version: 66.03
glider: 16
mission: 9
dive: 187
start: 7 15 108 7 7 4
data:
$ID,16
$MISSION,9
$DIVE,187
$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,-2096940.6
$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,23
$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
$GPS1,065808,6307.650,-1319.019,39,1.9,40,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-57.4
$GPS2,070645,6307.635,-1319.021,13,1.8,13,-12.2
$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,26.0,14045,-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,27,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.82,0.000,2,0.000,0.000,68,2233,2897
$GC,153,-0.85,-146.6,3.5,-3.0,6,183,11.45,2.65,-12.35,0.000,4,0.169,0.071,2108,825,3380
$GC,363,-0.70,-146.6,31.7,-10.7,15,368,0.20,2.58,0.00,0.000,6,0.095,0.051,2148,2231,3380
$GC,681,-0.63,-146.6,58.7,-8.4,30,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2231,3380
$GC,989,-0.55,-146.6,86.8,-8.9,45,991,0.15,0.00,0.00,0.000,6,0.097,0.000,2176,2231,3380
$GC,1298,-0.55,-146.6,108.2,-6.1,60,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2231,3380
$GC,1607,-0.55,-146.6,126.4,-6.0,75,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2231,3380
$GC,1916,-0.55,-146.6,146.0,-6.6,90,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2231,3380
$GC,2225,-0.55,-146.6,166.2,-6.3,105,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2231,3380
$GC,2534,-0.55,-146.6,186.8,-6.7,120,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2231,3379
$GC,2843,-0.55,-146.6,206.5,-6.4,135,2848,0.00,2.60,0.00,0.000,4,0.000,0.060,2177,813,3380
$GC,2884,-0.63,-146.6,209.3,-7.1,137,2888,0.00,2.58,0.00,0.000,6,0.000,0.053,2177,2229,3380
$GC,3210,-0.63,-146.6,230.9,-6.5,153,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2229,3380
$GC,3519,-0.63,-146.6,252.0,-7.0,168,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2229,3380
$GC,3829,-0.63,-146.6,273.0,-6.9,183,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2229,3380
$GC,4138,-0.63,-146.6,293.0,-6.5,198,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2229,3380
$GC,4447,-0.63,-146.6,314.8,-7.4,213,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2229,3380
$GC,4757,-0.63,-146.6,338.3,-8.0,228,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2230,3380
$GC,5066,-0.63,-146.6,362.5,-8.0,243,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2230,3380
$GC,5375,-0.63,-146.6,387.2,-8.0,258,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2230,3380
$GC,5685,-0.63,-146.6,410.8,-7.5,273,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2230,3380
$GC,5993,-0.63,-146.6,432.7,-6.8,288,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3380
$GC,6303,-0.67,-146.6,452.2,-6.0,303,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3379
$GC,6614,-0.71,-146.6,470.7,-5.9,318,6615,0.15,0.00,0.00,0.000,6,0.043,0.000,2127,2230,3379
$GC,6922,-0.59,-146.6,495.7,-8.3,333,6924,0.20,0.00,0.00,0.000,6,0.084,0.000,2168,2230,3379
$GC,7230,-0.59,-146.6,516.0,-6.5,348,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3379
$GC,7540,-0.59,-146.6,537.1,-6.7,363,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3379
$GC,7849,-0.59,-146.6,559.2,-7.5,378,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3379
$GC,8158,-0.59,-146.6,582.1,-7.0,393,8163,0.00,2.65,0.00,0.000,4,0.000,0.074,2168,3646,3379
$GC,8203,-0.59,-146.6,585.1,-6.7,395,8207,0.00,2.55,0.00,0.000,6,0.000,0.049,2168,2225,3379
$GC,8524,-0.59,-146.6,607.5,-7.0,411,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2225,3379
$GC,8833,-0.59,-146.6,628.3,-6.6,426,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2225,3378
$GC,9144,-0.59,-146.6,650.9,-7.7,441,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2225,3378
$GC,9453,-0.64,-146.6,669.8,-5.5,456,9457,0.00,2.58,0.00,0.000,4,0.000,0.060,2168,817,3378
$GC,9492,-0.74,-146.6,672.5,-6.4,458,9498,0.12,2.58,0.00,0.000,6,0.046,0.051,2126,2232,3378
$GC,9822,-0.64,-146.6,702.2,-9.4,474,9824,0.17,0.00,0.00,0.000,6,0.086,0.000,2161,2232,3378
$GC,10128,-0.64,-146.6,727.5,-8.6,489,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2233,3378
$GC,10442,-0.64,-146.6,750.1,-6.6,504,10447,0.00,2.65,0.00,0.000,4,0.000,0.079,2161,3637,3378
$GC,10493,-0.68,-146.6,753.5,-5.7,506,10497,0.00,2.55,0.00,0.000,6,0.000,0.054,2161,2230,3377
$GC,10809,-0.68,-146.6,767.4,-4.7,521,10814,0.00,2.60,0.00,0.000,4,0.000,0.064,2161,817,3377
$GC,10866,-0.77,-146.6,770.4,-6.1,523,10872,0.12,2.58,0.00,0.000,6,0.048,0.056,2120,2229,3377
$STATE,11158,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11158,begin apogee
$GC,11165,-0.31,0.0,796.5,8.9,538,11301,0.52,0.00,133.05,1.146,6,0.080,0.000,2229,2229,2780
$STATE,11302,end apogee,CONTROL_FINISHED_OK
$STATE,11302,begin climb
$GC,11306,0.85,146.6,801.8,0.0,545,11449,1.17,2.80,131.25,1.131,4,0.069,0.080,2481,3652,2183
$GC,11544,0.93,225.2,794.2,3.8,556,11621,0.00,2.62,70.47,1.110,6,0.000,0.059,2481,2241,1862
$GC,11934,0.99,225.2,779.2,6.6,575,11936,0.15,0.00,0.00,0.000,6,0.054,0.000,2522,2241,1862
$GC,12240,0.93,225.2,753.4,8.5,590,12244,0.00,2.65,0.00,0.000,4,0.000,0.066,2522,827,1860
$GC,12374,0.88,225.2,743.6,6.1,596,12379,0.15,2.62,0.00,0.000,6,0.087,0.056,2492,2245,1859
$GC,12695,0.88,226.8,723.9,6.0,612,12696,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2244,1859
$GC,13005,0.97,311.4,711.3,3.7,627,13088,0.00,2.75,76.35,1.095,4,0.000,0.077,2492,3651,1511
$GC,13136,1.08,311.4,703.7,7.3,633,13141,0.20,2.62,0.00,0.000,6,0.044,0.057,2545,2235,1511
$GC,13463,1.08,311.4,672.3,9.6,649,13467,0.00,2.62,0.00,0.000,4,0.000,0.066,2545,831,1510
$GC,13530,1.08,311.4,665.6,10.2,652,13534,0.00,2.60,0.00,0.000,6,0.000,0.054,2545,2241,1509
$GC,13851,1.03,311.4,630.1,11.4,668,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2241,1509
$GC,14160,0.99,311.4,595.8,10.8,683,14165,0.15,2.65,0.00,0.000,4,0.084,0.064,2514,825,1509
$GC,14200,1.05,311.4,591.9,9.8,685,14204,0.00,2.60,0.00,0.000,6,0.000,0.051,2514,2240,1508
$GC,14527,1.09,311.4,565.0,7.7,701,14529,0.10,0.00,0.00,0.000,6,0.053,0.000,2546,2240,1508
$GC,14837,1.04,311.4,537.3,8.9,716,14841,0.00,2.62,0.00,0.000,4,0.000,0.062,2546,829,1509
$GC,14870,0.99,311.4,534.4,7.7,717,14876,0.15,2.58,0.00,0.000,6,0.085,0.051,2516,2241,1509
$GC,15185,0.99,311.4,512.4,7.0,733,15186,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2241,1509
$GC,15495,1.04,311.4,489.8,7.5,748,15496,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2240,1509
$GC,15804,1.08,311.4,466.2,7.5,763,15808,0.00,2.62,0.00,0.000,4,0.000,0.062,2515,828,1510
$GC,15867,1.12,311.4,461.3,8.0,766,15872,0.12,2.58,0.00,0.000,6,0.050,0.051,2555,2240,1510
$GC,16194,1.06,311.4,429.7,9.6,782,16196,0.12,0.00,0.00,0.000,6,0.087,0.000,2530,2240,1511
$GC,16502,1.06,311.4,403.8,8.2,797,16503,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2239,1510
$GC,16812,1.06,311.4,378.4,8.0,812,16816,0.00,2.62,0.00,0.000,4,0.000,0.063,2530,823,1511
$GC,16851,1.06,311.4,375.2,8.3,814,16856,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2238,1511
$GC,17178,1.06,311.4,349.6,7.7,830,17179,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2238,1511
$GC,17488,1.06,311.4,326.1,7.5,845,17492,0.00,2.62,0.00,0.000,4,0.000,0.063,2530,828,1511
$GC,17531,1.06,311.4,322.6,7.0,847,17536,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2242,1512
$GC,17852,1.06,311.4,299.1,7.1,863,17854,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2242,1512
$GC,18162,1.06,311.4,277.4,6.8,878,18166,0.00,2.62,0.00,0.000,4,0.000,0.064,2530,827,1512
$GC,18212,1.06,311.4,273.7,6.9,880,18216,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2245,1512
$GC,18527,1.06,311.4,253.0,6.5,895,18528,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2244,1512
$GC,18837,1.06,311.4,232.2,7.1,910,18841,0.00,2.62,0.00,0.000,4,0.000,0.064,2530,826,1513
$GC,18886,1.06,311.4,228.4,8.3,912,18890,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2244,1512
$GC,19202,1.06,311.4,205.9,7.0,927,19206,0.00,2.62,0.00,0.000,4,0.000,0.063,2530,824,1513
$GC,19246,1.06,311.4,202.6,7.2,929,19250,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2243,1513
$GC,19566,1.06,311.4,180.9,6.7,945,19567,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2243,1513
$GC,19875,1.06,311.4,157.2,8.0,960,19880,0.00,2.62,0.00,0.000,4,0.000,0.063,2530,824,1513
$GC,19938,1.06,311.4,151.9,8.3,963,19942,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2243,1513
$GC,20264,1.06,311.4,127.8,6.4,979,20265,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2243,1513
$GC,20574,1.06,311.4,106.6,7.7,994,20578,0.00,2.62,0.00,0.000,4,0.000,0.063,2530,823,1513
$GC,20636,1.06,311.4,101.4,8.2,997,20640,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2247,1513
$GC,20963,1.06,311.4,75.8,7.9,1013,20964,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2247,1513
$GC,21272,1.06,311.4,53.3,6.6,1028,21276,0.00,2.62,0.00,0.000,4,0.000,0.062,2530,823,1513
$GC,21316,1.06,311.4,50.3,7.3,1030,21321,0.00,2.55,0.00,0.000,6,0.000,0.051,2530,2240,1513
$GC,21638,1.24,311.4,26.3,8.5,1046,21643,0.15,2.60,0.00,0.000,4,0.048,0.060,2569,823,1514
$GC,21764,1.14,311.4,14.9,8.3,1051,21771,0.10,2.55,0.00,0.000,6,0.092,0.051,2550,2241,1514
$STATE,21933,end climb,SURFACE_DEPTH_REACHED
$STATE,21933,begin surface coast
$FINISH,0.5,1.015049
$STATE,21956,end surface coast,CONTROL_FINISHED_OK
$STATE,21956,begin surface
$SM_CCo,21977,117.30,0.592,0,0,509,557.32
$SM_GC,1.11,0.00,0.00,117.30,0.000,0.000,0.592,70,2242,509,-10.26,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1854
$TCM_TEMP,18.00
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.6,18.9
$ALTIM_BOTTOM_PING,775.6,30.2
$24V_AH,23.6,32.909
$10V_AH,10.1,16.586
$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,26.300,114.800,411.125,117.300,0.000,36.007,53.870,233.404,14.750,0.000,0.000,13.421,1862.880,17279.344,679.058,2133.379,656.041,0.000,1727.991,0.000,2088.847,0.000,50.580
$DEVICE_MAMPS,168.740,79.768,1145.898,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,782.318,725.488,625.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53700,1061
$CAP_FILE_SIZE,142783,0
$CFSIZE,260165632,247037952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150708,131638,6309.946,-1318.132,38,1.5,39,-12.3