version: 66.03
glider: 16
mission: 9
dive: 217
start: 7 23 108 5 41 22
data:
$ID,16
$MISSION,9
$DIVE,217
$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,-2097677
$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,25
$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
$GPS1,053538,6354.308,-1316.918,41,1.5,41,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-52.2
$GPS2,054103,6354.301,-1316.810,14,1.6,14,-12.6
$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,329.7,16926,-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,-146.6,0.0,0.0,0,149,0.00,0.00,-121.05,0.000,2,0.000,0.000,67,2248,2899
$GC,153,-0.85,-146.6,3.8,-2.9,6,183,11.35,2.62,-11.90,0.000,4,0.166,0.067,2109,825,3380
$GC,298,-0.71,-146.6,21.2,-8.5,12,303,0.17,2.53,0.00,0.000,6,0.096,0.048,2142,2230,3380
$GC,615,-0.59,-146.6,45.1,-8.2,27,616,0.15,0.00,0.00,0.000,6,0.099,0.000,2171,2230,3379
$GC,924,-0.59,-146.6,73.7,-10.0,42,928,0.00,2.58,0.00,0.000,4,0.000,0.055,2171,817,3380
$GC,991,-0.65,-146.6,81.2,-10.3,45,995,0.00,2.55,0.00,0.000,6,0.000,0.046,2171,2236,3380
$GC,1312,-0.65,-146.6,103.0,-5.4,61,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2236,3380
$GC,1621,-0.65,-146.6,123.6,-7.9,76,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2236,3380
$GC,1930,-0.65,-146.6,149.7,-7.9,91,1938,0.00,2.60,0.00,0.000,4,0.000,0.058,2171,811,3380
$GC,1978,-0.71,-146.6,153.6,-8.2,93,1983,0.12,2.55,0.00,0.000,6,0.046,0.048,2129,2228,3380
$GC,2306,-0.59,-146.6,186.4,-9.9,109,2311,0.17,2.60,0.00,0.000,4,0.083,0.068,2168,3641,3381
$GC,2361,-0.59,-146.6,191.3,-8.5,111,2367,0.00,2.53,0.00,0.000,6,0.000,0.049,2168,2232,3381
$GC,2677,-0.59,-146.6,213.9,-7.1,127,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2232,3381
$GC,2986,-0.59,-146.6,235.1,-6.6,142,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2232,3381
$GC,3295,-0.59,-146.6,255.5,-6.6,157,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2232,3381
$GC,3605,-0.59,-146.6,278.6,-7.8,172,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2232,3380
$GC,3914,-0.59,-146.6,303.8,-8.2,187,3919,0.00,2.58,0.00,0.000,4,0.000,0.060,2168,814,3380
$GC,3948,-0.65,-146.6,306.7,-8.5,188,3954,0.00,2.55,0.00,0.000,6,0.000,0.048,2168,2231,3380
$GC,4264,-0.65,-146.6,333.1,-8.5,204,4269,0.00,2.60,0.00,0.000,4,0.000,0.059,2168,810,3380
$GC,4298,-0.71,-146.6,336.0,-8.9,205,4305,0.12,2.55,0.00,0.000,6,0.045,0.048,2126,2232,3380
$GC,4615,-0.60,-146.6,369.3,-10.6,221,4617,0.20,0.00,0.00,0.000,6,0.083,0.000,2167,2232,3380
$GC,4924,-0.60,-146.6,393.2,-7.1,236,4928,0.00,2.60,0.00,0.000,4,0.000,0.059,2167,810,3380
$GC,4996,-0.68,-146.6,398.1,-6.3,239,5001,0.00,2.55,0.00,0.000,6,0.000,0.048,2167,2232,3380
$GC,5312,-0.68,-146.6,416.8,-5.9,254,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3380
$GC,5622,-0.68,-146.6,433.9,-5.8,269,5626,0.00,2.60,0.00,0.000,4,0.000,0.059,2167,812,3380
$GC,5667,-0.74,-146.6,436.4,-5.7,271,5672,0.12,2.55,0.00,0.000,6,0.045,0.048,2125,2234,3380
$GC,5988,-0.63,-146.6,459.7,-6.8,287,5990,0.17,0.00,0.00,0.000,6,0.084,0.000,2160,2235,3379
$GC,6297,-0.63,-146.6,473.3,-4.1,302,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2235,3379
$GC,6606,-0.63,-146.6,487.4,-4.9,317,6611,0.00,2.58,0.00,0.000,4,0.000,0.060,2160,817,3379
$GC,6648,-0.67,-146.6,489.6,-5.8,319,6652,0.00,2.55,0.00,0.000,6,0.000,0.049,2160,2237,3379
$GC,6974,-0.67,-146.6,508.2,-6.2,335,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2237,3379
$GC,7284,-0.67,-146.6,525.5,-3.6,350,7289,0.00,2.58,0.00,0.000,4,0.000,0.059,2160,816,3379
$GC,7340,-0.67,-146.6,530.4,-10.9,352,7346,0.00,2.53,0.00,0.000,6,0.000,0.048,2160,2227,3379
$GC,7656,-0.67,-146.6,556.6,-9.7,368,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2228,3379
$GC,7965,-0.67,-146.6,572.4,-3.9,383,7970,0.00,2.58,0.00,0.000,4,0.000,0.061,2160,816,3379
$GC,8000,-0.74,-146.6,574.4,-5.5,384,8006,0.00,2.53,0.00,0.000,6,0.000,0.048,2160,2229,3379
$GC,8315,-0.74,-146.6,598.5,-8.2,400,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2229,3379
$GC,8626,-0.74,-146.6,615.9,-3.7,415,8630,0.00,2.58,0.00,0.000,4,0.000,0.060,2160,816,3379
$GC,8704,-0.81,-146.6,620.1,-5.3,418,8710,0.17,2.55,0.00,0.000,6,0.041,0.048,2107,2237,3379
$GC,9020,-0.67,-146.6,647.9,-7.8,434,9025,0.20,2.60,0.00,0.000,4,0.090,0.058,2151,811,3379
$GC,9128,-0.71,-146.6,654.7,-6.3,439,9132,0.00,2.55,0.00,0.000,6,0.000,0.048,2151,2230,3379
$GC,9454,-0.71,-146.6,671.7,-4.1,455,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2230,3378
$GC,9764,-0.71,-146.6,690.5,-4.6,470,9768,0.00,2.60,0.00,0.000,4,0.000,0.063,2150,817,3378
$GC,9842,-0.71,-146.6,693.8,-3.3,473,9848,0.00,2.55,0.00,0.000,6,0.000,0.051,2151,2228,3377
$GC,10158,-0.71,-146.6,710.0,-5.7,489,10162,0.00,2.60,0.00,0.000,4,0.000,0.065,2151,818,3377
$GC,10242,-0.71,-146.6,713.5,-5.2,493,10247,0.00,2.58,0.00,0.000,6,0.000,0.051,2151,2237,3377
$GC,10569,-0.71,-146.6,734.8,-10.5,509,10574,0.00,2.62,0.00,0.000,4,0.000,0.067,2151,817,3376
$GC,10655,-0.71,-146.6,746.0,-12.4,513,10659,0.00,2.58,0.00,0.000,6,0.000,0.054,2150,2235,3376
$STATE,10978,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10978,begin apogee
$GC,10985,-0.31,0.0,776.0,5.7,529,11121,0.40,0.00,131.43,1.153,6,0.094,0.000,2231,2236,2781
$STATE,11122,end apogee,CONTROL_FINISHED_OK
$STATE,11122,begin climb
$GC,11125,0.85,146.6,771.6,0.0,536,11268,1.10,2.83,131.48,1.127,4,0.043,0.081,2488,3647,2183
$GC,11365,0.84,309.2,766.0,1.6,547,11515,0.00,2.62,143.27,1.122,6,0.000,0.061,2488,2235,1519
$GC,11835,0.94,339.6,740.7,5.2,570,11869,0.00,2.83,27.67,1.072,4,0.000,0.079,2488,3653,1396
$GC,11894,1.21,435.2,738.1,3.4,572,11985,0.35,2.67,84.53,1.107,6,0.050,0.065,2569,2236,1006
$GC,12307,1.13,435.2,694.1,12.1,593,12312,0.12,2.67,0.00,0.000,4,0.094,0.075,2545,828,1005
$GC,12425,1.13,435.2,680.9,10.5,598,12429,0.00,2.60,0.00,0.000,6,0.000,0.056,2545,2241,1004
$GC,12740,1.13,435.2,639.0,14.0,613,12745,0.00,2.67,0.00,0.000,4,0.000,0.071,2545,829,1004
$GC,12796,1.13,435.2,631.5,13.5,615,12802,0.00,2.60,0.00,0.000,6,0.000,0.054,2545,2249,1004
$GC,13112,1.13,435.2,592.7,11.8,631,13117,0.00,2.67,0.00,0.000,4,0.000,0.071,2545,824,1003
$GC,13158,1.13,435.2,587.7,10.6,633,13163,0.00,2.60,0.00,0.000,6,0.000,0.053,2545,2242,1003
$GC,13479,1.13,435.2,550.8,11.1,649,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2242,1003
$GC,13789,1.13,435.2,519.4,9.9,664,13793,0.00,2.65,0.00,0.000,4,0.000,0.067,2545,828,1004
$GC,13828,1.13,435.2,514.9,11.2,666,13833,0.00,2.58,0.00,0.000,6,0.000,0.051,2545,2241,1003
$GC,14155,1.13,435.2,479.8,11.4,682,14156,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2241,1004
$GC,14465,1.09,435.2,444.1,11.2,697,14470,0.00,2.65,0.00,0.000,4,0.000,0.067,2545,823,1004
$GC,14528,1.09,435.2,436.4,11.8,700,14532,0.00,2.58,0.00,0.000,6,0.000,0.049,2545,2241,1004
$GC,14855,1.09,435.2,396.6,12.5,716,14859,0.00,2.62,0.00,0.000,4,0.000,0.065,2545,828,1004
$GC,14917,1.09,435.2,390.4,8.5,719,14922,0.00,2.58,0.00,0.000,6,0.000,0.048,2545,2247,1004
$GC,15244,1.09,435.2,356.3,11.5,735,15245,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2247,1005
$GC,15553,1.09,435.2,317.6,13.1,750,15558,0.00,2.65,0.00,0.000,4,0.000,0.064,2545,823,1005
$GC,15621,1.09,435.2,308.9,12.8,753,15625,0.00,2.55,0.00,0.000,6,0.000,0.048,2545,2243,1006
$GC,15941,1.09,435.2,269.7,11.9,769,15946,0.00,2.62,0.00,0.000,4,0.000,0.064,2545,826,1006
$GC,15986,1.09,435.2,264.4,10.9,771,15990,0.00,2.55,0.00,0.000,6,0.000,0.048,2545,2241,1006
$GC,16307,1.09,435.2,227.5,11.9,787,16311,0.00,2.62,0.00,0.000,4,0.000,0.064,2545,824,1007
$GC,16346,1.09,435.2,223.0,11.7,789,16350,0.00,2.58,0.00,0.000,6,0.000,0.048,2545,2246,1006
$GC,16672,1.09,435.2,184.6,11.8,805,16677,0.00,2.65,0.00,0.000,4,0.000,0.064,2545,819,1007
$GC,16713,1.09,435.2,180.0,10.9,807,16717,0.00,2.58,0.00,0.000,6,0.000,0.048,2545,2244,1007
$GC,17039,1.09,435.2,144.7,10.7,823,17044,0.00,2.62,0.00,0.000,4,0.000,0.064,2545,826,1008
$GC,17080,1.09,435.2,140.3,11.6,825,17084,0.00,2.55,0.00,0.000,6,0.000,0.048,2545,2249,1007
$GC,17407,1.09,435.2,106.4,11.0,841,17411,0.00,2.65,0.00,0.000,4,0.000,0.064,2545,818,1008
$GC,17456,1.09,435.2,100.2,11.8,843,17460,0.00,2.55,0.00,0.000,6,0.000,0.046,2545,2239,1008
$GC,17772,1.09,435.2,64.4,10.4,858,17776,0.00,2.62,0.00,0.000,4,0.000,0.064,2545,821,1008
$GC,17816,1.09,435.2,59.8,11.0,860,17821,0.00,2.55,0.00,0.000,6,0.000,0.047,2545,2240,1008
$GC,18138,1.09,435.2,30.6,9.5,876,18139,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2240,1008
$STATE,18445,end climb,SURFACE_DEPTH_REACHED
$STATE,18445,begin surface coast
$FINISH,0.7,1.026894
$STATE,18467,end surface coast,CONTROL_FINISHED_OK
$STATE,18467,begin surface
$SM_CCo,18489,59.58,0.602,0,0,508,557.32
$SM_GC,1.26,0.00,0.00,59.58,0.000,0.000,0.602,74,2242,508,-10.24,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1903
$TCM_TEMP,16.50
$XPDR_PINGS,26
$ALTIM_TOP_PING,18.0,16.5
$ALTIM_BOTTOM_PING,701.0,84.8
$24V_AH,23.5,38.252
$10V_AH,10.1,19.510
$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,25.625,161.025,518.375,59.575,0.000,18.124,33.417,146.818,12.750,0.000,0.000,14.131,1627.208,14015.809,727.197,1991.679,511.812,0.000,1758.280,0.000,1943.089,0.000,42.954
$DEVICE_MAMPS,165.672,81.302,1152.801,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,652.326,606.874,532.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44307,892
$CAP_FILE_SIZE,136784,0
$CFSIZE,260165632,244944896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230708,105137,6355.847,-1324.133,26,2.0,26,-12.6