version: 66.03
glider: 16
mission: 9
dive: 32
start: 6 11 108 10 30 21
data:
$ID,16
$MISSION,9
$DIVE,32
$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,1
$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,300
$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,-2093133.5
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,20
$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
$GPS1,102337,6040.049,-548.971,37,1.8,37,-7.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.9
$GPS2,102927,6040.018,-549.114,15,2.0,15,-7.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_2
$TGT_LATLONG,6015.000,-645.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.140,-0.171
$KALMAN_X,-12703.4,1403.6,898.7,-18715.9,-10125.0
$KALMAN_Y,-29819.2,124.8,-208.2,15763.9,2947.3
$MHEAD_RNG_PITCHd_Wd,235.2,69169,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-60.62,0.000,2,0.000,0.000,74,2301,2772
$GC,90,-0.85,-146.6,3.1,-3.9,3,126,11.25,2.65,-18.75,0.000,4,0.163,0.084,2108,3707,3379
$GC,334,-0.69,-146.6,31.9,-12.0,13,339,0.20,2.58,0.00,0.000,6,0.093,0.051,2148,2292,3380
$GC,656,-0.64,-146.6,60.8,-8.4,29,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2292,3380
$GC,967,-0.58,-146.6,85.9,-8.1,44,972,0.12,2.62,0.00,0.000,4,0.097,0.066,2171,880,3381
$GC,1007,-0.65,-146.6,88.9,-6.7,46,1012,0.00,2.60,0.00,0.000,6,0.000,0.052,2171,2305,3381
$GC,1334,-0.65,-146.6,111.1,-6.9,62,1338,0.00,2.62,0.00,0.000,4,0.000,0.063,2171,885,3381
$GC,1374,-0.71,-146.6,113.7,-6.8,64,1379,0.12,2.60,0.00,0.000,6,0.046,0.053,2129,2305,3382
$GC,1701,-0.62,-146.6,144.0,-9.6,80,1706,0.15,2.65,0.00,0.000,4,0.084,0.074,2163,3712,3382
$GC,1729,-0.62,-146.6,146.6,-9.2,81,1733,0.00,2.58,0.00,0.000,6,0.000,0.054,2163,2298,3382
$GC,2045,-0.62,-146.6,172.6,-8.2,96,2049,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,881,3382
$GC,2133,-0.62,-146.6,180.0,-8.3,100,2138,0.00,2.60,0.00,0.000,6,0.000,0.054,2162,2299,3382
$GC,2455,-0.62,-146.6,205.7,-8.2,116,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2300,3382
$GC,2764,-0.62,-146.6,229.2,-7.1,131,2768,0.00,2.65,0.00,0.000,4,0.000,0.067,2163,877,3382
$GC,2808,-0.67,-146.6,232.4,-7.0,133,2813,0.00,2.60,0.00,0.000,6,0.000,0.055,2163,2302,3382
$GC,3130,-0.67,-146.6,251.9,-5.9,149,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2302,3383
$GC,3439,-0.67,-146.6,269.2,-5.4,164,3443,0.00,2.65,0.00,0.000,4,0.000,0.068,2163,885,3382
$GC,3480,-0.74,-146.6,271.1,-5.0,166,3485,0.12,2.60,0.00,0.000,6,0.048,0.057,2122,2299,3382
$GC,3807,-0.64,-146.6,294.5,-7.8,182,3809,0.17,0.00,0.00,0.000,6,0.084,0.000,2156,2299,3382
$GC,4115,-0.64,-146.6,316.3,-7.5,197,4120,0.00,2.65,0.00,0.000,4,0.000,0.068,2156,880,3383
$GC,4156,-0.69,-146.6,319.4,-7.9,199,4160,0.00,2.62,0.00,0.000,6,0.000,0.057,2156,2305,3382
$GC,4482,-0.69,-146.6,344.9,-7.5,215,4486,0.00,2.67,0.00,0.000,4,0.000,0.069,2156,876,3381
$GC,4515,-0.73,-146.6,347.3,-7.3,216,4521,0.00,2.62,0.00,0.000,6,0.000,0.058,2156,2305,3382
$GC,4830,-0.73,-146.6,369.5,-7.1,232,4835,0.00,2.65,0.00,0.000,4,0.000,0.068,2156,885,3382
$GC,4881,-0.77,-146.6,373.4,-7.9,234,4886,0.12,2.60,0.00,0.000,6,0.050,0.058,2117,2300,3381
$GC,5199,-0.68,-146.6,401.7,-9.5,249,5201,0.17,0.00,0.00,0.000,6,0.087,0.000,2153,2300,3381
$GC,5505,-0.68,-146.6,424.6,-7.1,264,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2300,3381
$GC,5815,-0.68,-146.6,444.7,-6.1,279,5819,0.00,2.65,0.00,0.000,4,0.000,0.070,2152,881,3380
$GC,5848,-0.68,-146.6,446.7,-5.8,280,5854,0.00,2.60,0.00,0.000,6,0.000,0.060,2152,2302,3380
$GC,6164,-0.68,-146.6,465.0,-5.9,296,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2302,3380
$GC,6473,-0.68,-146.6,484.0,-6.0,311,6477,0.00,2.67,0.00,0.000,4,0.000,0.071,2152,880,3379
$GC,6545,-0.74,-146.6,488.7,-7.3,314,6550,0.00,2.62,0.00,0.000,6,0.000,0.062,2152,2300,3379
$GC,6861,-0.74,-146.6,508.8,-6.8,329,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2300,3378
$GC,7170,-0.74,-146.6,531.0,-7.4,344,7174,0.00,2.67,0.00,0.000,4,0.000,0.074,2152,880,3379
$GC,7232,-0.78,-146.6,535.9,-7.8,347,7237,0.00,2.65,0.00,0.000,6,0.000,0.063,2152,2305,3378
$GC,7559,-0.78,-146.6,560.1,-7.2,363,7564,0.00,2.67,0.00,0.000,4,0.000,0.074,2152,888,3377
$GC,7600,-0.84,-146.6,562.9,-7.1,365,7605,0.17,2.62,0.00,0.000,6,0.049,0.065,2104,2304,3377
$GC,7929,-0.72,-146.6,591.3,-8.7,381,7934,0.15,2.72,0.00,0.000,4,0.097,0.091,2137,3710,3375
$GC,7969,-0.72,-146.6,594.9,-8.4,383,7973,0.00,2.62,0.00,0.000,6,0.000,0.065,2137,2298,3376
$STATE,8231,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8231,begin apogee
$GC,8238,-0.31,0.0,614.4,7.2,396,8374,0.47,0.00,131.10,1.097,6,0.100,0.000,2231,2298,2781
$STATE,8374,end apogee,CONTROL_FINISHED_OK
$STATE,8374,begin climb
$GC,8377,0.85,146.6,615.1,0.0,403,8520,1.17,2.90,131.02,1.063,4,0.078,0.091,2480,3710,2182
$GC,8601,0.85,149.8,609.2,5.9,413,8613,0.00,2.67,4.75,0.726,6,0.000,0.066,2481,2304,2169
$GC,8922,0.94,229.2,594.4,3.8,429,8996,0.10,0.00,71.38,1.055,6,0.061,0.000,2508,2304,1846
$GC,9291,0.94,229.2,570.1,7.4,447,9295,0.00,2.75,0.00,0.000,4,0.000,0.081,2508,886,1845
$GC,9323,0.94,229.2,567.7,7.9,448,9330,0.00,2.67,0.00,0.000,6,0.000,0.066,2508,2303,1844
$GC,9639,0.94,229.2,545.0,6.9,464,9643,0.00,2.72,0.00,0.000,4,0.000,0.078,2508,884,1844
$GC,9711,0.94,229.2,540.1,7.0,467,9715,0.00,2.67,0.00,0.000,6,0.000,0.065,2508,2299,1843
$GC,10026,0.94,229.2,520.7,6.1,482,10031,0.00,2.72,0.00,0.000,4,0.000,0.077,2508,884,1842
$GC,10072,0.94,229.2,517.5,7.2,484,10077,0.00,2.67,0.00,0.000,6,0.000,0.066,2508,2299,1841
$GC,10393,0.94,229.2,493.0,8.3,500,10397,0.00,2.72,0.00,0.000,4,0.000,0.077,2508,879,1841
$GC,10425,0.94,229.2,490.1,8.3,501,10431,0.00,2.67,0.00,0.000,6,0.000,0.065,2508,2299,1841
$GC,10741,0.94,229.2,464.6,7.3,517,10745,0.00,2.70,0.00,0.000,4,0.000,0.077,2509,884,1841
$GC,10803,0.94,229.2,460.0,7.1,520,10807,0.00,2.67,0.00,0.000,6,0.000,0.064,2508,2299,1841
$GC,11129,0.94,229.2,435.3,7.6,536,11134,0.00,2.72,0.00,0.000,4,0.000,0.077,2508,877,1841
$GC,11184,0.94,229.2,431.1,7.5,538,11191,0.00,2.65,0.00,0.000,6,0.000,0.064,2508,2301,1840
$GC,11500,0.94,229.2,410.6,6.4,554,11504,0.00,2.72,0.00,0.000,4,0.000,0.087,2508,3709,1840
$GC,11532,0.94,229.2,408.0,7.6,555,11539,0.00,2.65,0.00,0.000,6,0.000,0.067,2508,2299,1841
$GC,11849,0.94,229.2,387.7,6.3,571,11853,0.00,2.70,0.00,0.000,4,0.000,0.077,2508,879,1841
$GC,11888,0.94,229.2,385.3,6.5,573,11892,0.00,2.65,0.00,0.000,6,0.000,0.061,2508,2305,1840
$GC,12214,0.94,229.2,364.9,6.3,589,12218,0.00,2.70,0.00,0.000,4,0.000,0.074,2509,882,1840
$GC,12269,0.94,229.2,360.9,7.3,591,12275,0.00,2.65,0.00,0.000,6,0.000,0.059,2509,2306,1840
$GC,12585,0.94,229.2,338.6,6.6,607,12589,0.00,2.70,0.00,0.000,4,0.000,0.073,2509,882,1840
$GC,12611,0.94,229.2,336.8,7.3,608,12616,0.00,2.62,0.00,0.000,6,0.000,0.058,2508,2302,1840
$GC,12927,0.94,229.2,316.6,6.1,623,12931,0.00,2.70,0.00,0.000,4,0.000,0.081,2509,3716,1840
$GC,12948,0.94,229.2,315.1,6.5,624,12953,0.00,2.65,0.00,0.000,6,0.000,0.061,2508,2297,1841
$GC,13270,0.94,229.2,295.2,6.6,640,13271,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2297,1840
$GC,13579,0.94,229.2,274.1,6.9,655,13583,0.00,2.65,0.00,0.000,4,0.000,0.071,2509,883,1841
$GC,13622,0.94,229.2,271.1,7.1,657,13627,0.00,2.60,0.00,0.000,6,0.000,0.055,2509,2301,1841
$GC,13944,0.94,229.2,249.4,6.8,673,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2301,1841
$GC,14253,0.94,229.2,226.6,7.8,688,14257,0.00,2.65,0.00,0.000,4,0.000,0.067,2508,883,1842
$GC,14308,0.94,229.2,222.0,8.6,690,14314,0.00,2.60,0.00,0.000,6,0.000,0.054,2509,2307,1842
$GC,14624,0.94,229.2,198.8,6.9,706,14625,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2307,1843
$GC,14933,0.97,256.2,182.5,5.3,721,14962,0.00,2.75,23.50,0.760,4,0.000,0.065,2508,878,1735
$GC,15014,0.97,260.7,177.7,5.9,724,15025,0.00,2.62,5.65,0.608,6,0.000,0.052,2508,2302,1718
$GC,15347,0.97,260.7,157.6,6.2,741,15351,0.00,2.65,0.00,0.000,4,0.000,0.065,2509,881,1718
$GC,15386,0.97,260.7,155.2,6.2,743,15391,0.00,2.60,0.00,0.000,6,0.000,0.053,2509,2300,1717
$GC,15714,0.97,264.7,135.7,5.9,759,15721,0.00,0.00,5.32,0.577,6,0.000,0.000,2509,2300,1701
$GC,16024,0.97,264.7,116.5,6.3,774,16028,0.00,2.65,0.00,0.000,4,0.000,0.064,2509,880,1701
$GC,16051,0.97,264.7,114.5,6.5,775,16056,0.00,2.60,0.00,0.000,6,0.000,0.051,2509,2301,1700
$GC,16367,0.97,264.7,92.1,7.6,790,16372,0.00,2.65,0.00,0.000,4,0.000,0.064,2509,878,1701
$GC,16467,0.97,264.7,84.2,7.8,794,16473,0.00,2.60,0.00,0.000,6,0.000,0.052,2509,2301,1701
$GC,16783,0.98,265.6,64.5,6.0,810,16788,0.00,2.65,0.00,0.000,4,0.000,0.064,2509,875,1702
$GC,16829,1.02,265.6,61.5,7.2,812,16833,0.00,2.60,0.00,0.000,6,0.000,0.051,2509,2301,1702
$GC,17150,1.06,265.6,40.8,6.5,828,17155,0.10,2.62,0.00,0.000,4,0.059,0.071,2538,3707,1703
$GC,17206,1.00,265.6,36.0,8.7,830,17212,0.00,2.58,0.00,0.000,6,0.000,0.056,2539,2295,1703
$GC,17523,0.95,265.6,10.8,8.1,846,17528,0.15,2.62,0.00,0.000,4,0.084,0.065,2503,880,1704
$GC,17585,0.95,265.6,6.4,6.2,849,17590,0.00,2.60,0.00,0.000,6,0.000,0.052,2502,2305,1703
$STATE,17664,end climb,SURFACE_DEPTH_REACHED
$STATE,17664,begin surface coast
$FINISH,0.5,1.005677
$STATE,17684,end surface coast,CONTROL_FINISHED_OK
$STATE,17684,begin surface
$SM_CCo,17706,17.00,0.602,0,0,1558,300.00
$SM_GC,1.25,0.00,0.00,17.00,0.000,0.000,0.602,70,2305,1558,-10.26,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1877
$TCM_TEMP,17.60
$XPDR_PINGS,55
$ALTIM_TOP_PING,19.2,17.6
$ALTIM_BOTTOM_PING,575.4,47.6
$24V_AH,23.5,8.020
$10V_AH,10.1,3.438
$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,25.300,190.975,372.725,17.000,0.000,18.024,31.738,175.930,18.750,0.000,0.000,15.392,1603.838,13469.737,559.235,1921.012,520.496,33.351,1535.584,0.000,1879.283,0.000,36.606
$DEVICE_MAMPS,163.371,91.273,1096.810,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,623.984,580.112,555.084,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44271,854
$CAP_FILE_SIZE,137503,0
$CFSIZE,260165632,256712704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,110608,152707,6038.437,-553.057,39,1.7,44,-7.3