version: 66.03
glider: 16
mission: 9
dive: 212
start: 7 21 108 21 46 19
data:
$ID,16
$MISSION,9
$DIVE,212
$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,-2097584
$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,26
$R_STBD_OVSHOOT,24
$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,0
$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
$GPS1,213831,6338.351,-1323.654,36,1.6,41,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-47.9
$GPS2,214602,6338.445,-1323.385,15,1.5,32,-12.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BT1
$TGT_LATLONG,6401.000,-1331.000
$TGT_RADIUS,3000.000
$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,4.1,42226,-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,-146.6,0.0,0.0,0,149,0.00,0.00,-121.12,0.000,2,0.000,0.000,69,2245,2903
$GC,153,-0.85,-146.6,3.6,-3.0,6,183,11.43,2.67,-11.40,0.000,4,0.168,0.071,2108,819,3380
$GC,391,-0.69,-146.6,33.8,-9.9,16,398,0.20,2.53,0.00,0.000,6,0.094,0.047,2145,2225,3380
$GC,709,-0.60,-146.6,59.8,-8.0,32,711,0.12,0.00,0.00,0.000,6,0.117,0.000,2167,2225,3380
$GC,1016,-0.60,-146.6,84.0,-7.6,47,1020,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,3641,3380
$GC,1049,-0.60,-146.6,86.7,-7.8,48,1055,0.00,2.53,0.00,0.000,6,0.000,0.048,2167,2232,3380
$GC,1367,-0.60,-146.6,111.3,-7.8,64,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3380
$GC,1674,-0.60,-146.6,136.9,-7.3,79,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3380
$GC,1983,-0.60,-146.6,158.4,-6.7,94,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3380
$GC,2292,-0.60,-146.6,181.2,-7.4,109,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3380
$GC,2601,-0.60,-146.6,204.4,-7.7,124,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3380
$GC,2911,-0.60,-146.6,230.1,-8.7,139,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3380
$GC,3220,-0.60,-146.6,253.8,-6.9,154,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3380
$GC,3530,-0.60,-146.6,275.5,-7.2,169,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3381
$GC,3838,-0.60,-146.6,299.3,-8.2,184,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3380
$GC,4148,-0.60,-146.6,323.8,-7.8,199,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3380
$GC,4457,-0.60,-146.6,346.6,-7.4,214,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2231,3380
$GC,4766,-0.60,-146.6,368.4,-7.1,229,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3379
$GC,5076,-0.60,-146.6,390.6,-6.9,244,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2231,3379
$GC,5385,-0.60,-146.6,413.5,-7.8,259,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3378
$GC,5694,-0.60,-146.6,436.5,-7.3,274,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3379
$GC,6004,-0.60,-146.6,459.6,-7.3,289,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3378
$GC,6312,-0.60,-146.6,480.7,-6.6,304,6317,0.00,2.65,0.00,0.000,4,0.000,0.072,2168,3641,3378
$GC,6346,-0.60,-146.6,483.1,-6.9,305,6352,0.00,2.53,0.00,0.000,6,0.000,0.048,2167,2230,3379
$GC,6662,-0.60,-146.6,503.4,-6.4,321,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3379
$GC,6971,-0.60,-146.6,521.4,-4.6,336,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3379
$GC,7281,-0.60,-146.6,533.9,-4.0,351,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3378
$GC,7591,-0.60,-146.6,548.3,-5.1,366,7595,0.00,2.62,0.00,0.000,4,0.000,0.071,2168,3639,3378
$GC,7635,-0.64,-146.6,551.1,-6.1,368,7639,0.00,2.53,0.00,0.000,6,0.000,0.048,2167,2228,3378
$GC,7956,-0.64,-146.6,570.7,-6.0,384,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3378
$GC,8265,-0.64,-146.6,592.5,-7.5,399,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3378
$GC,8574,-0.64,-146.6,616.3,-7.6,414,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3377
$GC,8883,-0.64,-146.6,642.2,-8.6,429,8888,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,3640,3377
$GC,8929,-0.68,-146.6,646.1,-8.8,431,8933,0.00,2.53,0.00,0.000,6,0.000,0.048,2167,2221,3377
$GC,9249,-0.68,-146.6,671.8,-8.0,447,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2222,3377
$GC,9559,-0.72,-146.6,691.5,-6.1,462,9561,0.12,0.00,0.00,0.000,6,0.054,0.000,2128,2221,3377
$GC,9869,-0.64,-146.6,713.8,-7.5,477,9870,0.15,0.00,0.00,0.000,6,0.086,0.000,2158,2221,3377
$GC,10177,-0.64,-146.6,735.0,-7.1,492,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2221,3376
$GC,10487,-0.64,-146.6,761.2,-9.3,507,10491,0.00,2.67,0.00,0.000,4,0.000,0.074,2158,3638,3377
$GC,10542,-0.64,-146.6,765.8,-7.5,509,10548,0.00,2.53,0.00,0.000,6,0.000,0.050,2158,2231,3376
$GC,10857,-0.64,-146.6,785.3,-6.6,525,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2231,3376
$GC,11172,-0.64,-146.6,800.9,-4.3,540,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2231,3376
$GC,11476,-0.64,-146.6,820.4,-7.4,555,11477,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2231,3375
$GC,11785,-0.64,-146.6,834.1,-4.4,570,11790,0.00,2.60,0.00,0.000,4,0.000,0.064,2158,820,3375
$GC,11842,-0.71,-146.6,837.1,-5.1,572,11848,0.00,2.58,0.00,0.000,6,0.000,0.052,2158,2237,3375
$GC,12158,-0.71,-146.6,855.9,-6.4,588,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2237,3374
$STATE,12238,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12238,begin apogee
$GC,12244,-0.31,0.0,860.8,6.0,592,12381,0.38,0.00,133.30,1.196,6,0.115,0.000,2229,2237,2781
$STATE,12382,end apogee,CONTROL_FINISHED_OK
$STATE,12382,begin climb
$GC,12385,0.85,146.6,865.6,0.0,599,12523,1.20,0.00,132.80,1.173,6,0.081,0.000,2481,2237,2182
$GC,12818,0.87,172.2,849.4,5.3,620,12847,0.00,2.78,24.02,1.101,4,0.000,0.077,2481,3652,2078
$GC,12870,0.87,172.2,845.3,8.0,622,12877,0.00,2.60,0.00,0.000,6,0.000,0.054,2481,2241,2078
$GC,13186,0.87,172.2,824.9,6.3,638,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2240,2078
$GC,13495,0.87,172.2,803.7,6.2,653,13499,0.00,2.62,0.00,0.000,4,0.000,0.064,2481,826,2077
$GC,13539,0.87,172.2,800.6,6.6,655,13544,0.00,2.60,0.00,0.000,6,0.000,0.051,2481,2244,2077
$GC,13861,0.96,254.6,784.0,3.7,671,13940,0.12,0.00,74.55,1.135,6,0.052,0.000,2519,2244,1743
$GC,14250,0.98,265.0,760.3,5.7,690,14266,0.00,2.72,11.10,0.994,4,0.000,0.062,2520,822,1700
$GC,14319,0.98,267.1,756.1,5.9,692,14323,0.00,2.62,0.00,0.000,6,0.000,0.051,2519,2248,1699
$GC,14639,0.98,267.1,732.6,7.9,708,14641,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2247,1699
$GC,14949,1.03,318.6,713.1,4.6,723,14999,0.00,0.00,48.10,1.091,6,0.000,0.000,2519,2247,1481
$GC,15298,1.13,407.0,702.4,3.6,740,15383,0.12,2.78,77.82,1.088,4,0.052,0.064,2557,823,1121
$GC,15445,1.13,407.0,690.8,8.7,746,15451,0.00,2.60,0.00,0.000,6,0.000,0.051,2557,2238,1120
$GC,15761,1.07,407.0,656.9,11.7,762,15766,0.12,2.65,0.00,0.000,4,0.094,0.064,2533,829,1120
$GC,15805,1.13,407.0,652.1,10.1,764,15810,0.00,2.58,0.00,0.000,6,0.000,0.050,2533,2240,1120
$GC,16127,1.13,407.0,618.2,10.7,780,16128,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2240,1120
$GC,16436,1.13,407.0,587.1,9.7,795,16440,0.00,2.62,0.00,0.000,4,0.000,0.063,2532,829,1120
$GC,16498,1.17,407.0,580.8,10.2,798,16502,0.00,2.58,0.00,0.000,6,0.000,0.049,2533,2242,1120
$GC,16824,1.17,407.0,553.6,7.2,814,16826,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2242,1121
$GC,17133,1.17,407.0,532.2,7.2,829,17138,0.00,2.62,0.00,0.000,4,0.000,0.063,2533,830,1121
$GC,17206,1.17,407.0,526.7,7.3,832,17210,0.00,2.58,0.00,0.000,6,0.000,0.049,2533,2245,1121
$GC,17522,1.17,407.0,501.8,8.0,847,17526,0.00,2.65,0.00,0.000,4,0.000,0.063,2533,825,1121
$GC,17566,1.22,407.0,498.3,7.8,849,17571,0.15,2.58,0.00,0.000,6,0.047,0.048,2577,2241,1121
$GC,17888,1.11,407.0,461.7,11.5,865,17893,0.17,2.62,0.00,0.000,4,0.084,0.062,2538,830,1121
$GC,17927,1.11,407.0,457.3,10.0,867,17932,0.00,2.58,0.00,0.000,6,0.000,0.049,2538,2243,1121
$GC,18255,1.05,407.0,421.5,11.1,883,18259,0.00,2.62,0.00,0.000,4,0.000,0.063,2538,828,1122
$GC,18294,1.05,407.0,417.2,11.3,885,18299,0.00,2.55,0.00,0.000,6,0.000,0.049,2539,2240,1122
$GC,18622,1.00,407.0,380.9,11.6,901,18627,0.12,2.62,0.00,0.000,4,0.087,0.063,2513,829,1122
$GC,18666,1.06,407.0,376.2,10.4,903,18671,0.00,2.55,0.00,0.000,6,0.000,0.048,2513,2240,1122
$GC,18988,1.06,407.0,346.7,9.2,919,18992,0.00,2.60,0.00,0.000,4,0.000,0.064,2513,828,1123
$GC,19028,1.12,407.0,343.0,10.0,921,19033,0.12,2.58,0.00,0.000,6,0.046,0.048,2554,2243,1123
$GC,19355,1.03,407.0,304.0,12.4,937,19357,0.15,0.00,0.00,0.000,6,0.086,0.000,2524,2243,1123
$GC,19664,1.03,407.0,270.4,10.8,952,19669,0.00,2.62,0.00,0.000,4,0.000,0.064,2523,826,1123
$GC,19731,1.03,407.0,263.0,10.0,955,19736,0.00,2.58,0.00,0.000,6,0.000,0.049,2524,2245,1123
$GC,20054,1.03,407.0,230.0,9.9,971,20058,0.00,2.62,0.00,0.000,4,0.000,0.063,2524,828,1123
$GC,20093,1.03,407.0,226.0,8.8,973,20097,0.00,2.55,0.00,0.000,6,0.000,0.049,2523,2240,1123
$GC,20419,1.03,407.0,197.5,8.5,989,20423,0.00,2.62,0.00,0.000,4,0.000,0.064,2524,826,1124
$GC,20459,1.03,407.0,194.0,8.6,991,20463,0.00,2.58,0.00,0.000,6,0.000,0.049,2524,2243,1124
$GC,20786,1.03,407.0,165.9,8.6,1007,20787,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2243,1124
$GC,21095,1.03,407.0,138.6,9.3,1022,21099,0.00,2.62,0.00,0.000,4,0.000,0.063,2523,828,1124
$GC,21159,1.03,407.0,132.7,9.2,1025,21163,0.00,2.55,0.00,0.000,6,0.000,0.048,2523,2240,1124
$GC,21486,1.03,407.0,104.7,8.4,1041,21490,0.00,2.62,0.00,0.000,4,0.000,0.063,2523,824,1124
$GC,21536,1.08,407.0,100.4,8.8,1043,21540,0.00,2.55,0.00,0.000,6,0.000,0.048,2523,2239,1124
$GC,21852,1.08,407.0,75.2,7.9,1058,21853,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2239,1124
$GC,22161,1.08,407.0,49.8,8.3,1073,22165,0.00,2.62,0.00,0.000,4,0.000,0.062,2523,820,1124
$GC,22233,1.15,407.0,43.8,7.4,1076,22238,0.12,2.58,0.00,0.000,6,0.048,0.048,2561,2247,1124
$GC,22550,1.08,407.0,9.7,9.4,1091,22552,0.15,0.00,0.00,0.000,6,0.081,0.000,2532,2247,1124
$STATE,22629,end climb,SURFACE_DEPTH_REACHED
$STATE,22629,begin surface coast
$FINISH,0.5,1.027038
$STATE,22652,end surface coast,CONTROL_FINISHED_OK
$STATE,22652,begin surface
$SM_CCo,22674,72.43,0.601,0,0,509,557.32
$SM_GC,1.14,0.00,0.00,72.43,0.000,0.000,0.601,65,2249,509,-10.28,0.54,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1876
$TCM_TEMP,17.70
$XPDR_PINGS,19
$ALTIM_TOP_PING,18.7,18.8
$ALTIM_BOTTOM_PING,800.9,69.4
$24V_AH,23.5,37.348
$10V_AH,10.1,19.036
$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,25.550,130.250,501.700,72.425,0.000,18.064,34.712,237.612,12.000,0.000,0.000,32.201,1919.945,17699.496,743.027,2180.586,644.209,0.000,1817.841,0.000,2120.396,0.000,49.407
$DEVICE_MAMPS,167.973,76.700,1195.753,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,798.461,761.653,611.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53805,1096
$CAP_FILE_SIZE,147274,0
$CFSIZE,260165632,245284864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,220708,040638,6343.817,-1316.322,31,1.0,32,-12.5