version: 66.03
glider: 16
mission: 9
dive: 201
start: 7 18 108 22 13 4
data:
$ID,16
$MISSION,9
$DIVE,201
$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,-2097255.5
$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,21
$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
$GPS1,220437,6347.643,-1310.993,37,1.2,43,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-58.0
$GPS2,221245,6347.661,-1310.889,14,1.6,14,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$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,338.2,27622,-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,-120.88,0.000,2,0.000,0.000,70,2236,2962
$GC,151,-0.85,-146.6,3.9,-3.1,6,181,11.50,2.65,-9.80,0.000,4,0.171,0.082,2113,3640,3378
$GC,302,-0.67,-146.6,25.7,-11.9,12,308,0.20,2.55,0.00,0.000,6,0.091,0.048,2151,2226,3378
$GC,618,-0.61,-146.6,55.3,-8.8,28,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2225,3378
$GC,927,-0.56,-146.6,84.6,-10.5,43,929,0.12,0.00,0.00,0.000,6,0.101,0.000,2175,2225,3378
$GC,1238,-0.56,-146.6,112.7,-8.6,58,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2225,3378
$GC,1546,-0.56,-146.6,138.9,-8.2,73,1550,0.00,2.67,0.00,0.000,4,0.000,0.073,2175,3643,3378
$GC,1578,-0.56,-146.6,141.9,-8.5,74,1585,0.00,2.55,0.00,0.000,6,0.000,0.048,2175,2224,3378
$GC,1894,-0.56,-146.6,164.5,-6.5,90,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2224,3378
$GC,2204,-0.56,-146.6,182.7,-5.5,105,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2224,3378
$GC,2515,-0.56,-146.6,200.1,-5.5,120,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2224,3378
$GC,2822,-0.56,-146.6,216.6,-4.9,135,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2224,3378
$GC,3132,-0.56,-146.6,231.1,-4.6,150,3136,0.00,2.67,0.00,0.000,4,0.000,0.074,2175,3640,3378
$GC,3176,-0.56,-146.6,233.4,-5.7,152,3180,0.00,2.53,0.00,0.000,6,0.000,0.048,2175,2229,3378
$GC,3497,-0.56,-146.6,245.6,-3.4,168,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2229,3378
$GC,3807,-0.56,-146.6,256.1,-3.6,183,3811,0.00,2.65,0.00,0.000,4,0.000,0.074,2175,3638,3378
$GC,3846,-0.56,-146.6,257.6,-3.6,185,3851,0.00,2.55,0.00,0.000,6,0.000,0.048,2175,2223,3378
$GC,4174,-0.56,-146.6,271.0,-4.5,201,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2223,3378
$GC,4484,-0.56,-146.6,287.3,-5.7,216,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2223,3378
$GC,4792,-0.56,-146.6,307.0,-6.7,231,4797,0.00,2.67,0.00,0.000,4,0.000,0.074,2175,3640,3378
$GC,4832,-0.56,-146.6,310.2,-8.2,233,4837,0.00,2.55,0.00,0.000,6,0.000,0.048,2176,2222,3378
$GC,5160,-0.56,-146.6,335.2,-7.8,249,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2222,3377
$GC,5468,-0.56,-146.6,360.0,-8.0,264,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2222,3377
$GC,5778,-0.60,-146.6,384.8,-7.9,279,5782,0.00,2.67,0.00,0.000,4,0.000,0.074,2176,3640,3377
$GC,5819,-0.64,-146.6,388.1,-8.9,281,5823,0.00,2.55,0.00,0.000,6,0.000,0.048,2176,2220,3377
$GC,6145,-0.68,-146.6,412.5,-7.0,297,6147,0.12,0.00,0.00,0.000,6,0.046,0.000,2134,2220,3377
$GC,6455,-0.60,-146.6,438.3,-8.3,312,6457,0.17,0.00,0.00,0.000,6,0.086,0.000,2169,2220,3377
$GC,6763,-0.60,-146.6,458.7,-6.5,327,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2220,3377
$GC,7073,-0.60,-146.6,477.3,-5.6,342,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2220,3377
$GC,7383,-0.60,-146.6,494.8,-5.8,357,7387,0.00,2.67,0.00,0.000,4,0.000,0.074,2169,3644,3377
$GC,7422,-0.60,-146.6,497.5,-6.7,359,7426,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,2224,3377
$GC,7748,-0.60,-146.6,520.5,-7.7,375,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2224,3377
$GC,8058,-0.60,-146.6,543.8,-6.8,390,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2224,3377
$GC,8367,-0.60,-146.6,560.4,-4.6,405,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2224,3376
$GC,8676,-0.60,-146.6,574.8,-5.1,420,8684,0.00,2.65,0.00,0.000,4,0.000,0.074,2169,3641,3377
$GC,8718,-0.60,-146.6,577.6,-7.0,421,8724,0.00,2.53,0.00,0.000,6,0.000,0.048,2169,2228,3376
$GC,9034,-0.60,-146.6,602.8,-9.5,437,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3376
$GC,9343,-0.60,-146.6,635.1,-10.5,452,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3376
$GC,9653,-0.60,-146.6,655.7,-3.7,467,9657,0.00,2.65,0.00,0.000,4,0.000,0.074,2169,3638,3376
$GC,9693,-0.64,-146.6,657.1,-3.4,469,9697,0.00,2.53,0.00,0.000,6,0.000,0.047,2169,2229,3376
$GC,10021,-0.69,-146.6,668.3,-5.0,485,10025,0.00,2.58,0.00,0.000,4,0.000,0.060,2168,817,3376
$GC,10099,-0.79,-146.6,673.4,-6.7,488,10105,0.20,2.55,0.00,0.000,6,0.041,0.051,2111,2232,3376
$GC,10415,-0.66,-146.6,705.9,-10.8,504,10420,0.17,2.62,0.00,0.000,4,0.090,0.077,2150,3638,3376
$GC,10458,-0.66,-146.6,710.4,-9.7,506,10463,0.00,2.53,0.00,0.000,6,0.000,0.051,2150,2231,3376
$GC,10779,-0.66,-146.6,734.9,-6.9,522,10784,0.00,2.58,0.00,0.000,4,0.000,0.062,2150,821,3376
$GC,10824,-0.66,-146.6,738.1,-7.2,524,10828,0.00,2.58,0.00,0.000,6,0.000,0.054,2150,2236,3376
$GC,11145,-0.66,-146.6,755.9,-5.0,540,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2236,3376
$GC,11454,-0.66,-146.6,772.4,-6.0,555,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2236,3375
$GC,11763,-0.66,-146.6,795.4,-7.9,570,11765,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2236,3374
$STATE,11988,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11988,begin apogee
$GC,11994,-0.31,0.0,811.9,6.7,581,12130,0.40,0.00,132.93,1.164,6,0.100,0.000,2229,2236,2781
$STATE,12131,end apogee,CONTROL_FINISHED_OK
$STATE,12131,begin climb
$GC,12134,0.85,146.6,818.0,0.0,588,12271,1.23,0.00,132.38,1.143,6,0.077,0.000,2483,2236,2183
$GC,12580,0.90,197.5,800.7,4.6,610,12629,0.00,0.00,46.38,1.111,6,0.000,0.000,2483,2236,1975
$GC,12929,0.90,197.5,779.2,6.4,627,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2236,1975
$GC,13240,0.97,218.0,765.3,5.4,642,13265,0.12,2.78,19.70,1.062,4,0.071,0.078,2511,3648,1892
$GC,13311,0.92,218.0,760.5,7.2,645,13315,0.00,2.60,0.00,0.000,6,0.000,0.054,2512,2243,1892
$GC,13627,0.88,218.0,735.0,9.0,660,13631,0.00,2.65,0.00,0.000,4,0.000,0.066,2512,821,1891
$GC,13671,0.88,218.0,730.8,9.0,662,13675,0.00,2.62,0.00,0.000,6,0.000,0.054,2511,2246,1890
$GC,13991,0.88,218.0,703.8,7.1,678,13996,0.00,2.67,0.00,0.000,4,0.000,0.064,2511,825,1891
$GC,14031,0.88,218.0,701.4,6.1,680,14035,0.00,2.62,0.00,0.000,6,0.000,0.054,2511,2248,1890
$GC,14358,1.02,346.7,687.9,2.5,696,14481,0.00,2.75,112.93,1.088,4,0.000,0.064,2511,834,1367
$GC,14543,1.10,346.7,679.9,6.9,704,14550,0.12,2.60,0.00,0.000,6,0.074,0.053,2537,2240,1366
$GC,14859,1.10,346.7,647.4,10.6,720,14860,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1366
$GC,15168,1.10,346.7,623.4,6.2,735,15172,0.00,2.67,0.00,0.000,4,0.000,0.064,2538,822,1366
$GC,15230,1.10,346.7,619.4,6.1,738,15234,0.00,2.60,0.00,0.000,6,0.000,0.051,2538,2240,1365
$GC,15557,1.10,346.7,595.3,8.8,754,15558,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1365
$GC,15865,1.10,346.7,562.4,11.2,769,15867,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1365
$GC,16175,1.10,346.7,527.3,10.9,784,16179,0.00,2.62,0.00,0.000,4,0.000,0.062,2538,828,1366
$GC,16230,1.10,346.7,521.4,10.3,786,16236,0.00,2.58,0.00,0.000,6,0.000,0.051,2536,2244,1366
$GC,16546,1.10,346.7,489.5,10.0,802,16547,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2244,1366
$GC,16855,1.10,346.7,458.1,10.4,817,16856,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2243,1366
$GC,17165,1.10,346.7,425.4,10.5,832,17166,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2244,1367
$GC,17473,1.10,346.7,394.3,10.0,847,17478,0.00,2.62,0.00,0.000,4,0.000,0.062,2538,826,1368
$GC,17517,1.10,346.7,389.8,9.7,849,17522,0.00,2.55,0.00,0.000,6,0.000,0.050,2538,2240,1367
$GC,17839,1.10,346.7,356.4,10.2,865,17840,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1368
$GC,18148,1.10,346.7,324.6,10.4,880,18149,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1368
$GC,18457,1.10,346.7,294.3,9.4,895,18458,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1368
$GC,18767,1.10,346.7,267.3,8.2,910,18771,0.00,2.62,0.00,0.000,4,0.000,0.061,2538,820,1368
$GC,18810,1.10,346.7,263.8,7.9,912,18815,0.00,2.58,0.00,0.000,6,0.000,0.050,2538,2245,1368
$GC,19132,1.10,346.7,241.1,7.1,928,19133,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2245,1368
$GC,19441,1.10,346.7,216.3,8.8,943,19442,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2245,1368
$GC,19750,1.10,346.7,187.5,9.6,958,19754,0.00,2.62,0.00,0.000,4,0.000,0.061,2538,826,1368
$GC,19794,1.10,346.7,183.1,9.6,960,19798,0.00,2.55,0.00,0.000,6,0.000,0.050,2538,2239,1368
$GC,20115,1.10,346.7,152.8,9.5,976,20116,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1369
$GC,20424,1.10,346.7,128.4,7.6,991,20425,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1369
$GC,20733,1.10,346.7,98.7,10.1,1006,20738,0.00,2.60,0.00,0.000,4,0.000,0.061,2538,827,1369
$GC,20784,1.10,346.7,93.5,9.7,1008,20788,0.00,2.55,0.00,0.000,6,0.000,0.049,2538,2243,1369
$GC,21100,1.10,346.7,66.8,8.4,1023,21101,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2243,1369
$GC,21409,1.10,346.7,36.6,9.2,1038,21413,0.00,2.62,0.00,0.000,4,0.000,0.061,2538,820,1369
$GC,21459,1.10,346.7,32.0,8.8,1040,21463,0.00,2.55,0.00,0.000,6,0.000,0.048,2538,2240,1369
$GC,21775,1.10,346.7,6.0,7.2,1055,21779,0.00,2.60,0.00,0.000,4,0.000,0.068,2538,3650,1370
$GC,21815,1.14,346.7,2.1,9.7,1057,21819,0.00,2.42,0.00,0.000,3,0.000,0.051,2538,2292,1370
$STATE,21820,end climb,SURFACE_DEPTH_REACHED
$STATE,21820,begin surface coast
$FINISH,0.7,1.027120
$STATE,21825,end surface coast,CONTROL_FINISHED_OK
$STATE,21825,begin surface
$SM_CCo,21847,101.20,0.600,0,0,508,557.32
$SM_GC,1.43,0.00,0.00,101.20,0.000,0.000,0.600,66,2209,508,-10.28,-0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1862
$TCM_TEMP,19.70
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.1,17.7
$ALTIM_BOTTOM_PING,726.3,94.3
$24V_AH,23.5,35.300
$10V_AH,10.1,17.921
$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,25.025,125.050,444.300,101.200,0.000,36.894,61.942,190.441,11.500,0.000,0.000,14.606,1851.697,17176.975,727.438,2047.847,631.513,0.000,1742.201,0.000,2011.272,0.000,44.611
$DEVICE_MAMPS,171.041,82.069,1164.306,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,773.210,728.012,583.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53609,1057
$CAP_FILE_SIZE,141490,0
$CFSIZE,260165632,246104064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190708,042008,6350.678,-1315.872,34,1.5,35,-12.5