version: 66.03
glider: 16
mission: 9
dive: 189
start: 7 15 108 19 44 42
data:
$ID,16
$MISSION,9
$DIVE,189
$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,-2096972
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,193655,6311.959,-1319.059,42,1.3,60,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-55.3
$GPS2,194421,6311.910,-1319.102,16,1.8,16,-12.3
$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,43.2,6667,-12.6,-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,-0.91,-118.6,0.0,0.0,0,148,0.00,0.00,-121.12,0.000,2,0.000,0.000,74,2233,2972
$GC,151,-0.94,-146.6,4.0,-3.3,6,178,11.30,2.62,-9.27,0.000,4,0.168,0.069,2088,813,3379
$GC,240,-0.82,-146.6,19.4,-12.8,10,246,0.17,2.60,0.00,0.000,6,0.096,0.053,2121,2227,3379
$GC,563,-0.72,-146.6,51.7,-9.9,26,568,0.10,2.62,0.00,0.000,4,0.103,0.058,2140,810,3379
$GC,612,-0.72,-146.6,56.8,-9.5,28,617,0.00,2.60,0.00,0.000,6,0.000,0.051,2140,2232,3379
$GC,928,-0.72,-146.6,83.3,-8.6,43,933,0.00,2.62,0.00,0.000,4,0.000,0.060,2140,813,3379
$GC,992,-0.72,-146.6,89.1,-9.6,46,996,0.00,2.58,0.00,0.000,6,0.000,0.051,2139,2229,3379
$GC,1320,-0.72,-146.6,118.8,-8.9,62,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2228,3380
$GC,1628,-0.72,-146.6,145.2,-8.3,77,1632,0.00,2.62,0.00,0.000,4,0.000,0.061,2140,809,3381
$GC,1706,-0.76,-146.6,151.5,-8.0,80,1712,0.00,2.60,0.00,0.000,6,0.000,0.052,2139,2236,3380
$GC,2022,-0.76,-146.6,174.7,-7.2,96,2027,0.00,2.62,0.00,0.000,4,0.000,0.061,2140,815,3380
$GC,2062,-0.76,-146.6,177.7,-7.5,97,2068,0.00,2.58,0.00,0.000,6,0.000,0.052,2139,2230,3380
$GC,2379,-0.76,-146.6,201.3,-7.4,113,2383,0.00,2.62,0.00,0.000,4,0.000,0.061,2139,811,3380
$GC,2418,-0.76,-146.6,204.3,-7.4,115,2422,0.00,2.58,0.00,0.000,6,0.000,0.053,2139,2229,3380
$GC,2745,-0.76,-146.6,229.3,-7.6,131,2749,0.00,2.62,0.00,0.000,4,0.000,0.062,2139,811,3380
$GC,2795,-0.80,-146.6,233.3,-8.3,133,2799,0.00,2.58,0.00,0.000,6,0.000,0.052,2139,2229,3380
$GC,3110,-0.80,-146.6,257.7,-7.7,148,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2229,3380
$GC,3420,-0.80,-146.6,282.4,-8.0,163,3424,0.00,2.62,0.00,0.000,4,0.000,0.062,2139,810,3380
$GC,3509,-0.80,-146.6,289.8,-7.8,167,3513,0.00,2.60,0.00,0.000,6,0.000,0.053,2140,2238,3379
$GC,3829,-0.80,-146.6,315.8,-8.1,183,3834,0.00,2.65,0.00,0.000,4,0.000,0.063,2140,809,3379
$GC,3880,-0.84,-146.6,320.1,-8.2,185,3885,0.12,2.60,0.00,0.000,6,0.048,0.054,2100,2236,3380
$GC,4197,-0.72,-146.6,351.7,-10.1,200,4202,0.17,2.62,0.00,0.000,4,0.091,0.063,2138,816,3379
$GC,4247,-0.76,-146.6,356.3,-8.4,202,4252,0.00,2.58,0.00,0.000,6,0.000,0.053,2138,2233,3379
$GC,4563,-0.76,-146.6,381.8,-7.9,217,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2233,3379
$GC,4872,-0.76,-146.6,406.9,-8.3,232,4876,0.00,2.62,0.00,0.000,4,0.000,0.062,2138,814,3379
$GC,4950,-0.81,-146.6,413.3,-7.8,235,4956,0.00,2.58,0.00,0.000,6,0.000,0.054,2138,2233,3379
$GC,5266,-0.81,-146.6,439.1,-8.4,251,5271,0.00,2.62,0.00,0.000,4,0.000,0.062,2138,809,3379
$GC,5307,-0.85,-146.6,442.5,-8.9,253,5312,0.12,2.58,0.00,0.000,6,0.048,0.053,2099,2231,3378
$GC,5636,-0.72,-146.6,476.8,-10.6,269,5638,0.20,0.00,0.00,0.000,6,0.091,0.000,2138,2231,3378
$GC,5943,-0.72,-146.6,502.6,-8.3,284,5947,0.00,2.60,0.00,0.000,4,0.000,0.061,2138,816,3378
$GC,6022,-0.72,-146.6,509.1,-8.3,287,6028,0.00,2.58,0.00,0.000,6,0.000,0.053,2138,2233,3378
$GC,6338,-0.72,-146.6,534.1,-8.0,303,6342,0.00,2.62,0.00,0.000,4,0.000,0.061,2138,811,3378
$GC,6388,-0.78,-146.6,538.1,-8.2,305,6392,0.00,2.58,0.00,0.000,6,0.000,0.053,2138,2230,3378
$GC,6703,-0.78,-146.6,562.6,-8.0,320,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2230,3378
$GC,7013,-0.78,-146.6,587.7,-8.2,335,7017,0.00,2.60,0.00,0.000,4,0.000,0.061,2138,816,3378
$GC,7063,-0.82,-146.6,591.8,-7.5,337,7067,0.00,2.58,0.00,0.000,6,0.000,0.053,2138,2235,3377
$GC,7378,-0.82,-146.6,614.8,-7.1,352,7383,0.00,2.60,0.00,0.000,4,0.000,0.061,2138,816,3377
$GC,7429,-0.87,-146.6,618.7,-7.9,354,7434,0.12,2.58,0.00,0.000,6,0.048,0.053,2098,2235,3377
$GC,7746,-0.75,-146.6,648.0,-9.3,369,7751,0.17,2.62,0.00,0.000,4,0.095,0.061,2134,812,3377
$GC,7819,-0.79,-146.6,653.7,-7.7,372,7823,0.00,2.58,0.00,0.000,6,0.000,0.053,2134,2232,3377
$GC,8135,-0.79,-146.6,675.2,-6.9,387,8139,0.00,2.60,0.00,0.000,4,0.000,0.062,2134,816,3377
$GC,8179,-0.84,-146.6,678.5,-8.1,389,8184,0.00,2.58,0.00,0.000,6,0.000,0.053,2134,2235,3377
$GC,8501,-0.84,-146.6,704.2,-8.3,405,8505,0.00,2.60,0.00,0.000,4,0.000,0.062,2134,816,3377
$GC,8568,-0.89,-146.6,710.0,-8.8,408,8573,0.12,2.58,0.00,0.000,6,0.049,0.054,2096,2230,3377
$GC,8889,-0.78,-146.6,740.3,-8.9,424,8894,0.15,2.62,0.00,0.000,4,0.094,0.064,2128,811,3377
$GC,8956,-0.78,-146.6,744.7,-5.9,427,8961,0.00,2.60,0.00,0.000,6,0.000,0.055,2129,2237,3377
$GC,9277,-0.78,-146.6,771.3,-8.8,443,9282,0.00,2.62,0.00,0.000,4,0.000,0.067,2128,819,3376
$GC,9305,-0.78,-146.6,773.7,-8.9,444,9309,0.00,2.60,0.00,0.000,6,0.000,0.058,2128,2235,3376
$STATE,9432,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9432,begin apogee
$GC,9439,-0.31,0.0,785.3,10.0,450,9575,0.50,0.00,132.62,1.134,6,0.099,0.000,2228,2235,2781
$STATE,9576,end apogee,CONTROL_FINISHED_OK
$STATE,9576,begin climb
$GC,9579,0.94,146.6,791.3,0.0,457,9722,1.33,2.80,131.38,1.120,4,0.092,0.080,2498,3644,2182
$GC,9849,0.94,187.0,784.6,4.6,469,9894,0.00,2.60,37.17,1.080,6,0.000,0.060,2499,2239,2018
$GC,10210,0.94,187.0,764.0,6.5,487,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2239,2018
$GC,10520,0.94,187.0,745.4,6.1,502,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2239,2017
$GC,10829,1.00,187.0,725.1,7.0,517,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2239,2016
$GC,11138,1.04,187.0,704.5,6.7,532,11143,0.12,2.65,0.00,0.000,4,0.054,0.070,2535,827,2015
$GC,11211,0.97,187.0,698.5,7.7,535,11216,0.12,2.60,0.00,0.000,6,0.096,0.056,2511,2241,2014
$GC,11527,0.97,187.0,677.1,6.3,550,11531,0.00,2.67,0.00,0.000,4,0.000,0.067,2511,821,2014
$GC,11571,0.97,187.0,674.3,6.7,552,11576,0.00,2.62,0.00,0.000,6,0.000,0.055,2511,2247,2014
$GC,11892,0.98,193.3,656.7,5.8,568,11900,0.00,0.00,6.18,0.837,6,0.000,0.000,2511,2247,1994
$GC,12201,0.98,193.3,636.3,6.7,583,12205,0.00,2.65,0.00,0.000,4,0.000,0.065,2511,828,1993
$GC,12245,0.98,193.3,632.9,7.0,585,12249,0.00,2.58,0.00,0.000,6,0.000,0.053,2511,2240,1993
$GC,12566,0.98,193.3,611.2,6.6,601,12570,0.00,2.65,0.00,0.000,4,0.000,0.064,2511,820,1993
$GC,12615,0.98,193.3,607.6,6.8,603,12620,0.00,2.60,0.00,0.000,6,0.000,0.052,2511,2246,1992
$GC,12931,0.98,193.3,586.7,6.6,618,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2246,1992
$GC,13240,0.98,196.0,567.4,5.9,633,13246,0.00,0.00,4.22,0.660,6,0.000,0.000,2511,2244,1982
$GC,13550,0.99,203.3,549.5,5.8,648,13564,0.00,2.70,8.10,0.841,4,0.000,0.073,2511,3645,1953
$GC,13618,0.99,203.3,545.1,6.6,651,13622,0.00,2.60,0.00,0.000,6,0.000,0.054,2511,2230,1953
$GC,13944,1.04,203.3,525.2,6.3,667,13949,0.00,2.70,0.00,0.000,4,0.000,0.076,2511,3648,1953
$GC,13984,1.04,210.2,523.0,5.8,669,13999,0.00,2.58,7.82,0.812,6,0.000,0.054,2511,2240,1924
$GC,14316,1.09,247.4,505.9,4.7,685,14356,0.12,0.00,33.70,0.942,6,0.049,0.000,2550,2240,1772
$GC,14665,1.04,247.4,480.3,7.6,702,14667,0.12,0.00,0.00,0.000,6,0.088,0.000,2527,2240,1772
$GC,14975,1.04,247.4,459.0,7.1,717,14976,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2240,1772
$GC,15283,1.04,247.4,435.8,7.6,732,15288,0.00,2.65,0.00,0.000,4,0.000,0.076,2526,3647,1772
$GC,15329,1.04,247.4,432.0,8.8,734,15334,0.00,2.55,0.00,0.000,6,0.000,0.054,2526,2240,1772
$GC,15651,1.04,247.4,407.2,7.7,750,15652,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2241,1773
$GC,15960,1.04,247.4,382.2,8.0,765,15961,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2241,1772
$GC,16269,1.04,247.4,358.3,7.7,780,16270,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2240,1772
$GC,16578,1.04,247.4,335.3,7.2,795,16580,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2240,1774
$GC,16888,1.08,247.4,313.9,7.0,810,16889,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2240,1773
$GC,17197,1.08,247.4,292.4,6.7,825,17198,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2240,1773
$GC,17506,1.08,247.4,272.0,6.8,840,17507,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2240,1773
$GC,17815,1.13,247.4,249.7,7.5,855,17817,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2240,1773
$GC,18125,1.18,247.4,226.4,7.6,870,18127,0.12,0.00,0.00,0.000,6,0.048,0.000,2567,2241,1773
$GC,18434,1.11,247.4,198.0,9.3,885,18440,0.12,2.65,0.00,0.000,4,0.092,0.075,2542,3647,1774
$GC,18474,1.11,247.4,194.2,9.6,887,18478,0.00,2.55,0.00,0.000,6,0.000,0.053,2542,2239,1774
$GC,18800,1.11,247.4,167.3,8.2,903,18801,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2238,1774
$GC,19110,1.11,247.4,142.4,7.8,918,19112,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2238,1774
$GC,19419,1.11,247.4,118.3,7.2,933,19420,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2238,1774
$GC,19728,1.11,247.4,96.2,7.6,948,19730,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2238,1774
$GC,20040,1.11,247.4,71.2,8.6,963,20041,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2238,1774
$GC,20347,1.11,247.4,48.9,6.1,978,20348,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2238,1774
$GC,20656,1.11,247.4,29.1,6.9,993,20657,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2238,1774
$GC,20966,1.11,247.4,6.2,7.7,1008,20970,0.00,2.65,0.00,0.000,4,0.000,0.071,2542,3651,1774
$STATE,21013,end climb,SURFACE_DEPTH_REACHED
$STATE,21013,begin surface coast
$FINISH,0.6,1.027125
$STATE,21027,end surface coast,CONTROL_FINISHED_OK
$STATE,21027,begin surface
$SM_CCo,21051,149.35,0.596,0,0,508,557.32
$SM_GC,1.16,0.00,0.00,149.35,0.000,0.000,0.596,74,2233,508,-10.24,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1842
$TCM_TEMP,17.90
$XPDR_PINGS,30
$ALTIM_TOP_PING,18.6,17.7
$ALTIM_BOTTOM_PING,750.4,42.9
$24V_AH,23.6,33.233
$10V_AH,10.1,16.784
$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,26.000,161.950,361.200,149.350,0.000,18.043,28.538,262.992,14.250,0.000,0.000,16.315,1831.471,16336.623,706.561,2118.990,651.005,0.000,1766.524,0.000,2075.406,0.000,46.094
$DEVICE_MAMPS,167.973,79.768,1133.626,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,742.922,696.801,592.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50659,1011
$CAP_FILE_SIZE,147996,0
$CFSIZE,260165632,246890496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160708,013926,6313.853,-1317.131,42,1.1,43,-12.3