version: 66.03
glider: 16
mission: 9
dive: 184
start: 7 14 108 11 45 22
data:
$ID,16
$MISSION,9
$DIVE,184
$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,-2096853.6
$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,22
$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
$GPS1,113931,6300.059,-1310.520,39,1.4,46,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-49.2
$GPS2,114503,6300.002,-1310.456,15,1.5,15,-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,4.3,28033,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-121.03,0.000,2,0.000,0.000,69,2249,2904
$GC,153,-0.85,-146.6,3.5,-2.7,6,183,11.45,2.70,-11.98,0.000,4,0.169,0.070,2109,817,3381
$GC,324,-0.71,-146.6,27.5,-11.9,13,331,0.17,2.58,0.00,0.000,6,0.097,0.051,2143,2233,3379
$GC,642,-0.60,-146.6,59.4,-10.5,29,647,0.12,2.62,0.00,0.000,4,0.100,0.057,2166,810,3380
$GC,697,-0.60,-146.6,65.3,-9.6,31,704,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2230,3380
$GC,1013,-0.60,-146.6,89.9,-7.0,47,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,1323,-0.60,-146.6,110.7,-6.4,62,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,1632,-0.60,-146.6,132.2,-6.9,77,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3381
$GC,1941,-0.60,-146.6,153.2,-6.8,92,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3381
$GC,2250,-0.60,-146.6,174.0,-6.9,107,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3381
$GC,2560,-0.60,-146.6,196.8,-7.6,122,2564,0.00,2.60,0.00,0.000,4,0.000,0.059,2166,813,3381
$GC,2605,-0.64,-146.6,200.3,-7.9,124,2609,0.00,2.58,0.00,0.000,6,0.000,0.052,2166,2230,3381
$GC,2925,-0.64,-146.6,223.1,-7.0,140,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3381
$GC,3235,-0.64,-146.6,244.6,-6.9,155,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,3544,-0.64,-146.6,266.4,-7.2,170,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3381
$GC,3853,-0.64,-146.6,288.6,-7.1,185,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3381
$GC,4163,-0.64,-146.6,310.8,-7.4,200,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3381
$GC,4471,-0.64,-146.6,333.1,-7.1,215,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3380
$GC,4781,-0.64,-146.6,355.4,-7.1,230,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3380
$GC,5091,-0.64,-146.6,376.4,-6.8,245,5096,0.00,2.60,0.00,0.000,4,0.000,0.059,2167,813,3380
$GC,5136,-0.70,-146.6,379.7,-7.2,247,5140,0.00,2.55,0.00,0.000,6,0.000,0.052,2166,2230,3380
$GC,5457,-0.70,-146.6,401.7,-7.1,263,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3380
$GC,5766,-0.70,-146.6,423.5,-7.0,278,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,6075,-0.70,-146.6,445.3,-6.8,293,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,6384,-0.70,-146.6,466.7,-6.9,308,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,6694,-0.70,-146.6,487.1,-6.5,323,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,7003,-0.70,-146.6,508.8,-7.1,338,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,7312,-0.70,-146.6,531.7,-7.8,353,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3380
$GC,7622,-0.70,-146.6,556.1,-7.7,368,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3379
$GC,7931,-0.70,-146.6,577.7,-6.2,383,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3379
$GC,8240,-0.70,-146.6,595.9,-5.5,398,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3379
$GC,8550,-0.70,-146.6,611.9,-5.3,413,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3379
$GC,8858,-0.70,-146.6,629.7,-6.1,428,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3378
$GC,9169,-0.70,-146.6,650.7,-7.3,443,9173,0.00,2.60,0.00,0.000,4,0.000,0.059,2166,814,3378
$GC,9202,-0.79,-146.6,653.1,-7.3,444,9209,0.17,2.58,0.00,0.000,6,0.042,0.052,2114,2233,3378
$GC,9518,-0.66,-146.6,681.7,-9.1,460,9520,0.20,0.00,0.00,0.000,6,0.087,0.000,2154,2233,3378
$GC,9827,-0.66,-146.6,703.0,-6.6,475,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2233,3379
$GC,10137,-0.66,-146.6,724.2,-7.0,490,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2233,3378
$GC,10445,-0.66,-146.6,746.2,-7.4,505,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2234,3378
$GC,10755,-0.66,-146.6,765.8,-5.4,520,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2233,3377
$STATE,10773,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10773,begin apogee
$GC,10780,-0.31,0.0,767.3,5.9,521,10916,0.38,0.00,132.05,1.141,6,0.092,0.000,2229,2233,2781
$STATE,10916,end apogee,CONTROL_FINISHED_OK
$STATE,10917,begin climb
$GC,10919,0.85,146.6,770.5,0.0,528,11056,1.20,0.00,131.77,1.117,6,0.075,0.000,2480,2233,2183
$GC,11369,0.88,177.4,754.5,5.2,550,11404,0.00,0.00,28.83,1.068,6,0.000,0.000,2480,2233,2057
$GC,11714,0.94,235.4,737.9,4.4,567,11774,0.12,0.00,52.97,1.094,6,0.055,0.000,2516,2233,1821
$GC,12083,0.94,235.4,713.8,6.3,585,12087,0.00,2.72,0.00,0.000,4,0.000,0.081,2516,3653,1820
$GC,12168,0.94,235.4,707.6,7.5,589,12172,0.00,2.62,0.00,0.000,6,0.000,0.058,2516,2236,1820
$GC,12494,0.94,235.4,684.0,7.2,605,12498,0.00,2.65,0.00,0.000,4,0.000,0.069,2516,828,1819
$GC,12555,0.94,235.4,679.0,7.9,608,12560,0.00,2.62,0.00,0.000,6,0.000,0.055,2516,2242,1818
$GC,12882,0.94,235.4,652.4,7.9,624,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2242,1817
$GC,13191,0.94,235.4,629.0,7.2,639,13192,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2242,1817
$GC,13500,0.94,235.4,607.7,6.6,654,13505,0.00,2.67,0.00,0.000,4,0.000,0.077,2516,3656,1816
$GC,13585,0.90,235.4,601.8,6.8,658,13590,0.00,2.60,0.00,0.000,6,0.000,0.054,2516,2235,1816
$GC,13912,0.91,248.8,582.7,5.6,674,13931,0.00,0.00,12.62,0.933,6,0.000,0.000,2516,2235,1765
$GC,14241,0.91,248.8,561.8,6.7,690,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2235,1765
$GC,14550,0.91,248.8,540.2,7.1,705,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2235,1765
$GC,14859,0.91,248.8,518.5,7.1,720,14860,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2235,1765
$GC,15168,0.91,248.8,496.8,7.3,735,15173,0.00,2.70,0.00,0.000,4,0.000,0.077,2516,3657,1766
$GC,15213,0.91,248.8,493.3,8.4,737,15217,0.00,2.58,0.00,0.000,6,0.000,0.053,2516,2239,1766
$GC,15534,0.91,248.8,471.8,6.7,753,15535,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2239,1766
$GC,15843,0.91,248.8,450.9,6.8,768,15844,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2239,1767
$GC,16153,0.91,248.8,430.6,6.4,783,16154,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2239,1767
$GC,16461,0.91,248.8,411.0,6.5,798,16466,0.00,2.67,0.00,0.000,4,0.000,0.075,2516,3653,1767
$GC,16516,0.91,248.8,406.9,7.1,800,16523,0.00,2.58,0.00,0.000,6,0.000,0.052,2516,2229,1768
$GC,16833,0.91,248.8,386.0,6.8,816,16834,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2230,1767
$GC,17142,0.91,248.8,364.9,6.9,831,17143,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2229,1768
$GC,17451,0.91,248.8,343.1,7.0,846,17455,0.00,2.67,0.00,0.000,4,0.000,0.076,2516,3651,1768
$GC,17513,0.91,248.8,338.2,8.3,849,17517,0.00,2.58,0.00,0.000,6,0.000,0.053,2516,2235,1769
$GC,17839,0.91,248.8,315.8,6.8,865,17840,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2235,1768
$GC,18149,0.91,248.8,295.1,6.7,880,18150,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2235,1769
$GC,18458,0.91,248.8,274.7,6.5,895,18463,0.00,2.67,0.00,0.000,4,0.000,0.075,2516,3652,1769
$GC,18503,0.91,248.8,271.3,7.5,897,18507,0.00,2.55,0.00,0.000,6,0.000,0.052,2516,2241,1769
$GC,18824,0.91,248.8,249.4,6.8,913,18825,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2241,1769
$GC,19133,0.91,248.8,227.7,7.4,928,19135,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2241,1769
$GC,19442,0.91,248.8,205.0,7.9,943,19443,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2241,1769
$GC,19751,0.91,248.8,183.2,7.0,958,19756,0.00,2.65,0.00,0.000,4,0.000,0.075,2516,3652,1770
$GC,19797,0.91,248.8,179.7,8.5,960,19802,0.00,2.55,0.00,0.000,6,0.000,0.051,2516,2238,1770
$GC,20119,0.91,248.8,156.8,7.2,976,20120,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2238,1770
$GC,20428,0.91,248.8,133.8,7.9,991,20429,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2238,1770
$GC,20738,0.91,248.8,111.3,7.0,1006,20739,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2238,1769
$GC,21047,0.91,248.8,91.7,6.2,1021,21051,0.00,2.67,0.00,0.000,4,0.000,0.074,2516,3657,1769
$GC,21124,0.91,248.8,86.3,7.7,1024,21131,0.00,2.55,0.00,0.000,6,0.000,0.052,2516,2237,1770
$GC,21441,0.91,249.4,65.8,6.0,1040,21445,0.00,2.67,0.00,0.000,4,0.000,0.073,2516,3654,1770
$GC,21480,0.91,249.4,63.2,6.9,1042,21485,0.00,2.55,0.00,0.000,6,0.000,0.051,2516,2239,1771
$GC,21808,0.91,249.4,43.6,6.3,1058,21809,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2239,1771
$GC,22118,0.93,261.3,23.4,5.7,1073,22139,0.00,2.70,12.75,0.590,4,0.000,0.073,2514,3648,1715
$GC,22190,1.00,261.3,18.7,9.3,1076,22195,0.00,2.58,0.00,0.000,6,0.000,0.053,2516,2236,1714
$STATE,22488,end climb,SURFACE_DEPTH_REACHED
$STATE,22488,begin surface coast
$FINISH,0.6,1.027153
$STATE,22510,end surface coast,CONTROL_FINISHED_OK
$STATE,22510,begin surface
$SM_CCo,22532,144.12,0.592,0,0,509,557.32
$SM_GC,1.16,0.00,0.00,144.12,0.000,0.000,0.592,74,2231,509,-10.24,0.03,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1839
$TCM_TEMP,16.70
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,676.1,100.9
$24V_AH,23.6,32.412
$10V_AH,10.2,16.294
$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,24.400,83.800,371.000,144.125,0.000,18.063,28.431,156.855,12.000,0.000,0.000,15.500,1857.551,17890.080,712.334,2027.908,520.377,0.000,1676.494,0.000,1995.654,0.000,41.374
$DEVICE_MAMPS,168.740,80.535,1140.529,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,805.554,750.572,654.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53784,1092
$CAP_FILE_SIZE,129506,0
$CFSIZE,260165632,247250944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140708,180437,6302.071,-1314.915,37,2.0,38,-12.2