version: 66.03
glider: 16
mission: 9
dive: 92
start: 6 27 108 6 57 49
data:
$ID,16
$MISSION,9
$DIVE,92
$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,1
$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,-2094804.6
$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,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,16
$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
$GPS1,063802,6143.312,-849.009,37,1.5,38,-9.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-50.0
$GPS2,065657,6143.428,-849.003,13,1.5,13,-9.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.090,0.202
$KALMAN_X,-146102.7,-1125.6,1511.4,-45928.6,391.3
$KALMAN_Y,-91660.7,-137.8,6726.2,188290.9,-25747.2
$MHEAD_RNG_PITCHd_Wd,302.6,14315,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-121.45,0.000,2,0.000,0.000,68,2307,2975
$GC,153,-0.85,-146.6,4.0,-3.2,6,180,11.35,2.67,-9.23,0.000,4,0.166,0.084,2107,3713,3377
$GC,343,-0.63,-146.6,31.8,-11.4,14,350,0.28,2.60,0.00,0.000,6,0.089,0.052,2162,2292,3378
$GC,659,-0.59,-146.6,57.5,-9.5,30,664,0.00,2.62,0.00,0.000,4,0.000,0.064,2161,881,3378
$GC,737,-0.59,-146.6,63.9,-8.9,33,744,0.00,2.62,0.00,0.000,6,0.000,0.055,2161,2302,3377
$GC,1054,-0.59,-146.6,89.2,-7.7,49,1058,0.00,2.65,0.00,0.000,4,0.000,0.062,2161,881,3377
$GC,1176,-0.59,-146.6,96.3,-5.5,54,1183,0.00,2.62,0.00,0.000,6,0.000,0.054,2161,2307,3378
$GC,1492,-0.59,-146.6,112.8,-6.1,70,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2307,3377
$GC,1802,-0.59,-146.6,132.8,-7.3,85,1806,0.00,2.67,0.00,0.000,4,0.000,0.063,2161,874,3377
$GC,1846,-0.59,-146.6,136.7,-8.4,87,1850,0.00,2.62,0.00,0.000,6,0.000,0.054,2162,2300,3377
$GC,2166,-0.59,-146.6,164.4,-9.0,103,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2300,3378
$GC,2476,-0.59,-146.6,189.6,-7.7,118,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2300,3377
$GC,2785,-0.59,-146.6,211.1,-6.6,133,2789,0.00,2.65,0.00,0.000,4,0.000,0.064,2161,881,3377
$GC,2856,-0.59,-146.6,216.0,-6.7,136,2861,0.00,2.60,0.00,0.000,6,0.000,0.054,2161,2300,3378
$GC,3173,-0.59,-146.6,234.0,-5.3,151,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2300,3377
$GC,3483,-0.59,-146.6,250.1,-5.1,166,3487,0.00,2.65,0.00,0.000,4,0.000,0.065,2161,877,3378
$GC,3538,-0.59,-146.6,252.8,-4.6,168,3544,0.00,2.62,0.00,0.000,6,0.000,0.054,2161,2307,3377
$GC,3854,-0.59,-146.6,266.2,-4.0,184,3859,0.00,2.67,0.00,0.000,4,0.000,0.065,2161,876,3377
$GC,3926,-0.59,-146.6,269.2,-4.1,187,3931,0.00,2.62,0.00,0.000,6,0.000,0.054,2161,2307,3377
$GC,4242,-0.59,-146.6,281.7,-4.0,202,4247,0.00,2.67,0.00,0.000,4,0.000,0.066,2161,877,3377
$GC,4283,-0.59,-146.6,283.6,-4.6,204,4287,0.00,2.62,0.00,0.000,6,0.000,0.054,2161,2305,3377
$GC,4609,-0.59,-146.6,298.4,-4.4,220,4613,0.00,2.67,0.00,0.000,4,0.000,0.067,2161,879,3377
$GC,4653,-0.59,-146.6,300.7,-5.4,222,4658,0.00,2.62,0.00,0.000,6,0.000,0.054,2161,2307,3377
$GC,4975,-0.59,-146.6,317.7,-5.6,238,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2307,3377
$GC,5284,-0.59,-146.6,334.6,-5.7,253,5288,0.00,2.67,0.00,0.000,4,0.000,0.066,2161,875,3377
$GC,5347,-0.59,-146.6,338.1,-6.1,256,5351,0.00,2.62,0.00,0.000,6,0.000,0.054,2161,2301,3376
$GC,5673,-0.59,-146.6,356.5,-6.0,272,5678,0.00,2.65,0.00,0.000,4,0.000,0.066,2161,878,3377
$GC,5713,-0.59,-146.6,359.0,-6.1,274,5717,0.00,2.60,0.00,0.000,6,0.000,0.054,2161,2308,3377
$GC,6039,-0.59,-146.6,381.4,-6.9,290,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2308,3376
$GC,6349,-0.59,-146.6,400.6,-6.1,305,6354,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,883,3376
$GC,6405,-0.59,-146.6,404.2,-6.6,307,6411,0.00,2.60,0.00,0.000,6,0.000,0.054,2161,2300,3376
$GC,6721,-0.59,-146.6,420.2,-4.5,323,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2299,3376
$GC,7030,-0.59,-146.6,435.3,-6.4,338,7034,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,883,3376
$GC,7092,-0.64,-146.6,439.9,-7.9,341,7096,0.00,2.60,0.00,0.000,6,0.000,0.054,2161,2300,3376
$GC,7419,-0.64,-146.6,469.0,-9.5,357,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2300,3376
$GC,7728,-0.64,-146.6,493.7,-6.7,372,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2300,3376
$GC,8037,-0.64,-146.6,509.2,-4.6,387,8042,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,883,3375
$GC,8088,-0.69,-146.6,511.4,-4.7,389,8093,0.00,2.60,0.00,0.000,6,0.000,0.054,2161,2300,3375
$GC,8404,-0.69,-146.6,528.3,-6.4,404,8408,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,883,3375
$GC,8444,-0.75,-146.6,531.0,-7.1,406,8449,0.12,2.62,0.00,0.000,6,0.048,0.055,2120,2307,3375
$GC,8773,-0.61,-146.6,556.9,-5.8,422,8775,0.22,0.00,0.00,0.000,6,0.084,0.000,2165,2307,3375
$GC,9081,-0.65,-146.6,575.8,-6.2,437,9086,0.00,2.67,0.00,0.000,4,0.000,0.069,2164,884,3375
$GC,9126,-0.75,-146.6,578.1,-4.2,439,9131,0.12,2.62,0.00,0.000,6,0.048,0.058,2124,2304,3375
$GC,9448,-0.67,-146.6,600.5,-7.8,455,9450,0.15,0.00,0.00,0.000,6,0.087,0.000,2154,2304,3375
$GC,9757,-0.67,-146.6,625.3,-7.6,470,9758,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2304,3374
$GC,10065,-0.67,-146.6,648.3,-7.1,485,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2304,3373
$GC,10375,-0.67,-146.6,664.8,-5.6,500,10379,0.00,2.75,0.00,0.000,4,0.000,0.079,2154,878,3371
$GC,10415,-0.72,-146.6,667.5,-7.1,502,10419,0.00,2.67,0.00,0.000,6,0.000,0.066,2154,2302,3371
$GC,10741,-0.72,-146.6,690.1,-6.1,518,10742,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2302,3370
$GC,11050,-0.72,-146.6,710.6,-6.2,533,11054,0.00,2.72,0.00,0.000,4,0.000,0.078,2154,881,3369
$GC,11113,-0.80,-146.6,715.1,-7.6,536,11118,0.15,2.70,0.00,0.000,6,0.053,0.068,2114,2305,3369
$GC,11442,-0.69,-146.6,742.7,-9.5,552,11444,0.17,0.00,0.00,0.000,6,0.097,0.000,2147,2305,3366
$GC,11749,-0.69,-146.6,768.7,-8.4,567,11754,0.00,2.70,0.00,0.000,4,0.000,0.074,2148,883,3365
$STATE,11843,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11843,begin apogee
$GC,11852,-0.31,0.0,773.2,7.8,571,11986,0.40,0.00,131.23,1.213,6,0.105,0.000,2229,2208,2781
$STATE,11987,end apogee,CONTROL_FINISHED_OK
$STATE,11987,begin climb
$GC,11990,0.85,146.6,777.8,0.0,578,12134,1.23,2.83,132.85,1.192,4,0.096,0.077,2477,788,2183
$GC,12169,0.99,279.1,774.8,2.4,586,12296,0.17,2.70,118.68,1.176,6,0.054,0.064,2521,2206,1642
$GC,12612,0.99,279.1,736.4,13.4,608,12617,0.00,2.78,0.00,0.000,4,0.000,0.092,2521,3613,1642
$GC,12674,0.99,279.1,730.0,8.7,611,12679,0.00,2.70,0.00,0.000,6,0.000,0.073,2521,2204,1642
$GC,13000,0.99,279.1,701.9,9.1,627,13005,0.00,2.75,0.00,0.000,4,0.000,0.082,2521,783,1641
$GC,13040,0.99,279.1,698.9,7.5,629,13044,0.00,2.67,0.00,0.000,6,0.000,0.064,2521,2200,1640
$GC,13366,0.99,279.1,670.3,7.2,645,13370,0.00,2.78,0.00,0.000,4,0.000,0.093,2521,3612,1640
$GC,13405,0.99,279.1,667.4,7.9,647,13410,0.00,2.70,0.00,0.000,6,0.000,0.067,2521,2191,1640
$GC,13731,0.99,279.1,643.1,7.4,663,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2191,1639
$GC,14041,0.99,279.1,619.6,7.7,678,14042,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2191,1639
$GC,14350,0.99,279.1,592.8,9.0,693,14355,0.00,2.80,0.00,0.000,4,0.000,0.092,2521,3612,1638
$GC,14395,0.99,279.1,588.5,9.4,695,14399,0.00,2.67,0.00,0.000,6,0.000,0.067,2521,2199,1638
$GC,14716,1.03,316.5,569.6,5.0,711,14758,0.00,2.83,33.08,1.088,4,0.000,0.082,2522,792,1489
$GC,14814,1.03,316.5,562.7,7.9,715,14818,0.00,2.67,0.00,0.000,6,0.000,0.065,2521,2204,1488
$GC,15129,1.03,316.5,536.5,8.4,730,15134,0.00,2.78,0.00,0.000,4,0.000,0.092,2522,3619,1488
$GC,15219,1.03,316.5,528.4,10.1,734,15223,0.00,2.70,0.00,0.000,6,0.000,0.069,2522,2194,1488
$GC,15539,1.03,316.5,506.4,6.8,750,15544,0.00,2.67,0.00,0.000,4,0.000,0.076,2521,782,1487
$GC,15579,1.03,316.5,503.5,7.4,752,15584,0.00,2.67,0.00,0.000,6,0.000,0.061,2522,2206,1486
$GC,15906,1.03,316.5,476.7,8.9,768,15911,0.00,2.72,0.00,0.000,4,0.000,0.073,2521,779,1486
$GC,15950,1.03,316.5,472.6,9.3,770,15954,0.00,2.65,0.00,0.000,6,0.000,0.058,2521,2204,1486
$GC,16271,1.03,316.5,442.9,9.6,786,16272,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2203,1487
$GC,16580,1.03,316.5,414.0,9.5,801,16582,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2203,1487
$GC,16889,1.03,316.5,388.0,7.3,816,16891,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2203,1489
$GC,17199,1.07,350.7,370.2,5.1,831,17231,0.00,0.00,30.38,0.909,6,0.000,0.000,2522,2203,1351
$GC,17528,1.22,432.5,357.4,3.8,847,17609,0.20,2.78,70.47,0.906,4,0.048,0.069,2573,792,1017
$GC,17636,1.22,432.5,350.1,6.5,852,17641,0.00,2.62,0.00,0.000,6,0.000,0.054,2574,2201,1016
$GC,17958,1.22,432.5,328.6,6.8,868,17959,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2201,1017
$GC,18267,1.22,432.5,301.0,9.4,883,18271,0.00,2.70,0.00,0.000,4,0.000,0.071,2574,782,1017
$GC,18316,1.22,432.5,296.0,9.5,885,18321,0.00,2.62,0.00,0.000,6,0.000,0.053,2574,2204,1017
$GC,18632,1.22,432.5,262.1,11.4,900,18637,0.00,2.70,0.00,0.000,4,0.000,0.068,2574,781,1018
$GC,18677,1.22,432.5,256.7,11.0,902,18681,0.00,2.62,0.00,0.000,6,0.000,0.052,2574,2207,1018
$GC,18997,1.22,432.5,221.4,10.4,918,18998,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2207,1018
$GC,19307,1.22,432.5,192.0,8.6,933,19311,0.00,2.67,0.00,0.000,4,0.000,0.068,2573,783,1019
$GC,19379,1.22,432.5,185.0,9.9,936,19383,0.00,2.60,0.00,0.000,6,0.000,0.052,2574,2203,1019
$GC,19695,1.22,432.5,153.6,9.9,951,19699,0.00,2.67,0.00,0.000,4,0.000,0.067,2573,783,1020
$GC,19750,1.22,432.5,148.2,9.6,953,19757,0.00,2.60,0.00,0.000,6,0.000,0.052,2573,2203,1020
$GC,20066,1.22,432.5,116.1,10.1,969,20070,0.00,2.67,0.00,0.000,4,0.000,0.067,2572,784,1020
$GC,20106,1.22,432.5,112.4,10.4,971,20110,0.00,2.60,0.00,0.000,6,0.000,0.051,2573,2201,1021
$GC,20432,1.22,432.5,80.3,10.3,987,20434,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2201,1021
$GC,20741,1.22,432.5,48.7,10.4,1002,20746,0.00,2.67,0.00,0.000,4,0.000,0.066,2574,780,1022
$GC,20804,1.22,432.5,42.7,10.4,1005,20808,0.00,2.60,0.00,0.000,6,0.000,0.051,2573,2200,1022
$GC,21130,1.22,432.5,9.6,9.9,1021,21131,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2200,1022
$STATE,21210,end climb,SURFACE_DEPTH_REACHED
$STATE,21210,begin surface coast
$FINISH,0.5,1.027152
$STATE,21232,end surface coast,CONTROL_FINISHED_OK
$STATE,21232,begin surface
$SM_CCo,21254,61.65,0.621,0,0,509,557.32
$SM_GC,1.27,0.00,0.00,61.65,0.000,0.000,0.621,67,2305,509,-10.27,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1859
$TCM_TEMP,17.80
$XPDR_PINGS,81
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,726.2,56.9
$24V_AH,23.5,18.464
$10V_AH,10.1,9.423
$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,25.375,186.900,516.675,61.650,0.000,107.869,144.477,489.520,27.000,0.000,0.000,13.329,1861.723,16496.391,742.276,2251.073,1095.210,33.351,1894.179,0.000,2194.776,0.000,47.478
$DEVICE_MAMPS,166.439,92.807,1212.627,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,754.750,697.979,586.495,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53722,1026
$CAP_FILE_SIZE,163414,0
$CFSIZE,260165632,252289024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,270608,125426,6147.049,-856.429,41,1.7,42,-9.3