version: 66.03
glider: 16
mission: 9
dive: 164
start: 7 9 108 3 1 42
data:
$ID,16
$MISSION,9
$DIVE,164
$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,-2096398.5
$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,2200
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,23
$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
$GPS1,025337,6229.651,-1117.061,38,1.1,51,-10.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-55.7
$GPS2,030123,6229.677,-1117.078,10,2.2,29,-10.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$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,282.5,19611,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.55,0.000,2,0.000,0.000,70,2315,3010
$GC,151,-0.85,-146.6,3.7,-2.9,6,176,11.35,2.47,-8.43,0.000,4,0.166,0.089,2108,3613,3380
$GC,406,-0.65,-146.6,42.6,-13.0,17,411,0.25,2.58,0.00,0.000,6,0.091,0.051,2157,2203,3380
$GC,724,-0.60,-146.6,70.3,-7.8,32,729,0.00,2.67,0.00,0.000,4,0.000,0.076,2157,3608,3381
$GC,757,-0.60,-146.6,73.3,-7.9,33,764,0.00,2.55,0.00,0.000,6,0.000,0.048,2157,2197,3381
$GC,1073,-0.60,-146.6,97.0,-7.9,49,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2197,3381
$GC,1384,-0.60,-146.6,120.9,-8.0,64,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2197,3381
$GC,1692,-0.60,-146.6,143.8,-6.9,79,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2197,3381
$GC,2001,-0.60,-146.6,165.7,-7.2,94,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2197,3381
$GC,2310,-0.60,-146.6,190.1,-8.3,109,2315,0.00,2.70,0.00,0.000,4,0.000,0.077,2157,3611,3381
$GC,2360,-0.60,-146.6,194.7,-8.9,111,2364,0.00,2.55,0.00,0.000,6,0.000,0.050,2157,2200,3381
$GC,2676,-0.60,-146.6,223.0,-9.1,126,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2200,3381
$GC,2985,-0.60,-146.6,250.0,-8.5,141,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2201,3381
$GC,3295,-0.60,-146.6,275.9,-8.2,156,3300,0.00,2.70,0.00,0.000,4,0.000,0.079,2157,3613,3381
$GC,3329,-0.60,-146.6,279.0,-8.6,157,3334,0.00,2.58,0.00,0.000,6,0.000,0.051,2157,2194,3381
$GC,3644,-0.60,-146.6,304.2,-8.0,173,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2194,3381
$GC,3953,-0.60,-146.6,328.3,-7.8,188,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2195,3381
$GC,4263,-0.60,-146.6,350.8,-7.1,203,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2194,3381
$GC,4572,-0.60,-146.6,372.2,-7.1,218,4577,0.00,2.70,0.00,0.000,4,0.000,0.080,2157,3612,3380
$GC,4612,-0.60,-146.6,375.1,-7.5,220,4617,0.00,2.58,0.00,0.000,6,0.000,0.051,2157,2192,3381
$GC,4939,-0.60,-146.6,398.4,-7.4,236,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2192,3380
$GC,5249,-0.60,-146.6,421.6,-7.8,251,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2192,3380
$GC,5558,-0.60,-146.6,446.5,-8.1,266,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2192,3379
$GC,5867,-0.60,-146.6,470.5,-7.6,281,5872,0.00,2.70,0.00,0.000,4,0.000,0.081,2157,3607,3379
$GC,5912,-0.60,-146.6,474.5,-8.9,283,5916,0.00,2.55,0.00,0.000,6,0.000,0.051,2158,2196,3379
$GC,6235,-0.60,-146.6,500.4,-8.4,299,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2196,3380
$GC,6542,-0.60,-146.6,526.4,-8.2,314,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2196,3380
$GC,6852,-0.60,-146.6,551.2,-7.8,329,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2196,3379
$GC,7160,-0.60,-146.6,577.8,-9.1,344,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2196,3379
$GC,7469,-0.60,-146.6,603.9,-7.8,359,7474,0.00,2.70,0.00,0.000,4,0.000,0.081,2157,3606,3379
$GC,7514,-0.60,-146.6,607.2,-7.4,361,7518,0.00,2.55,0.00,0.000,6,0.000,0.051,2157,2194,3379
$GC,7836,-0.60,-146.6,625.9,-5.3,377,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2194,3378
$GC,8144,-0.60,-146.6,646.4,-7.3,392,8148,0.00,2.70,0.00,0.000,4,0.000,0.082,2157,3606,3378
$GC,8201,-0.60,-146.6,650.6,-7.6,394,8207,0.00,2.55,0.00,0.000,6,0.000,0.052,2158,2197,3378
$GC,8517,-0.60,-146.6,667.3,-4.3,410,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2197,3378
$GC,8826,-0.60,-146.6,680.4,-4.6,425,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2197,3378
$GC,9135,-0.60,-146.6,697.1,-5.8,440,9140,0.00,2.72,0.00,0.000,4,0.000,0.086,2158,3607,3378
$GC,9168,-0.60,-146.6,699.3,-6.4,441,9174,0.00,2.58,0.00,0.000,6,0.000,0.055,2158,2198,3377
$GC,9484,-0.60,-146.6,719.4,-6.8,457,9488,0.00,2.72,0.00,0.000,4,0.000,0.086,2158,3609,3377
$GC,9546,-0.60,-146.6,723.6,-6.4,460,9550,0.00,2.58,0.00,0.000,6,0.000,0.055,2157,2196,3377
$GC,9873,-0.60,-146.6,742.1,-5.4,476,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2196,3376
$GC,10182,-0.60,-146.6,760.5,-7.5,491,10186,0.00,2.72,0.00,0.000,4,0.000,0.088,2157,3603,3375
$GC,10204,-0.66,-146.6,762.2,-7.0,492,10208,0.00,2.58,0.00,0.000,6,0.000,0.058,2158,2202,3376
$STATE,10235,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10235,begin apogee
$GC,10242,-0.31,0.0,763.8,5.4,494,10377,0.35,0.00,132.38,1.154,6,0.093,0.000,2228,2233,2781
$STATE,10378,end apogee,CONTROL_FINISHED_OK
$STATE,10378,begin climb
$GC,10381,0.85,146.6,769.9,0.0,501,10524,1.20,2.90,131.55,1.133,4,0.084,0.086,2477,3652,2183
$GC,10632,0.85,146.6,761.4,6.6,512,10638,0.00,2.65,0.00,0.000,6,0.000,0.059,2477,2235,2182
$GC,10948,0.90,192.0,746.7,4.8,528,10996,0.00,2.78,41.12,1.104,4,0.000,0.071,2477,832,1998
$GC,11025,0.97,218.6,742.4,5.3,531,11057,0.15,2.65,25.35,1.072,6,0.051,0.059,2514,2238,1890
$GC,11379,0.91,218.6,716.2,7.2,549,11383,0.00,2.78,0.00,0.000,4,0.000,0.087,2514,3657,1889
$GC,11419,0.86,218.6,713.0,8.5,551,11424,0.15,2.65,0.00,0.000,6,0.094,0.059,2485,2241,1889
$GC,11747,0.92,231.9,694.8,5.6,567,11766,0.00,0.00,13.32,1.014,6,0.000,0.000,2485,2241,1835
$GC,12077,0.99,243.8,675.6,5.7,583,12095,0.12,0.00,11.88,0.995,6,0.054,0.000,2517,2241,1787
$GC,12404,0.99,243.8,654.5,6.4,599,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2241,1785
$GC,12713,0.99,243.8,632.9,7.6,614,12718,0.00,2.75,0.00,0.000,4,0.000,0.085,2517,3654,1785
$GC,12785,0.99,243.8,626.9,7.7,617,12790,0.00,2.62,0.00,0.000,6,0.000,0.058,2517,2238,1785
$GC,13101,0.99,243.8,603.9,7.6,632,13105,0.00,2.65,0.00,0.000,4,0.000,0.069,2517,827,1784
$GC,13133,0.99,243.8,601.3,7.4,633,13139,0.00,2.62,0.00,0.000,6,0.000,0.056,2517,2242,1784
$GC,13449,0.99,243.8,575.7,8.3,649,13454,0.00,2.70,0.00,0.000,4,0.000,0.081,2517,3656,1784
$GC,13489,0.99,243.8,572.3,8.6,651,13493,0.00,2.62,0.00,0.000,6,0.000,0.056,2517,2235,1784
$GC,13815,0.99,243.8,546.1,7.6,667,13820,0.00,2.65,0.00,0.000,4,0.000,0.067,2517,819,1784
$GC,13849,0.99,243.8,543.3,7.6,668,13855,0.00,2.62,0.00,0.000,6,0.000,0.055,2517,2240,1784
$GC,14164,0.99,243.8,519.0,7.6,684,14165,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2240,1784
$GC,14473,0.99,243.8,496.7,6.7,699,14478,0.00,2.70,0.00,0.000,4,0.000,0.081,2517,3651,1784
$GC,14518,0.99,243.8,493.6,6.9,701,14522,0.00,2.60,0.00,0.000,6,0.000,0.055,2517,2235,1785
$GC,14839,1.00,258.1,474.7,5.6,717,14858,0.00,0.00,14.07,0.890,6,0.000,0.000,2517,2235,1727
$GC,15168,1.00,258.1,453.9,6.8,733,15169,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2235,1727
$GC,15477,1.00,258.1,430.4,7.6,748,15479,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2235,1727
$GC,15786,1.00,258.1,406.9,7.5,763,15788,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2236,1728
$GC,16096,1.00,258.1,383.6,7.5,778,16100,0.00,2.72,0.00,0.000,4,0.000,0.081,2517,3651,1728
$GC,16135,1.00,258.1,380.3,8.3,780,16140,0.00,2.60,0.00,0.000,6,0.000,0.056,2517,2235,1729
$GC,16463,1.00,258.1,357.4,6.9,796,16464,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2235,1728
$GC,16772,1.00,258.1,336.2,7.0,811,16773,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2235,1728
$GC,17081,1.00,258.1,314.2,7.1,826,17083,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2235,1729
$GC,17390,1.00,258.1,292.5,7.3,841,17391,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2235,1729
$GC,17700,1.00,258.1,270.1,7.3,856,17704,0.00,2.70,0.00,0.000,4,0.000,0.080,2517,3652,1729
$GC,17733,1.00,258.1,267.4,7.2,857,17739,0.00,2.58,0.00,0.000,6,0.000,0.055,2517,2241,1729
$GC,18048,1.00,258.1,243.6,7.4,873,18049,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2241,1730
$GC,18357,1.00,258.1,220.7,7.0,888,18359,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2241,1730
$GC,18667,1.00,258.1,200.1,6.5,903,18668,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2241,1730
$GC,18976,1.00,258.1,179.5,6.8,918,18977,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2241,1730
$GC,19285,1.00,258.1,158.2,6.9,933,19290,0.00,2.67,0.00,0.000,4,0.000,0.080,2517,3651,1730
$GC,19318,1.00,258.1,155.6,7.0,934,19324,0.00,2.58,0.00,0.000,6,0.000,0.054,2517,2239,1730
$GC,19635,1.00,258.1,135.0,6.4,950,19636,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2239,1730
$GC,19944,1.00,258.1,115.0,6.7,965,19945,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2239,1730
$GC,20253,1.00,258.1,91.5,8.0,980,20257,0.00,2.62,0.00,0.000,4,0.000,0.066,2517,819,1730
$GC,20297,1.00,258.1,87.8,9.0,982,20302,0.00,2.60,0.00,0.000,6,0.000,0.054,2517,2240,1730
$GC,20619,1.00,258.1,65.1,7.3,998,20623,0.00,2.67,0.00,0.000,4,0.000,0.078,2517,3654,1731
$GC,20685,1.00,258.1,59.2,8.9,1001,20689,0.00,2.58,0.00,0.000,6,0.000,0.054,2517,2241,1731
$GC,21006,1.00,258.1,33.9,7.2,1017,21011,0.00,2.60,0.00,0.000,4,0.000,0.064,2517,826,1731
$GC,21047,1.00,258.1,31.0,7.2,1019,21051,0.00,2.60,0.00,0.000,6,0.000,0.054,2517,2246,1731
$GC,21373,1.00,258.1,9.3,7.1,1035,21374,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2246,1731
$STATE,21473,end climb,SURFACE_DEPTH_REACHED
$STATE,21474,begin surface coast
$FINISH,0.7,1.016132
$STATE,21495,end surface coast,CONTROL_FINISHED_OK
$STATE,21496,begin surface
$SM_CCo,21518,143.25,0.617,0,0,508,557.32
$SM_GC,1.37,0.00,0.00,143.25,0.000,0.000,0.617,70,2183,508,-10.26,-0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1832
$TCM_TEMP,17.90
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,675.7,97.1
$24V_AH,23.6,29.119
$10V_AH,10.1,14.349
$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,24.125,132.375,369.675,143.250,0.000,51.582,56.837,152.980,14.500,0.000,0.000,30.048,1825.020,16934.785,714.834,2071.545,578.855,0.000,1724.830,0.000,2012.115,0.000,41.740
$DEVICE_MAMPS,165.672,88.972,1153.568,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,763.439,711.241,614.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53716,1041
$CAP_FILE_SIZE,138477,0
$CFSIZE,260165632,248606720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090708,090402,6229.736,-1127.486,37,1.5,38,-10.9