version: 66.03
glider: 16
mission: 9
dive: 209
start: 7 20 108 22 40 22
data:
$ID,16
$MISSION,9
$DIVE,209
$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,-2097483
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,223355,6347.446,-1332.430,26,1.0,44,-12.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-54.3
$GPS2,224003,6347.456,-1332.331,13,1.5,13,-12.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,default
$TGT_LATLONG,62.000,-6.800
$TGT_RADIUS,1852.000
$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,180.6,7131360,-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,-146.6,0.0,0.0,0,129,0.00,0.00,-101.25,0.000,2,0.000,0.000,66,2230,2584
$GC,133,-0.85,-146.6,3.0,-1.7,5,179,11.38,2.67,-27.25,0.000,4,0.166,0.078,2106,3638,3380
$GC,235,-0.66,-146.6,13.1,-12.8,9,242,0.22,2.55,0.00,0.000,6,0.090,0.050,2151,2230,3380
$GC,554,-0.58,-146.6,43.2,-10.0,25,558,0.12,2.60,0.00,0.000,4,0.099,0.059,2174,817,3380
$GC,594,-0.64,-146.6,47.2,-9.0,27,598,0.00,2.58,0.00,0.000,6,0.000,0.048,2175,2232,3380
$GC,921,-0.64,-146.6,73.2,-6.6,43,925,0.00,2.62,0.00,0.000,4,0.000,0.069,2175,3638,3381
$GC,993,-0.64,-146.6,78.2,-6.7,46,997,0.00,2.55,0.00,0.000,6,0.000,0.047,2174,2227,3381
$GC,1311,-0.64,-146.6,95.1,-5.1,61,1315,0.00,2.60,0.00,0.000,4,0.000,0.059,2174,814,3381
$GC,1355,-0.70,-146.6,97.8,-5.9,63,1360,0.12,2.58,0.00,0.000,6,0.044,0.048,2131,2230,3381
$GC,1677,-0.58,-146.6,125.5,-8.8,79,1682,0.17,2.65,0.00,0.000,4,0.085,0.069,2169,3647,3381
$GC,1721,-0.58,-146.6,129.5,-8.3,81,1726,0.00,2.58,0.00,0.000,6,0.000,0.048,2169,2225,3382
$GC,2043,-0.58,-146.6,154.0,-8.2,97,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2225,3381
$GC,2352,-0.58,-146.6,177.6,-7.1,112,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2225,3381
$GC,2661,-0.58,-146.6,198.7,-6.9,127,2665,0.00,2.67,0.00,0.000,4,0.000,0.071,2169,3646,3381
$GC,2688,-0.58,-146.6,200.8,-7.5,128,2692,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,2228,3382
$GC,3004,-0.58,-146.6,223.6,-7.1,143,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3381
$GC,3313,-0.58,-146.6,244.5,-6.2,158,3317,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3640,3381
$GC,3340,-0.58,-146.6,246.3,-6.7,159,3344,0.00,2.53,0.00,0.000,6,0.000,0.048,2169,2231,3381
$GC,3656,-0.58,-146.6,265.1,-5.7,174,3660,0.00,2.60,0.00,0.000,4,0.000,0.060,2169,814,3381
$GC,3684,-0.63,-146.6,266.7,-6.0,175,3688,0.00,2.58,0.00,0.000,6,0.000,0.048,2169,2235,3381
$GC,4000,-0.63,-146.6,284.9,-5.9,190,4004,0.00,2.62,0.00,0.000,4,0.000,0.071,2169,3641,3381
$GC,4033,-0.63,-146.6,287.0,-6.4,191,4039,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,2226,3381
$GC,4348,-0.63,-146.6,305.5,-6.2,207,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2226,3381
$GC,4658,-0.63,-146.6,324.8,-6.5,222,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2227,3380
$GC,4967,-0.63,-146.6,346.0,-7.1,237,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2226,3380
$GC,5276,-0.63,-146.6,366.9,-6.5,252,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2226,3380
$GC,5585,-0.63,-146.6,386.6,-6.5,267,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2225,3380
$GC,5895,-0.63,-146.6,407.2,-6.5,282,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2225,3379
$GC,6204,-0.63,-146.6,428.3,-6.8,297,6208,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3638,3380
$GC,6231,-0.63,-146.6,430.4,-7.7,298,6235,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,2223,3379
$GC,6547,-0.63,-146.6,451.9,-6.7,313,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2223,3380
$GC,6856,-0.63,-146.6,473.0,-7.2,328,6860,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3638,3379
$GC,6883,-0.63,-146.6,475.1,-8.4,329,6888,0.00,2.53,0.00,0.000,6,0.000,0.048,2169,2229,3379
$GC,7199,-0.63,-146.6,498.9,-7.9,344,7204,0.00,2.58,0.00,0.000,4,0.000,0.060,2169,819,3379
$GC,7227,-0.68,-146.6,501.2,-8.4,345,7231,0.00,2.55,0.00,0.000,6,0.000,0.048,2170,2233,3379
$GC,7542,-0.68,-146.6,524.1,-6.7,360,7547,0.00,2.62,0.00,0.000,4,0.000,0.071,2169,3638,3379
$GC,7589,-0.68,-146.6,527.4,-7.3,362,7593,0.00,2.53,0.00,0.000,6,0.000,0.048,2169,2230,3379
$GC,7909,-0.68,-146.6,547.1,-6.2,378,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3379
$GC,8219,-0.68,-146.6,565.6,-5.7,393,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3379
$GC,8528,-0.68,-146.6,584.3,-6.1,408,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3379
$GC,8837,-0.68,-146.6,602.5,-6.2,423,8842,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3641,3378
$GC,8877,-0.68,-146.6,605.1,-6.5,425,8881,0.00,2.55,0.00,0.000,6,0.000,0.047,2169,2222,3379
$GC,9205,-0.68,-146.6,626.2,-7.0,441,9209,0.00,2.58,0.00,0.000,4,0.000,0.059,2169,811,3379
$GC,9232,-0.75,-146.6,628.4,-7.2,442,9238,0.15,2.55,0.00,0.000,6,0.043,0.048,2122,2228,3378
$GC,9548,-0.64,-146.6,655.9,-9.0,457,9553,0.15,2.62,0.00,0.000,4,0.087,0.071,2156,3638,3378
$GC,9611,-0.64,-146.6,661.3,-8.5,460,9615,0.00,2.53,0.00,0.000,6,0.000,0.048,2156,2228,3378
$GC,9937,-0.64,-146.6,689.5,-9.4,476,9942,0.00,2.65,0.00,0.000,4,0.000,0.072,2155,3640,3377
$GC,9987,-0.64,-146.6,694.7,-10.1,478,9991,0.00,2.53,0.00,0.000,6,0.000,0.048,2155,2231,3378
$GC,10304,-0.64,-146.6,726.6,-10.4,493,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2231,3378
$GC,10612,-0.64,-146.6,761.4,-11.3,508,10616,0.00,2.67,0.00,0.000,4,0.000,0.075,2156,3644,3378
$GC,10639,-0.64,-146.6,764.7,-11.8,509,10643,0.00,2.55,0.00,0.000,6,0.000,0.051,2156,2231,3378
$GC,10955,-0.64,-146.6,798.0,-10.3,524,10959,0.00,2.60,0.00,0.000,4,0.000,0.065,2156,817,3378
$GC,11010,-0.71,-146.6,803.9,-10.6,526,11016,0.00,2.58,0.00,0.000,6,0.000,0.052,2156,2233,3378
$GC,11326,-0.71,-146.6,834.1,-8.5,542,11331,0.00,2.65,0.00,0.000,4,0.000,0.079,2155,3637,3377
$GC,11355,-0.71,-146.6,836.5,-8.5,543,11360,0.00,2.55,0.00,0.000,6,0.000,0.054,2156,2233,3377
$GC,11671,-0.71,-146.6,862.0,-8.1,558,11675,0.00,2.62,0.00,0.000,4,0.000,0.066,2156,817,3377
$GC,11735,-0.79,-146.6,867.0,-8.2,561,11740,0.12,2.58,0.00,0.000,6,0.051,0.054,2117,2229,3376
$GC,12062,-0.69,-146.6,894.9,-7.8,577,12067,0.15,2.67,0.00,0.000,4,0.089,0.080,2149,3640,3376
$GC,12141,-0.69,-146.6,900.2,-6.1,580,12147,0.00,2.55,0.00,0.000,6,0.000,0.054,2149,2230,3376
$GC,12457,-0.69,-146.6,917.4,-5.4,596,12461,0.00,2.67,0.00,0.000,4,0.000,0.078,2150,3636,3375
$GC,12490,-0.69,-146.6,919.4,-5.9,597,12496,0.00,2.55,0.00,0.000,6,0.000,0.054,2149,2228,3375
$GC,12806,-0.69,-146.6,938.0,-6.5,613,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2228,3374
$GC,13115,-0.69,-146.6,959.4,-7.1,628,13119,0.00,2.70,0.00,0.000,4,0.000,0.078,2149,3642,3373
$GC,13148,-0.69,-146.6,962.0,-8.1,629,13154,0.00,2.58,0.00,0.000,6,0.000,0.052,2149,2225,3373
$GC,13464,-0.69,-146.6,985.3,-7.3,645,13465,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2224,3373
$STATE,13543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13543,begin apogee
$GC,13549,-0.31,0.0,991.4,7.3,649,13688,0.40,0.00,135.65,1.289,6,0.094,0.000,2229,2224,2781
$STATE,13689,end apogee,CONTROL_FINISHED_OK
$STATE,13689,begin climb
$GC,13692,0.85,146.6,997.3,0.0,656,13833,1.17,0.00,135.23,1.268,6,0.078,0.000,2477,2224,2182
$GC,14146,0.92,168.9,979.4,5.4,678,14175,0.12,2.67,21.30,1.176,4,0.059,0.064,2511,829,2092
$GC,14310,0.84,168.9,968.3,6.2,685,14315,0.15,2.60,0.00,0.000,6,0.087,0.051,2481,2241,2091
$GC,14626,0.87,196.6,951.3,5.2,700,14660,0.00,2.75,26.65,1.195,4,0.000,0.074,2480,3653,1979
$GC,14695,0.87,196.6,947.6,6.3,703,14699,0.00,2.62,0.00,0.000,6,0.000,0.053,2480,2233,1979
$GC,15016,0.91,233.0,931.7,5.0,719,15055,0.00,0.00,34.88,1.207,6,0.000,0.000,2481,2233,1831
$GC,15366,0.98,245.7,912.1,5.7,736,15388,0.15,2.78,13.07,1.109,4,0.051,0.074,2525,3648,1779
$GC,15399,0.90,245.7,909.6,7.0,737,15405,0.15,2.60,0.00,0.000,6,0.093,0.053,2496,2242,1779
$GC,15716,0.90,246.4,889.9,6.0,752,15717,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2241,1778
$GC,16024,0.90,246.4,870.0,6.0,767,16025,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2241,1778
$GC,16334,0.91,257.5,851.1,5.7,782,16352,0.00,0.00,12.35,1.085,6,0.000,0.000,2496,2241,1731
$GC,16662,0.95,288.6,833.7,5.1,798,16697,0.00,2.70,29.02,1.160,4,0.000,0.067,2496,832,1603
$GC,16715,1.07,354.5,831.0,4.2,800,16781,0.17,2.62,59.85,1.178,6,0.049,0.054,2542,2240,1334
$GC,17091,1.09,369.7,806.1,5.6,818,17111,0.00,0.00,14.93,1.076,6,0.000,0.000,2542,2239,1273
$GC,17421,1.11,383.4,789.1,5.6,834,17442,0.00,2.70,14.18,1.063,4,0.000,0.067,2542,832,1217
$GC,17476,1.11,383.4,785.6,6.3,836,17481,0.00,2.62,0.00,0.000,6,0.000,0.054,2542,2244,1216
$GC,17792,1.11,383.4,763.4,7.8,851,17797,0.00,2.67,0.00,0.000,4,0.000,0.075,2542,3654,1216
$GC,17825,1.11,383.4,760.5,7.9,852,17831,0.00,2.60,0.00,0.000,6,0.000,0.054,2542,2240,1216
$GC,18141,1.11,383.4,732.0,9.8,868,18145,0.00,2.65,0.00,0.000,4,0.000,0.067,2542,827,1215
$GC,18162,1.11,383.4,729.7,10.9,869,18167,0.00,2.60,0.00,0.000,6,0.000,0.051,2543,2243,1215
$GC,18483,1.11,383.4,699.9,9.6,885,18487,0.00,2.65,0.00,0.000,4,0.000,0.065,2543,826,1215
$GC,18527,1.11,383.4,695.2,10.0,887,18531,0.00,2.60,0.00,0.000,6,0.000,0.051,2542,2246,1215
$GC,18847,1.11,383.4,660.0,10.8,903,18852,0.00,2.65,0.00,0.000,4,0.000,0.064,2542,830,1216
$GC,18874,1.11,383.4,656.8,10.9,904,18879,0.00,2.58,0.00,0.000,6,0.000,0.050,2542,2241,1216
$GC,19190,1.11,383.4,622.0,10.6,919,19195,0.00,2.65,0.00,0.000,4,0.000,0.065,2542,823,1217
$GC,19218,1.11,383.4,619.0,10.9,920,19222,0.00,2.60,0.00,0.000,6,0.000,0.049,2542,2243,1217
$GC,19533,1.11,383.4,586.4,10.0,935,19538,0.00,2.65,0.00,0.000,4,0.000,0.064,2542,824,1217
$GC,19555,1.11,383.4,584.2,9.5,936,19560,0.00,2.58,0.00,0.000,6,0.000,0.050,2542,2242,1217
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$GC,22381,1.01,383.4,346.3,8.9,1073,22385,0.00,2.65,0.00,0.000,4,0.000,0.061,2517,825,1220
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$GC,26341,1.13,428.5,25.4,5.7,1264,26357,0.00,2.55,11.12,0.574,6,0.000,0.047,2529,2240,1033
$STATE,26645,end climb,SURFACE_DEPTH_REACHED
$STATE,26645,begin surface coast
$FINISH,0.7,1.004997
$STATE,26669,end surface coast,CONTROL_FINISHED_OK
$STATE,26669,begin surface
$SM_CCo,26690,64.28,0.597,0,0,509,557.32
$SM_GC,1.23,0.00,0.00,64.28,0.000,0.000,0.597,72,2242,509,-10.25,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1866
$TCM_TEMP,16.80
$XPDR_PINGS,44
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,976.4,57.7
$24V_AH,23.5,36.776
$10V_AH,10.1,18.707
$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,26.125,271.125,538.600,64.275,0.000,17.986,29.109,177.261,20.000,0.000,0.000,13.681,2328.580,20595.045,851.713,2662.843,677.404,0.000,2233.017,0.000,2602.948,0.000,60.751
$DEVICE_MAMPS,165.672,79.768,1289.327,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,946.231,877.354,702.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66396,1279
$CAP_FILE_SIZE,198510,0
$CFSIZE,260165632,245473280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,210708,060738,6343.393,-1332.541,40,1.5,40,-12.6