version: 66.03
glider: 16
mission: 9
dive: 202
start: 7 19 108 4 29 27
data:
$ID,16
$MISSION,9
$DIVE,202
$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,-2097288.5
$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,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,042008,6350.678,-1315.872,34,1.5,35,-12.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.3
$GPS2,042907,6350.675,-1315.936,16,1.6,32,-12.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$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,339.0,20703,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,138,0.00,0.00,-111.47,0.000,2,0.000,0.000,65,2208,2738
$GC,141,-0.85,-146.6,3.2,-2.2,6,179,11.50,2.70,-19.30,0.000,4,0.170,0.081,2112,3640,3380
$GC,258,-0.64,-146.6,16.7,-11.7,10,263,0.22,2.50,0.00,0.000,6,0.094,0.048,2155,2248,3380
$GC,574,-0.57,-146.6,46.1,-9.1,25,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2248,3380
$GC,883,-0.53,-146.6,76.5,-10.1,40,885,0.15,0.00,0.00,0.000,6,0.097,0.000,2185,2248,3379
$GC,1193,-0.58,-146.6,101.4,-7.3,55,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2248,3380
$GC,1502,-0.63,-146.6,119.0,-5.0,70,1507,0.00,2.62,0.00,0.000,4,0.000,0.059,2184,810,3380
$GC,1547,-0.74,-146.6,121.7,-6.0,72,1552,0.20,2.58,0.00,0.000,6,0.038,0.049,2123,2230,3380
$GC,1869,-0.60,-146.6,147.1,-8.0,88,1871,0.22,0.00,0.00,0.000,6,0.084,0.000,2167,2230,3380
$GC,2177,-0.60,-146.6,165.9,-6.3,103,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3380
$GC,2486,-0.60,-146.6,185.5,-6.6,118,2490,0.00,2.65,0.00,0.000,4,0.000,0.074,2167,3644,3380
$GC,2526,-0.60,-146.6,188.4,-7.6,120,2530,0.00,2.55,0.00,0.000,6,0.000,0.048,2167,2228,3380
$GC,2852,-0.60,-146.6,211.6,-7.3,136,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3380
$GC,3162,-0.60,-146.6,235.5,-7.4,151,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3380
$GC,3472,-0.60,-146.6,257.3,-7.2,166,3476,0.00,2.67,0.00,0.000,4,0.000,0.074,2166,3644,3380
$GC,3511,-0.60,-146.6,260.3,-7.4,168,3515,0.00,2.55,0.00,0.000,6,0.000,0.048,2167,2228,3380
$GC,3837,-0.60,-146.6,284.2,-7.3,184,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3380
$GC,4147,-0.60,-146.6,305.7,-6.5,199,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3380
$GC,4456,-0.60,-146.6,324.4,-5.9,214,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3380
$GC,4765,-0.60,-146.6,342.2,-6.1,229,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3380
$GC,5075,-0.60,-146.6,362.5,-7.2,244,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3380
$GC,5383,-0.60,-146.6,385.7,-7.5,259,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3379
$GC,5693,-0.60,-146.6,408.7,-7.1,274,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3379
$GC,6003,-0.60,-146.6,428.4,-5.9,289,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3379
$GC,6312,-0.60,-146.6,446.4,-5.8,304,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3378
$GC,6621,-0.60,-146.6,465.9,-6.6,319,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3378
$GC,6930,-0.60,-146.6,488.8,-7.6,334,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3378
$GC,7239,-0.60,-146.6,511.1,-6.4,349,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3378
$GC,7549,-0.60,-146.6,529.6,-6.1,364,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3378
$GC,7858,-0.60,-146.6,552.0,-7.6,379,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3378
$GC,8168,-0.60,-146.6,575.2,-7.9,394,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3378
$GC,8477,-0.60,-146.6,601.8,-8.5,409,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3378
$GC,8785,-0.60,-146.6,624.9,-6.7,424,8790,0.00,2.65,0.00,0.000,4,0.000,0.073,2167,3638,3377
$GC,8824,-0.60,-146.6,627.6,-6.8,425,8830,0.00,2.53,0.00,0.000,6,0.000,0.048,2167,2220,3377
$GC,9140,-0.60,-146.6,645.7,-5.5,441,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2220,3377
$GC,9450,-0.60,-146.6,663.2,-5.8,456,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2219,3377
$GC,9758,-0.60,-146.6,680.2,-5.4,471,9763,0.00,2.67,0.00,0.000,4,0.000,0.075,2168,3641,3377
$GC,9792,-0.60,-146.6,682.3,-6.3,472,9797,0.00,2.53,0.00,0.000,6,0.000,0.048,2167,2229,3377
$GC,10110,-0.60,-146.6,700.1,-5.9,488,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2229,3377
$GC,10417,-0.64,-146.6,717.3,-5.6,503,10421,0.00,2.67,0.00,0.000,4,0.000,0.076,2167,3646,3376
$GC,10458,-0.70,-146.6,719.6,-5.4,505,10462,0.00,2.55,0.00,0.000,6,0.000,0.049,2168,2227,3377
$GC,10785,-0.75,-146.6,739.3,-6.4,521,10787,0.15,0.00,0.00,0.000,6,0.047,0.000,2123,2227,3376
$GC,11094,-0.66,-146.6,761.8,-6.9,536,11099,0.15,2.67,0.00,0.000,4,0.088,0.077,2156,3638,3376
$GC,11167,-0.66,-146.6,767.3,-7.2,539,11171,0.00,2.55,0.00,0.000,6,0.000,0.052,2156,2225,3376
$GC,11482,-0.66,-146.6,788.6,-7.1,554,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2225,3376
$GC,11792,-0.66,-146.6,810.3,-7.3,569,11796,0.00,2.60,0.00,0.000,4,0.000,0.067,2156,817,3376
$GC,11854,-0.74,-146.6,814.6,-6.4,572,11859,0.00,2.58,0.00,0.000,6,0.000,0.056,2156,2228,3375
$GC,12181,-0.74,-146.6,835.3,-6.3,588,12185,0.00,2.62,0.00,0.000,4,0.000,0.063,2156,814,3375
$GC,12203,-0.74,-146.6,836.8,-6.5,589,12207,0.00,2.60,0.00,0.000,6,0.000,0.056,2156,2235,3375
$STATE,12459,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12459,begin apogee
$GC,12466,-0.31,0.0,854.9,6.8,602,12602,0.38,0.00,133.43,1.194,6,0.087,0.000,2233,2238,2781
$STATE,12603,end apogee,CONTROL_FINISHED_OK
$STATE,12603,begin climb
$GC,12606,0.85,146.6,855.8,0.0,609,12743,1.15,0.00,132.38,1.171,6,0.065,0.000,2479,2238,2183
$GC,13053,0.87,165.4,836.8,5.5,630,13073,0.00,0.00,18.33,1.078,6,0.000,0.000,2479,2238,2106
$GC,13382,0.87,165.4,816.7,6.1,646,13384,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2238,2105
$GC,13692,0.87,165.4,797.4,6.6,661,13697,0.00,2.65,0.00,0.000,4,0.000,0.064,2479,824,2105
$GC,13765,0.87,165.4,792.6,6.8,664,13769,0.00,2.60,0.00,0.000,6,0.000,0.052,2479,2243,2104
$GC,14080,0.87,165.4,772.8,6.2,679,14081,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2244,2105
$GC,14390,0.87,165.4,752.4,6.1,694,14391,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2244,2104
$GC,14699,0.93,220.9,737.3,4.5,709,14754,0.00,2.70,49.92,1.112,4,0.000,0.064,2479,832,1880
$GC,14795,1.01,239.5,732.5,5.5,712,14822,0.20,2.60,18.60,1.048,6,0.072,0.052,2523,2238,1803
$GC,15133,0.95,239.5,706.9,8.4,729,15134,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2238,1803
$GC,15440,0.90,239.5,676.2,10.4,744,15442,0.15,0.00,0.00,0.000,6,0.097,0.000,2494,2238,1803
$GC,15750,0.97,258.1,654.6,5.5,759,15770,0.00,0.00,17.75,1.012,6,0.000,0.000,2493,2238,1728
$GC,16079,1.02,258.1,634.4,6.4,775,16081,0.12,0.00,0.00,0.000,6,0.051,0.000,2526,2238,1728
$GC,16389,0.96,258.1,609.1,8.1,790,16390,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2238,1727
$GC,16697,0.96,258.1,584.4,7.5,805,16701,0.00,2.65,0.00,0.000,4,0.000,0.074,2527,3650,1727
$GC,16759,0.90,258.1,579.2,8.5,808,16764,0.15,2.58,0.00,0.000,6,0.095,0.054,2497,2241,1727
$GC,17086,0.90,262.7,558.0,5.9,824,17097,0.00,2.62,5.72,0.766,4,0.000,0.062,2496,831,1709
$GC,17176,0.90,262.7,552.6,7.9,828,17180,0.00,2.58,0.00,0.000,6,0.000,0.051,2496,2242,1709
$GC,17497,0.90,262.7,531.8,7.4,844,17501,0.00,2.62,0.00,0.000,4,0.000,0.062,2496,830,1709
$GC,17540,0.90,262.7,528.1,7.8,846,17545,0.00,2.58,0.00,0.000,6,0.000,0.050,2496,2247,1709
$GC,17861,0.90,262.7,502.0,8.3,862,17862,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2247,1709
$GC,18171,0.90,262.7,478.4,7.6,877,18175,0.00,2.62,0.00,0.000,4,0.000,0.062,2496,827,1709
$GC,18214,0.90,262.7,474.9,8.0,879,18219,0.00,2.55,0.00,0.000,6,0.000,0.050,2496,2239,1709
$GC,18536,0.90,262.7,449.9,7.9,895,18537,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2239,1710
$GC,18845,0.90,262.7,425.3,8.1,910,18850,0.00,2.60,0.00,0.000,4,0.000,0.063,2496,829,1710
$GC,18885,0.90,262.7,422.0,8.8,912,18889,0.00,2.58,0.00,0.000,6,0.000,0.050,2496,2243,1710
$GC,19211,0.90,262.7,395.3,8.5,928,19212,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2243,1711
$GC,19521,0.90,262.7,368.4,8.9,943,19525,0.00,2.62,0.00,0.000,4,0.000,0.061,2496,823,1711
$GC,19576,0.90,262.7,363.1,10.6,945,19583,0.00,2.58,0.00,0.000,6,0.000,0.051,2496,2243,1711
$GC,19892,0.90,262.7,333.2,9.6,961,19893,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2243,1711
$GC,20202,0.90,262.7,304.7,8.6,976,20206,0.00,2.62,0.00,0.000,4,0.000,0.063,2497,822,1711
$GC,20246,0.90,262.7,300.6,8.1,978,20250,0.00,2.58,0.00,0.000,6,0.000,0.050,2497,2243,1711
$GC,20566,0.90,262.7,277.1,6.8,994,20567,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2243,1711
$GC,20876,0.92,278.5,259.0,5.6,1009,20898,0.00,2.67,15.20,0.746,4,0.000,0.061,2496,823,1644
$GC,20932,0.94,300.0,255.8,5.4,1011,20956,0.00,2.60,19.15,0.749,6,0.000,0.050,2496,2241,1558
$GC,21273,0.94,300.0,233.6,7.2,1028,21274,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2241,1558
$GC,21583,0.94,300.0,211.3,7.6,1043,21587,0.00,2.62,0.00,0.000,4,0.000,0.062,2497,826,1557
$GC,21638,0.99,300.0,206.7,7.8,1045,21645,0.00,2.58,0.00,0.000,6,0.000,0.050,2496,2245,1558
$GC,21955,1.03,300.0,182.7,7.9,1061,21957,0.12,0.00,0.00,0.000,6,0.049,0.000,2527,2244,1558
$GC,22264,0.98,300.0,154.2,9.7,1076,22268,0.00,2.62,0.00,0.000,4,0.000,0.064,2527,830,1557
$GC,22308,0.98,300.0,149.7,9.4,1078,22312,0.00,2.55,0.00,0.000,6,0.000,0.050,2527,2242,1557
$GC,22630,0.92,300.0,118.7,9.2,1094,22632,0.15,0.00,0.00,0.000,6,0.086,0.000,2497,2242,1558
$GC,22938,0.92,300.0,96.9,6.8,1109,22939,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2242,1558
$GC,23248,0.96,300.0,75.2,6.5,1124,23252,0.00,2.62,0.00,0.000,4,0.000,0.063,2497,826,1558
$GC,23315,1.01,300.0,70.5,7.3,1127,23320,0.10,2.58,0.00,0.000,6,0.051,0.050,2525,2245,1558
$GC,23637,1.01,300.0,41.7,9.8,1143,23641,0.00,2.60,0.00,0.000,4,0.000,0.069,2525,3649,1558
$GC,23686,1.01,300.0,36.7,7.9,1145,23691,0.00,2.55,0.00,0.000,6,0.000,0.054,2525,2244,1558
$GC,24003,0.97,300.0,12.2,7.5,1160,24004,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2244,1558
$STATE,24145,end climb,SURFACE_DEPTH_REACHED
$STATE,24145,begin surface coast
$FINISH,0.8,1.027106
$STATE,24166,end surface coast,CONTROL_FINISHED_OK
$STATE,24166,begin surface
$SM_CCo,24187,125.32,0.603,0,0,508,557.32
$SM_GC,1.32,0.00,0.00,125.32,0.000,0.000,0.603,70,2240,508,-10.26,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1862
$TCM_TEMP,17.80
$XPDR_PINGS,31
$ALTIM_TOP_PING,18.4,17.4
$ALTIM_BOTTOM_PING,801.3,62.5
$24V_AH,23.5,35.470
$10V_AH,10.1,18.024
$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,25.750,124.975,410.475,125.325,0.000,36.206,61.144,229.170,15.000,0.000,0.000,32.339,2034.202,19161.889,697.022,2273.413,686.571,0.000,1810.110,0.000,2212.589,0.000,49.397
$DEVICE_MAMPS,170.274,80.535,1194.219,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,858.161,804.194,649.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60014,1168
$CAP_FILE_SIZE,156343,0
$CFSIZE,260165632,246018048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190708,111601,6355.560,-1319.855,40,1.8,40,-12.6