version: 66.03
glider: 16
mission: 9
dive: 193
start: 7 16 108 21 11 54
data:
$ID,16
$MISSION,9
$DIVE,193
$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,-2097078
$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
$GPS1,205858,6322.300,-1320.216,40,3.1,60,-12.4
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-57.2
$GPS2,211137,6322.261,-1320.098,34,1.8,44,-12.4
$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,22.5,23964,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-121.38,0.000,2,0.000,0.000,69,2235,3022
$GC,152,-0.85,-146.6,4.3,-3.5,6,177,11.45,2.62,-7.90,0.000,4,0.168,0.070,2109,817,3381
$GC,324,-0.70,-146.6,28.9,-11.3,13,331,0.17,2.58,0.00,0.000,6,0.095,0.051,2143,2231,3381
$GC,642,-0.60,-146.6,60.2,-9.0,29,644,0.12,0.00,0.00,0.000,6,0.098,0.000,2167,2231,3381
$GC,949,-0.60,-146.6,79.3,-6.4,44,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3382
$GC,1258,-0.60,-146.6,102.9,-8.4,59,1263,0.00,2.65,0.00,0.000,4,0.000,0.072,2166,3646,3382
$GC,1299,-0.60,-146.6,106.4,-9.2,61,1303,0.00,2.55,0.00,0.000,6,0.000,0.049,2166,2228,3382
$GC,1626,-0.60,-146.6,132.6,-7.7,77,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3382
$GC,1934,-0.60,-146.6,159.0,-8.7,92,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3381
$GC,2243,-0.60,-146.6,185.0,-8.4,107,2248,0.00,2.58,0.00,0.000,4,0.000,0.059,2166,816,3382
$GC,2300,-0.65,-146.6,189.8,-8.6,109,2306,0.00,2.58,0.00,0.000,6,0.000,0.052,2166,2230,3382
$GC,2615,-0.65,-146.6,215.0,-7.7,125,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3382
$GC,2925,-0.65,-146.6,237.0,-6.8,140,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3382
$GC,3234,-0.65,-146.6,256.8,-6.5,155,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3381
$GC,3543,-0.65,-146.6,278.1,-7.2,170,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3381
$GC,3855,-0.65,-146.6,301.3,-7.7,185,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3381
$GC,4163,-0.65,-146.6,325.2,-7.8,200,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3381
$GC,4471,-0.65,-146.6,349.1,-7.6,215,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3381
$GC,4780,-0.65,-146.6,372.4,-7.6,230,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3381
$GC,5090,-0.65,-146.6,395.2,-7.2,245,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3380
$GC,5399,-0.65,-146.6,419.0,-7.9,260,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3380
$GC,5708,-0.65,-146.6,446.2,-9.1,275,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3380
$GC,6018,-0.65,-146.6,473.5,-8.7,290,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3380
$GC,6326,-0.65,-146.6,498.6,-7.8,305,6331,0.00,2.60,0.00,0.000,4,0.000,0.058,2167,814,3380
$GC,6371,-0.71,-146.6,502.2,-8.2,307,6376,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2233,3380
$GC,6692,-0.71,-146.6,524.8,-6.8,323,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2233,3379
$GC,7001,-0.71,-146.6,547.0,-7.6,338,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2233,3380
$GC,7311,-0.71,-146.6,572.2,-8.2,353,7315,0.00,2.60,0.00,0.000,4,0.000,0.058,2166,813,3379
$GC,7355,-0.78,-146.6,575.8,-8.1,355,7360,0.17,2.58,0.00,0.000,6,0.042,0.051,2113,2234,3379
$GC,7677,-0.65,-146.6,609.8,-11.3,371,7682,0.20,2.65,0.00,0.000,4,0.087,0.074,2156,3647,3379
$GC,7717,-0.65,-146.6,613.2,-8.0,373,7721,0.00,2.55,0.00,0.000,6,0.000,0.049,2156,2228,3379
$GC,8043,-0.65,-146.6,638.5,-7.9,389,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2227,3379
$GC,8352,-0.65,-146.6,662.0,-7.6,404,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2227,3378
$GC,8662,-0.65,-146.6,681.8,-6.0,419,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2226,3379
$GC,8971,-0.65,-146.6,701.6,-6.8,434,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2227,3378
$GC,9280,-0.65,-146.6,722.4,-6.8,449,9284,0.00,2.58,0.00,0.000,4,0.000,0.060,2156,814,3378
$GC,9320,-0.72,-146.6,725.0,-6.2,451,9330,0.00,2.58,0.00,0.000,6,0.000,0.054,2156,2232,3378
$GC,9657,-0.72,-146.6,746.2,-6.6,467,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2232,3378
$GC,9967,-0.72,-146.6,765.4,-5.6,482,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2232,3377
$GC,10276,-0.72,-146.6,786.6,-8.1,497,10280,0.00,2.62,0.00,0.000,4,0.000,0.065,2156,822,3377
$GC,10320,-0.77,-146.6,790.1,-8.0,499,10325,0.12,2.58,0.00,0.000,6,0.051,0.056,2117,2232,3377
$STATE,10412,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10412,begin apogee
$GC,10419,-0.31,0.0,799.3,10.1,504,10556,0.55,0.00,133.45,1.151,6,0.086,0.000,2227,2232,2781
$STATE,10556,end apogee,CONTROL_FINISHED_OK
$STATE,10556,begin climb
$GC,10559,0.85,146.6,806.9,0.0,511,10702,1.17,2.83,132.38,1.134,4,0.077,0.081,2478,3644,2183
$GC,10861,0.98,225.3,795.5,3.8,525,10938,0.15,2.60,70.93,1.110,6,0.048,0.058,2521,2243,1862
$GC,11248,0.93,225.3,770.4,7.1,543,11252,0.00,2.67,0.00,0.000,4,0.000,0.068,2521,824,1861
$GC,11337,0.93,225.3,763.8,7.0,547,11341,0.00,2.62,0.00,0.000,6,0.000,0.054,2521,2246,1860
$GC,11658,0.86,225.3,743.2,6.9,563,11663,0.17,2.70,0.00,0.000,4,0.086,0.079,2484,3653,1860
$GC,11771,0.91,225.3,736.3,6.3,568,11775,0.00,2.60,0.00,0.000,6,0.000,0.057,2483,2239,1860
$GC,12092,0.99,237.1,717.6,5.7,584,12106,0.15,0.00,11.68,0.986,6,0.050,0.000,2525,2239,1814
$GC,12402,0.96,245.9,699.3,5.8,599,12417,0.00,2.67,9.35,0.943,4,0.000,0.065,2525,830,1778
$GC,12464,0.96,245.9,694.8,7.4,601,12468,0.00,2.62,0.00,0.000,6,0.000,0.054,2525,2247,1777
$GC,12790,0.96,245.9,669.8,7.7,617,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2247,1777
$GC,13100,0.89,245.9,647.6,6.9,632,13105,0.15,2.65,0.00,0.000,4,0.087,0.077,2494,3650,1776
$GC,13173,0.94,249.0,642.1,5.9,635,13185,0.00,2.58,4.22,0.691,6,0.000,0.052,2494,2237,1766
$GC,13495,1.02,278.8,624.7,5.2,651,13525,0.12,0.00,27.85,1.014,6,0.050,0.000,2531,2236,1644
$GC,13823,1.02,278.8,603.3,6.3,667,13828,0.00,2.62,0.00,0.000,4,0.000,0.064,2532,824,1643
$GC,13868,1.02,278.8,600.1,7.0,669,13872,0.00,2.60,0.00,0.000,6,0.000,0.051,2531,2244,1643
$GC,14189,1.02,278.8,574.7,8.4,685,14190,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2244,1643
$GC,14498,1.02,278.8,546.7,9.0,700,14502,0.00,2.65,0.00,0.000,4,0.000,0.061,2531,824,1642
$GC,14560,1.02,278.8,540.9,9.0,703,14564,0.00,2.60,0.00,0.000,6,0.000,0.050,2531,2246,1643
$GC,14886,1.02,278.8,510.7,8.8,719,14887,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2246,1643
$GC,15195,1.02,278.8,484.5,8.3,734,15196,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2246,1644
$GC,15504,1.02,278.8,457.7,8.9,749,15509,0.00,2.65,0.00,0.000,4,0.000,0.061,2531,818,1644
$GC,15549,1.02,278.8,453.6,9.1,751,15553,0.00,2.58,0.00,0.000,6,0.000,0.050,2531,2240,1644
$GC,15870,1.02,278.8,427.5,7.4,767,15871,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2240,1644
$GC,16179,1.02,278.8,405.0,7.1,782,16180,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2240,1644
$GC,16488,1.02,278.8,382.7,7.3,797,16489,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2240,1645
$GC,16798,1.02,278.8,359.7,7.6,812,16802,0.00,2.60,0.00,0.000,4,0.000,0.061,2531,828,1645
$GC,16841,1.02,278.8,356.0,8.0,814,16846,0.00,2.58,0.00,0.000,6,0.000,0.051,2531,2246,1645
$GC,17162,1.02,278.8,329.8,8.2,830,17164,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2247,1646
$GC,17472,1.02,278.8,304.2,8.2,845,17476,0.00,2.62,0.00,0.000,4,0.000,0.060,2531,827,1646
$GC,17511,1.02,278.8,300.7,8.8,847,17516,0.00,2.58,0.00,0.000,6,0.000,0.051,2532,2242,1644
$GC,17838,1.02,278.8,274.5,7.5,863,17839,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2242,1646
$GC,18148,1.02,278.8,251.9,7.3,878,18149,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2242,1646
$GC,18457,1.02,278.8,228.3,7.7,893,18461,0.00,2.62,0.00,0.000,4,0.000,0.061,2531,821,1647
$GC,18500,1.02,278.8,224.6,8.1,895,18505,0.00,2.58,0.00,0.000,6,0.000,0.051,2531,2242,1646
$GC,18822,1.02,278.8,200.8,7.3,911,18823,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2242,1647
$GC,19131,1.02,278.8,179.2,6.9,926,19132,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2242,1647
$GC,19440,1.02,278.8,156.4,7.7,941,19442,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2242,1647
$GC,19750,1.02,278.8,131.8,7.6,956,19751,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2242,1647
$GC,20059,1.02,278.8,110.1,7.0,971,20063,0.00,2.62,0.00,0.000,4,0.000,0.061,2531,820,1647
$GC,20099,1.02,278.8,106.8,8.3,973,20103,0.00,2.58,0.00,0.000,6,0.000,0.050,2531,2246,1647
$GC,20426,1.02,278.8,80.7,7.8,989,20430,0.00,2.62,0.00,0.000,4,0.000,0.072,2531,3652,1647
$GC,20458,1.02,278.8,77.7,8.8,990,20465,0.00,2.55,0.00,0.000,6,0.000,0.052,2531,2238,1647
$GC,20776,1.02,278.8,50.5,8.9,1006,20777,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2238,1647
$GC,21084,1.02,278.8,27.6,7.3,1021,21085,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2238,1648
$GC,21393,1.02,278.8,5.2,7.5,1036,21397,0.00,2.58,0.00,0.000,4,0.000,0.060,2531,820,1648
$STATE,21430,end climb,SURFACE_DEPTH_REACHED
$STATE,21430,begin surface coast
$FINISH,1.3,1.027095
$STATE,21435,end surface coast,CONTROL_FINISHED_OK
$STATE,21435,begin surface
$SM_CCo,21460,134.62,0.597,0,0,509,557.32
$SM_GC,1.25,0.00,0.00,134.62,0.000,0.000,0.597,71,2228,509,-10.25,-0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1856
$TCM_TEMP,19.70
$XPDR_PINGS,42
$ALTIM_TOP_PING,18.6,17.6
$ALTIM_BOTTOM_PING,775.5,32.5
$24V_AH,23.6,33.920
$10V_AH,10.2,17.171
$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,25.375,114.825,389.850,134.625,0.000,54.548,91.957,321.497,17.750,0.000,0.000,46.202,1812.991,16957.963,708.826,2076.480,794.945,0.000,1700.606,0.000,2000.866,0.000,50.629
$DEVICE_MAMPS,167.973,81.302,1150.500,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,758.391,716.506,604.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53682,1038
$CAP_FILE_SIZE,140711,0
$CFSIZE,260165632,246632448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170708,031308,6324.737,-1320.670,38,1.6,39,-12.4