version: 66.03
glider: 16
mission: 9
dive: 191
start: 7 16 108 8 20 54
data:
$ID,16
$MISSION,9
$DIVE,191
$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,-2096999.1
$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,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
$GPS1,081132,6316.764,-1318.716,41,1.8,42,-12.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-55.9
$GPS2,082033,6316.722,-1318.752,11,2.0,11,-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,17.5,33992,-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,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.65,0.000,2,0.000,0.000,72,2245,3019
$GC,151,-0.85,-146.6,4.3,-3.5,6,174,11.50,0.00,-8.05,0.000,6,0.168,0.000,2112,2245,3380
$GC,479,-0.65,-146.6,45.9,-11.2,22,480,0.22,0.00,0.00,0.000,6,0.094,0.000,2156,2245,3380
$GC,786,-0.65,-146.6,75.2,-9.3,37,790,0.00,2.62,0.00,0.000,4,0.000,0.058,2156,816,3380
$GC,835,-0.65,-146.6,79.7,-8.8,39,839,0.00,2.60,0.00,0.000,6,0.000,0.051,2156,2237,3380
$GC,1151,-0.65,-146.6,105.1,-8.2,54,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2237,3380
$GC,1460,-0.65,-146.6,130.5,-8.3,69,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2237,3380
$GC,1769,-0.65,-146.6,157.0,-8.4,84,1773,0.00,2.62,0.00,0.000,4,0.000,0.059,2156,810,3380
$GC,1809,-0.65,-146.6,160.1,-7.9,86,1814,0.00,2.60,0.00,0.000,6,0.000,0.051,2156,2233,3380
$GC,2136,-0.65,-146.6,182.7,-6.3,102,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2233,3380
$GC,2445,-0.65,-146.6,203.5,-7.2,117,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2233,3380
$GC,2755,-0.65,-146.6,225.0,-6.7,132,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2234,3380
$GC,3064,-0.65,-146.6,245.9,-6.5,147,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2233,3380
$GC,3373,-0.65,-146.6,266.5,-6.7,162,3377,0.00,2.60,0.00,0.000,4,0.000,0.060,2156,817,3380
$GC,3423,-0.65,-146.6,270.1,-7.5,164,3427,0.00,2.58,0.00,0.000,6,0.000,0.052,2156,2235,3380
$GC,3738,-0.65,-146.6,292.3,-7.2,179,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2235,3379
$GC,4048,-0.65,-146.6,314.5,-7.2,194,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2236,3380
$GC,4357,-0.65,-146.6,337.3,-7.4,209,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2235,3380
$GC,4666,-0.65,-146.6,361.1,-7.8,224,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2236,3379
$GC,4975,-0.65,-146.6,385.8,-7.9,239,4980,0.00,2.60,0.00,0.000,4,0.000,0.061,2156,817,3380
$GC,5026,-0.65,-146.6,389.9,-7.9,241,5030,0.00,2.55,0.00,0.000,6,0.000,0.051,2158,2226,3379
$GC,5342,-0.65,-146.6,413.4,-7.3,256,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2227,3379
$GC,5651,-0.65,-146.6,435.4,-7.1,271,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2227,3379
$GC,5961,-0.65,-146.6,457.0,-7.0,286,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2227,3379
$GC,6269,-0.65,-146.6,477.7,-6.6,301,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2227,3379
$GC,6579,-0.65,-146.6,499.6,-6.9,316,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2227,3379
$GC,6889,-0.65,-146.6,520.8,-7.0,331,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2227,3379
$GC,7197,-0.65,-146.6,541.0,-6.4,346,7202,0.00,2.65,0.00,0.000,4,0.000,0.072,2156,3649,3379
$GC,7242,-0.65,-146.6,544.4,-7.5,348,7246,0.00,2.55,0.00,0.000,6,0.000,0.048,2156,2224,3379
$GC,7563,-0.65,-146.6,565.7,-6.2,364,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2224,3379
$GC,7872,-0.65,-146.6,585.6,-6.3,379,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2224,3379
$GC,8181,-0.65,-146.6,610.0,-8.1,394,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2223,3378
$GC,8490,-0.65,-146.6,630.9,-7.0,409,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2224,3378
$GC,8799,-0.65,-146.6,651.4,-6.5,424,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2224,3378
$GC,9108,-0.65,-146.6,671.4,-6.4,439,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2224,3377
$GC,9418,-0.65,-146.6,690.3,-6.8,454,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2224,3378
$GC,9727,-0.65,-146.6,713.0,-7.5,469,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2224,3377
$GC,10036,-0.65,-146.6,734.9,-7.0,484,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2224,3378
$GC,10346,-0.65,-146.6,755.2,-6.6,499,10350,0.00,2.58,0.00,0.000,4,0.000,0.064,2158,820,3377
$GC,10391,-0.70,-146.6,757.7,-4.8,501,10395,0.00,2.58,0.00,0.000,6,0.000,0.054,2156,2237,3377
$GC,10711,-0.70,-146.6,778.3,-6.7,517,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2237,3377
$STATE,10812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10812,begin apogee
$GC,10819,-0.31,0.0,784.8,7.4,522,10955,0.35,0.00,133.57,1.146,6,0.085,0.000,2228,2237,2781
$STATE,10956,end apogee,CONTROL_FINISHED_OK
$STATE,10956,begin climb
$GC,10959,0.85,146.6,790.9,0.0,529,11096,1.17,0.00,132.95,1.125,6,0.061,0.000,2484,2240,2183
$GC,11405,0.92,218.8,775.3,4.0,551,11473,0.00,0.00,65.80,1.104,6,0.000,0.000,2484,2240,1889
$GC,11774,0.98,218.8,753.8,6.4,569,11779,0.12,2.65,0.00,0.000,4,0.053,0.065,2519,830,1888
$GC,11847,0.92,218.8,748.4,7.0,572,11851,0.00,2.60,0.00,0.000,6,0.000,0.054,2519,2240,1887
$GC,12163,0.92,218.8,723.5,7.7,587,12167,0.00,2.67,0.00,0.000,4,0.000,0.079,2519,3650,1887
$GC,12195,0.92,218.8,720.5,8.4,588,12201,0.00,2.60,0.00,0.000,6,0.000,0.058,2519,2239,1887
$GC,12511,0.92,218.8,695.4,7.6,604,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2239,1886
$GC,12821,0.86,218.8,673.5,7.7,619,12826,0.15,2.70,0.00,0.000,4,0.091,0.077,2485,3650,1885
$GC,12862,0.92,218.8,670.9,6.3,621,12866,0.00,2.60,0.00,0.000,6,0.000,0.055,2485,2239,1886
$GC,13189,0.98,224.0,651.0,5.9,637,13197,0.12,0.00,5.65,0.805,6,0.052,0.000,2520,2239,1867
$GC,13498,0.98,224.0,628.7,6.9,652,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2239,1867
$GC,13806,0.98,224.0,607.7,7.1,667,13808,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2239,1867
$GC,14116,0.99,232.4,588.0,5.8,682,14131,0.00,2.70,9.18,0.883,4,0.000,0.074,2519,3648,1833
$GC,14194,0.94,232.4,583.0,6.4,685,14199,0.00,2.58,0.00,0.000,6,0.000,0.050,2520,2231,1833
$GC,14510,0.94,232.4,563.3,6.2,700,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2231,1833
$GC,14819,0.94,232.4,544.2,6.8,715,14820,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2231,1833
$GC,15128,0.94,232.4,520.8,7.6,730,15129,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2231,1833
$GC,15438,0.94,233.1,500.5,6.0,745,15439,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2231,1834
$GC,15747,0.96,256.3,484.2,5.4,760,15777,0.00,2.80,22.15,0.902,4,0.000,0.073,2520,3653,1736
$GC,15806,0.96,256.3,480.5,6.4,762,15812,0.00,2.58,0.00,0.000,6,0.000,0.050,2520,2244,1736
$GC,16121,0.96,256.3,461.2,6.1,778,16126,0.00,2.60,0.00,0.000,4,0.000,0.062,2520,830,1736
$GC,16177,0.96,256.3,457.4,6.7,780,16184,0.00,2.58,0.00,0.000,6,0.000,0.050,2520,2244,1736
$GC,16493,0.96,256.3,436.5,7.0,796,16494,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1736
$GC,16802,0.96,256.3,412.5,8.2,811,16804,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1736
$GC,17112,0.96,256.3,387.0,8.3,826,17113,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1736
$GC,17421,0.96,256.3,362.1,7.9,841,17422,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1737
$GC,17730,0.96,256.3,338.1,7.7,856,17731,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2243,1737
$GC,18040,0.96,256.3,314.8,7.7,871,18041,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1737
$GC,18349,0.96,256.3,292.7,7.2,886,18350,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1737
$GC,18658,0.96,256.3,270.6,7.1,901,18659,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1738
$GC,18967,0.96,256.3,247.9,7.2,916,18968,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1738
$GC,19277,0.96,256.3,227.2,6.6,931,19278,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1737
$GC,19586,0.96,256.3,207.3,6.5,946,19587,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1738
$GC,19895,0.96,256.3,187.7,6.2,961,19896,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1738
$GC,20205,0.96,256.3,167.9,6.4,976,20206,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1738
$GC,20514,0.96,256.3,144.1,8.4,991,20515,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,1739
$GC,20823,0.96,256.3,117.9,8.3,1006,20827,0.00,2.62,0.00,0.000,4,0.000,0.071,2520,3651,1738
$GC,20863,0.96,256.3,114.6,8.9,1008,20867,0.00,2.53,0.00,0.000,6,0.000,0.050,2520,2240,1739
$GC,21189,0.96,256.3,90.6,6.8,1024,21191,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2240,1739
$GC,21499,1.00,285.4,72.0,5.2,1039,21529,0.00,2.65,25.25,0.648,4,0.000,0.060,2520,825,1616
$GC,21566,1.09,327.0,69.0,4.9,1042,21605,0.00,2.60,34.47,0.647,6,0.000,0.048,2520,2244,1447
$GC,21937,1.16,327.0,45.1,8.4,1060,21938,0.15,0.00,0.00,0.000,6,0.059,0.000,2560,2244,1448
$GC,22244,1.12,327.0,16.7,8.9,1075,22246,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2244,1447
$STATE,22406,end climb,SURFACE_DEPTH_REACHED
$STATE,22406,begin surface coast
$FINISH,0.6,1.018920
$STATE,22429,end surface coast,CONTROL_FINISHED_OK
$STATE,22429,begin surface
$SM_CCo,22450,113.40,0.596,0,0,509,557.32
$SM_GC,1.38,0.00,0.00,113.40,0.000,0.000,0.596,68,2245,509,-10.26,0.42,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1846
$TCM_TEMP,17.80
$XPDR_PINGS,39
$ALTIM_TOP_PING,18.5,17.4
$ALTIM_BOTTOM_PING,751.1,42.5
$24V_AH,23.6,33.576
$10V_AH,10.2,16.978
$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,24.600,73.175,429.025,113.400,0.000,18.014,27.521,334.231,16.750,0.000,0.000,11.259,1834.810,17892.598,707.707,1949.511,705.158,0.000,1638.674,0.000,1919.092,0.000,49.032
$DEVICE_MAMPS,167.973,79.001,1145.898,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,792.635,747.828,616.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53808,1084
$CAP_FILE_SIZE,131286,0
$CFSIZE,260165632,246767616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,160708,143825,6319.131,-1319.777,28,1.9,46,-12.3