version: 66.03
glider: 16
mission: 9
dive: 203
start: 7 19 108 11 35 7
data:
$ID,16
$MISSION,9
$DIVE,203
$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,-2097320.8
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,111601,6355.560,-1319.855,40,1.8,40,-12.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-54.7
$GPS2,113447,6355.713,-1319.754,11,3.2,30,-12.6
$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,326.3,11499,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-121.10,0.000,2,0.000,0.000,68,2241,3027
$GC,151,-0.85,-146.6,4.4,-3.7,6,176,11.48,2.65,-7.78,0.000,4,0.171,0.081,2110,3647,3380
$GC,322,-0.65,-146.6,29.4,-11.3,13,329,0.22,2.58,0.00,0.000,6,0.091,0.048,2155,2223,3381
$GC,640,-0.60,-146.6,54.5,-6.9,29,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2223,3381
$GC,948,-0.55,-146.6,78.3,-8.6,44,953,0.12,2.65,0.00,0.000,4,0.097,0.070,2179,3640,3381
$GC,1004,-0.59,-146.6,83.0,-7.9,46,1010,0.00,2.55,0.00,0.000,6,0.000,0.047,2179,2220,3381
$GC,1320,-0.59,-146.6,106.4,-8.1,62,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2220,3381
$GC,1629,-0.59,-146.6,131.5,-7.9,77,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2220,3381
$GC,1939,-0.59,-146.6,151.8,-5.8,92,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2220,3381
$GC,2247,-0.59,-146.6,167.1,-4.7,107,2252,0.00,2.67,0.00,0.000,4,0.000,0.072,2178,3643,3381
$GC,2287,-0.59,-146.6,168.8,-4.5,109,2292,0.00,2.55,0.00,0.000,6,0.000,0.048,2178,2225,3381
$GC,2614,-0.59,-146.6,184.8,-5.1,125,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2225,3381
$GC,2923,-0.59,-146.6,202.8,-5.9,140,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2224,3380
$GC,3232,-0.59,-146.6,220.2,-5.4,155,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2224,3380
$GC,3542,-0.59,-146.6,238.0,-6.0,170,3546,0.00,2.67,0.00,0.000,4,0.000,0.074,2179,3638,3380
$GC,3574,-0.59,-146.6,240.1,-6.7,171,3580,0.00,2.55,0.00,0.000,6,0.000,0.048,2179,2222,3380
$GC,3891,-0.59,-146.6,258.2,-5.6,187,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2221,3380
$GC,4202,-0.64,-146.6,275.7,-5.7,202,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2222,3379
$GC,4509,-0.68,-146.6,293.5,-5.6,217,4514,0.12,2.65,0.00,0.000,4,0.047,0.074,2137,3640,3379
$GC,4554,-0.58,-146.6,297.1,-8.8,219,4559,0.17,2.55,0.00,0.000,6,0.085,0.048,2171,2222,3379
$GC,4875,-0.58,-146.6,318.6,-6.6,235,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3379
$GC,5184,-0.58,-146.6,339.9,-6.9,250,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3378
$GC,5494,-0.58,-146.6,361.4,-6.8,265,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3379
$GC,5803,-0.58,-146.6,381.9,-6.7,280,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3378
$GC,6112,-0.58,-146.6,402.6,-6.6,295,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3378
$GC,6422,-0.58,-146.6,425.5,-7.9,310,6427,0.00,2.67,0.00,0.000,4,0.000,0.074,2171,3638,3379
$GC,6463,-0.62,-146.6,428.6,-8.0,312,6467,0.00,2.55,0.00,0.000,6,0.000,0.048,2171,2222,3378
$GC,6789,-0.62,-146.6,455.1,-7.8,328,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3378
$GC,7100,-0.62,-146.6,476.0,-6.0,343,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3378
$GC,7408,-0.62,-146.6,494.2,-5.9,358,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3378
$GC,7717,-0.68,-146.6,512.8,-6.0,373,7722,0.00,2.55,0.00,0.000,4,0.000,0.060,2171,818,3378
$GC,7769,-0.78,-146.6,515.4,-5.2,375,7774,0.20,2.55,0.00,0.000,6,0.041,0.051,2114,2229,3378
$GC,8085,-0.59,-146.6,549.6,-13.8,390,8090,0.22,2.60,0.00,0.000,4,0.088,0.063,2163,819,3377
$GC,8176,-0.70,-146.6,560.2,-9.3,394,8181,0.00,2.55,0.00,0.000,6,0.000,0.051,2163,2232,3378
$GC,8503,-0.70,-146.6,595.4,-7.5,410,8507,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,817,3377
$GC,8536,-0.78,-146.6,597.4,-5.7,411,8543,0.15,2.58,0.00,0.000,6,0.044,0.053,2117,2236,3377
$GC,8853,-0.65,-146.6,628.6,-12.2,427,8855,0.20,0.00,0.00,0.000,6,0.087,0.000,2156,2237,3378
$GC,9161,-0.65,-146.6,655.4,-8.8,442,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2237,3377
$GC,9471,-0.65,-146.6,674.8,-3.5,457,9476,0.00,2.67,0.00,0.000,4,0.000,0.072,2156,816,3377
$GC,9585,-0.65,-146.6,678.0,-5.8,462,9589,0.00,2.60,0.00,0.000,6,0.000,0.057,2156,2237,3376
$GC,9906,-0.65,-146.6,702.7,-6.3,478,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2237,3376
$STATE,10027,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10027,begin apogee
$GC,10033,-0.31,0.0,711.9,6.2,484,10171,0.38,0.00,131.18,1.108,6,0.100,0.000,2231,2237,2781
$STATE,10171,end apogee,CONTROL_FINISHED_OK
$STATE,10172,begin climb
$GC,10174,0.85,146.6,722.1,0.0,491,10317,1.20,2.85,130.77,1.092,4,0.084,0.084,2480,3645,2182
$GC,10375,0.79,146.6,710.3,12.6,500,10380,0.00,2.62,0.00,0.000,6,0.000,0.061,2480,2242,2182
$GC,10690,0.79,146.6,694.4,9.4,515,10695,0.00,2.75,0.00,0.000,4,0.000,0.087,2480,3646,2181
$GC,10861,0.79,146.6,684.6,10.4,522,10867,0.00,2.62,0.00,0.000,6,0.000,0.061,2480,2238,2180
$GC,11176,0.95,292.3,668.6,2.0,538,11312,0.12,2.78,127.40,1.084,4,0.061,0.072,2512,835,1588
$GC,11371,0.99,327.5,658.5,5.0,547,11408,0.00,2.65,31.92,1.039,6,0.000,0.061,2512,2238,1446
$GC,11719,1.03,327.5,638.0,7.9,564,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2238,1445
$GC,12027,1.03,327.5,608.3,10.8,579,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2238,1444
$GC,12336,1.08,327.5,577.0,8.5,594,12341,0.10,2.67,0.00,0.000,4,0.076,0.071,2536,829,1443
$GC,12391,1.08,327.5,572.6,8.2,596,12397,0.00,2.62,0.00,0.000,6,0.000,0.059,2536,2243,1443
$GC,12707,1.08,327.5,551.7,6.4,612,12712,0.00,2.70,0.00,0.000,4,0.000,0.080,2536,3648,1442
$GC,12752,1.04,327.5,547.9,8.5,614,12757,0.00,2.62,0.00,0.000,6,0.000,0.063,2536,2244,1443
$GC,13073,1.04,327.5,523.9,7.8,630,13077,0.00,2.67,0.00,0.000,4,0.000,0.069,2536,821,1442
$GC,13173,0.97,327.5,516.0,7.6,634,13180,0.12,2.62,0.00,0.000,6,0.094,0.055,2511,2247,1442
$GC,13489,0.97,327.5,491.8,8.0,650,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2247,1442
$GC,13798,0.97,327.5,463.2,10.3,665,13803,0.00,2.67,0.00,0.000,4,0.000,0.067,2511,819,1442
$GC,13854,1.01,327.5,458.1,9.4,667,13860,0.00,2.60,0.00,0.000,6,0.000,0.054,2511,2238,1442
$GC,14170,1.01,327.5,428.1,9.5,683,14174,0.00,2.67,0.00,0.000,4,0.000,0.076,2511,3648,1443
$GC,14203,1.01,327.5,424.7,9.8,684,14209,0.00,2.60,0.00,0.000,6,0.000,0.058,2511,2238,1443
$GC,14518,1.01,327.5,396.4,8.8,700,14523,0.00,2.62,0.00,0.000,4,0.000,0.066,2511,826,1443
$GC,14558,1.01,327.5,393.1,7.5,702,14562,0.00,2.60,0.00,0.000,6,0.000,0.052,2511,2241,1443
$GC,14885,1.01,327.5,365.0,8.7,718,14889,0.00,2.65,0.00,0.000,4,0.000,0.066,2511,825,1444
$GC,14929,1.01,327.5,361.2,8.1,720,14933,0.00,2.60,0.00,0.000,6,0.000,0.052,2511,2245,1444
$GC,15250,1.01,327.5,336.3,6.9,736,15254,0.00,2.67,0.00,0.000,4,0.000,0.065,2511,817,1444
$GC,15300,1.02,328.4,333.0,6.0,738,15304,0.00,2.60,0.00,0.000,6,0.000,0.052,2511,2242,1444
$GC,15615,1.02,328.4,311.1,7.4,753,15616,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2241,1444
$GC,15925,1.02,328.4,289.5,6.5,768,15929,0.00,2.62,0.00,0.000,4,0.000,0.064,2511,824,1444
$GC,15964,1.02,328.4,286.9,6.9,770,15969,0.00,2.58,0.00,0.000,6,0.000,0.051,2511,2240,1444
$GC,16291,1.02,328.4,261.8,8.5,786,16293,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2239,1445
$GC,16601,1.02,328.4,234.5,8.6,801,16605,0.00,2.62,0.00,0.000,4,0.000,0.063,2511,824,1445
$GC,16645,1.02,328.4,230.6,7.8,803,16649,0.00,2.58,0.00,0.000,6,0.000,0.051,2511,2240,1445
$GC,16966,1.02,328.4,207.6,6.8,819,16967,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2240,1446
$GC,17275,1.02,328.4,184.3,7.5,834,17276,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2240,1446
$GC,17585,1.02,328.4,161.7,7.1,849,17589,0.00,2.62,0.00,0.000,4,0.000,0.063,2511,824,1447
$GC,17628,1.02,328.4,158.3,7.5,851,17633,0.00,2.58,0.00,0.000,6,0.000,0.050,2511,2241,1447
$GC,17950,1.02,328.4,134.1,7.9,867,17954,0.00,2.62,0.00,0.000,4,0.000,0.071,2511,3650,1447
$GC,17982,1.02,328.4,131.2,8.2,868,17989,0.00,2.58,0.00,0.000,6,0.000,0.055,2511,2238,1447
$GC,18300,1.02,328.4,109.4,6.5,884,18302,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2238,1447
$GC,18608,1.02,328.4,86.1,8.2,899,18610,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2238,1447
$GC,18917,1.02,328.4,64.7,6.9,914,18918,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2238,1447
$GC,19227,1.02,328.4,39.9,8.3,929,19228,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2238,1447
$GC,19537,1.06,328.4,18.9,6.9,944,19541,0.00,2.65,0.00,0.000,4,0.000,0.070,2511,3654,1448
$GC,19593,1.13,328.4,14.4,9.5,946,19600,0.15,2.55,0.00,0.000,6,0.043,0.051,2555,2237,1449
$STATE,19741,end climb,SURFACE_DEPTH_REACHED
$STATE,19741,begin surface coast
$FINISH,0.6,1.014081
$STATE,19763,end surface coast,CONTROL_FINISHED_OK
$STATE,19763,begin surface
$SM_CCo,19784,110.75,0.597,0,0,508,557.32
$SM_GC,1.40,0.00,0.00,110.75,0.000,0.000,0.597,71,2235,508,-10.25,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1862
$TCM_TEMP,17.80
$XPDR_PINGS,61
$ALTIM_TOP_PING,18.9,17.7
$ALTIM_BOTTOM_PING,675.2,45.5
$24V_AH,23.6,35.658
$10V_AH,10.1,18.120
$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,25.725,136.500,421.275,110.750,0.000,107.871,231.926,371.863,21.500,0.000,0.000,31.622,1708.212,15541.402,700.424,2011.612,1057.808,0.000,1703.807,0.000,1952.481,0.000,44.479
$DEVICE_MAMPS,171.041,87.438,1108.315,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,707.532,650.401,587.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47399,955
$CAP_FILE_SIZE,142875,0
$CFSIZE,260165632,245972992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190708,170822,6357.704,-1327.683,39,2.9,58,-12.7