version: 66.03
glider: 16
mission: 9
dive: 190
start: 7 16 108 1 52 29
data:
$ID,16
$MISSION,9
$DIVE,190
$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,-2096987.2
$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,18
$R_STBD_OVSHOOT,22
$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
$GPS1,013926,6313.853,-1317.131,42,1.1,43,-12.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-54.8
$GPS2,015209,6313.753,-1317.261,12,1.5,12,-12.3
$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,15.0,39394,-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,25,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.72,0.000,2,0.000,0.000,72,2231,2993
$GC,151,-0.85,-146.6,4.1,-3.5,6,173,10.68,0.00,-8.55,0.000,6,0.181,0.000,1976,2231,3380
$GC,484,-0.29,-146.6,75.5,-20.8,22,492,1.25,2.67,0.00,0.000,4,0.109,0.072,2227,3643,3380
$GC,529,-0.53,-146.6,80.0,-4.6,24,535,0.20,2.58,0.00,0.000,6,0.042,0.048,2175,2220,3380
$GC,856,-0.53,-146.6,103.7,-7.2,40,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2220,3380
$GC,1166,-0.53,-146.6,125.8,-7.2,55,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2219,3380
$GC,1475,-0.53,-146.6,148.5,-7.6,70,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2220,3380
$GC,1784,-0.53,-146.6,172.8,-7.8,85,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2221,3380
$GC,2093,-0.53,-146.6,196.1,-7.5,100,2098,0.00,2.67,0.00,0.000,4,0.000,0.075,2175,3635,3380
$GC,2126,-0.53,-146.6,198.8,-8.4,101,2132,0.00,2.53,0.00,0.000,6,0.000,0.048,2175,2231,3380
$GC,2442,-0.53,-146.6,221.4,-7.0,117,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3380
$GC,2751,-0.53,-146.6,242.0,-6.4,132,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3380
$GC,3061,-0.53,-146.6,261.5,-6.4,147,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3380
$GC,3369,-0.53,-146.6,281.3,-6.6,162,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3380
$GC,3679,-0.53,-146.6,302.5,-6.8,177,3683,0.00,2.67,0.00,0.000,4,0.000,0.076,2175,3638,3380
$GC,3718,-0.53,-146.6,305.5,-7.8,179,3723,0.00,2.55,0.00,0.000,6,0.000,0.050,2175,2225,3380
$GC,4045,-0.53,-146.6,328.6,-7.1,195,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3380
$GC,4355,-0.53,-146.6,350.8,-7.4,210,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2224,3380
$GC,4664,-0.53,-146.6,373.5,-7.6,225,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2224,3379
$GC,4973,-0.53,-146.6,395.1,-6.7,240,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2224,3379
$GC,5283,-0.53,-146.6,414.7,-6.3,255,5287,0.00,2.67,0.00,0.000,4,0.000,0.075,2175,3638,3379
$GC,5322,-0.53,-146.6,417.5,-7.1,257,5326,0.00,2.53,0.00,0.000,6,0.000,0.049,2175,2230,3379
$GC,5649,-0.53,-146.6,439.7,-7.1,273,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3379
$GC,5957,-0.53,-146.6,461.9,-7.1,288,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3379
$GC,6267,-0.53,-146.6,484.8,-7.4,303,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3379
$GC,6576,-0.57,-146.6,507.4,-7.2,318,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3379
$GC,6886,-0.61,-146.6,528.5,-6.9,333,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3379
$GC,7196,-0.66,-146.6,550.3,-7.0,348,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3379
$GC,7504,-0.70,-146.6,571.7,-7.0,363,7506,0.15,0.00,0.00,0.000,6,0.050,0.000,2132,2230,3378
$GC,7814,-0.62,-146.6,598.6,-8.5,378,7815,0.15,0.00,0.00,0.000,6,0.087,0.000,2162,2230,3378
$GC,8123,-0.62,-146.6,618.4,-6.8,393,8127,0.00,2.58,0.00,0.000,4,0.000,0.059,2162,816,3378
$GC,8189,-0.69,-146.6,623.4,-8.0,396,8194,0.00,2.55,0.00,0.000,6,0.000,0.051,2162,2228,3378
$GC,8510,-0.69,-146.6,648.3,-7.6,412,8515,0.00,2.62,0.00,0.000,4,0.000,0.075,2162,3638,3378
$GC,8573,-0.69,-146.6,653.3,-8.3,415,8577,0.00,2.53,0.00,0.000,6,0.000,0.048,2161,2228,3378
$GC,8899,-0.69,-146.6,677.3,-7.0,431,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3378
$GC,9209,-0.69,-146.6,696.8,-6.2,446,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3378
$GC,9518,-0.69,-146.6,715.9,-6.6,461,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3377
$GC,9827,-0.69,-146.6,738.2,-7.4,476,9832,0.00,2.67,0.00,0.000,4,0.000,0.080,2162,3636,3377
$GC,9883,-0.69,-146.6,742.9,-8.6,478,9889,0.00,2.53,0.00,0.000,6,0.000,0.051,2163,2230,3377
$GC,10199,-0.69,-146.6,765.6,-6.8,494,10203,0.00,2.60,0.00,0.000,4,0.000,0.067,2162,819,3377
$GC,10239,-0.77,-146.6,769.2,-10.0,496,10244,0.15,2.58,0.00,0.000,6,0.051,0.056,2120,2228,3377
$GC,10567,-0.69,-146.6,796.0,-10.5,512,10568,0.15,0.00,0.00,0.000,6,0.092,0.000,2149,2228,3377
$STATE,10625,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10625,begin apogee
$GC,10632,-0.31,0.0,800.1,7.2,515,10768,0.40,0.00,133.32,1.147,6,0.086,0.000,2230,2228,2781
$STATE,10769,end apogee,CONTROL_FINISHED_OK
$STATE,10769,begin climb
$GC,10772,0.85,146.6,806.7,0.0,522,10913,1.12,0.00,132.82,1.131,6,0.049,0.000,2483,2228,2183
$GC,11226,0.80,146.6,787.4,6.7,544,11231,0.00,2.75,0.00,0.000,4,0.000,0.084,2483,3648,2181
$GC,11321,0.75,146.6,779.6,10.7,548,11326,0.00,2.60,0.00,0.000,6,0.000,0.057,2483,2242,2181
$GC,11637,0.84,232.8,762.4,3.6,563,11717,0.00,0.00,77.95,1.111,6,0.000,0.000,2483,2242,1832
$GC,12027,0.92,236.8,740.7,5.9,582,12034,0.00,0.00,5.38,0.804,6,0.000,0.000,2483,2242,1815
$GC,12336,1.00,236.8,722.2,6.1,597,12338,0.15,0.00,0.00,0.000,6,0.055,0.000,2521,2242,1814
$GC,12645,1.00,236.8,699.2,7.4,612,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2242,1814
$GC,12954,1.00,236.8,675.5,7.9,627,12958,0.00,2.70,0.00,0.000,4,0.000,0.079,2522,3650,1814
$GC,13010,0.94,236.8,670.5,9.4,629,13016,0.00,2.60,0.00,0.000,6,0.000,0.054,2522,2231,1813
$GC,13325,0.94,236.8,644.8,8.2,645,13326,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2231,1813
$GC,13635,0.94,236.8,620.7,7.3,660,13636,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2231,1813
$GC,13944,0.94,236.8,599.0,6.9,675,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2231,1813
$GC,14253,0.94,236.8,577.6,7.2,690,14257,0.00,2.60,0.00,0.000,4,0.000,0.064,2522,823,1813
$GC,14342,0.94,236.8,571.0,7.2,694,14346,0.00,2.58,0.00,0.000,6,0.000,0.051,2522,2242,1813
$GC,14663,0.94,236.8,546.8,7.8,710,14667,0.00,2.65,0.00,0.000,4,0.000,0.075,2522,3650,1813
$GC,14707,0.94,236.8,542.9,8.1,712,14711,0.00,2.55,0.00,0.000,6,0.000,0.051,2522,2241,1813
$GC,15028,0.94,236.8,516.7,8.1,728,15029,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2241,1813
$GC,15337,0.94,236.8,491.3,8.4,743,15339,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2241,1814
$GC,15646,0.94,236.8,467.6,7.4,758,15647,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2241,1814
$GC,15955,0.94,236.8,444.8,7.5,773,15957,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2241,1814
$GC,16265,0.94,236.8,422.7,7.1,788,16270,0.00,2.67,0.00,0.000,4,0.000,0.074,2522,3652,1815
$GC,16304,0.94,236.8,419.6,8.0,790,16309,0.00,2.58,0.00,0.000,6,0.000,0.051,2522,2235,1815
$GC,16631,0.94,236.8,397.3,6.6,806,16632,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2235,1815
$GC,16941,0.94,236.8,376.9,6.6,821,16942,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2234,1815
$GC,17250,0.94,236.8,355.9,6.9,836,17254,0.00,2.67,0.00,0.000,4,0.000,0.074,2521,3649,1816
$GC,17293,0.94,236.8,352.4,8.4,838,17298,0.00,2.55,0.00,0.000,6,0.000,0.051,2522,2239,1816
$GC,17615,0.94,236.8,328.6,7.6,854,17616,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2239,1816
$GC,17924,0.94,236.8,306.1,7.1,869,17925,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2239,1816
$GC,18233,0.94,236.8,285.3,7.0,884,18237,0.00,2.67,0.00,0.000,4,0.000,0.074,2522,3654,1816
$GC,18273,0.94,236.8,282.4,9.1,886,18277,0.00,2.58,0.00,0.000,6,0.000,0.051,2522,2233,1816
$GC,18599,0.94,236.8,258.6,7.3,902,18601,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2233,1816
$GC,18908,0.94,236.8,237.8,6.5,917,18909,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2233,1816
$GC,19217,0.94,236.8,218.7,6.0,932,19219,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2233,1816
$GC,19527,0.94,236.8,198.7,7.0,947,19528,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2233,1816
$GC,19836,0.94,236.8,176.9,7.2,962,19837,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2233,1817
$GC,20145,0.94,236.8,156.2,6.7,977,20146,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2233,1817
$GC,20456,0.94,236.8,134.2,7.6,992,20460,0.00,2.67,0.00,0.000,4,0.000,0.073,2522,3650,1817
$GC,20505,0.94,236.8,129.7,9.7,994,20509,0.00,2.55,0.00,0.000,6,0.000,0.051,2521,2235,1817
$GC,20822,0.94,236.8,109.2,6.2,1009,20824,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2235,1817
$GC,21131,0.94,236.8,89.5,6.2,1024,21135,0.00,2.67,0.00,0.000,4,0.000,0.073,2522,3654,1817
$GC,21170,0.94,236.8,86.8,6.7,1026,21175,0.00,2.55,0.00,0.000,6,0.000,0.051,2522,2240,1817
$GC,21497,0.94,236.8,66.0,6.9,1042,21498,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2240,1817
$GC,21807,0.94,237.3,45.5,6.0,1057,21811,0.00,2.65,0.00,0.000,4,0.000,0.072,2522,3650,1817
$GC,21857,0.95,245.5,42.2,5.8,1059,21871,0.00,2.55,9.05,0.569,6,0.000,0.051,2522,2234,1779
$GC,22201,0.95,245.5,19.9,7.0,1076,22205,0.00,2.58,0.00,0.000,4,0.000,0.062,2522,828,1779
$GC,22256,0.95,245.5,16.2,6.3,1078,22262,0.00,2.55,0.00,0.000,6,0.000,0.050,2522,2242,1779
$STATE,22466,end climb,SURFACE_DEPTH_REACHED
$STATE,22466,begin surface coast
$FINISH,0.7,1.026403
$STATE,22488,end surface coast,CONTROL_FINISHED_OK
$STATE,22488,begin surface
$SM_CCo,22509,150.80,0.592,0,0,508,557.32
$SM_GC,1.31,0.00,0.00,150.80,0.000,0.000,0.592,73,2243,508,-10.24,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1845
$TCM_TEMP,17.70
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,751.1,59.0
$24V_AH,23.6,33.407
$10V_AH,10.2,16.883
$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,25.075,99.050,358.525,150.800,0.000,36.313,68.983,465.956,17.250,0.000,0.000,14.599,1874.724,17910.695,704.449,2030.932,902.637,0.000,1675.052,0.000,2001.164,0.000,46.126
$DEVICE_MAMPS,181.012,83.603,1146.665,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,798.292,749.699,621.321,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53710,1090
$CAP_FILE_SIZE,140190,2
$CFSIZE,260165632,246824960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160708,081132,6316.764,-1318.716,41,1.8,42,-12.3