version: 66.03
glider: 16
mission: 9
dive: 182
start: 7 13 108 23 31 58
data:
$ID,16
$MISSION,9
$DIVE,182
$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,-2096818.6
$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,19
$R_STBD_OVSHOOT,18
$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
$GPS1,231408,6255.147,-1309.518,34,1.1,35,-12.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-52.8
$GPS2,233139,6255.088,-1309.207,15,1.8,15,-12.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-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,4.6,37192,-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,-146.6,0.0,0.0,0,148,0.00,0.00,-121.40,0.000,2,0.000,0.000,71,2251,2883
$GC,151,-0.85,-146.6,3.1,-2.3,6,182,11.38,2.67,-13.60,0.000,4,0.166,0.071,2110,808,3381
$GC,341,-0.67,-146.6,26.8,-11.5,14,348,0.22,2.60,0.00,0.000,6,0.094,0.052,2154,2236,3381
$GC,658,-0.61,-146.6,53.4,-8.0,30,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2236,3381
$GC,968,-0.56,-146.6,79.8,-9.2,45,973,0.12,2.62,0.00,0.000,4,0.100,0.059,2177,813,3381
$GC,1013,-0.63,-146.6,83.8,-8.0,47,1018,0.00,2.58,0.00,0.000,6,0.000,0.052,2177,2229,3381
$GC,1335,-0.63,-146.6,108.9,-7.9,63,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2229,3381
$GC,1644,-0.63,-146.6,133.4,-8.1,78,1649,0.00,2.60,0.00,0.000,4,0.000,0.059,2177,814,3381
$GC,1685,-0.71,-146.6,136.7,-8.1,80,1690,0.15,2.58,0.00,0.000,6,0.041,0.053,2129,2235,3381
$GC,2012,-0.59,-146.6,168.8,-9.7,96,2014,0.20,0.00,0.00,0.000,6,0.082,0.000,2169,2235,3381
$GC,2322,-0.59,-146.6,191.4,-7.2,111,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2235,3381
$GC,2631,-0.59,-146.6,214.8,-7.6,126,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2235,3381
$GC,2940,-0.59,-146.6,238.3,-7.9,141,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2236,3381
$GC,3250,-0.59,-146.6,262.7,-8.0,156,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2235,3380
$GC,3558,-0.59,-146.6,285.9,-7.2,171,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2235,3380
$GC,3868,-0.59,-146.6,306.5,-6.9,186,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2235,3380
$GC,4177,-0.59,-146.6,327.5,-6.8,201,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2236,3380
$GC,4486,-0.59,-146.6,348.7,-7.1,216,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2236,3380
$GC,4795,-0.59,-146.6,370.5,-7.1,231,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2235,3380
$GC,5105,-0.59,-146.6,393.7,-7.8,246,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2235,3380
$GC,5414,-0.59,-146.6,418.1,-7.8,261,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2235,3380
$GC,5723,-0.59,-146.6,441.4,-7.3,276,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2235,3379
$GC,6033,-0.59,-146.6,463.4,-6.9,291,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2235,3380
$GC,6342,-0.59,-146.6,484.6,-6.9,306,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2235,3379
$GC,6651,-0.59,-146.6,505.9,-6.8,321,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2236,3379
$GC,6963,-0.59,-146.6,526.3,-6.3,336,6967,0.00,2.65,0.00,0.000,4,0.000,0.075,2169,3649,3379
$GC,7002,-0.59,-146.6,529.2,-7.6,338,7007,0.00,2.58,0.00,0.000,6,0.000,0.050,2169,2220,3379
$GC,7329,-0.59,-146.6,549.4,-6.1,354,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2220,3378
$GC,7639,-0.59,-146.6,567.4,-5.6,369,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2220,3378
$GC,7948,-0.59,-146.6,584.1,-5.2,384,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2220,3378
$GC,8257,-0.59,-146.6,599.3,-4.8,399,8262,0.00,2.67,0.00,0.000,4,0.000,0.074,2169,3643,3378
$GC,8303,-0.59,-146.6,601.8,-5.9,401,8308,0.00,2.55,0.00,0.000,6,0.000,0.050,2170,2221,3378
$GC,8624,-0.59,-146.6,618.1,-5.2,417,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3378
$GC,8933,-0.59,-146.6,635.5,-5.4,432,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3377
$GC,9243,-0.59,-146.6,652.5,-5.8,447,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3377
$GC,9552,-0.59,-146.6,669.2,-5.7,462,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3377
$GC,9861,-0.64,-146.6,688.6,-6.4,477,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3377
$GC,10171,-0.69,-146.6,707.3,-5.9,492,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3377
$GC,10480,-0.74,-146.6,727.2,-6.5,507,10485,0.15,2.67,0.00,0.000,4,0.047,0.078,2120,3640,3377
$GC,10514,-0.62,-146.6,730.1,-8.1,508,10520,0.22,2.55,0.00,0.000,6,0.084,0.055,2165,2233,3376
$GC,10830,-0.67,-146.6,751.2,-7.3,524,10834,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,818,3376
$GC,10879,-0.77,-146.6,755.3,-7.9,526,10884,0.15,2.58,0.00,0.000,6,0.050,0.055,2120,2230,3376
$STATE,11048,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11048,begin apogee
$GC,11055,-0.31,0.0,770.0,8.7,534,11192,0.52,0.00,132.07,1.142,6,0.087,0.000,2227,2230,2781
$STATE,11192,end apogee,CONTROL_FINISHED_OK
$STATE,11192,begin climb
$GC,11195,0.85,146.6,774.4,0.0,541,11339,1.20,2.75,131.38,1.121,4,0.070,0.064,2484,816,2183
$GC,11420,0.94,230.7,765.9,3.7,551,11501,0.00,2.65,75.80,1.100,6,0.000,0.054,2484,2242,1840
$GC,11819,1.03,272.5,746.6,4.9,571,11860,0.17,0.00,38.62,1.077,6,0.051,0.000,2531,2242,1669
$GC,12166,1.03,272.5,719.0,8.1,588,12168,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2242,1667
$GC,12476,1.03,272.5,692.8,8.8,603,12480,0.00,2.65,0.00,0.000,4,0.000,0.067,2531,829,1666
$GC,12515,1.03,272.5,689.3,9.0,605,12520,0.00,2.60,0.00,0.000,6,0.000,0.055,2531,2241,1666
$GC,12842,1.03,272.5,660.5,8.9,621,12847,0.00,2.67,0.00,0.000,4,0.000,0.079,2532,3650,1666
$GC,12886,1.03,272.5,655.9,10.9,623,12891,0.00,2.60,0.00,0.000,6,0.000,0.057,2531,2238,1666
$GC,13208,0.99,272.5,627.8,8.4,639,13213,0.00,2.62,0.00,0.000,4,0.000,0.067,2531,830,1665
$GC,13309,0.99,272.5,618.8,8.5,643,13315,0.00,2.58,0.00,0.000,6,0.000,0.052,2530,2239,1665
$GC,13624,0.99,272.5,593.5,7.9,659,13629,0.00,2.65,0.00,0.000,4,0.000,0.075,2531,3650,1665
$GC,13675,0.94,272.5,589.2,8.8,661,13681,0.12,2.55,0.00,0.000,6,0.093,0.054,2507,2242,1665
$GC,13991,0.94,272.5,566.9,6.9,676,13996,0.00,2.62,0.00,0.000,4,0.000,0.066,2507,827,1665
$GC,14054,0.99,272.5,562.3,7.3,679,14058,0.00,2.58,0.00,0.000,6,0.000,0.051,2506,2241,1664
$GC,14381,0.99,272.5,538.4,7.4,695,14382,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2241,1664
$GC,14689,0.99,272.5,517.1,6.8,710,14694,0.00,2.62,0.00,0.000,4,0.000,0.063,2506,827,1664
$GC,14740,1.04,272.5,513.2,7.5,712,14745,0.00,2.58,0.00,0.000,6,0.000,0.051,2506,2242,1664
$GC,15056,1.04,272.5,490.4,7.4,727,15060,0.00,2.65,0.00,0.000,4,0.000,0.076,2506,3653,1665
$GC,15089,1.09,272.5,487.7,8.1,728,15095,0.15,2.58,0.00,0.000,6,0.048,0.055,2552,2240,1665
$GC,15405,1.01,272.5,457.5,9.6,744,15410,0.15,2.60,0.00,0.000,4,0.086,0.064,2518,827,1665
$GC,15445,1.01,272.5,453.9,8.8,746,15450,0.00,2.58,0.00,0.000,6,0.000,0.051,2518,2240,1665
$GC,15772,1.01,272.5,424.8,9.0,762,15773,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1665
$GC,16082,1.01,272.5,397.9,8.8,777,16086,0.00,2.65,0.00,0.000,4,0.000,0.077,2518,3650,1666
$GC,16121,1.01,272.5,394.3,8.8,779,16125,0.00,2.58,0.00,0.000,6,0.000,0.056,2518,2240,1666
$GC,16447,1.01,272.5,365.4,8.8,795,16451,0.00,2.60,0.00,0.000,4,0.000,0.065,2518,827,1666
$GC,16491,1.01,272.5,361.5,9.2,797,16496,0.00,2.58,0.00,0.000,6,0.000,0.053,2518,2241,1666
$GC,16812,1.01,272.5,334.6,8.2,813,16814,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1666
$GC,17122,1.01,272.5,309.2,8.1,828,17123,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1667
$GC,17431,1.01,272.5,282.4,9.1,843,17436,0.00,2.62,0.00,0.000,4,0.000,0.064,2518,818,1667
$GC,17476,1.01,272.5,277.9,9.9,845,17480,0.00,2.58,0.00,0.000,6,0.000,0.052,2518,2240,1667
$GC,17797,1.01,272.5,247.7,9.5,861,17798,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1667
$GC,18106,1.01,272.5,219.3,9.0,876,18108,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1667
$GC,18415,1.01,272.5,192.9,8.1,891,18416,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1667
$GC,18725,1.01,272.5,166.9,9.1,906,18726,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1667
$GC,19034,1.01,272.5,139.5,8.4,921,19035,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1667
$GC,19343,1.01,272.5,116.5,7.0,936,19344,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2241,1668
$GC,19654,1.01,272.5,95.1,7.0,951,19655,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1668
$GC,19962,1.01,272.5,71.2,7.8,966,19963,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2241,1668
$GC,20271,1.01,272.5,48.4,7.5,981,20276,0.00,2.65,0.00,0.000,4,0.000,0.074,2518,3653,1668
$GC,20311,1.01,272.5,45.3,7.3,983,20316,0.00,2.58,0.00,0.000,6,0.000,0.055,2518,2233,1669
$GC,20639,1.01,272.5,21.7,6.8,999,20640,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2233,1669
$STATE,20904,end climb,SURFACE_DEPTH_REACHED
$STATE,20904,begin surface coast
$FINISH,0.7,1.027192
$STATE,20926,end surface coast,CONTROL_FINISHED_OK
$STATE,20926,begin surface
$SM_CCo,20948,136.75,0.598,0,0,509,557.32
$SM_GC,1.01,0.00,0.00,136.75,0.000,0.000,0.598,72,2230,509,-10.24,0.00,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1856
$TCM_TEMP,17.70
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,725.9,52.3
$24V_AH,23.6,32.080
$10V_AH,10.1,16.101
$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,25.500,104.450,377.875,136.750,0.000,120.696,349.209,209.069,14.750,0.000,0.000,15.824,1768.671,16724.178,674.618,1974.791,993.651,0.000,1643.010,0.000,1932.700,0.000,50.367
$DEVICE_MAMPS,166.439,79.001,1142.063,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,745.177,696.759,602.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50453,1013
$CAP_FILE_SIZE,134462,0
$CFSIZE,260165632,247386112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140708,052458,6257.832,-1310.148,34,4.4,54,-12.1