.086,0.074,2522,3654,1580
$GC,21447,1.03,295.3,84.3,9.8,1036,21451,0.00,2.58,0.00,0.000,6,0.000,0.054,2522,2238,1580
$GC,21769,1.03,295.3,54.9,8.8,1052,21773,0.00,2.60,0.00,0.000,4,0.000,0.062,2522,820,1580
$GC,21835,1.03,295.3,49.0,7.7,1055,21840,0.00,2.58,0.00,0.000,6,0.000,0.051,2522,2241,1580
$GC,22158,1.03,295.3,23.8,7.9,1071,22163,0.00,2.62,0.00,0.000,4,0.000,0.072,2522,3650,1580
$GC,22226,1.03,295.3,17.9,7.2,1074,22230,0.00,2.55,0.00,0.000,6,0.000,0.052,2522,2238,1581
$STATE,22441,end climb,SURFACE_DEPTH_REACHED
$STATE,22441,begin surface coast
$FINISH,0.7,1.027112
$STATE,22463,end surface coast,CONTROL_FINISHED_OK
$STATE,22463,begin surface
$SM_CCo,22484,126.65,0.595,0,0,508,557.32
$SM_GC,1.10,0.00,0.00,126.65,0.000,0.000,0.595,69,2236,508,-10.26,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1845
$TCM_TEMP,17.70
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,726.4,97.4
$24V_AH,23.5,32.739
$10V_AH,10.1,16.489
$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,25.175,130.675,400.675,126.650,0.000,18.063,27.783,175.781,13.000,0.000,0.000,39.000,1898.106,17655.246,697.862,2174.789,559.201,0.000,1767.085,0.000,2113.353,0.000,44.612
$DEVICE_MAMPS,168.740,82.836,1167.374,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,799.246,746.331,616.539,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53568,1086
$CAP_FILE_SIZE,144043,0
$CFSIZE,260165632,247107584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150708,065808,6307.650,-1319.019,39,1.9,40,-12.2