version: 66.03
glider: 16
mission: 9
dive: 216
start: 7 23 108 0 24 34
data:
$ID,16
$MISSION,9
$DIVE,216
$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,-2097662
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,001837,6352.137,-1313.984,35,1.3,36,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-51.0
$GPS2,002415,6352.187,-1313.849,13,1.8,13,-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,332.1,21450,-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,27,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.82,0.000,2,0.000,0.000,72,2252,2934
$GC,153,-0.85,-146.6,3.5,-2.5,6,183,11.30,2.70,-11.10,0.000,4,0.164,0.067,2108,814,3381
$GC,268,-0.68,-146.6,19.3,-10.6,11,273,0.20,2.58,0.00,0.000,6,0.094,0.046,2147,2237,3381
$GC,591,-0.59,-146.6,47.0,-8.2,27,596,0.12,2.60,0.00,0.000,4,0.098,0.064,2171,3637,3381
$GC,632,-0.59,-146.6,50.3,-7.3,29,636,0.00,2.55,0.00,0.000,6,0.000,0.045,2171,2222,3381
$GC,959,-0.59,-146.6,70.3,-5.3,45,963,0.00,2.58,0.00,0.000,4,0.000,0.057,2171,808,3381
$GC,1031,-0.64,-146.6,74.6,-5.8,48,1036,0.00,2.55,0.00,0.000,6,0.000,0.045,2171,2229,3381
$GC,1348,-0.64,-146.6,98.0,-7.8,63,1352,0.00,2.60,0.00,0.000,4,0.000,0.066,2171,3637,3381
$GC,1410,-0.64,-146.6,103.1,-8.0,66,1415,0.00,2.53,0.00,0.000,6,0.000,0.045,2171,2223,3381
$GC,1737,-0.64,-146.6,127.7,-8.1,82,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2223,3381
$GC,2046,-0.64,-146.6,153.8,-9.0,97,2050,0.00,2.62,0.00,0.000,4,0.000,0.067,2171,3637,3381
$GC,2090,-0.64,-146.6,158.3,-9.9,99,2094,0.00,2.53,0.00,0.000,6,0.000,0.045,2171,2223,3381
$GC,2410,-0.64,-146.6,183.4,-8.6,115,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2223,3381
$GC,2720,-0.64,-146.6,208.8,-8.5,130,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2223,3381
$GC,3029,-0.64,-146.6,233.8,-7.4,145,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2223,3381
$GC,3338,-0.64,-146.6,253.7,-6.3,160,3342,0.00,2.62,0.00,0.000,4,0.000,0.068,2171,3637,3381
$GC,3382,-0.64,-146.6,256.8,-7.2,162,3387,0.00,2.53,0.00,0.000,6,0.000,0.047,2171,2223,3381
$GC,3703,-0.64,-146.6,276.4,-6.4,178,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2223,3381
$GC,4013,-0.64,-146.6,296.2,-6.3,193,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3381
$GC,4322,-0.64,-146.6,315.0,-6.1,208,4327,0.00,2.62,0.00,0.000,4,0.000,0.069,2171,3637,3380
$GC,4372,-0.64,-146.6,318.4,-7.1,210,4377,0.00,2.50,0.00,0.000,6,0.000,0.046,2171,2229,3381
$GC,4688,-0.64,-146.6,335.5,-5.1,225,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3381
$GC,4998,-0.64,-146.6,356.9,-7.9,240,5002,0.00,2.62,0.00,0.000,4,0.000,0.070,2171,3640,3380
$GC,5041,-0.64,-146.6,360.5,-8.1,242,5046,0.00,2.53,0.00,0.000,6,0.000,0.046,2171,2221,3380
$GC,5362,-0.64,-146.6,384.1,-8.1,258,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3379
$GC,5672,-0.64,-146.6,408.2,-8.2,273,5677,0.00,2.65,0.00,0.000,4,0.000,0.070,2171,3644,3380
$GC,5717,-0.64,-146.6,412.3,-8.9,275,5721,0.00,2.53,0.00,0.000,6,0.000,0.046,2171,2227,3380
$GC,6038,-0.64,-146.6,438.8,-8.3,291,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3380
$GC,6348,-0.64,-146.6,462.5,-7.3,306,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3380
$GC,6657,-0.64,-146.6,482.3,-6.4,321,6661,0.00,2.62,0.00,0.000,4,0.000,0.070,2171,3637,3379
$GC,6696,-0.64,-146.6,485.0,-7.3,323,6701,0.00,2.53,0.00,0.000,6,0.000,0.046,2171,2222,3380
$GC,7023,-0.64,-146.6,507.7,-7.1,339,7028,0.00,2.62,0.00,0.000,4,0.000,0.069,2171,3637,3380
$GC,7057,-0.64,-146.6,510.3,-8.0,340,7063,0.00,2.50,0.00,0.000,6,0.000,0.046,2171,2230,3380
$GC,7373,-0.64,-146.6,530.7,-6.3,356,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3380
$GC,7682,-0.64,-146.6,553.1,-8.2,371,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3379
$GC,7992,-0.68,-146.6,576.4,-7.1,386,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3379
$GC,8301,-0.73,-146.6,593.3,-4.9,401,8303,0.15,0.00,0.00,0.000,6,0.045,0.000,2123,2231,3379
$GC,8611,-0.64,-146.6,623.2,-10.5,416,8613,0.17,0.00,0.00,0.000,6,0.086,0.000,2158,2230,3379
$GC,8919,-0.64,-146.6,646.8,-7.9,431,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3379
$GC,9229,-0.64,-146.6,672.4,-8.8,446,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3378
$GC,9538,-0.64,-146.6,695.7,-6.4,461,9542,0.00,2.65,0.00,0.000,4,0.000,0.074,2158,3640,3378
$GC,9582,-0.69,-146.6,698.8,-6.4,463,9586,0.00,2.53,0.00,0.000,6,0.000,0.051,2158,2230,3378
$GC,9903,-0.69,-146.6,719.8,-6.5,479,9907,0.00,2.58,0.00,0.000,4,0.000,0.062,2158,821,3377
$GC,9936,-0.75,-146.6,722.1,-6.6,480,9943,0.00,2.53,0.00,0.000,6,0.000,0.051,2158,2229,3377
$GC,10252,-0.75,-146.6,737.9,-3.0,496,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2229,3377
$GC,10562,-0.75,-146.6,749.7,-5.5,511,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2229,3376
$GC,10871,-0.75,-146.6,769.6,-4.9,526,10875,0.00,2.58,0.00,0.000,4,0.000,0.063,2158,822,3375
$GC,10915,-0.81,-146.6,773.1,-8.8,528,10920,0.17,2.55,0.00,0.000,6,0.046,0.052,2108,2235,3375
$GC,11237,-0.71,-146.6,795.6,-6.0,544,11239,0.17,0.00,0.00,0.000,6,0.095,0.000,2142,2235,3374
$STATE,11275,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11276,begin apogee
$GC,11282,-0.31,0.0,797.9,5.7,546,11418,0.43,0.00,132.85,1.157,6,0.093,0.000,2228,2237,2781
$STATE,11419,end apogee,CONTROL_FINISHED_OK
$STATE,11419,begin climb
$GC,11422,0.85,146.6,794.9,0.0,553,11566,1.15,2.78,131.75,1.133,4,0.052,0.081,2490,3640,2183
$GC,11751,1.18,533.0,793.0,-4.6,568,12101,0.30,2.58,339.98,1.131,6,0.044,0.060,2565,2241,606
$GC,12429,1.18,533.0,727.2,12.7,601,12433,0.00,2.65,0.00,0.000,4,0.000,0.071,2565,834,607
$GC,12583,1.22,533.0,708.1,11.8,608,12587,0.00,2.60,0.00,0.000,6,0.000,0.054,2565,2243,607
$GC,12909,1.22,533.0,671.5,10.8,624,12914,0.00,2.67,0.00,0.000,4,0.000,0.069,2565,828,606
$GC,12982,1.22,533.0,663.6,10.2,627,12986,0.00,2.60,0.00,0.000,6,0.000,0.053,2565,2247,606
$GC,13297,1.22,533.0,628.8,10.7,642,13301,0.00,2.67,0.00,0.000,4,0.000,0.068,2565,827,606
$GC,13353,1.26,533.0,623.8,8.1,644,13359,0.00,2.58,0.00,0.000,6,0.000,0.051,2565,2241,606
$GC,13669,1.26,533.0,594.0,10.9,660,13673,0.00,2.62,0.00,0.000,4,0.000,0.067,2565,831,606
$GC,13753,1.26,533.0,585.4,8.3,664,13757,0.00,2.58,0.00,0.000,6,0.000,0.051,2565,2242,606
$GC,14079,1.26,533.0,550.4,10.9,680,14084,0.00,2.62,0.00,0.000,4,0.000,0.066,2565,832,606
$GC,14147,1.31,533.0,542.9,11.0,683,14151,0.00,2.55,0.00,0.000,6,0.000,0.049,2565,2242,606
$GC,14468,1.31,533.0,508.4,11.3,699,14472,0.00,2.62,0.00,0.000,4,0.000,0.065,2565,831,606
$GC,14540,1.35,533.0,499.7,12.0,702,14545,0.15,2.55,0.00,0.000,6,0.054,0.049,2602,2241,606
$GC,14856,1.26,533.0,456.2,13.2,717,14861,0.15,2.62,0.00,0.000,4,0.085,0.064,2572,829,607
$GC,14929,1.26,533.0,447.5,10.8,720,14933,0.00,2.55,0.00,0.000,6,0.000,0.048,2572,2239,607
$GC,15245,1.21,533.0,407.9,13.3,735,15249,0.00,2.62,0.00,0.000,4,0.000,0.064,2572,825,607
$GC,15306,1.21,533.0,400.1,11.8,738,15311,0.00,2.58,0.00,0.000,6,0.000,0.048,2572,2245,607
$GC,15634,1.21,533.0,358.7,12.8,754,15638,0.00,2.62,0.00,0.000,4,0.000,0.064,2572,831,607
$GC,15706,1.21,533.0,349.7,11.8,757,15710,0.00,2.55,0.00,0.000,6,0.000,0.048,2573,2244,607
$GC,16022,1.16,533.0,308.1,13.2,772,16026,0.00,2.62,0.00,0.000,4,0.000,0.063,2572,829,608
$GC,16077,1.16,533.0,300.7,12.5,774,16083,0.00,2.55,0.00,0.000,6,0.000,0.048,2572,2243,608
$GC,16393,1.11,533.0,260.0,13.0,790,16398,0.15,2.62,0.00,0.000,4,0.081,0.062,2537,827,608
$GC,16456,1.20,533.0,253.1,10.2,793,16461,0.10,2.55,0.00,0.000,6,0.052,0.048,2568,2245,608
$GC,16783,1.20,533.0,211.2,12.4,809,16787,0.00,2.62,0.00,0.000,4,0.000,0.063,2569,827,608
$GC,16844,1.20,533.0,203.4,12.2,812,16849,0.00,2.55,0.00,0.000,6,0.000,0.047,2569,2240,608
$GC,17172,1.20,533.0,163.1,11.4,828,17176,0.00,2.60,0.00,0.000,4,0.000,0.062,2569,830,609
$GC,17235,1.20,533.0,155.7,12.0,831,17239,0.00,2.55,0.00,0.000,6,0.000,0.048,2569,2243,608
$GC,17562,1.20,533.0,113.0,14.3,847,17567,0.00,2.62,0.00,0.000,4,0.000,0.063,2569,825,609
$GC,17612,1.20,533.0,106.2,12.2,849,17617,0.00,2.55,0.00,0.000,6,0.000,0.047,2569,2243,609
$GC,17930,1.20,533.0,76.0,7.6,864,17934,0.00,2.62,0.00,0.000,4,0.000,0.064,2569,825,609
$GC,17985,1.20,533.0,70.7,8.7,866,17992,0.00,2.55,0.00,0.000,6,0.000,0.048,2569,2247,609
$GC,18301,1.20,533.0,25.3,12.8,882,18305,0.00,2.62,0.00,0.000,4,0.000,0.062,2569,823,609
$GC,18387,1.20,533.0,16.3,10.6,886,18392,0.00,2.55,0.00,0.000,6,0.000,0.047,2569,2245,609
$STATE,18526,end climb,SURFACE_DEPTH_REACHED
$STATE,18526,begin surface coast
$FINISH,0.6,1.027038
$STATE,18548,end surface coast,CONTROL_FINISHED_OK
$STATE,18549,begin surface
$SM_CCo,18570,12.45,0.557,0,0,508,557.32
$SM_GC,1.14,0.00,0.00,12.45,0.000,0.000,0.557,68,2246,508,-10.27,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1923
$TCM_TEMP,16.40
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,725.4,81.7
$24V_AH,23.5,38.064
$10V_AH,10.1,19.425
$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,25.475,160.525,604.575,12.450,0.000,18.241,28.934,161.331,15.500,0.000,0.000,13.212,1633.149,13991.189,720.130,2050.620,524.196,0.000,1799.796,0.000,1999.079,0.000,47.532
$DEVICE_MAMPS,164.138,80.535,1156.636,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.815,609.709,521.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44320,894
$CAP_FILE_SIZE,137223,0
$CFSIZE,260165632,245010432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230708,053538,6354.308,-1316.918,41,1.5,41,-12.6