version: 66.03
glider: 16
mission: 9
dive: 195
start: 7 17 108 9 37 27
data:
$ID,16
$MISSION,9
$DIVE,195
$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,-2097128.8
$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,24
$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
$GPS1,092825,6328.201,-1318.915,41,1.9,60,-12.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-56.7
$GPS2,093710,6328.197,-1318.792,17,3.2,36,-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,26.3,12980,-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,-120.60,0.000,2,0.000,0.000,73,2243,2961
$GC,151,-0.85,-146.6,4.0,-3.1,6,181,11.48,2.65,-9.77,0.000,4,0.170,0.069,2116,814,3379
$GC,356,-0.73,-146.6,30.8,-11.1,15,361,0.12,2.58,0.00,0.000,6,0.097,0.048,2140,2232,3380
$GC,678,-0.62,-146.6,62.7,-10.1,31,680,0.12,0.00,0.00,0.000,6,0.097,0.000,2163,2232,3379
$GC,986,-0.62,-146.6,91.5,-8.5,46,990,0.00,2.60,0.00,0.000,4,0.000,0.057,2163,817,3379
$GC,1075,-0.62,-146.6,98.3,-7.3,50,1079,0.00,2.55,0.00,0.000,6,0.000,0.048,2163,2230,3379
$GC,1396,-0.62,-146.6,119.3,-6.3,66,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3379
$GC,1707,-0.62,-146.6,139.3,-6.4,81,1711,0.00,2.62,0.00,0.000,4,0.000,0.068,2163,3645,3379
$GC,1751,-0.62,-146.6,142.5,-7.1,83,1755,0.00,2.55,0.00,0.000,6,0.000,0.049,2163,2230,3379
$GC,2072,-0.62,-146.6,164.1,-7.0,99,2076,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,817,3379
$GC,2121,-0.62,-146.6,167.6,-7.5,101,2125,0.00,2.55,0.00,0.000,6,0.000,0.049,2163,2230,3379
$GC,2437,-0.62,-146.6,191.0,-7.9,116,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2231,3379
$GC,2747,-0.62,-146.6,214.7,-7.3,131,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3379
$GC,3055,-0.62,-146.6,235.8,-6.4,146,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3379
$GC,3365,-0.62,-146.6,255.0,-6.4,161,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2231,3379
$GC,3677,-0.62,-146.6,276.0,-6.6,176,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2231,3379
$GC,3984,-0.62,-146.6,295.5,-6.3,191,3988,0.00,2.60,0.00,0.000,4,0.000,0.059,2164,814,3379
$GC,4028,-0.62,-146.6,298.5,-6.2,193,4032,0.00,2.55,0.00,0.000,6,0.000,0.050,2163,2230,3379
$GC,4349,-0.62,-146.6,317.6,-6.1,209,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2231,3379
$GC,4658,-0.62,-146.6,338.8,-7.5,224,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3378
$GC,4967,-0.62,-146.6,363.9,-8.5,239,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2231,3378
$GC,5276,-0.62,-146.6,390.7,-8.9,254,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3378
$GC,5585,-0.62,-146.6,418.7,-9.0,269,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3378
$GC,5895,-0.62,-146.6,447.3,-9.5,284,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3378
$GC,6204,-0.62,-146.6,474.6,-7.8,299,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3378
$GC,6513,-0.62,-146.6,495.3,-6.5,314,6518,0.00,2.60,0.00,0.000,4,0.000,0.058,2163,813,3378
$GC,6558,-0.67,-146.6,498.2,-6.6,316,6562,0.00,2.55,0.00,0.000,6,0.000,0.049,2163,2230,3378
$GC,6879,-0.67,-146.6,523.5,-8.9,332,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3377
$GC,7188,-0.67,-146.6,549.3,-7.4,347,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2231,3377
$GC,7497,-0.67,-146.6,569.0,-5.6,362,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2231,3377
$GC,7807,-0.67,-146.6,590.0,-8.9,377,7811,0.00,2.60,0.00,0.000,4,0.000,0.059,2164,812,3378
$GC,7879,-0.73,-146.6,596.1,-9.8,380,7883,0.00,2.55,0.00,0.000,6,0.000,0.049,2163,2231,3377
$GC,8196,-0.73,-146.6,625.5,-8.1,395,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2232,3377
$GC,8504,-0.73,-146.6,653.6,-9.1,410,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2232,3377
$GC,8813,-0.73,-146.6,675.0,-6.6,425,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2232,3377
$GC,9123,-0.73,-146.6,695.7,-6.6,440,9127,0.00,2.60,0.00,0.000,4,0.000,0.060,2164,816,3376
$GC,9173,-0.82,-146.6,698.7,-5.5,442,9178,0.20,2.55,0.00,0.000,6,0.041,0.051,2105,2231,3377
$STATE,9260,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9260,begin apogee
$GC,9266,-0.31,0.0,705.9,8.4,446,9402,0.60,0.00,131.68,1.073,6,0.090,0.000,2227,2231,2781
$STATE,9403,end apogee,CONTROL_FINISHED_OK
$STATE,9403,begin climb
$GC,9406,0.85,146.6,714.1,0.0,453,9546,1.23,2.78,130.73,1.060,4,0.077,0.071,2483,3648,2183
$GC,9580,1.05,330.2,716.3,1.0,461,9751,0.20,2.60,160.77,1.053,6,0.041,0.054,2540,2240,1435
$GC,10057,1.11,390.1,698.1,4.4,485,10119,0.00,2.72,53.40,1.027,4,0.000,0.065,2539,836,1190
$GC,10188,1.13,406.0,691.6,5.6,491,10210,0.00,2.60,15.70,0.954,6,0.000,0.051,2539,2241,1125
$GC,10519,1.13,406.0,660.5,11.0,507,10524,0.00,2.65,0.00,0.000,4,0.000,0.066,2540,830,1125
$GC,10564,1.17,406.0,655.6,10.8,509,10569,0.00,2.58,0.00,0.000,6,0.000,0.051,2539,2241,1125
$GC,10886,1.17,406.0,623.9,9.4,525,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2241,1124
$GC,11195,1.17,406.0,592.7,9.5,540,11199,0.00,2.65,0.00,0.000,4,0.000,0.064,2540,828,1124
$GC,11234,1.17,406.0,589.0,9.5,542,11238,0.00,2.60,0.00,0.000,6,0.000,0.050,2540,2249,1124
$GC,11560,1.17,406.0,560.6,8.3,558,11564,0.00,2.67,0.00,0.000,4,0.000,0.064,2539,822,1124
$GC,11623,1.17,406.0,555.7,7.9,561,11627,0.00,2.60,0.00,0.000,6,0.000,0.050,2539,2245,1124
$GC,11949,1.17,406.0,529.7,8.0,577,11953,0.00,2.65,0.00,0.000,4,0.000,0.063,2539,825,1124
$GC,11999,1.22,406.0,525.5,8.3,579,12004,0.12,2.58,0.00,0.000,6,0.051,0.049,2575,2243,1124
$GC,12315,1.16,406.0,492.4,10.4,594,12317,0.12,0.00,0.00,0.000,6,0.088,0.000,2551,2243,1124
$GC,12624,1.16,406.0,463.8,9.5,609,12628,0.00,2.62,0.00,0.000,4,0.000,0.064,2551,830,1124
$GC,12695,1.16,406.0,456.7,10.4,612,12700,0.00,2.55,0.00,0.000,6,0.000,0.049,2551,2239,1124
$GC,13011,1.16,406.0,421.7,11.5,627,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2240,1124
$GC,13320,1.16,406.0,386.6,11.5,642,13324,0.00,2.62,0.00,0.000,4,0.000,0.064,2551,823,1124
$GC,13382,1.16,406.0,379.8,10.8,645,13387,0.00,2.58,0.00,0.000,6,0.000,0.049,2551,2239,1124
$GC,13710,1.12,406.0,342.5,11.4,661,13714,0.00,2.62,0.00,0.000,4,0.000,0.064,2551,827,1124
$GC,13744,1.12,406.0,338.4,11.2,662,13750,0.00,2.58,0.00,0.000,6,0.000,0.050,2551,2247,1124
$GC,14060,1.12,406.0,302.7,10.9,678,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2247,1124
$GC,14369,1.12,406.0,269.4,10.7,693,14373,0.00,2.65,0.00,0.000,4,0.000,0.064,2551,821,1124
$GC,14418,1.12,406.0,264.0,10.6,695,14423,0.00,2.58,0.00,0.000,6,0.000,0.050,2551,2242,1125
$GC,14735,1.07,406.0,230.5,10.7,710,14736,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2242,1125
$GC,15043,1.03,406.0,196.5,10.8,725,15048,0.12,2.62,0.00,0.000,4,0.086,0.063,2525,824,1125
$GC,15099,1.08,406.0,190.9,9.5,727,15105,0.00,2.58,0.00,0.000,6,0.000,0.049,2525,2247,1125
$GC,15415,1.08,406.0,160.6,9.6,743,15416,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2247,1125
$GC,15725,1.08,406.0,129.9,10.2,758,15729,0.00,2.62,0.00,0.000,4,0.000,0.062,2525,830,1125
$GC,15780,1.13,406.0,123.8,10.4,760,15787,0.00,2.55,0.00,0.000,6,0.000,0.050,2526,2247,1125
$GC,16096,1.13,406.0,92.3,9.1,776,16101,0.00,2.62,0.00,0.000,4,0.000,0.062,2525,829,1125
$GC,16141,1.21,406.0,87.9,10.1,778,16146,0.17,2.55,0.00,0.000,6,0.044,0.049,2575,2240,1125
$GC,16463,1.11,406.0,47.9,12.8,794,16465,0.17,0.00,0.00,0.000,6,0.085,0.000,2540,2240,1125
$GC,16773,1.11,406.0,18.3,9.2,809,16777,0.00,2.60,0.00,0.000,4,0.000,0.062,2540,829,1125
$GC,16817,1.11,406.0,14.0,9.0,811,16821,0.00,2.55,0.00,0.000,6,0.000,0.049,2540,2241,1125
$STATE,16950,end climb,SURFACE_DEPTH_REACHED
$STATE,16950,begin surface coast
$FINISH,0.6,1.026445
$STATE,16972,end surface coast,CONTROL_FINISHED_OK
$STATE,16972,begin surface
$SM_CCo,16994,72.47,0.594,0,0,508,557.32
$SM_GC,1.37,0.00,0.00,72.47,0.000,0.000,0.594,72,2241,508,-10.25,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1884
$TCM_TEMP,16.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,18.3,16.9
$ALTIM_BOTTOM_PING,676.4,38.5
$24V_AH,23.6,34.270
$10V_AH,10.2,17.347
$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,25.350,114.450,492.275,72.475,0.000,36.337,65.055,202.982,7.000,0.000,0.000,36.890,1455.775,13097.623,699.123,1742.558,593.566,0.000,1576.839,0.000,1684.192,0.000,41.205
$DEVICE_MAMPS,170.274,71.331,1073.033,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,599.080,562.420,501.124,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41033,819
$CAP_FILE_SIZE,116796,0
$CFSIZE,260165632,246538240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170708,142325,6330.249,-1317.913,34,1.8,52,-12.4