version: 66.03
glider: 16
mission: 9
dive: 33
start: 6 11 108 15 36 41
data:
$ID,16
$MISSION,9
$DIVE,33
$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,-2093167.8
$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,16
$R_STBD_OVSHOOT,17
$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
$GPS1,152707,6038.437,-553.057,39,1.7,44,-7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-61.3
$GPS2,153550,6038.414,-553.065,16,1.7,33,-7.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_2
$TGT_LATLONG,6015.000,-645.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.142,-0.170
$KALMAN_X,-9489.8,1119.9,597.8,-24924.7,-6598.5
$KALMAN_Y,-27280.5,36.5,-22.6,10149.6,4713.7
$MHEAD_RNG_PITCHd_Wd,235.0,64485,-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,-146.6,0.0,0.0,0,88,0.00,0.00,-60.65,0.000,2,0.000,0.000,69,2305,2784
$GC,92,-0.85,-146.6,3.1,-3.7,3,127,11.25,2.67,-17.65,0.000,4,0.162,0.080,2109,3707,3381
$GC,352,-0.68,-146.6,34.3,-11.9,14,360,0.20,2.58,0.00,0.000,6,0.093,0.053,2148,2293,3382
$GC,669,-0.62,-146.6,62.4,-8.6,30,673,0.00,2.70,0.00,0.000,4,0.000,0.073,2148,3716,3382
$GC,719,-0.57,-146.6,67.2,-9.5,32,724,0.12,2.60,0.00,0.000,6,0.097,0.054,2172,2297,3382
$GC,1035,-0.57,-146.6,91.6,-7.9,47,1039,0.00,2.62,0.00,0.000,4,0.000,0.066,2171,878,3382
$GC,1124,-0.64,-146.6,98.6,-7.3,51,1128,0.00,2.60,0.00,0.000,6,0.000,0.053,2171,2299,3382
$GC,1445,-0.64,-146.6,121.7,-7.2,67,1449,0.00,2.65,0.00,0.000,4,0.000,0.064,2172,874,3382
$GC,1485,-0.71,-146.6,124.7,-7.3,69,1490,0.12,2.62,0.00,0.000,6,0.046,0.054,2128,2306,3383
$GC,1812,-0.62,-146.6,151.7,-7.8,85,1814,0.17,0.00,0.00,0.000,6,0.083,0.000,2163,2304,3383
$GC,2121,-0.62,-146.6,170.7,-6.2,100,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2304,3383
$GC,2430,-0.62,-146.6,192.1,-7.2,115,2434,0.00,2.65,0.00,0.000,4,0.000,0.065,2163,870,3383
$GC,2496,-0.67,-146.6,197.4,-7.8,118,2501,0.00,2.62,0.00,0.000,6,0.000,0.054,2163,2301,3383
$GC,2818,-0.67,-146.6,221.4,-7.1,134,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2301,3383
$GC,3127,-0.67,-146.6,241.0,-6.0,149,3131,0.00,2.65,0.00,0.000,4,0.000,0.067,2163,878,3383
$GC,3193,-0.72,-146.6,245.3,-6.7,152,3198,0.00,2.60,0.00,0.000,6,0.000,0.056,2163,2299,3383
$GC,3515,-0.72,-146.6,265.5,-6.6,168,3519,0.00,2.65,0.00,0.000,4,0.000,0.068,2163,874,3383
$GC,3548,-0.77,-146.6,268.1,-8.0,169,3554,0.15,2.62,0.00,0.000,6,0.044,0.056,2116,2303,3383
$GC,3863,-0.66,-146.6,297.9,-9.8,185,3868,0.15,2.67,0.00,0.000,4,0.087,0.067,2150,871,3383
$GC,3926,-0.66,-146.6,303.4,-8.9,188,3930,0.00,2.62,0.00,0.000,6,0.000,0.058,2150,2300,3383
$GC,4252,-0.66,-146.6,333.4,-9.3,204,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2300,3383
$GC,4561,-0.66,-146.6,361.2,-9.2,219,4565,0.00,2.65,0.00,0.000,4,0.000,0.069,2150,879,3383
$GC,4601,-0.66,-146.6,364.8,-9.1,221,4605,0.00,2.60,0.00,0.000,6,0.000,0.057,2150,2300,3383
$GC,4927,-0.66,-146.6,392.7,-7.9,237,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2300,3383
$GC,5236,-0.66,-146.6,417.5,-8.2,252,5241,0.00,2.67,0.00,0.000,4,0.000,0.078,2150,3714,3382
$GC,5269,-0.66,-146.6,420.3,-8.4,253,5275,0.00,2.60,0.00,0.000,6,0.000,0.058,2150,2298,3382
$GC,5585,-0.66,-146.6,445.6,-8.2,269,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2298,3382
$GC,5894,-0.66,-146.6,471.1,-8.0,284,5899,0.00,2.70,0.00,0.000,4,0.000,0.084,2150,3709,3382
$GC,5927,-0.66,-146.6,473.8,-7.4,285,5934,0.00,2.60,0.00,0.000,6,0.000,0.062,2149,2301,3381
$GC,6244,-0.66,-146.6,494.2,-6.1,301,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2301,3381
$GC,6553,-0.66,-146.6,514.6,-6.7,316,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2302,3380
$GC,6862,-0.66,-146.6,534.0,-5.8,331,6867,0.00,2.72,0.00,0.000,4,0.000,0.088,2150,3712,3379
$GC,6906,-0.66,-146.6,536.8,-6.1,333,6911,0.00,2.62,0.00,0.000,6,0.000,0.064,2149,2299,3379
$GC,7228,-0.66,-146.6,554.9,-5.9,349,7232,0.00,2.67,0.00,0.000,4,0.000,0.076,2150,883,3379
$GC,7278,-0.71,-146.6,558.2,-6.4,351,7282,0.00,2.65,0.00,0.000,6,0.000,0.065,2150,2299,3379
$STATE,7467,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7467,begin apogee
$GC,7473,-0.31,0.0,569.9,6.3,360,7610,0.40,0.00,130.32,1.051,6,0.096,0.000,2230,2300,2781
$STATE,7611,end apogee,CONTROL_FINISHED_OK
$STATE,7611,begin climb
$GC,7614,0.85,146.6,572.5,0.0,367,7752,1.20,2.78,129.68,1.022,4,0.067,0.072,2487,881,2183
$GC,7870,0.91,204.9,564.8,4.4,379,7928,0.00,2.70,51.88,0.996,6,0.000,0.063,2487,2305,1945
$GC,8239,0.91,207.3,545.1,5.9,397,8243,0.00,2.72,0.00,0.000,4,0.000,0.077,2487,884,1943
$GC,8294,0.91,207.3,541.2,6.7,399,8300,0.00,2.70,0.00,0.000,6,0.000,0.064,2487,2307,1943
$GC,8609,0.91,207.3,519.3,7.0,415,8614,0.00,2.75,0.00,0.000,4,0.000,0.077,2487,880,1943
$GC,8649,0.91,207.3,516.6,7.0,417,8653,0.00,2.70,0.00,0.000,6,0.000,0.065,2487,2302,1942
$GC,8975,0.91,207.3,495.6,6.1,433,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2301,1942
$GC,9284,0.94,234.2,478.2,5.3,448,9312,0.00,0.00,26.05,0.983,6,0.000,0.000,2487,2301,1827
$GC,9614,1.04,272.1,460.9,5.0,464,9657,0.15,2.78,34.30,0.983,4,0.061,0.076,2531,884,1670
$GC,9696,0.99,272.1,455.2,7.3,467,9702,0.00,2.70,0.00,0.000,6,0.000,0.063,2530,2303,1671
$GC,10012,0.94,272.1,432.6,7.6,483,10017,0.12,2.75,0.00,0.000,4,0.101,0.088,2507,3714,1671
$GC,10045,0.94,272.1,430.1,7.6,484,10051,0.00,2.70,0.00,0.000,6,0.000,0.068,2507,2300,1671
$GC,10361,0.94,272.1,404.4,9.0,500,10365,0.00,2.70,0.00,0.000,4,0.000,0.077,2507,881,1670
$GC,10401,0.98,272.1,400.8,8.8,502,10405,0.00,2.65,0.00,0.000,6,0.000,0.063,2507,2300,1669
$GC,10727,0.98,272.1,374.7,6.9,518,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2300,1669
$GC,11036,1.00,283.9,356.6,5.7,533,11057,0.00,2.78,11.52,0.848,4,0.000,0.071,2507,880,1621
$GC,11104,1.04,288.6,352.7,5.9,536,11115,0.00,2.65,5.72,0.726,6,0.000,0.061,2507,2301,1603
$GC,11431,1.04,288.6,331.6,7.3,552,11435,0.00,2.70,0.00,0.000,4,0.000,0.072,2507,880,1604
$GC,11486,1.09,288.6,327.2,7.9,554,11493,0.15,2.65,0.00,0.000,6,0.053,0.058,2545,2303,1602
$GC,11802,1.04,288.6,299.2,8.5,570,11806,0.00,2.70,0.00,0.000,4,0.000,0.073,2545,881,1603
$GC,11857,0.98,288.6,294.5,8.0,572,11864,0.17,2.65,0.00,0.000,6,0.091,0.058,2510,2309,1603
$GC,12173,1.01,317.3,276.2,5.2,588,12204,0.00,2.78,25.65,0.840,4,0.000,0.069,2510,874,1486
$GC,12244,1.10,346.7,272.5,5.2,591,12277,0.15,2.67,25.83,0.831,6,0.050,0.056,2551,2307,1367
$GC,12585,1.10,346.7,245.7,8.3,608,12590,0.00,2.70,0.00,0.000,4,0.000,0.071,2551,880,1367
$GC,12663,1.10,346.7,238.8,8.8,611,12669,0.00,2.62,0.00,0.000,6,0.000,0.056,2551,2299,1367
$GC,12978,1.10,346.7,210.2,9.1,627,12983,0.00,2.67,0.00,0.000,4,0.000,0.070,2552,880,1368
$GC,13040,1.10,346.7,204.3,10.9,630,13044,0.00,2.62,0.00,0.000,6,0.000,0.055,2551,2303,1368
$GC,13367,1.10,346.7,169.2,11.0,646,13371,0.00,2.67,0.00,0.000,4,0.000,0.067,2551,880,1368
$GC,13444,1.10,346.7,160.8,10.4,649,13451,0.00,2.60,0.00,0.000,6,0.000,0.055,2552,2302,1368
$GC,13760,1.10,346.7,128.3,10.4,665,13765,0.00,2.67,0.00,0.000,4,0.000,0.068,2552,877,1368
$GC,13816,1.10,346.7,122.3,10.2,667,13822,0.00,2.60,0.00,0.000,6,0.000,0.055,2551,2299,1369
$GC,14132,1.10,346.7,92.5,9.1,683,14136,0.00,2.67,0.00,0.000,4,0.000,0.067,2551,872,1369
$GC,14217,1.10,346.7,84.6,9.6,687,14221,0.00,2.62,0.00,0.000,6,0.000,0.054,2552,2306,1369
$GC,14545,1.10,346.7,53.3,9.2,703,14549,0.00,2.67,0.00,0.000,4,0.000,0.067,2551,874,1370
$GC,14594,1.10,346.7,48.4,9.1,705,14599,0.00,2.62,0.00,0.000,6,0.000,0.054,2552,2304,1370
$GC,14912,1.10,346.7,20.1,8.9,720,14916,0.00,2.65,0.00,0.000,4,0.000,0.067,2552,880,1370
$GC,14984,1.10,346.7,12.5,9.5,723,14988,0.00,2.60,0.00,0.000,6,0.000,0.054,2552,2301,1370
$STATE,15096,end climb,SURFACE_DEPTH_REACHED
$STATE,15096,begin surface coast
$FINISH,0.5,1.016942
$STATE,15118,end surface coast,CONTROL_FINISHED_OK
$STATE,15118,begin surface
$SM_CCo,15200,0.00,0.000,0,0,1370,345.87
$SM_GC,1.45,10.73,0.00,0.00,0.035,0.000,0.000,73,2301,1370,-10.17,0.03,345.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1892
$TCM_TEMP,16.30
$XPDR_PINGS,43
$ALTIM_TOP_PING,19.4,18.3
$ALTIM_BOTTOM_PING,525.4,54.5
$24V_AH,23.5,8.164
$10V_AH,10.1,3.514
$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,25.250,159.875,440.950,0.000,0.000,51.315,57.944,206.902,15.250,0.000,0.000,33.655,1365.218,11487.675,562.944,1722.607,581.549,33.357,1453.708,0.000,1664.329,0.000,31.518
$DEVICE_MAMPS,161.837,88.205,1050.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.249,494.392,470.821,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37918,730
$CAP_FILE_SIZE,120781,0
$CFSIZE,260165632,256671744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,110608,195107,6036.355,-556.890,30,1.4,30,-7.3