version: 66.03
glider: 16
mission: 9
dive: 194
start: 7 17 108 3 21 22
data:
$ID,16
$MISSION,9
$DIVE,194
$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,-2097091.2
$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,24
$R_STBD_OVSHOOT,17
$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
$GPS1,031308,6324.737,-1320.670,38,1.6,39,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-52.7
$GPS2,032103,6324.665,-1320.762,12,2.0,12,-12.4
$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,26.3,19720,-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,-146.6,0.0,0.0,0,143,0.00,0.00,-116.43,0.000,2,0.000,0.000,70,2230,2879
$GC,147,-0.85,-146.6,3.7,-3.0,6,177,11.45,2.62,-12.60,0.000,4,0.169,0.069,2108,826,3380
$GC,380,-0.70,-146.6,33.2,-11.4,16,385,0.20,2.58,0.00,0.000,6,0.097,0.049,2147,2240,3380
$GC,697,-0.62,-146.6,62.0,-9.3,31,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2240,3380
$GC,1006,-0.55,-146.6,89.6,-8.3,46,1007,0.17,0.00,0.00,0.000,6,0.123,0.000,2177,2240,3380
$GC,1315,-0.55,-146.6,112.1,-7.1,61,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2240,3380
$GC,1626,-0.55,-146.6,131.8,-6.0,76,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2240,3380
$GC,1933,-0.55,-146.6,149.7,-5.7,91,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2240,3381
$GC,2242,-0.55,-146.6,168.3,-6.2,106,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2240,3380
$GC,2552,-0.55,-146.6,186.7,-6.1,121,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2240,3381
$GC,2861,-0.55,-146.6,205.5,-6.2,136,2865,0.00,2.62,0.00,0.000,4,0.000,0.057,2177,810,3380
$GC,2905,-0.63,-146.6,208.3,-5.9,138,2910,0.00,2.58,0.00,0.000,6,0.000,0.049,2177,2232,3380
$GC,3227,-0.63,-146.6,228.3,-6.4,154,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2232,3380
$GC,3536,-0.63,-146.6,248.8,-6.7,169,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2232,3380
$GC,3845,-0.63,-146.6,269.3,-6.6,184,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2233,3380
$GC,4155,-0.63,-146.6,289.5,-6.4,199,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2233,3380
$GC,4463,-0.63,-146.6,308.7,-6.3,214,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2233,3380
$GC,4773,-0.63,-146.6,327.8,-6.2,229,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2233,3380
$GC,5082,-0.63,-146.6,347.1,-6.2,244,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2233,3380
$GC,5392,-0.63,-146.6,365.5,-5.8,259,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2233,3380
$GC,5701,-0.63,-146.6,383.4,-5.8,274,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2233,3380
$GC,6010,-0.63,-146.6,401.8,-6.0,289,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2233,3379
$GC,6319,-0.63,-146.6,422.8,-7.0,304,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2234,3380
$GC,6629,-0.68,-146.6,445.0,-7.0,319,6631,0.12,0.00,0.00,0.000,6,0.054,0.000,2135,2233,3379
$GC,6938,-0.60,-146.6,472.2,-9.0,334,6940,0.17,0.00,0.00,0.000,6,0.087,0.000,2170,2233,3380
$GC,7247,-0.60,-146.6,493.7,-6.7,349,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2234,3379
$GC,7557,-0.60,-146.6,513.2,-6.4,364,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2234,3379
$GC,7865,-0.60,-146.6,532.5,-6.1,379,7870,0.00,2.62,0.00,0.000,4,0.000,0.070,2170,3648,3379
$GC,7909,-0.60,-146.6,535.6,-7.6,381,7914,0.00,2.55,0.00,0.000,6,0.000,0.046,2170,2221,3379
$GC,8231,-0.60,-146.6,555.7,-6.9,397,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2222,3378
$GC,8540,-0.60,-146.6,577.6,-7.6,412,8544,0.00,2.65,0.00,0.000,4,0.000,0.068,2170,3643,3379
$GC,8589,-0.65,-146.6,581.7,-8.5,414,8594,0.00,2.53,0.00,0.000,6,0.000,0.046,2170,2225,3378
$GC,8905,-0.65,-146.6,609.0,-8.6,429,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3378
$GC,9214,-0.65,-146.6,632.6,-6.8,444,9218,0.00,2.55,0.00,0.000,4,0.000,0.058,2170,821,3378
$GC,9292,-0.71,-146.6,638.0,-7.2,447,9299,0.12,2.55,0.00,0.000,6,0.048,0.048,2130,2237,3378
$GC,9611,-0.64,-146.6,676.1,-12.4,463,9613,0.15,0.00,0.00,0.000,6,0.089,0.000,2159,2237,3378
$GC,9917,-0.64,-146.6,713.6,-10.1,478,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2237,3378
$GC,10227,-0.64,-146.6,732.7,-6.3,493,10231,0.00,2.60,0.00,0.000,4,0.000,0.058,2159,817,3378
$GC,10260,-0.70,-146.6,735.0,-7.0,494,10266,0.00,2.55,0.00,0.000,6,0.000,0.048,2159,2234,3378
$GC,10575,-0.70,-146.6,756.0,-8.3,510,10579,0.00,2.60,0.00,0.000,4,0.000,0.058,2159,812,3378
$GC,10654,-0.77,-146.6,762.8,-7.9,513,10661,0.12,2.55,0.00,0.000,6,0.047,0.049,2118,2232,3378
$GC,10970,-0.65,-146.6,791.0,-9.6,529,10975,0.15,2.62,0.00,0.000,4,0.090,0.074,2152,3643,3378
$GC,11027,-0.65,-146.6,796.5,-9.7,531,11033,0.00,2.55,0.00,0.000,6,0.000,0.051,2152,2226,3378
$GC,11343,-0.65,-146.6,818.6,-6.9,547,11344,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2226,3377
$STATE,11423,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11423,begin apogee
$GC,11430,-0.31,0.0,825.4,8.4,551,11566,0.40,0.00,133.80,1.161,6,0.112,0.000,2228,2226,2781
$STATE,11567,end apogee,CONTROL_FINISHED_OK
$STATE,11567,begin climb
$GC,11570,0.85,146.6,832.1,0.0,558,11711,1.23,2.78,132.85,1.144,4,0.079,0.074,2483,3647,2183
$GC,11768,0.80,146.6,819.6,6.6,568,11772,0.00,2.62,0.00,0.000,6,0.000,0.056,2483,2238,2183
$GC,12094,0.86,194.3,808.5,4.7,584,12144,0.00,2.78,43.45,1.110,4,0.000,0.074,2482,3644,1988
$GC,12274,1.00,328.9,800.1,2.3,592,12400,0.15,2.60,119.43,1.129,6,0.049,0.057,2526,2240,1440
$GC,12721,1.00,328.9,765.5,7.4,614,12725,0.00,2.67,0.00,0.000,4,0.000,0.070,2526,828,1438
$GC,12776,1.00,328.9,759.5,10.7,616,12783,0.00,2.58,0.00,0.000,6,0.000,0.052,2525,2235,1438
$GC,13092,1.00,328.9,728.2,8.8,632,13096,0.00,2.65,0.00,0.000,4,0.000,0.066,2526,830,1437
$GC,13177,1.00,328.9,720.0,9.9,636,13181,0.00,2.60,0.00,0.000,6,0.000,0.051,2526,2247,1436
$GC,13503,1.00,328.9,694.3,7.2,652,13507,0.00,2.67,0.00,0.000,4,0.000,0.064,2526,829,1436
$GC,13543,1.00,328.9,691.3,7.1,654,13547,0.00,2.60,0.00,0.000,6,0.000,0.051,2525,2247,1435
$GC,13869,1.00,328.9,663.3,8.8,670,13870,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2247,1435
$GC,14178,1.00,328.9,636.3,9.8,685,14182,0.00,2.65,0.00,0.000,4,0.000,0.063,2526,830,1435
$GC,14251,1.00,328.9,629.0,10.1,688,14255,0.00,2.58,0.00,0.000,6,0.000,0.049,2526,2247,1435
$GC,14566,1.00,328.9,601.6,7.5,703,14567,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2247,1435
$GC,14875,1.00,328.9,576.4,8.6,718,14880,0.00,2.65,0.00,0.000,4,0.000,0.063,2526,830,1436
$GC,14916,1.04,328.9,573.1,7.9,720,14920,0.00,2.55,0.00,0.000,6,0.000,0.048,2526,2241,1435
$GC,15243,1.04,328.9,544.9,8.3,736,15244,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2240,1435
$GC,15552,1.04,328.9,516.1,9.6,751,15553,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2241,1436
$GC,15862,1.04,328.9,486.7,9.1,766,15866,0.00,2.62,0.00,0.000,4,0.000,0.063,2525,829,1437
$GC,15905,1.04,328.9,482.6,8.7,768,15910,0.00,2.55,0.00,0.000,6,0.000,0.048,2525,2241,1436
$GC,16226,1.04,328.9,454.3,8.9,784,16228,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2241,1436
$GC,16536,1.04,328.9,427.5,8.4,799,16541,0.00,2.62,0.00,0.000,4,0.000,0.062,2526,827,1437
$GC,16581,1.04,328.9,423.8,7.8,801,16585,0.00,2.55,0.00,0.000,6,0.000,0.048,2526,2241,1437
$GC,16901,1.04,328.9,398.7,8.2,817,16902,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2241,1437
$GC,17211,1.04,328.9,370.7,9.6,832,17215,0.00,2.62,0.00,0.000,4,0.000,0.062,2526,827,1437
$GC,17260,1.04,328.9,365.6,10.1,834,17265,0.00,2.55,0.00,0.000,6,0.000,0.048,2525,2240,1437
$GC,17576,1.04,328.9,336.9,8.8,849,17577,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2240,1438
$GC,17886,1.04,328.9,311.8,7.7,864,17890,0.00,2.60,0.00,0.000,4,0.000,0.062,2526,829,1438
$GC,17941,1.04,328.9,307.4,7.5,866,17946,0.00,2.55,0.00,0.000,6,0.000,0.048,2526,2241,1438
$GC,18256,1.04,328.9,283.7,7.6,882,18257,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2241,1438
$GC,18566,1.08,328.9,260.2,7.7,897,18571,0.00,2.62,0.00,0.000,4,0.000,0.062,2526,824,1438
$GC,18616,1.08,328.9,256.2,7.8,899,18620,0.00,2.55,0.00,0.000,6,0.000,0.048,2526,2240,1438
$GC,18931,1.08,328.9,233.1,7.2,914,18935,0.00,2.60,0.00,0.000,4,0.000,0.062,2526,829,1439
$GC,18973,1.13,328.9,230.3,6.6,916,18978,0.00,2.55,0.00,0.000,6,0.000,0.048,2525,2240,1439
$GC,19301,1.13,328.9,207.1,7.3,932,19302,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2240,1439
$GC,19609,1.13,328.9,184.7,7.3,947,19614,0.00,2.60,0.00,0.000,4,0.000,0.061,2526,829,1439
$GC,19666,1.18,328.9,180.4,7.5,949,19672,0.12,2.55,0.00,0.000,6,0.051,0.048,2567,2245,1439
$GC,19982,1.10,328.9,149.3,10.4,965,19984,0.15,0.00,0.00,0.000,6,0.086,0.000,2536,2245,1439
$GC,20291,1.10,328.9,121.5,9.2,980,20292,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2245,1439
$GC,20601,1.10,328.9,91.1,9.9,995,20605,0.00,2.62,0.00,0.000,4,0.000,0.062,2536,825,1440
$GC,20640,1.10,328.9,87.3,9.3,997,20645,0.00,2.55,0.00,0.000,6,0.000,0.048,2536,2241,1440
$GC,20968,1.10,328.9,59.9,8.0,1013,20969,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2241,1440
$GC,21277,1.10,328.9,39.5,6.2,1028,21282,0.00,2.60,0.00,0.000,4,0.000,0.061,2536,829,1440
$GC,21333,1.10,328.9,35.6,6.7,1030,21339,0.00,2.53,0.00,0.000,6,0.000,0.048,2536,2241,1440
$GC,21650,1.10,328.9,12.0,7.8,1046,21651,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2241,1440
$STATE,21770,end climb,SURFACE_DEPTH_REACHED
$STATE,21770,begin surface coast
$FINISH,0.6,1.014712
$STATE,21792,end surface coast,CONTROL_FINISHED_OK
$STATE,21792,begin surface
$SM_CCo,21814,109.00,0.596,0,0,508,557.32
$SM_GC,1.40,0.00,0.00,109.00,0.000,0.000,0.596,73,2241,508,-10.24,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1848
$TCM_TEMP,17.80
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,750.7,83.9
$24V_AH,23.5,34.094
$10V_AH,10.1,17.267
$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,25.375,124.750,429.525,109.000,0.000,36.826,53.720,188.689,11.500,0.000,0.000,12.594,1849.977,17102.338,696.338,2127.477,621.881,0.000,1749.592,0.000,2089.445,0.000,46.199
$DEVICE_MAMPS,168.740,74.399,1161.238,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,770.688,724.505,609.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53664,1053
$CAP_FILE_SIZE,141418,0
$CFSIZE,260165632,246562816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,170708,092825,6328.201,-1318.915,41,1.9,60,-12.4