version: 66.03
glider: 16
mission: 9
dive: 34
start: 6 11 108 20 6 49
data:
$ID,16
$MISSION,9
$DIVE,34
$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,-2093185.8
$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,14
$R_STBD_OVSHOOT,18
$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
$GPS1,195107,6036.355,-556.890,30,1.4,30,-7.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-58.1
$GPS2,200557,6036.184,-557.191,17,1.8,17,-7.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_2
$TGT_LATLONG,6015.000,-645.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.026,-0.220
$KALMAN_X,-5675.6,195.0,-241.4,-30690.4,642.8
$KALMAN_Y,-25633.9,-503.6,-102.4,5008.9,7045.0
$MHEAD_RNG_PITCHd_Wd,235.5,58903,-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,-146.6,0.0,0.0,0,106,0.00,0.00,-80.60,0.000,2,0.000,0.000,71,2301,3048
$GC,110,-0.85,-146.6,4.5,-5.0,4,135,11.32,2.70,-7.07,0.000,4,0.165,0.084,2109,3702,3381
$GC,383,-0.68,-146.6,41.0,-12.2,16,388,0.20,2.58,0.00,0.000,6,0.093,0.054,2149,2297,3381
$GC,705,-0.63,-146.6,69.8,-8.9,32,709,0.00,2.62,0.00,0.000,4,0.000,0.066,2149,881,3380
$GC,805,-0.63,-146.6,79.8,-10.1,36,811,0.00,2.60,0.00,0.000,6,0.000,0.057,2148,2298,3381
$GC,1122,-0.63,-146.6,108.1,-8.4,52,1126,0.00,2.65,0.00,0.000,4,0.000,0.074,2149,3713,3381
$GC,1150,-0.58,-146.6,110.8,-8.7,53,1155,0.12,2.58,0.00,0.000,6,0.093,0.053,2173,2299,3381
$GC,1466,-0.58,-146.6,130.7,-6.4,68,1470,0.00,2.62,0.00,0.000,4,0.000,0.066,2173,881,3381
$GC,1538,-0.65,-146.6,135.2,-5.4,71,1543,0.00,2.62,0.00,0.000,6,0.000,0.057,2173,2305,3381
$GC,1855,-0.65,-146.6,152.1,-4.4,86,1859,0.00,2.62,0.00,0.000,4,0.000,0.065,2173,880,3381
$GC,1905,-0.73,-146.6,154.3,-4.8,88,1910,0.15,2.62,0.00,0.000,6,0.042,0.056,2124,2305,3381
$GC,2222,-0.63,-146.6,175.3,-7.3,103,2227,0.15,2.65,0.00,0.000,4,0.083,0.077,2157,3712,3381
$GC,2262,-0.63,-146.6,178.0,-6.4,105,2266,0.00,2.58,0.00,0.000,6,0.000,0.055,2157,2299,3381
$GC,2588,-0.63,-146.6,201.7,-7.9,121,2592,0.00,2.62,0.00,0.000,4,0.000,0.067,2157,881,3381
$GC,2632,-0.63,-146.6,205.4,-8.5,123,2636,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2300,3381
$GC,2953,-0.63,-146.6,232.0,-8.3,139,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3381
$GC,3262,-0.63,-146.6,256.1,-7.7,154,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3381
$GC,3571,-0.63,-146.6,280.3,-7.6,169,3575,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,878,3381
$GC,3615,-0.67,-146.6,283.8,-7.4,171,3620,0.00,2.60,0.00,0.000,6,0.000,0.058,2156,2303,3381
$GC,3936,-0.67,-146.6,304.1,-5.8,187,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3381
$GC,4246,-0.67,-146.6,326.7,-8.4,202,4250,0.00,2.65,0.00,0.000,4,0.000,0.068,2157,881,3381
$GC,4290,-0.72,-146.6,330.6,-8.7,204,4295,0.00,2.62,0.00,0.000,6,0.000,0.059,2158,2305,3381
$GC,4611,-0.72,-146.6,354.0,-6.3,220,4616,0.00,2.67,0.00,0.000,4,0.000,0.070,2157,876,3381
$GC,4675,-0.76,-146.6,357.7,-5.4,223,4680,0.12,2.62,0.00,0.000,6,0.048,0.060,2117,2304,3381
$GC,5001,-0.66,-146.6,384.0,-8.8,239,5006,0.15,2.67,0.00,0.000,4,0.087,0.070,2152,877,3381
$GC,5034,-0.66,-146.6,386.6,-7.0,240,5041,0.00,2.62,0.00,0.000,6,0.000,0.060,2152,2303,3380
$GC,5351,-0.66,-146.6,408.1,-6.8,256,5355,0.00,2.65,0.00,0.000,4,0.000,0.071,2152,882,3380
$GC,5390,-0.70,-146.6,411.2,-7.6,258,5395,0.00,2.62,0.00,0.000,6,0.000,0.061,2152,2298,3380
$GC,5717,-0.70,-146.6,434.5,-7.6,274,5721,0.00,2.65,0.00,0.000,4,0.000,0.072,2152,883,3380
$GC,5750,-0.70,-146.6,437.2,-7.9,275,5756,0.00,2.62,0.00,0.000,6,0.000,0.061,2152,2304,3380
$GC,6066,-0.70,-146.6,461.8,-7.6,291,6070,0.00,2.67,0.00,0.000,4,0.000,0.074,2151,879,3380
$GC,6116,-0.74,-146.6,465.6,-7.7,293,6120,0.00,2.62,0.00,0.000,6,0.000,0.061,2151,2303,3379
$GC,6431,-0.74,-146.6,486.8,-6.5,308,6436,0.00,2.72,0.00,0.000,4,0.000,0.089,2152,3712,3378
$GC,6476,-0.74,-146.6,490.1,-7.5,310,6480,0.00,2.62,0.00,0.000,6,0.000,0.064,2152,2298,3378
$STATE,6505,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6505,begin apogee
$GC,6511,-0.31,0.0,492.1,6.5,312,6647,0.38,0.00,128.90,0.977,6,0.097,0.000,2227,2298,2781
$STATE,6648,end apogee,CONTROL_FINISHED_OK
$STATE,6648,begin climb
$GC,6651,0.85,146.6,495.5,0.0,319,6788,1.17,2.83,128.50,0.954,4,0.076,0.088,2479,3707,2183
$GC,6874,0.85,150.2,491.2,5.9,328,6884,0.00,2.67,4.90,0.664,6,0.000,0.066,2479,2295,2168
$GC,7206,0.89,191.5,475.9,4.9,345,7249,0.00,2.85,36.53,0.931,4,0.000,0.088,2479,3700,2000
$GC,7272,0.96,204.8,472.6,5.6,348,7292,0.12,2.67,13.18,0.861,6,0.053,0.069,2515,2301,1945
$GC,7622,0.91,204.8,448.8,6.9,365,7626,0.00,2.72,0.00,0.000,4,0.000,0.077,2515,877,1944
$GC,7706,0.87,204.8,443.0,6.8,369,7712,0.12,2.67,0.00,0.000,6,0.090,0.062,2491,2303,1943
$GC,8034,0.96,292.8,429.9,3.6,385,8116,0.00,2.78,76.38,0.944,4,0.000,0.074,2492,883,1586
$GC,8171,1.07,292.8,423.6,6.1,391,8176,0.20,2.67,0.00,0.000,6,0.051,0.062,2539,2302,1586
$GC,8492,1.07,292.8,394.5,9.3,407,8496,0.00,2.72,0.00,0.000,4,0.000,0.075,2540,878,1585
$GC,8541,1.07,292.8,389.8,9.4,409,8546,0.00,2.67,0.00,0.000,6,0.000,0.061,2540,2302,1585
$GC,8857,1.07,292.8,361.1,8.9,424,8861,0.00,2.70,0.00,0.000,4,0.000,0.074,2540,882,1584
$GC,8935,1.01,292.8,354.1,9.4,427,8941,0.00,2.65,0.00,0.000,6,0.000,0.060,2540,2299,1584
$GC,9250,1.01,292.8,325.2,9.6,443,9254,0.00,2.70,0.00,0.000,4,0.000,0.074,2539,881,1584
$GC,9305,0.96,292.8,319.6,10.3,445,9312,0.15,2.65,0.00,0.000,6,0.091,0.059,2510,2306,1584
$GC,9622,1.01,292.8,293.5,8.3,461,9626,0.00,2.70,0.00,0.000,4,0.000,0.074,2510,881,1584
$GC,9666,1.06,292.8,289.6,8.4,463,9670,0.00,2.65,0.00,0.000,6,0.000,0.058,2509,2305,1584
$GC,9987,1.11,292.8,264.3,7.6,479,9992,0.15,2.67,0.00,0.000,4,0.051,0.072,2554,881,1584
$GC,10043,1.02,292.8,259.3,8.8,481,10049,0.17,2.62,0.00,0.000,6,0.086,0.058,2519,2301,1584
$GC,10358,1.02,292.8,236.4,7.7,497,10363,0.00,2.67,0.00,0.000,4,0.000,0.071,2519,881,1584
$GC,10398,1.02,292.8,233.2,8.6,499,10403,0.00,2.62,0.00,0.000,6,0.000,0.058,2520,2305,1584
$GC,10724,1.02,292.8,206.3,8.0,515,10729,0.00,2.67,0.00,0.000,4,0.000,0.070,2519,881,1584
$GC,10764,1.02,292.8,203.0,8.8,517,10769,0.00,2.62,0.00,0.000,6,0.000,0.057,2520,2298,1584
$GC,11091,1.02,292.8,178.4,6.9,533,11092,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2298,1584
$GC,11400,1.05,323.3,160.3,5.2,548,11433,0.00,2.78,26.50,0.742,4,0.000,0.069,2519,878,1461
$GC,11497,1.11,323.3,154.3,6.3,552,11501,0.00,2.65,0.00,0.000,6,0.000,0.056,2519,2308,1461
$GC,11813,1.15,323.3,130.0,8.3,567,11818,0.12,2.70,0.00,0.000,4,0.050,0.069,2558,876,1461
$GC,11869,1.09,323.3,124.6,9.9,569,11876,0.00,2.62,0.00,0.000,6,0.000,0.055,2558,2308,1462
$GC,12186,1.04,323.3,99.9,7.4,585,12191,0.15,2.70,0.00,0.000,4,0.085,0.068,2524,874,1462
$GC,12258,1.04,323.3,94.8,6.9,588,12262,0.00,2.62,0.00,0.000,6,0.000,0.054,2524,2301,1462
$GC,12574,1.08,323.3,69.8,8.2,603,12579,0.00,2.67,0.00,0.000,4,0.000,0.069,2524,874,1462
$GC,12619,1.14,323.3,66.0,8.0,605,12624,0.10,2.62,0.00,0.000,6,0.054,0.055,2558,2305,1462
$GC,12941,1.14,323.3,37.7,9.8,621,12945,0.00,2.67,0.00,0.000,4,0.000,0.069,2558,880,1461
$GC,13003,1.14,323.3,31.5,9.5,624,13007,0.00,2.60,0.00,0.000,6,0.000,0.055,2558,2302,1463
$STATE,13327,end climb,SURFACE_DEPTH_REACHED
$STATE,13327,begin surface coast
$FINISH,0.6,1.027200
$STATE,13352,end surface coast,CONTROL_FINISHED_OK
$STATE,13352,begin surface
$SM_CCo,13433,0.00,0.000,0,0,1463,323.31
$SM_GC,1.40,10.73,0.00,0.00,0.034,0.000,0.000,65,2302,1463,-10.19,0.06,323.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1865
$TCM_TEMP,17.50
$XPDR_PINGS,29
$ALTIM_TOP_PING,18.2,16.4
$ALTIM_BOTTOM_PING,401.2,100.6
$24V_AH,23.6,8.304
$10V_AH,10.1,3.588
$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,25.800,164.900,414.875,0.000,0.000,87.920,182.751,273.982,10.500,0.000,0.000,17.334,1246.129,10117.165,540.926,1584.375,835.216,33.356,1375.411,0.000,1546.422,0.000,23.513
$DEVICE_MAMPS,164.905,88.972,977.158,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.595,433.779,455.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31671,641
$CAP_FILE_SIZE,117379,0
$CFSIZE,260165632,256630784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,110608,235201,6033.519,-601.261,37,1.7,43,-7.3