version: 66.03
glider: 16
mission: 9
dive: 200
start: 7 18 108 15 40 4
data:
$ID,16
$MISSION,9
$DIVE,200
$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,-2097240.2
$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,23
$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
$GPS1,153056,6343.437,-1312.347,37,1.9,37,-12.4
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-58.9
$GPS2,153945,6343.336,-1312.440,13,1.6,13,-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,21.6,12501,-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,-120.90,0.000,2,0.000,0.000,70,2244,2960
$GC,153,-0.85,-146.6,3.7,-3.0,6,183,11.48,2.70,-10.35,0.000,4,0.169,0.069,2109,811,3380
$GC,241,-0.71,-146.6,16.2,-10.2,10,246,0.17,2.60,0.00,0.000,6,0.093,0.049,2143,2230,3380
$GC,568,-0.60,-146.6,44.9,-9.2,26,570,0.12,0.00,0.00,0.000,6,0.101,0.000,2166,2230,3380
$GC,877,-0.60,-146.6,67.6,-7.2,41,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,1186,-0.60,-146.6,90.7,-8.3,56,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3379
$GC,1497,-0.60,-146.6,112.6,-6.2,71,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,1805,-0.60,-146.6,129.9,-6.1,86,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,2115,-0.60,-146.6,151.1,-6.4,101,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,2424,-0.60,-146.6,171.8,-6.8,116,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3380
$GC,2733,-0.60,-146.6,194.1,-7.7,131,2737,0.00,2.65,0.00,0.000,4,0.000,0.073,2166,3647,3380
$GC,2772,-0.60,-146.6,197.4,-8.7,133,2776,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2223,3380
$GC,3099,-0.60,-146.6,223.4,-8.1,149,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2223,3379
$GC,3407,-0.60,-146.6,247.5,-8.0,164,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2222,3380
$GC,3717,-0.60,-146.6,271.4,-7.6,179,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2222,3380
$GC,4026,-0.60,-146.6,294.1,-7.5,194,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2222,3379
$GC,4335,-0.60,-146.6,317.7,-7.6,209,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2222,3379
$GC,4644,-0.60,-146.6,340.0,-7.2,224,4649,0.00,2.67,0.00,0.000,4,0.000,0.074,2167,3640,3379
$GC,4685,-0.60,-146.6,343.1,-8.1,226,4689,0.00,2.55,0.00,0.000,6,0.000,0.049,2167,2227,3379
$GC,5011,-0.60,-146.6,366.0,-6.9,242,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3379
$GC,5320,-0.60,-146.6,388.7,-7.7,257,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2227,3378
$GC,5630,-0.60,-146.6,414.0,-8.2,272,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2227,3379
$GC,5939,-0.60,-146.6,440.6,-8.7,287,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2227,3378
$GC,6248,-0.60,-146.6,466.6,-8.4,302,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2227,3378
$GC,6558,-0.60,-146.6,491.0,-7.7,317,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2227,3378
$GC,6866,-0.60,-146.6,514.9,-7.9,332,6871,0.00,2.65,0.00,0.000,4,0.000,0.072,2166,3640,3378
$GC,6911,-0.60,-146.6,518.9,-8.9,334,6915,0.00,2.53,0.00,0.000,6,0.000,0.048,2166,2228,3378
$GC,7232,-0.60,-146.6,543.0,-7.7,350,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3378
$GC,7541,-0.60,-146.6,566.2,-7.3,365,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3378
$GC,7850,-0.60,-146.6,588.9,-7.4,380,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3377
$GC,8160,-0.60,-146.6,608.7,-5.2,395,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3377
$GC,8468,-0.60,-146.6,629.8,-8.6,410,8473,0.00,2.65,0.00,0.000,4,0.000,0.073,2166,3641,3377
$GC,8519,-0.65,-146.6,634.7,-9.8,412,8523,0.00,2.53,0.00,0.000,6,0.000,0.047,2166,2228,3377
$GC,8835,-0.65,-146.6,660.1,-6.9,427,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3377
$GC,9144,-0.65,-146.6,673.5,-2.7,442,9148,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,816,3377
$GC,9185,-0.72,-146.6,674.5,-2.6,444,9190,0.12,2.58,0.00,0.000,6,0.048,0.050,2126,2232,3377
$GC,9514,-0.62,-146.6,688.0,-4.5,460,9516,0.20,0.00,0.00,0.000,6,0.087,0.000,2165,2232,3377
$GC,9820,-0.62,-146.6,706.6,-7.2,475,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3376
$GC,10130,-0.62,-146.6,719.0,-1.9,490,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3376
$GC,10440,-0.62,-146.6,729.3,-4.2,505,10444,0.00,2.65,0.00,0.000,4,0.000,0.079,2165,3643,3376
$GC,10484,-0.62,-146.6,731.8,-6.0,507,10488,0.00,2.55,0.00,0.000,6,0.000,0.051,2165,2226,3376
$GC,10805,-0.62,-146.6,752.3,-6.7,523,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2225,3377
$GC,11114,-0.66,-146.6,771.6,-6.4,538,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2226,3376
$GC,11423,-0.70,-146.6,792.3,-6.7,553,11425,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2225,3376
$STATE,11689,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11689,begin apogee
$GC,11696,-0.31,0.0,808.7,6.3,566,11832,0.32,0.00,131.77,1.161,6,0.086,0.000,2232,2226,2781
$STATE,11832,end apogee,CONTROL_FINISHED_OK
$STATE,11832,begin climb
$GC,11835,0.85,146.6,814.6,0.0,573,11972,1.20,0.00,132.15,1.141,6,0.077,0.000,2481,2225,2183
$GC,12282,0.91,205.3,798.3,4.4,595,12340,0.00,0.00,53.50,1.111,6,0.000,0.000,2481,2225,1944
$GC,12651,0.97,205.3,777.2,6.3,613,12656,0.12,2.60,0.00,0.000,4,0.055,0.065,2517,832,1942
$GC,12701,0.90,205.3,772.8,8.8,615,12705,0.00,2.60,0.00,0.000,6,0.000,0.054,2517,2240,1942
$GC,13018,0.86,205.3,742.0,10.0,630,13019,0.15,0.00,0.00,0.000,6,0.090,0.000,2487,2240,1942
$GC,13326,0.90,244.0,723.5,4.9,645,13365,0.00,0.00,35.17,1.075,6,0.000,0.000,2487,2240,1786
$GC,13676,1.00,265.3,704.1,5.4,662,13699,0.12,0.00,20.48,1.036,6,0.051,0.000,2525,2239,1699
$GC,14004,1.00,265.3,673.0,11.3,678,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2239,1698
$GC,14314,1.00,265.3,644.5,9.1,693,14315,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2240,1698
$GC,14623,1.00,265.3,619.5,7.6,708,14625,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2241,1698
$GC,14932,1.00,265.3,597.9,6.4,723,14933,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2240,1698
$GC,15242,1.07,331.7,583.5,4.2,738,15302,0.00,0.00,58.15,1.007,6,0.000,0.000,2524,2240,1428
$GC,15612,1.07,331.7,561.1,7.1,756,15616,0.00,2.65,0.00,0.000,4,0.000,0.062,2524,823,1428
$GC,15661,1.07,331.7,557.4,7.4,758,15666,0.00,2.60,0.00,0.000,6,0.000,0.051,2524,2243,1428
$GC,15977,1.07,331.7,532.0,8.8,773,15978,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2241,1428
$GC,16287,1.07,331.7,505.6,8.0,788,16291,0.00,2.62,0.00,0.000,4,0.000,0.062,2524,829,1428
$GC,16336,1.07,331.7,501.6,7.5,790,16340,0.00,2.58,0.00,0.000,6,0.000,0.051,2524,2240,1428
$GC,16651,1.07,331.7,476.4,8.0,805,16653,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2240,1428
$GC,16961,1.07,331.7,454.0,7.3,820,16962,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2239,1428
$GC,17270,1.07,332.2,432.9,6.0,835,17275,0.00,2.60,0.00,0.000,4,0.000,0.063,2525,829,1428
$GC,17315,1.07,332.2,430.4,6.1,837,17319,0.00,2.58,0.00,0.000,6,0.000,0.051,2524,2243,1428
$GC,17636,1.07,332.2,411.2,6.1,853,17637,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2243,1428
$GC,17944,1.07,332.2,392.3,6.4,868,17949,0.00,2.62,0.00,0.000,4,0.000,0.063,2524,830,1429
$GC,17985,1.11,332.2,389.5,7.3,870,17989,0.00,2.58,0.00,0.000,6,0.000,0.051,2524,2240,1428
$GC,18312,1.11,332.3,368.2,6.0,886,18313,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2240,1429
$GC,18620,1.11,332.3,349.6,6.2,901,18625,0.00,2.62,0.00,0.000,4,0.000,0.063,2524,823,1429
$GC,18661,1.11,332.9,347.0,6.0,903,18665,0.00,2.60,0.00,0.000,6,0.000,0.051,2524,2245,1429
$GC,18987,1.11,332.9,324.2,7.4,919,18988,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2246,1429
$GC,19296,1.11,332.9,299.7,7.8,934,19300,0.00,2.65,0.00,0.000,4,0.000,0.061,2524,823,1430
$GC,19362,1.11,332.9,294.3,7.9,937,19367,0.00,2.58,0.00,0.000,6,0.000,0.051,2524,2246,1430
$GC,19684,1.16,332.9,270.7,7.1,953,19686,0.12,0.00,0.00,0.000,6,0.053,0.000,2554,2246,1430
$GC,19993,1.10,332.9,243.2,8.7,968,19997,0.00,2.65,0.00,0.000,4,0.000,0.062,2555,823,1430
$GC,20032,1.10,332.9,239.7,8.4,970,20037,0.00,2.58,0.00,0.000,6,0.000,0.051,2555,2239,1430
$GC,20361,1.05,332.9,210.7,9.3,986,20362,0.15,0.00,0.00,0.000,6,0.082,0.000,2524,2239,1430
$GC,20669,1.05,332.9,185.8,7.9,1001,20673,0.00,2.62,0.00,0.000,4,0.000,0.062,2524,827,1430
$GC,20719,1.09,332.9,182.0,7.2,1003,20723,0.00,2.58,0.00,0.000,6,0.000,0.051,2524,2246,1430
$GC,21035,1.14,332.9,160.7,6.8,1018,21037,0.10,0.00,0.00,0.000,6,0.052,0.000,2558,2246,1430
$GC,21344,1.08,332.9,130.5,10.8,1033,21346,0.12,0.00,0.00,0.000,6,0.086,0.000,2533,2246,1430
$GC,21654,1.08,332.9,100.5,8.4,1048,21658,0.00,2.62,0.00,0.000,4,0.000,0.061,2533,829,1430
$GC,21694,1.12,332.9,97.3,7.4,1050,21698,0.00,2.55,0.00,0.000,6,0.000,0.051,2533,2240,1431
$GC,22020,1.12,332.9,68.4,8.8,1066,22021,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2240,1430
$GC,22330,1.12,332.9,43.4,7.6,1081,22334,0.00,2.60,0.00,0.000,4,0.000,0.060,2533,828,1430
$GC,22393,1.16,332.9,38.3,7.3,1084,22397,0.00,2.55,0.00,0.000,6,0.000,0.049,2533,2240,1430
$GC,22720,1.16,332.9,11.9,8.1,1100,22724,0.00,2.60,0.00,0.000,4,0.000,0.069,2533,3650,1430
$GC,22760,1.21,332.9,8.7,7.2,1102,22765,0.15,2.55,0.00,0.000,6,0.044,0.053,2579,2239,1431
$STATE,22837,end climb,SURFACE_DEPTH_REACHED
$STATE,22837,begin surface coast
$FINISH,0.6,1.027120
$STATE,22861,end surface coast,CONTROL_FINISHED_OK
$STATE,22861,begin surface
$SM_CCo,22882,108.00,0.597,0,0,508,557.32
$SM_GC,1.37,0.00,0.00,108.00,0.000,0.000,0.597,70,2237,508,-10.26,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1858
$TCM_TEMP,17.90
$XPDR_PINGS,24
$ALTIM_TOP_PING,18.6,18.4
$ALTIM_BOTTOM_PING,775.9,41.9
$24V_AH,23.5,35.124
$10V_AH,10.2,17.827
$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,25.500,98.825,431.225,108.000,0.000,36.405,58.203,241.199,13.250,0.000,0.000,13.806,1904.795,18173.287,737.373,2037.888,663.217,0.000,1705.491,0.000,2000.584,0.000,50.615
$DEVICE_MAMPS,168.740,79.001,1161.238,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,805.834,767.374,633.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56869,1107
$CAP_FILE_SIZE,139216,0
$CFSIZE,260165632,246177792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180708,220437,6347.643,-1310.993,37,1.2,43,-12.4