version: 66.03
glider: 16
mission: 9
dive: 199
start: 7 18 108 8 51 4
data:
$ID,16
$MISSION,9
$DIVE,199
$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,-2097225.8
$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,25
$R_STBD_OVSHOOT,17
$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
$GPS1,084508,6339.679,-1313.954,37,1.0,37,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.4
$GPS2,085045,6339.727,-1313.887,12,1.0,12,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$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,21.9,19288,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-119.12,0.000,2,0.000,0.000,69,2245,2830
$GC,151,-0.85,-146.6,3.4,-2.7,6,183,11.50,2.62,-14.80,0.000,4,0.171,0.081,2114,3647,3380
$GC,268,-0.67,-146.6,18.8,-10.9,11,273,0.20,2.58,0.00,0.000,6,0.092,0.051,2153,2235,3379
$GC,585,-0.61,-146.6,49.6,-9.4,26,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2235,3378
$GC,894,-0.53,-146.6,78.7,-9.2,41,896,0.15,0.00,0.00,0.000,6,0.096,0.000,2182,2235,3378
$GC,1204,-0.53,-146.6,97.6,-5.3,56,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2235,3378
$GC,1512,-0.58,-146.6,117.9,-7.3,71,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2235,3378
$GC,1822,-0.62,-146.6,136.7,-5.2,86,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2235,3378
$GC,2131,-0.67,-146.6,149.5,-4.4,101,2133,0.12,0.00,0.00,0.000,6,0.046,0.000,2138,2235,3378
$GC,2440,-0.58,-146.6,172.3,-7.8,116,2445,0.15,2.60,0.00,0.000,4,0.084,0.060,2173,814,3378
$GC,2485,-0.65,-146.6,175.7,-6.8,118,2489,0.00,2.58,0.00,0.000,6,0.000,0.051,2173,2231,3378
$GC,2805,-0.65,-146.6,197.9,-6.8,134,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2231,3378
$GC,3115,-0.65,-146.6,218.4,-6.5,149,3119,0.00,2.65,0.00,0.000,4,0.000,0.073,2173,3646,3378
$GC,3155,-0.65,-146.6,221.3,-7.8,151,3159,0.00,2.55,0.00,0.000,6,0.000,0.048,2173,2226,3379
$GC,3481,-0.65,-146.6,244.7,-7.4,167,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2226,3378
$GC,3790,-0.65,-146.6,266.8,-6.9,182,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3378
$GC,4100,-0.65,-146.6,285.3,-5.3,197,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3378
$GC,4409,-0.65,-146.6,302.5,-5.7,212,4413,0.00,2.67,0.00,0.000,4,0.000,0.074,2172,3643,3377
$GC,4448,-0.65,-146.6,304.9,-6.4,214,4453,0.00,2.55,0.00,0.000,6,0.000,0.049,2172,2229,3377
$GC,4776,-0.65,-146.6,325.9,-6.8,230,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3377
$GC,5084,-0.65,-146.6,348.1,-7.2,245,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2229,3377
$GC,5394,-0.65,-146.6,370.4,-7.1,260,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2229,3377
$GC,5703,-0.65,-146.6,390.8,-6.3,275,5708,0.00,2.67,0.00,0.000,4,0.000,0.074,2173,3644,3377
$GC,5736,-0.65,-146.6,392.9,-6.7,276,5742,0.00,2.55,0.00,0.000,6,0.000,0.048,2173,2230,3377
$GC,6052,-0.65,-146.6,411.1,-5.6,292,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2230,3377
$GC,6362,-0.65,-146.6,427.0,-5.0,307,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3377
$GC,6671,-0.65,-146.6,443.0,-5.2,322,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3377
$GC,6980,-0.65,-146.6,459.1,-5.2,337,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3377
$GC,7292,-0.65,-146.6,475.7,-5.5,352,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2230,3376
$GC,7598,-0.65,-146.6,494.5,-6.3,367,7603,0.00,2.65,0.00,0.000,4,0.000,0.074,2173,3642,3376
$GC,7638,-0.65,-146.6,497.3,-7.2,369,7642,0.00,2.55,0.00,0.000,6,0.000,0.048,2173,2225,3376
$GC,7965,-0.65,-146.6,517.3,-5.9,385,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3376
$GC,8273,-0.65,-146.6,534.6,-6.1,400,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2225,3376
$GC,8583,-0.65,-146.6,553.1,-6.2,415,8587,0.00,2.67,0.00,0.000,4,0.000,0.074,2173,3641,3376
$GC,8622,-0.65,-146.6,556.0,-7.9,417,8627,0.00,2.55,0.00,0.000,6,0.000,0.048,2173,2222,3376
$GC,8949,-0.65,-146.6,577.2,-6.1,433,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2222,3376
$GC,9259,-0.65,-146.6,594.8,-5.0,448,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2222,3376
$GC,9569,-0.70,-146.6,612.9,-6.9,463,9571,0.12,0.00,0.00,0.000,6,0.048,0.000,2131,2222,3375
$GC,9877,-0.61,-146.6,640.2,-8.9,478,9879,0.17,0.00,0.00,0.000,6,0.087,0.000,2166,2222,3375
$GC,10187,-0.61,-146.6,663.8,-7.1,493,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2222,3375
$GC,10496,-0.61,-146.6,682.5,-5.2,508,10500,0.00,2.67,0.00,0.000,4,0.000,0.075,2166,3640,3375
$GC,10540,-0.61,-146.6,685.0,-6.2,510,10544,0.00,2.53,0.00,0.000,6,0.000,0.048,2165,2228,3375
$GC,10862,-0.61,-146.6,698.7,-4.7,526,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3375
$GC,11170,-0.61,-146.6,719.6,-7.8,541,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2227,3375
$GC,11480,-0.65,-146.6,742.0,-6.5,556,11484,0.00,2.67,0.00,0.000,4,0.000,0.078,2166,3643,3375
$GC,11524,-0.70,-146.6,745.2,-6.7,558,11529,0.00,2.55,0.00,0.000,6,0.000,0.051,2166,2230,3375
$GC,11846,-0.75,-146.6,764.1,-6.3,574,11848,0.15,0.00,0.00,0.000,6,0.046,0.000,2122,2230,3375
$GC,12156,-1.07,-146.6,779.8,-0.0,589,12161,0.22,2.70,0.00,0.000,4,0.061,0.081,2068,3640,3375
$STATE,12232,end dive,NO_VERTICAL_VELOCITY
$STATE,12232,begin apogee
$GC,12241,-0.31,0.0,779.7,0.0,592,12375,0.73,0.00,130.75,1.141,6,0.058,0.000,2229,2239,2781
$STATE,12376,end apogee,CONTROL_FINISHED_OK
$STATE,12376,begin climb
$GC,12379,0.85,146.6,779.7,0.0,599,12517,1.15,2.70,130.23,1.118,4,0.062,0.062,2481,827,2182
$GC,12680,0.87,168.6,768.7,5.4,612,12706,0.00,2.62,20.67,1.040,6,0.000,0.054,2481,2242,2093
$GC,13028,0.87,168.6,751.0,6.0,629,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2242,2092
$GC,13337,0.89,191.4,733.1,5.4,644,13365,0.00,2.75,21.50,1.042,4,0.000,0.063,2481,832,1999
$GC,13402,0.93,225.7,729.3,5.1,647,13443,0.00,2.62,31.33,1.063,6,0.000,0.054,2481,2245,1861
$GC,13754,1.01,225.7,708.5,6.1,664,13756,0.17,0.00,0.00,0.000,6,0.056,0.000,2520,2245,1861
$GC,14062,0.96,225.7,681.0,9.6,679,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2245,1860
$GC,14371,0.92,225.7,655.6,7.3,694,14375,0.00,2.65,0.00,0.000,4,0.000,0.078,2521,3648,1859
$GC,14426,0.85,225.7,651.4,7.7,696,14433,0.17,2.58,0.00,0.000,6,0.094,0.054,2486,2242,1859
$GC,14743,0.87,240.5,634.5,5.6,712,14764,0.00,2.70,14.52,0.974,4,0.000,0.064,2486,826,1799
$GC,14803,0.87,240.5,630.5,6.8,714,14809,0.00,2.60,0.00,0.000,6,0.000,0.052,2487,2241,1799
$GC,15119,0.87,240.5,609.9,6.7,730,15120,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2240,1799
$GC,15429,0.87,240.5,587.6,7.3,745,15433,0.00,2.62,0.00,0.000,4,0.000,0.063,2486,829,1799
$GC,15472,0.87,240.5,584.2,7.1,747,15477,0.00,2.58,0.00,0.000,6,0.000,0.051,2486,2242,1798
$GC,15793,0.87,240.5,560.7,7.2,763,15794,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2242,1798
$GC,16103,0.87,240.5,538.2,7.5,778,16104,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2242,1798
$GC,16411,0.87,240.5,514.6,7.6,793,16413,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2242,1799
$GC,16721,0.89,253.6,494.4,5.6,808,16740,0.00,0.00,12.75,0.867,6,0.000,0.000,2486,2242,1747
$GC,17050,0.89,253.6,473.5,7.4,824,17051,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2242,1747
$GC,17359,0.89,253.6,447.8,8.6,839,17360,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2242,1747
$GC,17668,0.89,253.6,422.5,7.6,854,17669,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2242,1747
$GC,17978,0.89,253.6,401.7,6.1,869,17982,0.00,2.62,0.00,0.000,4,0.000,0.063,2486,820,1747
$GC,18022,0.93,253.6,398.8,6.1,871,18027,0.00,2.58,0.00,0.000,6,0.000,0.051,2486,2238,1747
$GC,18343,0.93,253.6,376.2,7.8,887,18344,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2238,1747
$GC,18652,0.93,253.6,350.9,8.1,902,18654,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2237,1747
$GC,18962,0.97,253.6,329.2,6.3,917,18963,0.12,0.00,0.00,0.000,6,0.047,0.000,2518,2238,1748
$GC,19271,0.92,253.6,305.0,7.9,932,19272,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2238,1748
$GC,19581,0.86,253.6,282.8,7.1,947,19582,0.15,0.00,0.00,0.000,6,0.084,0.000,2488,2238,1748
$GC,19889,0.86,253.6,263.6,6.3,962,19890,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2238,1748
$GC,20198,0.88,268.0,245.2,5.6,977,20218,0.00,0.00,14.05,0.726,6,0.000,0.000,2488,2238,1687
$GC,20528,0.93,268.0,223.7,7.3,993,20529,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2238,1687
$GC,20837,0.97,268.0,200.7,7.2,1008,20839,0.10,0.00,0.00,0.000,6,0.051,0.000,2519,2238,1687
$GC,21147,0.93,268.0,177.1,7.1,1023,21148,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2238,1687
$GC,21455,0.93,268.0,154.2,7.7,1038,21460,0.00,2.60,0.00,0.000,4,0.000,0.061,2520,828,1686
$GC,21500,0.88,268.0,150.5,8.5,1040,21505,0.15,2.55,0.00,0.000,6,0.083,0.050,2488,2240,1687
$GC,21822,0.88,268.0,131.4,6.0,1056,21823,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2239,1687
$GC,22131,0.94,268.0,112.9,6.0,1071,22132,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2240,1687
$GC,22442,1.01,286.1,95.9,5.5,1086,22465,0.15,2.65,15.77,0.647,4,0.044,0.061,2535,823,1613
$GC,22512,0.93,286.1,90.0,9.8,1089,22518,0.15,2.60,0.00,0.000,6,0.083,0.051,2504,2244,1613
$GC,22841,0.96,307.5,70.4,5.4,1105,22862,0.00,0.00,18.70,0.637,6,0.000,0.000,2504,2244,1527
$GC,23171,0.96,309.1,46.9,6.0,1121,23172,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2244,1527
$GC,23478,1.00,309.1,25.5,7.9,1136,23483,0.00,2.62,0.00,0.000,4,0.000,0.060,2504,823,1527
$GC,23552,1.06,309.1,19.6,7.9,1139,23557,0.12,2.58,0.00,0.000,6,0.046,0.048,2539,2243,1526
$STATE,23742,end climb,SURFACE_DEPTH_REACHED
$STATE,23742,begin surface coast
$FINISH,0.5,1.024356
$STATE,23764,end surface coast,CONTROL_FINISHED_OK
$STATE,23764,begin surface
$SM_CCo,23786,122.53,0.593,1,0,508,557.32
$SM_GC,1.29,0.00,0.00,122.53,0.000,0.000,0.593,70,2244,508,-10.25,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1852
$TCM_TEMP,16.80
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.6,18.6
$24V_AH,23.6,34.950
$10V_AH,10.2,17.730
$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,26.675,99.375,410.275,122.525,0.000,18.063,40.785,153.585,12.250,0.000,0.000,12.462,1993.310,18818.104,701.277,2186.605,553.394,0.000,1761.850,0.000,2145.938,0.000,56.051
$DEVICE_MAMPS,171.041,80.535,1140.529,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,850.421,788.541,685.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56853,1149
$CAP_FILE_SIZE,146604,0
$CFSIZE,260165632,246235136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,180708,153056,6343.437,-1312.347,37,1.9,37,-12.4