version: 66.03
glider: 16
mission: 9
dive: 197
start: 7 17 108 21 10 13
data:
$ID,16
$MISSION,9
$DIVE,197
$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,-2097175.2
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,205738,6333.181,-1318.343,34,1.9,35,-12.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-58.7
$GPS2,210953,6333.185,-1318.172,13,3.0,32,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$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,24.5,31848,-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,-121.18,0.000,2,0.000,0.000,73,2248,2951
$GC,151,-0.85,-146.6,3.3,-2.6,6,181,11.38,2.67,-10.68,0.000,4,0.166,0.070,2107,810,3380
$GC,332,-0.70,-146.6,26.2,-10.0,14,337,0.20,2.55,0.00,0.000,6,0.092,0.048,2147,2227,3380
$GC,654,-0.61,-146.6,52.4,-7.6,30,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2227,3379
$GC,964,-0.53,-146.6,75.9,-7.2,45,966,0.17,0.00,0.00,0.000,6,0.091,0.000,2181,2228,3380
$GC,1274,-0.53,-146.6,93.5,-5.8,60,1278,0.00,2.60,0.00,0.000,4,0.000,0.057,2181,811,3380
$GC,1319,-0.62,-146.6,96.3,-5.9,62,1324,0.00,2.58,0.00,0.000,6,0.000,0.048,2181,2232,3380
$GC,1641,-0.62,-146.6,118.0,-7.4,78,1645,0.00,2.62,0.00,0.000,4,0.000,0.069,2181,3641,3380
$GC,1680,-0.62,-146.6,121.4,-8.6,80,1685,0.00,2.55,0.00,0.000,6,0.000,0.049,2181,2226,3380
$GC,2008,-0.62,-146.6,148.9,-8.6,96,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2226,3380
$GC,2317,-0.66,-146.6,172.9,-7.6,111,2322,0.12,2.65,0.00,0.000,4,0.046,0.071,2137,3641,3380
$GC,2362,-0.55,-146.6,177.4,-10.2,113,2367,0.20,2.55,0.00,0.000,6,0.084,0.048,2178,2222,3381
$GC,2683,-0.55,-146.6,203.0,-8.1,129,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2222,3380
$GC,2992,-0.55,-146.6,228.3,-8.3,144,2996,0.00,2.67,0.00,0.000,4,0.000,0.072,2178,3646,3380
$GC,3025,-0.55,-146.6,231.2,-9.4,145,3031,0.00,2.53,0.00,0.000,6,0.000,0.047,2178,2231,3380
$GC,3341,-0.55,-146.6,258.1,-8.5,161,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2230,3379
$GC,3651,-0.59,-146.6,283.0,-7.7,176,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2230,3380
$GC,3959,-0.59,-146.6,305.2,-6.9,191,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2230,3379
$GC,4270,-0.59,-146.6,326.2,-6.8,206,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2230,3379
$GC,4578,-0.63,-146.6,346.4,-6.7,221,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2230,3379
$GC,4887,-0.63,-146.6,366.2,-6.4,236,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2230,3379
$GC,5197,-0.67,-146.6,386.1,-6.2,251,5199,0.12,0.00,0.00,0.000,6,0.046,0.000,2136,2230,3379
$GC,5506,-0.59,-146.6,411.7,-8.3,266,5508,0.17,0.00,0.00,0.000,6,0.086,0.000,2171,2230,3379
$GC,5815,-0.59,-146.6,432.3,-6.5,281,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3378
$GC,6125,-0.59,-146.6,452.8,-6.8,296,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3378
$GC,6433,-0.59,-146.6,474.3,-7.0,311,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3378
$GC,6743,-0.59,-146.6,495.3,-6.6,326,6747,0.00,2.65,0.00,0.000,4,0.000,0.073,2171,3644,3378
$GC,6782,-0.59,-146.6,497.9,-6.9,328,6787,0.00,2.55,0.00,0.000,6,0.000,0.048,2171,2222,3378
$GC,7109,-0.59,-146.6,517.4,-5.6,344,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3378
$GC,7418,-0.59,-146.6,534.8,-6.4,359,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3378
$GC,7728,-0.59,-146.6,556.8,-7.2,374,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3378
$GC,8037,-0.59,-146.6,578.6,-6.9,389,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3377
$GC,8346,-0.59,-146.6,599.4,-6.8,404,8351,0.00,2.67,0.00,0.000,4,0.000,0.073,2171,3646,3377
$GC,8379,-0.59,-146.6,601.8,-7.8,405,8386,0.00,2.53,0.00,0.000,6,0.000,0.047,2171,2226,3377
$GC,8695,-0.59,-146.6,623.7,-6.7,421,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3377
$GC,9005,-0.63,-146.6,644.8,-6.5,436,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3377
$GC,9315,-0.68,-146.6,661.7,-5.3,451,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3377
$GC,9624,-0.72,-146.6,677.1,-5.1,466,9625,0.12,0.00,0.00,0.000,6,0.047,0.000,2131,2227,3377
$GC,9934,-0.64,-146.6,700.1,-7.5,481,9936,0.15,0.00,0.00,0.000,6,0.087,0.000,2161,2227,3376
$GC,10241,-0.64,-146.6,719.2,-6.6,496,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2226,3376
$GC,10551,-0.64,-146.6,737.5,-5.5,511,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3376
$GC,10861,-0.64,-146.6,753.7,-5.3,526,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3376
$GC,11170,-0.69,-146.6,774.9,-9.0,541,11174,0.00,2.58,0.00,0.000,4,0.000,0.062,2161,820,3376
$STATE,11234,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11234,begin apogee
$GC,11243,-0.31,0.0,778.6,4.7,544,11380,0.30,0.00,132.62,1.134,6,0.084,0.000,2226,2240,2781
$STATE,11381,end apogee,CONTROL_FINISHED_OK
$STATE,11381,begin climb
$GC,11384,0.85,146.6,784.7,0.0,551,11524,1.23,2.78,131.82,1.114,4,0.077,0.077,2481,3642,2183
$GC,11615,0.80,171.3,776.2,5.3,562,11644,0.00,2.58,23.17,1.043,6,0.000,0.051,2480,2237,2082
$GC,11961,0.85,209.2,758.4,5.0,579,12000,0.00,0.00,35.00,1.068,6,0.000,0.000,2481,2237,1927
$GC,12311,0.97,267.1,741.6,4.4,596,12374,0.15,2.72,52.58,1.082,4,0.051,0.065,2528,837,1690
$GC,12452,0.97,267.1,731.6,8.3,602,12456,0.00,2.60,0.00,0.000,6,0.000,0.054,2529,2240,1690
$GC,12768,0.97,267.1,705.6,8.4,617,12772,0.00,2.67,0.00,0.000,4,0.000,0.077,2529,3653,1689
$GC,12841,0.93,267.1,699.2,8.6,620,12846,0.12,2.60,0.00,0.000,6,0.089,0.055,2503,2239,1689
$GC,13156,0.93,267.1,678.2,6.3,635,13160,0.00,2.62,0.00,0.000,4,0.000,0.067,2503,829,1688
$GC,13200,0.93,267.1,675.2,6.9,637,13205,0.00,2.60,0.00,0.000,6,0.000,0.054,2502,2243,1688
$GC,13521,0.93,267.1,656.0,6.2,653,13526,0.00,2.67,0.00,0.000,4,0.000,0.075,2501,3653,1688
$GC,13554,0.93,267.1,653.6,7.4,654,13560,0.00,2.58,0.00,0.000,6,0.000,0.054,2502,2241,1688
$GC,13870,0.93,267.1,632.6,6.6,670,13874,0.00,2.62,0.00,0.000,4,0.000,0.066,2503,829,1687
$GC,13948,0.93,267.1,626.8,7.1,673,13954,0.00,2.60,0.00,0.000,6,0.000,0.053,2503,2246,1687
$GC,14263,0.93,267.1,605.0,7.0,689,14264,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2246,1687
$GC,14573,0.93,267.1,579.6,8.9,704,14577,0.00,2.62,0.00,0.000,4,0.000,0.064,2503,829,1687
$GC,14634,0.93,267.1,574.0,9.0,707,14639,0.00,2.58,0.00,0.000,6,0.000,0.051,2503,2238,1687
$GC,14961,0.93,267.1,549.6,6.6,723,14965,0.00,2.65,0.00,0.000,4,0.000,0.074,2503,3650,1688
$GC,15006,0.93,267.1,546.3,7.5,725,15011,0.00,2.58,0.00,0.000,6,0.000,0.053,2503,2238,1688
$GC,15328,0.93,267.1,524.9,6.5,741,15332,0.00,2.60,0.00,0.000,4,0.000,0.064,2503,828,1688
$GC,15377,0.93,267.1,521.5,6.5,743,15382,0.00,2.58,0.00,0.000,6,0.000,0.051,2503,2240,1688
$GC,15693,0.93,267.1,499.8,6.9,758,15694,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2241,1688
$GC,16002,0.93,267.1,477.4,7.4,773,16003,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2240,1688
$GC,16311,0.93,267.1,453.7,7.9,788,16316,0.00,2.60,0.00,0.000,4,0.000,0.062,2503,828,1688
$GC,16356,0.93,267.1,450.0,8.2,790,16360,0.00,2.55,0.00,0.000,6,0.000,0.051,2503,2241,1688
$GC,16677,0.93,267.1,426.5,7.2,806,16678,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2241,1689
$GC,16986,0.93,267.1,404.9,6.9,821,16987,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2240,1689
$GC,17296,0.93,267.1,383.4,7.0,836,17297,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2241,1689
$GC,17604,0.93,267.1,362.3,6.8,851,17609,0.00,2.62,0.00,0.000,4,0.000,0.063,2503,821,1689
$GC,17649,0.93,267.1,359.2,7.0,853,17653,0.00,2.60,0.00,0.000,6,0.000,0.052,2503,2247,1689
$GC,17969,0.93,267.1,338.3,6.4,869,17970,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2247,1690
$GC,18279,0.93,267.1,319.0,6.1,884,18280,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2247,1690
$GC,18588,0.93,267.1,299.3,6.4,899,18589,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2247,1690
$GC,18897,0.94,271.2,281.0,5.9,914,18904,0.00,0.00,5.00,0.587,6,0.000,0.000,2503,2247,1675
$GC,19207,0.94,271.2,262.0,6.3,929,19211,0.00,2.62,0.00,0.000,4,0.000,0.063,2503,823,1675
$GC,19248,0.94,271.2,259.3,6.5,931,19252,0.00,2.60,0.00,0.000,6,0.000,0.051,2503,2246,1675
$GC,19574,0.95,286.4,238.1,5.6,947,19594,0.00,0.00,14.38,0.722,6,0.000,0.000,2502,2246,1612
$GC,19904,0.95,286.4,217.6,6.4,963,19905,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2246,1612
$GC,20213,0.96,289.7,198.5,5.9,978,20222,0.00,2.65,4.43,0.528,4,0.000,0.063,2503,821,1600
$GC,20262,0.96,289.7,195.3,6.5,980,20267,0.00,2.60,0.00,0.000,6,0.000,0.051,2503,2245,1599
$GC,20578,0.96,289.7,175.1,7.2,995,20579,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2245,1599
$GC,20887,0.96,289.7,149.0,8.4,1010,20891,0.00,2.62,0.00,0.000,4,0.000,0.063,2503,818,1599
$GC,20927,0.96,289.7,145.9,8.4,1012,20931,0.00,2.58,0.00,0.000,6,0.000,0.051,2503,2240,1599
$GC,21254,0.96,289.7,119.9,8.5,1028,21255,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2241,1599
$GC,21563,0.96,289.7,94.7,7.8,1043,21564,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2240,1599
$GC,21872,0.96,289.7,67.9,9.3,1058,21874,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2240,1599
$GC,22181,0.96,289.7,41.3,7.9,1073,22186,0.00,2.62,0.00,0.000,4,0.000,0.070,2503,3651,1600
$GC,22237,0.96,289.7,36.8,8.3,1075,22243,0.00,2.55,0.00,0.000,6,0.000,0.052,2503,2234,1600
$GC,22555,0.96,289.7,14.7,6.5,1091,22559,0.00,2.58,0.00,0.000,4,0.000,0.061,2503,827,1600
$GC,22582,0.96,289.7,12.4,7.4,1092,22586,0.00,2.58,0.00,0.000,6,0.000,0.049,2503,2248,1600
$STATE,22751,end climb,SURFACE_DEPTH_REACHED
$STATE,22751,begin surface coast
$FINISH,0.5,1.014687
$STATE,22773,end surface coast,CONTROL_FINISHED_OK
$STATE,22773,begin surface
$SM_CCo,22794,129.35,0.597,0,0,509,557.32
$SM_GC,1.26,0.00,0.00,129.35,0.000,0.000,0.597,72,2249,509,-10.24,0.54,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1841
$TCM_TEMP,17.80
$XPDR_PINGS,23
$ALTIM_TOP_PING,18.7,17.5
$ALTIM_BOTTOM_PING,725.6,62.5
$24V_AH,23.6,34.591
$10V_AH,10.2,17.545
$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,24.875,125.200,399.000,129.350,0.000,54.453,97.137,298.043,12.250,0.000,0.000,33.459,1919.910,18049.504,711.416,2172.349,805.875,0.000,1768.133,0.000,2113.618,0.000,44.515
$DEVICE_MAMPS,166.439,77.467,1133.626,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,807.376,756.022,637.442,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56860,1101
$CAP_FILE_SIZE,148019,0
$CFSIZE,260165632,246366208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,180708,033358,6336.549,-1316.718,39,3.4,59,-12.4