version: 66.03
glider: 16
mission: 9
dive: 206
start: 7 20 108 3 33 2
data:
$ID,16
$MISSION,9
$DIVE,206
$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,-2097421.8
$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,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
$GPS1,032707,6355.780,-1323.726,51,1.3,51,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-59.6
$GPS2,033244,6355.790,-1323.733,16,1.3,33,-12.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,default
$TGT_LATLONG,62.000,-6.800
$TGT_RADIUS,1852.000
$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,180.7,7143144,-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,-146.6,0.0,0.0,0,151,0.00,0.00,-121.15,0.000,2,0.000,0.000,71,2245,3008
$GC,154,-0.85,-146.6,4.0,-3.3,6,180,11.43,2.62,-8.40,0.000,4,0.168,0.078,2109,3638,3379
$GC,405,-0.66,-146.6,35.6,-9.8,17,410,0.22,2.58,0.00,0.000,6,0.091,0.049,2153,2223,3379
$GC,723,-0.61,-146.6,60.0,-7.8,32,728,0.00,2.60,0.00,0.000,4,0.000,0.060,2153,808,3379
$GC,756,-0.61,-146.6,63.0,-7.9,33,763,0.00,2.60,0.00,0.000,6,0.000,0.048,2153,2235,3380
$GC,1073,-0.56,-146.6,87.3,-7.8,49,1075,0.12,0.00,0.00,0.000,6,0.097,0.000,2177,2234,3380
$GC,1383,-0.56,-146.6,109.0,-6.6,64,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2234,3380
$GC,1691,-0.56,-146.6,130.2,-7.4,79,1695,0.00,2.62,0.00,0.000,4,0.000,0.071,2177,3638,3380
$GC,1731,-0.56,-146.6,133.3,-8.2,81,1735,0.00,2.55,0.00,0.000,6,0.000,0.050,2177,2228,3380
$GC,2057,-0.56,-146.6,157.6,-7.6,97,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2228,3380
$GC,2366,-0.56,-146.6,179.5,-6.7,112,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2228,3380
$GC,2675,-0.56,-146.6,199.1,-6.1,127,2680,0.00,2.65,0.00,0.000,4,0.000,0.071,2177,3638,3380
$GC,2708,-0.56,-146.6,201.4,-7.1,128,2714,0.00,2.55,0.00,0.000,6,0.000,0.048,2177,2226,3380
$GC,3024,-0.56,-146.6,222.9,-6.8,144,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2226,3380
$GC,3333,-0.56,-146.6,246.0,-7.4,159,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2225,3379
$GC,3642,-0.56,-146.6,270.1,-8.1,174,3647,0.00,2.67,0.00,0.000,4,0.000,0.071,2177,3644,3379
$GC,3670,-0.56,-146.6,272.5,-8.5,175,3675,0.00,2.55,0.00,0.000,6,0.000,0.049,2177,2228,3379
$GC,3986,-0.56,-146.6,297.4,-7.5,190,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2228,3379
$GC,4295,-0.56,-146.6,319.5,-6.9,205,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2228,3379
$GC,4605,-0.56,-146.6,341.4,-6.9,220,4609,0.00,2.65,0.00,0.000,4,0.000,0.073,2177,3637,3379
$GC,4644,-0.60,-146.6,344.2,-7.2,222,4649,0.00,2.55,0.00,0.000,6,0.000,0.050,2177,2228,3379
$GC,4972,-0.65,-146.6,364.8,-6.1,238,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2228,3379
$GC,5281,-0.69,-146.6,382.1,-5.3,253,5283,0.15,0.00,0.00,0.000,6,0.046,0.000,2137,2228,3379
$GC,5590,-0.60,-146.6,405.1,-7.8,268,5592,0.15,0.00,0.00,0.000,6,0.085,0.000,2167,2228,3379
$GC,5902,-0.60,-146.6,425.0,-6.8,283,5906,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,811,3379
$GC,5936,-0.67,-146.6,427.5,-6.4,284,5942,0.00,2.58,0.00,0.000,6,0.000,0.050,2166,2227,3380
$GC,6252,-0.67,-146.6,448.1,-6.0,300,6256,0.00,2.65,0.00,0.000,4,0.000,0.074,2167,3641,3379
$GC,6285,-0.67,-146.6,450.9,-8.2,301,6291,0.00,2.55,0.00,0.000,6,0.000,0.051,2167,2229,3379
$GC,6600,-0.67,-146.6,472.5,-6.3,317,6604,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,819,3378
$GC,6628,-0.73,-146.6,474.6,-7.7,318,6634,0.12,2.58,0.00,0.000,6,0.047,0.049,2125,2237,3378
$GC,6945,-0.62,-146.6,505.2,-10.2,333,6950,0.17,2.62,0.00,0.000,4,0.085,0.072,2162,3640,3378
$GC,6995,-0.62,-146.6,510.0,-9.0,335,6999,0.00,2.55,0.00,0.000,6,0.000,0.050,2162,2225,3378
$GC,7310,-0.62,-146.6,536.3,-8.3,350,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2225,3378
$GC,7620,-0.62,-146.6,560.8,-7.6,365,7624,0.00,2.67,0.00,0.000,4,0.000,0.072,2162,3644,3378
$GC,7669,-0.62,-146.6,564.6,-7.5,367,7674,0.00,2.53,0.00,0.000,6,0.000,0.048,2162,2228,3378
$GC,7985,-0.62,-146.6,587.1,-6.1,382,7989,0.00,2.65,0.00,0.000,4,0.000,0.071,2162,3638,3378
$GC,8035,-0.62,-146.6,591.3,-10.1,384,8039,0.00,2.53,0.00,0.000,6,0.000,0.048,2163,2230,3378
$GC,8350,-0.62,-146.6,616.0,-8.1,399,8354,0.00,2.65,0.00,0.000,4,0.000,0.072,2163,3638,3378
$GC,8383,-0.62,-146.6,618.6,-8.6,400,8389,0.00,2.53,0.00,0.000,6,0.000,0.048,2163,2231,3378
$GC,8699,-0.62,-146.6,642.4,-6.9,416,8704,0.00,2.65,0.00,0.000,4,0.000,0.073,2162,3638,3378
$GC,8762,-0.62,-146.6,647.1,-7.2,419,8766,0.00,2.50,0.00,0.000,6,0.000,0.048,2163,2230,3377
$GC,9089,-0.62,-146.6,668.6,-6.1,435,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3377
$GC,9398,-0.62,-146.6,686.7,-5.9,450,9402,0.00,2.60,0.00,0.000,4,0.000,0.062,2163,815,3378
$GC,9431,-0.69,-146.6,688.9,-6.2,451,9437,0.00,2.58,0.00,0.000,6,0.000,0.052,2163,2229,3377
$GC,9747,-0.69,-146.6,711.2,-7.3,467,9751,0.00,2.67,0.00,0.000,4,0.000,0.078,2163,3643,3377
$GC,9786,-0.69,-146.6,714.9,-9.6,469,9791,0.00,2.58,0.00,0.000,6,0.000,0.054,2163,2233,3377
$GC,10112,-0.69,-146.6,741.2,-7.6,485,10117,0.00,2.70,0.00,0.000,4,0.000,0.081,2163,3644,3376
$GC,10153,-0.69,-146.6,744.9,-9.9,487,10157,0.00,2.58,0.00,0.000,6,0.000,0.054,2163,2230,3376
$STATE,10476,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10477,begin apogee
$GC,10483,-0.31,0.0,770.3,8.6,503,10619,0.32,0.00,132.07,1.136,6,0.088,0.000,2229,2229,2781
$STATE,10620,end apogee,CONTROL_FINISHED_OK
$STATE,10620,begin climb
$GC,10623,0.85,146.6,779.3,0.0,510,10766,1.17,2.83,130.55,1.124,4,0.076,0.080,2477,3648,2183
$GC,10921,0.96,185.1,780.6,4.9,523,10962,0.12,2.62,35.12,1.083,6,0.057,0.058,2512,2240,2026
$GC,11276,0.96,185.1,749.2,10.6,540,11280,0.00,2.70,0.00,0.000,4,0.000,0.074,2512,829,2025
$GC,11320,0.91,185.1,744.7,9.3,542,11325,0.00,2.62,0.00,0.000,6,0.000,0.058,2511,2238,2024
$GC,11641,0.84,185.1,717.6,7.6,558,11647,0.15,2.70,0.00,0.000,4,0.092,0.080,2478,3649,2023
$GC,11759,0.84,185.1,709.9,6.1,563,11763,0.00,2.62,0.00,0.000,6,0.000,0.058,2478,2235,2023
$GC,12075,0.90,197.9,693.5,5.7,578,12096,0.00,2.80,11.68,0.983,4,0.000,0.079,2478,3654,1975
$GC,12114,0.97,218.4,691.3,5.4,579,12142,0.15,2.62,19.80,1.039,6,0.051,0.055,2518,2238,1892
$GC,12453,0.90,218.4,667.2,7.6,596,12458,0.12,2.65,0.00,0.000,4,0.092,0.067,2494,830,1890
$GC,12503,0.90,218.4,663.2,7.4,598,12508,0.00,2.60,0.00,0.000,6,0.000,0.054,2494,2242,1889
$GC,12819,0.90,218.4,641.3,6.9,613,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2242,1890
$GC,13128,0.90,218.8,618.8,6.0,628,13132,0.00,2.67,0.00,0.000,4,0.000,0.076,2494,3648,1889
$GC,13191,0.85,218.8,614.0,9.1,631,13196,0.00,2.60,0.00,0.000,6,0.000,0.054,2494,2238,1889
$GC,13519,0.79,218.8,584.1,10.5,647,13524,0.12,2.70,0.00,0.000,4,0.088,0.075,2468,3651,1889
$GC,13552,0.79,218.8,581.0,7.9,648,13558,0.00,2.58,0.00,0.000,6,0.000,0.052,2468,2242,1888
$GC,13868,0.89,306.0,560.6,3.6,664,13949,0.12,0.00,76.78,1.008,6,0.051,0.000,2505,2242,1533
$GC,14259,0.89,306.0,519.9,12.6,683,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2242,1533
$GC,14568,0.89,306.0,480.9,11.6,698,14570,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2242,1533
$GC,14877,0.89,306.0,444.5,11.7,713,14881,0.00,2.62,0.00,0.000,4,0.000,0.064,2505,826,1533
$GC,14898,0.89,306.0,441.8,11.8,714,14903,0.00,2.58,0.00,0.000,6,0.000,0.050,2505,2241,1533
$GC,15220,0.89,306.0,401.9,12.9,730,15221,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2241,1533
$GC,15529,0.89,306.0,363.6,11.6,745,15533,0.00,2.65,0.00,0.000,4,0.000,0.073,2505,3648,1533
$GC,15556,0.89,306.0,360.3,12.2,746,15560,0.00,2.58,0.00,0.000,6,0.000,0.054,2505,2241,1533
$GC,15872,0.89,306.0,329.0,9.3,761,15877,0.00,2.62,0.00,0.000,4,0.000,0.064,2505,827,1533
$GC,15894,0.89,306.0,326.8,9.7,762,15898,0.00,2.58,0.00,0.000,6,0.000,0.049,2505,2241,1533
$GC,16215,0.89,306.0,299.9,8.1,778,16220,0.00,2.65,0.00,0.000,4,0.000,0.072,2505,3649,1534
$GC,16237,0.89,306.0,298.2,7.2,779,16242,0.00,2.58,0.00,0.000,6,0.000,0.052,2505,2241,1535
$GC,16558,0.89,306.0,275.1,7.0,795,16563,0.00,2.62,0.00,0.000,4,0.000,0.062,2505,820,1534
$GC,16580,0.89,306.0,273.4,7.1,796,16584,0.00,2.60,0.00,0.000,6,0.000,0.049,2505,2247,1535
$GC,16901,0.89,306.0,250.6,7.4,812,16902,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2247,1534
$GC,17210,0.89,306.0,226.4,8.0,827,17211,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2247,1535
$GC,17519,0.89,306.0,200.2,8.8,842,17520,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2247,1535
$GC,17828,0.89,306.0,171.5,9.3,857,17830,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2247,1535
$GC,18139,0.89,306.0,144.5,8.4,872,18140,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2247,1534
$GC,18447,0.89,306.0,118.2,8.5,887,18452,0.00,2.65,0.00,0.000,4,0.000,0.061,2505,818,1535
$GC,18480,0.89,306.0,115.2,8.7,888,18487,0.00,2.58,0.00,0.000,6,0.000,0.048,2505,2245,1535
$GC,18798,0.89,306.0,89.7,8.4,904,18803,0.00,2.62,0.00,0.000,4,0.000,0.068,2505,3653,1536
$GC,18848,0.89,306.0,85.6,6.8,906,18853,0.00,2.58,0.00,0.000,6,0.000,0.051,2505,2235,1536
$GC,19166,0.89,306.0,60.4,8.7,921,19170,0.00,2.58,0.00,0.000,4,0.000,0.061,2505,828,1536
$GC,19211,0.93,306.0,56.5,7.4,923,19215,0.00,2.55,0.00,0.000,6,0.000,0.048,2505,2242,1535
$GC,19532,0.93,306.0,29.0,10.2,939,19536,0.00,2.62,0.00,0.000,4,0.000,0.067,2505,3653,1536
$GC,19565,0.98,306.0,25.7,9.2,940,19571,0.00,2.55,0.00,0.000,6,0.000,0.050,2505,2236,1537
$STATE,19879,end climb,SURFACE_DEPTH_REACHED
$STATE,19879,begin surface coast
$FINISH,0.8,1.027126
$STATE,19900,end surface coast,CONTROL_FINISHED_OK
$STATE,19903,begin surface
$SM_CCo,19924,121.20,0.601,0,0,508,557.32
$SM_GC,1.46,0.00,0.00,121.20,0.000,0.000,0.601,70,2236,508,-10.26,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1863
$TCM_TEMP,17.70
$XPDR_PINGS,27
$ALTIM_TOP_PING,20.0,18.4
$ALTIM_BOTTOM_PING,726.4,53.0
$24V_AH,23.5,36.214
$10V_AH,10.1,18.383
$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,25.200,172.425,406.000,121.200,0.000,17.992,26.503,143.836,13.500,0.000,0.000,33.253,1736.676,15361.284,724.588,2036.693,522.924,0.000,1750.097,0.000,1968.950,0.000,47.413
$DEVICE_MAMPS,167.973,80.535,1135.927,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,697.274,658.921,578.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50536,957
$CAP_FILE_SIZE,142630,0
$CFSIZE,260165632,245772288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200708,090832,6353.879,-1326.894,44,1.8,44,-12.6