version: 66.03
glider: 16
mission: 9
dive: 196
start: 7 17 108 14 28 51
data:
$ID,16
$MISSION,9
$DIVE,196
$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,-2097141.2
$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,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
$GPS1,142325,6330.249,-1317.913,34,1.8,52,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-57.1
$GPS2,142832,6330.212,-1317.968,11,2.0,11,-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,27.8,9198,-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,-121.07,0.000,2,0.000,0.000,71,2242,2942
$GC,151,-0.85,-146.6,4.1,-3.3,6,181,11.43,2.67,-10.45,0.000,4,0.170,0.071,2109,817,3380
$GC,351,-0.71,-146.6,29.6,-10.4,15,356,0.17,2.58,0.00,0.000,6,0.094,0.050,2142,2232,3381
$GC,679,-0.60,-146.6,57.6,-7.9,31,681,0.12,0.00,0.00,0.000,6,0.100,0.000,2166,2232,3381
$GC,988,-0.60,-146.6,73.8,-4.4,46,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2232,3381
$GC,1297,-0.60,-146.6,90.1,-6.0,61,1302,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,3643,3381
$GC,1342,-0.60,-146.6,93.3,-7.1,63,1346,0.00,2.55,0.00,0.000,6,0.000,0.049,2166,2228,3381
$GC,1663,-0.60,-146.6,112.9,-6.2,79,1667,0.00,2.58,0.00,0.000,4,0.000,0.059,2166,816,3382
$GC,1707,-0.60,-146.6,115.7,-6.1,81,1712,0.00,2.58,0.00,0.000,6,0.000,0.050,2166,2236,3381
$GC,2028,-0.60,-146.6,137.1,-7.0,97,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2236,3382
$GC,2337,-0.60,-146.6,159.7,-7.6,112,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3381
$GC,2646,-0.60,-146.6,183.5,-7.8,127,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3382
$GC,2955,-0.60,-146.6,208.5,-7.9,142,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3381
$GC,3265,-0.60,-146.6,232.6,-7.7,157,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3381
$GC,3574,-0.60,-146.6,256.7,-7.7,172,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3381
$GC,3883,-0.60,-146.6,280.1,-7.7,187,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3381
$GC,4193,-0.60,-146.6,304.4,-7.7,202,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3381
$GC,4502,-0.60,-146.6,327.7,-7.6,217,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3381
$GC,4812,-0.60,-146.6,350.7,-7.5,232,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3381
$GC,5121,-0.60,-146.6,372.9,-7.0,247,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3381
$GC,5430,-0.60,-146.6,393.5,-6.6,262,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3381
$GC,5739,-0.60,-146.6,413.9,-6.7,277,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3381
$GC,6049,-0.60,-146.6,433.9,-6.4,292,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2236,3381
$GC,6357,-0.60,-146.6,455.0,-7.0,307,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3380
$GC,6667,-0.60,-146.6,476.5,-7.0,322,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3380
$GC,6976,-0.60,-146.6,498.1,-7.1,337,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3380
$GC,7286,-0.60,-146.6,520.1,-7.1,352,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3380
$GC,7594,-0.60,-146.6,542.5,-7.1,367,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3380
$GC,7904,-0.60,-146.6,565.0,-7.0,382,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3380
$GC,8213,-0.60,-146.6,587.5,-7.4,397,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3380
$GC,8522,-0.60,-146.6,610.4,-7.5,412,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3380
$GC,8831,-0.60,-146.6,634.2,-7.3,427,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3380
$GC,9141,-0.60,-146.6,656.1,-7.0,442,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3379
$GC,9450,-0.60,-146.6,679.0,-7.4,457,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3379
$GC,9760,-0.60,-146.6,700.9,-6.8,472,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2237,3379
$GC,10069,-0.60,-146.6,724.2,-8.0,487,10073,0.00,2.60,0.00,0.000,4,0.000,0.059,2166,819,3379
$GC,10109,-0.68,-146.6,727.5,-7.9,489,10113,0.00,2.55,0.00,0.000,6,0.000,0.050,2166,2235,3379
$GC,10435,-0.68,-146.6,753.0,-8.0,505,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2235,3379
$GC,10744,-0.68,-146.6,780.8,-9.3,520,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2235,3379
$GC,11053,-0.68,-146.6,809.7,-9.5,535,11055,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2235,3378
$STATE,11092,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11092,begin apogee
$GC,11099,-0.31,0.0,813.5,9.4,537,11235,0.32,0.00,133.57,1.148,6,0.085,0.000,2233,2236,2781
$STATE,11236,end apogee,CONTROL_FINISHED_OK
$STATE,11236,begin climb
$GC,11239,0.85,146.6,822.4,0.0,544,11376,1.17,0.00,132.75,1.132,6,0.071,0.000,2481,2235,2183
$GC,11685,0.91,201.8,808.6,4.5,566,11741,0.00,2.70,50.40,1.103,4,0.000,0.062,2481,828,1957
$GC,11842,0.92,215.3,800.2,5.6,572,11861,0.00,2.58,13.62,1.009,6,0.000,0.052,2481,2239,1902
$GC,12185,1.02,243.1,781.9,5.2,589,12214,0.20,0.00,26.35,1.073,6,0.045,0.000,2534,2240,1789
$GC,12514,0.95,243.1,758.1,6.6,605,12516,0.15,0.00,0.00,0.000,6,0.091,0.000,2504,2240,1788
$GC,12822,0.95,243.1,740.3,6.3,620,12827,0.00,2.65,0.00,0.000,4,0.000,0.064,2504,826,1787
$GC,12878,0.95,243.1,737.0,6.0,622,12884,0.00,2.58,0.00,0.000,6,0.000,0.051,2504,2237,1786
$GC,13194,0.95,243.1,718.3,7.6,638,13198,0.00,2.65,0.00,0.000,4,0.000,0.070,2504,3650,1786
$GC,13238,0.95,243.1,714.0,10.1,640,13242,0.00,2.58,0.00,0.000,6,0.000,0.054,2504,2239,1786
$GC,13559,0.95,243.1,688.5,7.2,656,13563,0.00,2.62,0.00,0.000,4,0.000,0.064,2504,826,1786
$GC,13621,0.95,243.1,683.7,8.0,659,13625,0.00,2.58,0.00,0.000,6,0.000,0.049,2504,2240,1785
$GC,13947,0.95,243.1,657.7,8.5,675,13952,0.00,2.65,0.00,0.000,4,0.000,0.071,2504,3656,1785
$GC,14002,0.95,243.1,652.4,9.6,677,14008,0.00,2.58,0.00,0.000,6,0.000,0.053,2504,2238,1785
$GC,14318,0.95,243.1,622.1,9.8,693,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2238,1785
$GC,14627,0.95,243.1,595.0,8.5,708,14628,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2238,1785
$GC,14937,0.95,243.1,570.1,8.2,723,14941,0.00,2.65,0.00,0.000,4,0.000,0.072,2504,3650,1785
$GC,14982,0.95,243.1,566.1,9.1,725,14986,0.00,2.55,0.00,0.000,6,0.000,0.051,2504,2240,1785
$GC,15303,0.95,243.1,541.8,6.9,741,15304,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2240,1785
$GC,15612,0.95,243.1,518.1,8.0,756,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2240,1785
$GC,15922,0.95,243.1,494.0,7.6,771,15923,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2240,1785
$GC,16231,0.95,243.1,469.9,7.9,786,16232,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2240,1785
$GC,16540,0.95,243.1,446.4,7.5,801,16544,0.00,2.65,0.00,0.000,4,0.000,0.073,2504,3650,1786
$GC,16580,0.95,243.1,443.2,8.7,803,16584,0.00,2.55,0.00,0.000,6,0.000,0.051,2504,2241,1786
$GC,16906,0.95,243.1,419.8,6.9,819,16910,0.00,2.60,0.00,0.000,4,0.000,0.062,2504,827,1786
$GC,16946,0.95,243.1,417.0,6.8,821,16950,0.00,2.58,0.00,0.000,6,0.000,0.049,2504,2245,1786
$GC,17273,0.95,243.1,394.5,6.7,837,17274,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2245,1786
$GC,17581,0.95,243.1,374.9,6.5,852,17583,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2245,1786
$GC,17891,0.95,243.1,354.0,7.0,867,17895,0.00,2.62,0.00,0.000,4,0.000,0.072,2504,3650,1786
$GC,17935,0.95,243.1,350.7,7.6,869,17940,0.00,2.55,0.00,0.000,6,0.000,0.052,2504,2239,1786
$GC,18256,0.95,243.1,328.0,7.0,885,18257,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2239,1786
$GC,18565,0.95,243.1,306.6,6.7,900,18566,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2239,1787
$GC,18875,0.95,243.1,286.7,6.5,915,18876,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2239,1787
$GC,19186,0.95,243.1,266.9,6.3,930,19190,0.00,2.58,0.00,0.000,4,0.000,0.062,2504,828,1787
$GC,19225,0.95,243.1,263.9,8.0,932,19229,0.00,2.55,0.00,0.000,6,0.000,0.049,2504,2241,1787
$GC,19551,0.95,243.1,242.1,6.8,948,19553,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2240,1787
$GC,19860,0.95,243.1,222.5,6.4,963,19861,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2240,1787
$GC,20169,0.95,243.1,203.4,6.1,978,20171,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2240,1787
$GC,20479,0.95,243.1,184.4,6.4,993,20483,0.00,2.60,0.00,0.000,4,0.000,0.061,2504,827,1787
$GC,20541,1.00,243.1,180.3,6.4,996,20546,0.00,2.58,0.00,0.000,6,0.000,0.049,2504,2251,1787
$GC,20868,1.05,243.1,158.0,7.0,1012,20870,0.12,0.00,0.00,0.000,6,0.047,0.000,2541,2251,1787
$GC,21178,0.98,243.1,134.3,6.5,1027,21180,0.15,0.00,0.00,0.000,6,0.084,0.000,2510,2251,1787
$GC,21487,0.98,248.4,116.0,5.9,1042,21498,0.00,2.60,5.93,0.555,4,0.000,0.070,2510,3648,1767
$GC,21555,0.94,248.4,111.7,6.7,1045,21559,0.00,2.55,0.00,0.000,6,0.000,0.052,2510,2239,1767
$GC,21876,0.94,248.4,91.9,6.5,1061,21880,0.00,2.58,0.00,0.000,4,0.000,0.061,2510,828,1767
$GC,21948,0.94,248.4,87.1,6.7,1064,21952,0.00,2.55,0.00,0.000,6,0.000,0.048,2510,2243,1767
$GC,22264,0.94,248.4,64.4,7.7,1079,22266,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2243,1767
$GC,22573,0.94,248.4,38.9,8.6,1094,22574,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2243,1767
$GC,22883,0.94,248.4,14.1,7.6,1109,22887,0.00,2.60,0.00,0.000,4,0.000,0.061,2509,826,1767
$GC,22933,0.94,248.4,10.2,8.5,1111,22937,0.00,2.55,0.00,0.000,6,0.000,0.048,2510,2245,1768
$STATE,23062,end climb,SURFACE_DEPTH_REACHED
$STATE,23062,begin surface coast
$FINISH,0.5,1.014729
$STATE,23082,end surface coast,CONTROL_FINISHED_OK
$STATE,23082,begin surface
$SM_CCo,23104,147.90,0.597,0,0,507,557.32
$SM_GC,1.25,0.00,0.00,147.90,0.000,0.000,0.597,74,2246,507,-10.24,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1861
$TCM_TEMP,17.70
$XPDR_PINGS,15
$ALTIM_TOP_PING,18.7,17.5
$ALTIM_BOTTOM_PING,751.4,72.1
$24V_AH,23.6,34.421
$10V_AH,10.2,17.444
$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,24.425,93.350,362.625,147.900,0.000,18.053,25.735,147.026,10.500,0.000,0.000,11.930,1922.122,18331.102,692.962,2106.817,509.662,0.000,1693.055,0.000,2073.576,0.000,46.171
$DEVICE_MAMPS,169.507,72.865,1148.199,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,817.869,771.661,669.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56920,1118
$CAP_FILE_SIZE,135152,0
$CFSIZE,260165632,246452224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170708,205738,6333.181,-1318.343,34,1.9,35,-12.4