version: 66.03
glider: 16
mission: 9
dive: 192
start: 7 16 108 14 46 28
data:
$ID,16
$MISSION,9
$DIVE,192
$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,-2097031.1
$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,24
$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
$GPS1,143825,6319.131,-1319.777,28,1.9,46,-12.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-56.7
$GPS2,144608,6319.100,-1319.875,14,1.9,31,-12.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$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,20.1,29719,-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,-120.90,0.000,2,0.000,0.000,68,2246,2993
$GC,151,-0.85,-146.6,3.5,-2.6,6,178,11.48,2.65,-9.20,0.000,4,0.170,0.069,2107,817,3378
$GC,371,-0.70,-146.6,33.1,-12.0,16,376,0.20,2.58,0.00,0.000,6,0.095,0.049,2146,2235,3378
$GC,698,-0.62,-146.6,64.8,-8.7,32,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2235,3378
$GC,1007,-0.54,-146.6,92.1,-8.5,47,1012,0.15,2.60,0.00,0.000,4,0.094,0.055,2179,817,3378
$GC,1063,-0.62,-146.6,96.3,-6.6,49,1070,0.00,2.58,0.00,0.000,6,0.000,0.049,2178,2237,3378
$GC,1381,-0.62,-146.6,119.1,-7.0,65,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2237,3378
$GC,1688,-0.62,-146.6,139.4,-6.6,80,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2237,3378
$GC,1998,-0.62,-146.6,158.6,-5.4,95,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2237,3378
$GC,2307,-0.62,-146.6,176.5,-5.9,110,2311,0.00,2.60,0.00,0.000,4,0.000,0.071,2179,3640,3378
$GC,2339,-0.62,-146.6,178.7,-6.6,111,2345,0.00,2.53,0.00,0.000,6,0.000,0.048,2179,2229,3378
$GC,2655,-0.62,-146.6,198.8,-6.7,127,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2229,3378
$GC,2965,-0.62,-146.6,220.7,-7.4,142,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2230,3378
$GC,3274,-0.66,-146.6,243.0,-7.0,157,3276,0.12,0.00,0.00,0.000,6,0.047,0.000,2136,2230,3378
$GC,3584,-0.58,-146.6,269.4,-8.4,172,3585,0.17,0.00,0.00,0.000,6,0.084,0.000,2171,2229,3377
$GC,3892,-0.58,-146.6,288.9,-6.1,187,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3377
$GC,4201,-0.58,-146.6,308.5,-6.6,202,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3377
$GC,4511,-0.58,-146.6,329.2,-7.0,217,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3377
$GC,4820,-0.58,-146.6,349.5,-6.4,232,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3377
$GC,5129,-0.58,-146.6,369.2,-6.3,247,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3377
$GC,5439,-0.58,-146.6,388.6,-6.4,262,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3377
$GC,5748,-0.58,-146.6,408.0,-6.3,277,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3377
$GC,6057,-0.58,-146.6,427.3,-6.2,292,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3377
$GC,6367,-0.58,-146.6,447.4,-6.7,307,6371,0.00,2.65,0.00,0.000,4,0.000,0.074,2171,3640,3376
$GC,6407,-0.58,-146.6,450.1,-7.1,309,6411,0.00,2.53,0.00,0.000,6,0.000,0.048,2171,2230,3376
$GC,6733,-0.58,-146.6,472.5,-6.8,325,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3376
$GC,7043,-0.58,-146.6,494.1,-6.8,340,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3376
$GC,7351,-0.58,-146.6,516.4,-7.5,355,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3376
$GC,7661,-0.58,-146.6,539.8,-7.5,370,7665,0.00,2.65,0.00,0.000,4,0.000,0.074,2171,3644,3376
$GC,7700,-0.58,-146.6,543.0,-8.4,372,7704,0.00,2.53,0.00,0.000,6,0.000,0.046,2171,2228,3376
$GC,8027,-0.58,-146.6,567.1,-7.2,388,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3376
$GC,8335,-0.58,-146.6,591.4,-7.9,403,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3376
$GC,8645,-0.58,-146.6,617.6,-8.5,418,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3376
$GC,8954,-0.58,-146.6,639.4,-6.8,433,8958,0.00,2.65,0.00,0.000,4,0.000,0.073,2171,3639,3376
$GC,8994,-0.66,-146.6,642.6,-7.5,435,8998,0.00,2.53,0.00,0.000,6,0.000,0.047,2171,2228,3376
$GC,9322,-0.66,-146.6,659.0,-3.7,451,9326,0.00,2.55,0.00,0.000,4,0.000,0.058,2171,820,3376
$GC,9377,-0.74,-146.6,660.5,-1.5,453,9384,0.17,2.55,0.00,0.000,6,0.042,0.050,2118,2236,3376
$GC,9694,-0.62,-146.6,666.2,-2.4,469,9699,0.20,2.58,0.00,0.000,4,0.086,0.057,2162,820,3376
$GC,9784,-0.67,-146.6,669.2,-4.8,473,9789,0.00,2.55,0.00,0.000,6,0.000,0.050,2161,2240,3376
$GC,10105,-0.67,-146.6,696.3,-11.1,489,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2240,3376
$GC,10417,-0.67,-146.6,732.5,-10.6,504,10418,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2240,3375
$GC,10723,-0.67,-146.6,757.3,-6.3,519,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2240,3375
$GC,11032,-0.67,-146.6,776.9,-7.1,534,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2240,3375
$GC,11342,-0.67,-146.6,804.5,-8.7,549,11343,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2240,3375
$STATE,11628,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11628,begin apogee
$GC,11634,-0.31,0.0,818.2,4.3,563,11771,0.32,0.00,132.82,1.151,6,0.086,0.000,2228,2240,2781
$STATE,11772,end apogee,CONTROL_FINISHED_OK
$STATE,11772,begin climb
$GC,11775,0.85,146.6,822.8,0.0,570,11915,1.20,2.70,132.68,1.134,4,0.070,0.062,2482,839,2183
$GC,11974,0.87,164.3,815.9,5.5,579,12002,0.00,2.60,17.60,1.040,6,0.000,0.053,2482,2244,2110
$GC,12311,0.88,173.9,799.3,5.7,596,12322,0.00,0.00,9.80,0.964,6,0.000,0.000,2482,2244,2072
$GC,12620,0.92,216.9,781.0,4.8,611,12662,0.00,0.00,39.97,1.098,6,0.000,0.000,2482,2244,1897
$GC,12969,1.08,305.9,765.4,3.6,628,13056,0.20,2.70,79.90,1.114,4,0.048,0.065,2540,833,1533
$GC,13113,1.08,305.9,753.4,8.0,635,13118,0.00,2.62,0.00,0.000,6,0.000,0.054,2540,2246,1531
$GC,13441,1.08,305.9,726.6,8.1,651,13445,0.00,2.65,0.00,0.000,4,0.000,0.064,2540,826,1531
$GC,13480,1.08,305.9,723.3,8.6,653,13484,0.00,2.60,0.00,0.000,6,0.000,0.053,2540,2244,1531
$GC,13807,1.04,305.9,694.4,8.8,669,13808,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2244,1530
$GC,14116,0.99,305.9,666.8,9.2,684,14121,0.12,2.65,0.00,0.000,4,0.091,0.061,2516,824,1530
$GC,14188,0.99,305.9,660.5,8.7,687,14193,0.00,2.58,0.00,0.000,6,0.000,0.050,2516,2241,1529
$GC,14504,0.99,305.9,634.1,8.9,702,14505,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2241,1529
$GC,14813,0.99,305.9,609.7,8.5,717,14817,0.00,2.60,0.00,0.000,4,0.000,0.059,2516,830,1529
$GC,14863,1.04,305.9,605.1,8.3,719,14868,0.00,2.58,0.00,0.000,6,0.000,0.050,2515,2245,1529
$GC,15179,1.04,305.9,576.8,8.4,734,15183,0.00,2.62,0.00,0.000,4,0.000,0.074,2516,3650,1530
$GC,15228,1.09,305.9,572.4,8.5,736,15233,0.00,2.55,0.00,0.000,6,0.000,0.051,2516,2243,1530
$GC,15545,1.09,305.9,546.4,7.6,751,15549,0.00,2.62,0.00,0.000,4,0.000,0.064,2516,821,1530
$GC,15585,1.14,305.9,543.3,7.7,753,15590,0.15,2.58,0.00,0.000,6,0.049,0.051,2559,2238,1530
$GC,15912,1.05,305.9,513.2,9.5,769,15917,0.15,2.67,0.00,0.000,4,0.084,0.074,2529,3653,1530
$GC,15952,1.05,305.9,509.6,8.7,771,15956,0.00,2.58,0.00,0.000,6,0.000,0.052,2529,2238,1531
$GC,16278,1.05,305.9,482.9,8.4,787,16282,0.00,2.60,0.00,0.000,4,0.000,0.063,2529,825,1530
$GC,16323,1.05,305.9,479.0,8.3,789,16327,0.00,2.58,0.00,0.000,6,0.000,0.051,2529,2243,1531
$GC,16644,1.05,305.9,451.3,8.7,805,16645,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2243,1531
$GC,16953,1.05,305.9,423.0,9.3,820,16954,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2243,1530
$GC,17262,1.05,305.9,394.5,9.4,835,17266,0.00,2.62,0.00,0.000,4,0.000,0.062,2529,828,1531
$GC,17319,1.05,305.9,389.1,9.3,837,17325,0.00,2.58,0.00,0.000,6,0.000,0.051,2529,2242,1531
$GC,17635,1.05,305.9,359.0,9.4,853,17636,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2242,1531
$GC,17944,1.05,305.9,331.4,8.7,868,17948,0.00,2.62,0.00,0.000,4,0.000,0.062,2529,828,1532
$GC,17977,1.05,305.9,328.5,8.5,869,17983,0.00,2.58,0.00,0.000,6,0.000,0.051,2529,2242,1532
$GC,18292,1.05,305.9,302.2,8.1,885,18293,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2242,1532
$GC,18602,1.05,305.9,278.0,7.7,900,18606,0.00,2.62,0.00,0.000,4,0.000,0.061,2529,823,1532
$GC,18646,1.05,305.9,274.3,8.2,902,18650,0.00,2.58,0.00,0.000,6,0.000,0.051,2529,2243,1532
$GC,18966,1.05,305.9,249.3,7.7,918,18968,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2243,1532
$GC,19276,1.05,305.9,224.8,8.1,933,19280,0.00,2.62,0.00,0.000,4,0.000,0.061,2529,823,1531
$GC,19315,1.05,305.9,221.6,8.3,935,19320,0.00,2.58,0.00,0.000,6,0.000,0.051,2529,2240,1532
$GC,19643,1.05,305.9,194.7,8.5,951,19644,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2240,1532
$GC,19952,1.05,305.9,167.4,8.7,966,19953,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2239,1533
$GC,20262,1.05,305.9,142.3,7.9,981,20266,0.00,2.62,0.00,0.000,4,0.000,0.061,2529,821,1533
$GC,20317,1.05,305.9,137.7,7.9,983,20323,0.00,2.58,0.00,0.000,6,0.000,0.051,2529,2248,1533
$GC,20633,1.05,305.9,111.6,8.8,999,20634,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2248,1533
$GC,20942,1.05,305.9,84.8,8.2,1014,20944,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2248,1533
$GC,21251,1.05,305.9,63.1,6.3,1029,21252,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2248,1533
$GC,21560,1.05,305.9,43.1,6.7,1044,21565,0.00,2.62,0.00,0.000,4,0.000,0.061,2529,827,1533
$GC,21611,1.05,305.9,39.3,7.4,1046,21615,0.00,2.55,0.00,0.000,6,0.000,0.051,2529,2240,1533
$GC,21927,1.05,305.9,13.7,8.4,1061,21931,0.00,2.62,0.00,0.000,4,0.000,0.072,2529,3650,1534
$GC,21967,1.05,305.9,10.3,9.0,1063,21971,0.00,2.53,0.00,0.000,6,0.000,0.053,2529,2239,1534
$STATE,22085,end climb,SURFACE_DEPTH_REACHED
$STATE,22085,begin surface coast
$FINISH,0.6,1.014004
$STATE,22107,end surface coast,CONTROL_FINISHED_OK
$STATE,22107,begin surface
$SM_CCo,22129,120.20,0.591,0,0,508,557.32
$SM_GC,1.28,0.00,0.00,120.20,0.000,0.000,0.591,70,2236,508,-10.25,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1863
$TCM_TEMP,17.70
$XPDR_PINGS,28
$ALTIM_TOP_PING,18.9,18.1
$ALTIM_BOTTOM_PING,750.5,77.0
$24V_AH,23.6,33.747
$10V_AH,10.2,17.074
$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,25.300,124.675,412.775,120.200,0.000,18.013,26.753,274.271,13.750,0.000,0.000,31.416,1860.563,17364.562,721.339,2117.614,649.166,0.000,1743.511,0.000,2059.337,0.000,46.183
$DEVICE_MAMPS,169.507,74.399,1151.267,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,776.887,734.371,618.063,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53707,1070
$CAP_FILE_SIZE,141420,0
$CFSIZE,260165632,246693888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,160708,205858,6322.300,-1320.216,40,3.1,60,-12.4