version: 66.03
glider: 16
mission: 9
dive: 204
start: 7 19 108 17 21 5
data:
$ID,16
$MISSION,9
$DIVE,204
$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,-2097353.5
$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,22
$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
$GPS1,170822,6357.704,-1327.683,39,2.9,58,-12.7
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-59.3
$GPS2,172047,6357.556,-1327.848,12,2.7,31,-12.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$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,146.5,20207,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,128,0.00,0.00,-99.45,0.000,2,0.000,0.000,71,2234,2563
$GC,131,-0.85,-146.6,3.2,-2.0,5,175,11.48,2.70,-26.05,0.000,4,0.170,0.080,2114,3643,3381
$GC,237,-0.65,-146.6,16.2,-16.0,9,244,0.22,2.58,0.00,0.000,6,0.091,0.051,2159,2225,3381
$GC,555,-0.56,-146.6,51.7,-10.2,25,559,0.00,2.60,0.00,0.000,4,0.000,0.059,2158,809,3381
$GC,627,-0.56,-146.6,58.9,-9.3,28,631,0.00,2.60,0.00,0.000,6,0.000,0.048,2158,2237,3381
$GC,944,-0.51,-146.6,88.3,-10.2,43,949,0.15,2.62,0.00,0.000,4,0.097,0.070,2191,3640,3381
$GC,1006,-0.60,-146.6,94.1,-8.6,46,1011,0.00,2.55,0.00,0.000,6,0.000,0.049,2191,2229,3381
$GC,1334,-0.67,-146.6,116.2,-5.5,62,1339,0.15,2.60,0.00,0.000,4,0.042,0.058,2137,811,3381
$GC,1401,-0.60,-146.6,121.0,-7.8,65,1406,0.15,2.58,0.00,0.000,6,0.083,0.050,2167,2231,3381
$GC,1723,-0.60,-146.6,145.5,-7.4,81,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3381
$GC,2033,-0.60,-146.6,167.5,-6.7,96,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3381
$GC,2341,-0.60,-146.6,187.0,-6.7,111,2345,0.00,2.62,0.00,0.000,4,0.000,0.058,2167,810,3381
$GC,2368,-0.60,-146.6,188.9,-7.6,112,2372,0.00,2.60,0.00,0.000,6,0.000,0.051,2167,2238,3381
$GC,2684,-0.60,-146.6,211.2,-7.1,127,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2238,3381
$GC,2993,-0.60,-146.6,233.2,-6.7,142,2997,0.00,2.62,0.00,0.000,4,0.000,0.073,2167,3640,3380
$GC,3026,-0.60,-146.6,235.5,-7.0,143,3032,0.00,2.55,0.00,0.000,6,0.000,0.051,2167,2228,3381
$GC,3342,-0.60,-146.6,254.1,-5.7,159,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3380
$GC,3650,-0.60,-146.6,272.9,-6.6,174,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3380
$GC,3960,-0.60,-146.6,293.4,-6.7,189,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2226,3380
$GC,4269,-0.60,-146.6,313.8,-7.2,204,4274,0.00,2.67,0.00,0.000,4,0.000,0.075,2167,3640,3380
$GC,4314,-0.60,-146.6,317.1,-6.5,206,4318,0.00,2.55,0.00,0.000,6,0.000,0.049,2167,2224,3380
$GC,4634,-0.60,-146.6,339.2,-7.3,222,4639,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,817,3379
$GC,4668,-0.66,-146.6,342.0,-8.4,223,4674,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2233,3380
$GC,4984,-0.66,-146.6,363.5,-6.5,239,4988,0.00,2.62,0.00,0.000,4,0.000,0.074,2167,3640,3379
$GC,5050,-0.66,-146.6,368.7,-6.7,242,5055,0.00,2.55,0.00,0.000,6,0.000,0.051,2167,2230,3379
$GC,5371,-0.66,-146.6,389.5,-4.9,258,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3379
$GC,5680,-0.66,-146.6,409.1,-10.3,273,5684,0.00,2.67,0.00,0.000,4,0.000,0.075,2167,3645,3379
$GC,5735,-0.66,-146.6,416.7,-15.8,275,5741,0.00,2.55,0.00,0.000,6,0.000,0.050,2167,2227,3379
$GC,6052,-0.66,-146.6,444.3,-7.7,291,6056,0.00,2.67,0.00,0.000,4,0.000,0.074,2167,3643,3379
$GC,6085,-0.66,-146.6,446.7,-7.5,292,6091,0.00,2.55,0.00,0.000,6,0.000,0.050,2167,2228,3379
$GC,6401,-0.66,-146.6,473.6,-8.5,308,6405,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,817,3378
$GC,6458,-0.74,-146.6,479.0,-9.6,310,6465,0.12,2.58,0.00,0.000,6,0.047,0.051,2128,2237,3379
$GC,6774,-0.64,-146.6,511.6,-9.5,326,6779,0.15,2.62,0.00,0.000,4,0.087,0.075,2157,3638,3379
$GC,6802,-0.64,-146.6,514.2,-8.9,327,6807,0.00,2.55,0.00,0.000,6,0.000,0.052,2157,2229,3378
$GC,7118,-0.64,-146.6,534.6,-6.4,342,7122,0.00,2.60,0.00,0.000,4,0.000,0.064,2157,819,3378
$GC,7145,-0.69,-146.6,536.2,-5.7,343,7150,0.00,2.58,0.00,0.000,6,0.000,0.052,2157,2237,3378
$GC,7461,-0.69,-146.6,557.3,-6.2,358,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2237,3378
$GC,7771,-0.69,-146.6,575.5,-6.0,373,7776,0.00,2.65,0.00,0.000,4,0.000,0.070,2157,820,3377
$GC,7790,-0.79,-146.6,575.6,-3.3,374,7795,0.15,2.60,0.00,0.000,6,0.045,0.055,2113,2237,3377
$GC,8117,-0.68,-146.6,596.7,-8.8,390,8122,0.20,2.65,0.00,0.000,4,0.087,0.078,2155,3638,3377
$GC,8259,-0.68,-146.6,605.6,-9.5,396,8263,0.00,2.58,0.00,0.000,6,0.000,0.057,2155,2225,3376
$GC,8576,-0.68,-146.6,629.3,-5.6,411,8580,0.00,2.60,0.00,0.000,4,0.000,0.068,2155,820,3375
$GC,8620,-0.73,-146.6,632.0,-6.9,413,8624,0.00,2.60,0.00,0.000,6,0.000,0.057,2155,2235,3376
$GC,8941,-0.73,-146.6,660.1,-5.1,429,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2236,3374
$GC,9250,-0.73,-146.6,685.6,-8.9,444,9254,0.00,2.67,0.00,0.000,4,0.000,0.071,2155,821,3374
$GC,9307,-0.73,-146.6,690.7,-9.2,446,9313,0.00,2.60,0.00,0.000,6,0.000,0.061,2155,2229,3374
$GC,9622,-0.73,-146.6,709.6,-5.8,462,9627,0.00,2.65,0.00,0.000,4,0.000,0.068,2155,816,3373
$GC,9664,-0.81,-146.6,710.2,-1.2,464,9669,0.15,2.62,0.00,0.000,6,0.052,0.060,2114,2233,3373
$STATE,9884,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9885,begin apogee
$GC,9891,-0.31,0.0,736.3,13.3,475,10027,0.57,0.00,131.15,1.153,6,0.094,0.000,2230,2233,2781
$STATE,10028,end apogee,CONTROL_FINISHED_OK
$STATE,10028,begin climb
$GC,10032,0.85,146.6,744.7,0.0,482,10175,1.20,2.88,131.15,1.127,4,0.084,0.086,2478,3650,2184
$GC,10194,0.85,146.6,736.3,7.2,489,10200,0.00,2.62,0.00,0.000,6,0.000,0.060,2479,2245,2184
$GC,10510,0.92,216.6,720.9,4.1,505,10580,0.00,2.80,63.15,1.103,4,0.000,0.073,2479,827,1898
$GC,10641,1.04,246.4,716.5,5.2,511,10676,0.22,2.65,27.90,1.070,6,0.050,0.058,2532,2240,1776
$GC,10996,1.18,464.4,693.8,0.0,528,11197,0.12,2.80,191.70,1.107,4,0.060,0.084,2565,3646,886
$GC,11215,1.32,588.1,688.2,2.6,537,11305,0.00,2.65,82.50,1.081,6,0.000,0.061,2565,2240,509
$GC,11633,1.32,588.1,644.5,12.3,558,11637,0.00,2.70,0.00,0.000,4,0.000,0.077,2565,829,509
$GC,11728,1.32,588.1,633.3,11.3,562,11732,0.00,2.62,0.00,0.000,6,0.000,0.059,2565,2238,508
$GC,12043,1.32,588.1,597.6,9.6,577,12044,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2238,508
$GC,12352,1.32,588.1,561.3,10.5,592,12357,0.00,2.70,0.00,0.000,4,0.000,0.074,2565,825,507
$GC,12420,1.36,588.1,555.0,8.4,595,12425,0.15,2.62,0.00,0.000,6,0.070,0.056,2598,2244,507
$GC,12742,1.28,588.1,510.7,14.2,611,12746,0.00,2.70,0.00,0.000,4,0.000,0.072,2598,826,508
$GC,12831,1.22,588.1,497.7,12.5,615,12836,0.17,2.60,0.00,0.000,6,0.091,0.054,2564,2240,507
$GC,13153,1.22,588.1,453.1,13.4,631,13157,0.00,2.67,0.00,0.000,4,0.000,0.072,2563,827,508
$GC,13242,1.22,588.1,442.2,11.5,635,13246,0.00,2.60,0.00,0.000,6,0.000,0.053,2564,2243,508
$GC,13563,1.22,588.1,401.0,13.8,651,13568,0.00,2.67,0.00,0.000,4,0.000,0.070,2564,827,508
$GC,13658,1.22,588.1,387.5,13.4,655,13663,0.00,2.60,0.00,0.000,6,0.000,0.051,2564,2247,508
$GC,13974,1.22,588.1,343.4,13.2,670,13978,0.00,2.70,0.00,0.000,4,0.000,0.069,2563,820,509
$GC,14126,1.22,588.1,326.3,11.3,677,14130,0.00,2.60,0.00,0.000,6,0.000,0.051,2564,2241,509
$GC,14452,1.22,588.1,286.8,12.2,693,14457,0.00,2.67,0.03,0.288,4,0.000,0.067,2563,820,509
$GC,14575,1.22,588.1,272.2,11.7,698,14582,0.00,2.60,0.43,0.151,6,0.000,0.051,2564,2246,510
$GC,14891,1.22,588.1,233.5,12.4,714,14900,0.00,2.72,2.17,0.244,4,0.000,0.067,2563,820,508
$GC,14991,1.22,588.1,221.4,11.3,718,14995,0.00,2.60,0.00,0.000,6,0.000,0.050,2563,2245,509
$GC,15307,1.22,588.1,183.9,11.8,733,15312,0.00,2.67,0.08,0.182,4,0.000,0.067,2564,820,510
$GC,15407,1.22,588.1,172.2,11.0,737,15414,0.00,2.60,1.73,0.139,6,0.000,0.050,2563,2249,510
$GC,15724,1.22,588.1,134.0,11.5,753,15733,0.00,2.70,2.17,0.226,4,0.000,0.065,2563,825,508
$GC,15829,1.22,588.1,122.4,10.2,757,15835,0.00,2.58,0.00,0.000,6,0.000,0.050,2563,2244,508
$GC,16145,1.22,588.1,84.7,12.4,773,16149,0.00,2.65,0.00,0.000,4,0.000,0.066,2563,825,509
$GC,16256,1.22,588.1,70.7,11.5,778,16261,0.00,2.58,0.00,0.000,6,0.000,0.049,2563,2242,509
$GC,16578,1.22,588.1,31.5,12.4,794,16583,0.00,2.65,0.03,0.278,4,0.000,0.065,2563,825,509
$GC,16675,1.22,588.1,19.6,11.4,798,16680,0.00,2.58,0.08,0.186,6,0.000,0.048,2563,2247,510
$STATE,16844,end climb,SURFACE_DEPTH_REACHED
$STATE,16845,begin surface coast
$FINISH,0.6,1.000972
$STATE,16866,end surface coast,CONTROL_FINISHED_OK
$STATE,16866,begin surface
$SM_CCo,16888,0.00,0.000,0,0,509,557.32
$SM_GC,1.65,0.00,0.00,0.00,0.000,0.000,0.000,67,2248,509,-10.27,0.51,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1903
$TCM_TEMP,17.50
$XPDR_PINGS,46
$ALTIM_TOP_PING,19.6,17.9
$ALTIM_BOTTOM_PING,725.5,18.6
$24V_AH,23.5,35.884
$10V_AH,10.1,18.206
$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,26.125,178.775,634.250,0.000,0.000,74.276,96.526,295.578,18.250,0.000,0.000,31.928,1515.273,12586.604,737.912,2007.324,783.980,0.000,1802.447,0.000,1930.787,0.000,47.207
$DEVICE_MAMPS,169.507,85.904,1152.801,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,585.070,547.710,477.571,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41170,807
$CAP_FILE_SIZE,139831,0
$CFSIZE,260165632,245919744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,190708,220355,6356.371,-1327.163,25,1.6,42,-12.7