version: 66.03
glider: 16
mission: 9
dive: 160
start: 7 8 108 6 22 55
data:
$ID,16
$MISSION,9
$DIVE,160
$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,412.5
$T_MISSION,440
$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,-2096305.9
$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,22
$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
$GPS1,061707,6219.378,-1050.750,34,1.2,34,-10.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-49.8
$GPS2,062238,6219.354,-1050.884,12,1.8,12,-10.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$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,333.7,13055,-14.8,-8.000
$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,-1.08,-146.6,0.0,0.0,0,158,0.00,0.00,-130.48,0.000,2,0.000,0.000,69,2289,3273
$GC,161,-1.08,-146.6,5.5,-4.6,7,183,11.15,2.70,-1.95,0.000,4,0.170,0.081,2056,3709,3382
$GC,323,-0.88,-146.6,39.0,-14.5,14,328,0.25,2.58,0.00,0.000,6,0.097,0.050,2104,2291,3382
$GC,651,-0.83,-146.6,76.3,-11.0,30,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2291,3383
$GC,960,-0.78,-146.6,110.1,-11.2,45,965,0.12,2.60,0.00,0.000,4,0.103,0.062,2128,882,3383
$GC,1023,-0.86,-146.6,116.2,-9.0,48,1027,0.00,2.60,0.00,0.000,6,0.000,0.053,2128,2308,3383
$GC,1351,-0.86,-146.6,143.7,-8.1,64,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2308,3383
$GC,1659,-0.86,-146.6,168.9,-8.7,79,1663,0.00,2.62,0.00,0.000,4,0.000,0.062,2128,884,3383
$GC,1736,-0.93,-146.6,175.8,-8.4,82,1743,0.15,2.58,0.00,0.000,6,0.044,0.052,2083,2300,3383
$GC,2053,-0.83,-146.6,212.8,-12.2,98,2055,0.17,0.00,0.00,0.000,6,0.091,0.000,2116,2302,3383
$GC,2361,-0.83,-146.6,245.8,-10.7,113,2366,0.00,2.62,0.00,0.000,4,0.000,0.064,2116,885,3382
$GC,2402,-0.88,-146.6,250.0,-10.6,115,2407,0.00,2.60,0.00,0.000,6,0.000,0.053,2116,2308,3383
$GC,2730,-0.88,-146.6,284.4,-10.3,131,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2308,3382
$GC,3039,-0.88,-146.6,317.7,-10.9,146,3043,0.00,2.65,0.00,0.000,4,0.000,0.064,2116,878,3382
$GC,3112,-0.93,-146.6,325.5,-10.5,149,3116,0.00,2.60,0.00,0.000,6,0.000,0.053,2116,2307,3382
$GC,3428,-0.93,-146.6,358.8,-10.4,164,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2307,3381
$GC,3737,-0.93,-146.6,390.9,-10.2,179,3741,0.00,2.62,0.00,0.000,4,0.000,0.064,2116,886,3382
$GC,3810,-0.99,-146.6,398.2,-9.3,182,3815,0.15,2.58,0.00,0.000,6,0.045,0.054,2071,2305,3381
$GC,4125,-0.86,-146.6,437.0,-12.3,197,4127,0.20,0.00,0.00,0.000,6,0.094,0.000,2110,2305,3382
$GC,4434,-0.86,-146.6,466.8,-9.6,212,4439,0.00,2.62,0.00,0.000,4,0.000,0.064,2110,880,3381
$GC,4479,-0.91,-146.6,471.1,-9.2,214,4484,0.00,2.58,0.00,0.000,6,0.000,0.054,2110,2301,3381
$GC,4801,-0.91,-146.6,500.9,-8.9,230,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2302,3381
$GC,5113,-0.91,-146.6,525.8,-7.6,245,5117,0.00,2.62,0.00,0.000,4,0.000,0.064,2110,880,3381
$GC,5180,-0.96,-146.6,531.2,-7.8,248,5184,0.00,2.58,0.00,0.000,6,0.000,0.054,2110,2305,3380
$GC,5500,-0.96,-146.6,557.4,-8.7,264,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2304,3380
$GC,5810,-0.96,-146.6,586.5,-9.7,279,5814,0.00,2.62,0.00,0.000,4,0.000,0.064,2110,881,3380
$GC,5850,-1.01,-146.6,590.2,-9.1,281,5855,0.15,2.58,0.00,0.000,6,0.045,0.054,2065,2301,3381
$GC,6179,-0.88,-146.6,631.9,-13.1,297,6181,0.22,0.00,0.00,0.000,6,0.091,0.000,2109,2301,3380
$GC,6486,-0.88,-146.6,657.4,-8.2,312,6491,0.00,2.60,0.00,0.000,4,0.000,0.063,2109,886,3380
$GC,6531,-0.94,-146.6,661.5,-8.6,314,6535,0.00,2.58,0.00,0.000,6,0.000,0.054,2109,2308,3380
$GC,6852,-0.94,-146.6,694.3,-12.7,330,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2308,3378
$GC,7161,-0.94,-146.6,717.2,-4.4,345,7166,0.00,2.62,0.00,0.000,4,0.000,0.064,2109,885,3380
$GC,7262,-0.94,-146.6,720.0,-1.2,349,7268,0.00,2.58,0.00,0.000,6,0.000,0.055,2109,2302,3379
$GC,7578,-0.94,-146.6,739.7,-10.2,365,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2302,3379
$GC,7887,-0.94,-146.6,770.1,-8.4,380,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2302,3380
$GC,8196,-0.94,-146.6,795.4,-8.7,395,8200,0.00,2.62,0.00,0.000,4,0.000,0.067,2109,888,3379
$GC,8304,-1.03,-146.6,805.2,-9.4,400,8309,0.15,2.58,0.00,0.000,6,0.047,0.059,2065,2295,3379
$STATE,8483,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8483,begin apogee
$GC,8491,-0.31,0.0,824.4,11.3,409,8627,0.82,0.00,132.93,1.177,6,0.105,0.000,2229,2185,2782
$STATE,8628,end apogee,CONTROL_FINISHED_OK
$STATE,8628,begin climb
$GC,8631,1.08,146.6,826.6,0.0,416,8774,1.38,2.72,130.88,1.156,4,0.058,0.068,2535,792,2183
$GC,8849,1.10,159.4,816.3,7.5,426,8869,0.00,2.62,13.15,1.027,6,0.000,0.055,2535,2200,2131
$GC,9197,1.17,226.7,792.6,5.6,443,9260,0.00,0.00,60.45,1.132,6,0.000,0.000,2535,2200,1857
$GC,9567,1.22,226.7,764.2,8.4,461,9569,0.15,0.00,0.00,0.000,6,0.050,0.000,2576,2200,1856
$GC,9877,1.17,226.7,732.0,10.6,476,9882,0.12,2.67,0.00,0.000,4,0.100,0.077,2554,3611,1856
$GC,9971,1.17,226.7,721.7,10.3,480,9976,0.00,2.60,0.00,0.000,6,0.000,0.060,2554,2209,1855
$GC,10287,1.17,226.7,691.0,9.1,495,10291,0.00,2.67,0.00,0.000,4,0.000,0.077,2552,3618,1854
$GC,10337,1.17,226.7,686.7,8.5,497,10341,0.00,2.62,0.00,0.000,6,0.000,0.056,2553,2191,1854
$GC,10652,1.18,236.7,665.6,7.6,512,10668,0.00,2.67,10.27,0.956,4,0.000,0.069,2554,789,1814
$GC,10741,1.18,236.7,658.2,9.2,515,10745,0.00,2.60,0.00,0.000,6,0.000,0.051,2554,2204,1814
$GC,11062,1.18,236.7,626.6,10.3,531,11066,0.00,2.65,0.00,0.000,4,0.000,0.074,2553,3619,1815
$GC,11117,1.18,236.7,620.7,10.9,533,11123,0.00,2.60,0.00,0.000,6,0.000,0.056,2554,2200,1814
$GC,11433,1.20,261.9,593.9,7.1,549,11458,0.00,0.00,23.20,0.992,6,0.000,0.000,2553,2200,1713
$GC,11763,1.20,261.9,567.2,9.5,565,11768,0.00,2.67,0.00,0.000,4,0.000,0.074,2553,3616,1712
$GC,11807,1.20,261.9,562.8,10.1,567,11812,0.00,2.60,0.00,0.000,6,0.000,0.055,2553,2202,1713
$GC,12129,1.20,261.9,533.3,8.6,583,12130,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2197,1712
$GC,12438,1.20,261.9,506.9,8.8,598,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2197,1713
$GC,12747,1.20,261.9,476.7,10.1,613,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2197,1714
$GC,13056,1.20,261.9,444.4,10.5,628,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2197,1714
$GC,13366,1.24,261.9,413.1,9.9,643,13370,0.00,2.65,0.00,0.000,4,0.000,0.075,2553,3612,1714
$GC,13428,1.24,261.9,406.9,9.6,646,13432,0.00,2.60,0.00,0.000,6,0.000,0.057,2553,2200,1714
$GC,13755,1.29,261.9,376.6,9.1,662,13757,0.12,0.00,0.00,0.000,6,0.050,0.000,2593,2200,1714
$GC,14064,1.23,261.9,341.4,11.7,677,14069,0.15,2.67,0.00,0.000,4,0.087,0.073,2560,3620,1714
$GC,14108,1.23,261.9,336.1,12.4,679,14113,0.00,2.60,0.00,0.000,6,0.000,0.056,2560,2199,1715
$GC,14429,1.23,261.9,304.3,9.4,695,14431,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2199,1715
$GC,14739,1.23,261.9,274.2,9.9,710,14740,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2199,1715
$GC,15048,1.23,261.9,241.7,10.9,725,15049,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2199,1715
$GC,15357,1.23,261.9,209.2,10.1,740,15362,0.00,2.65,0.00,0.000,4,0.000,0.072,2560,3614,1715
$GC,15402,1.23,261.9,204.3,11.1,742,15406,0.00,2.58,0.00,0.000,6,0.000,0.055,2560,2200,1715
$GC,15723,1.23,261.9,173.0,9.6,758,15724,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2200,1715
$GC,16032,1.23,261.9,143.8,9.4,773,16033,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2200,1715
$GC,16342,1.23,261.9,116.5,8.8,788,16343,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2200,1715
$GC,16651,1.23,261.9,86.6,10.2,803,16655,0.00,2.65,0.00,0.000,4,0.000,0.073,2560,3613,1716
$GC,16691,1.23,261.9,82.2,10.3,805,16695,0.00,2.58,0.00,0.000,6,0.000,0.055,2560,2197,1716
$GC,17017,1.23,261.9,45.7,10.8,821,17019,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2197,1716
$GC,17329,1.23,261.9,12.2,10.0,836,17330,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2197,1715
$STATE,17448,end climb,SURFACE_DEPTH_REACHED
$STATE,17448,begin surface coast
$FINISH,0.8,1.026818
$STATE,17470,end surface coast,CONTROL_FINISHED_OK
$STATE,17470,begin surface
$SM_CCo,17492,140.12,0.617,0,0,508,557.32
$SM_GC,1.31,0.00,0.00,140.12,0.000,0.000,0.617,73,2310,508,-10.24,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1862
$TCM_TEMP,17.90
$XPDR_PINGS,16
$ALTIM_TOP_PING,17.9,18.0
$ALTIM_BOTTOM_PING,776.4,56.9
$24V_AH,23.6,28.498
$10V_AH,10.2,14.004
$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,26.225,115.600,370.875,140.125,0.000,18.065,26.983,164.867,11.000,0.000,0.000,12.027,1529.136,13501.109,674.631,1769.968,489.811,0.000,1561.126,0.000,1728.327,0.000,47.752
$DEVICE_MAMPS,169.507,81.302,1176.578,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.622,578.484,483.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41192,843
$CAP_FILE_SIZE,122267,0
$CFSIZE,260165632,248885248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,080708,111827,6222.223,-1058.201,40,2.4,59,-10.6