version: 66.03
glider: 16
mission: 9
dive: 35
start: 6 11 108 23 58 56
data:
$ID,16
$MISSION,9
$DIVE,35
$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,-2093217.5
$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,15
$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,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
$GPS1,235201,6033.519,-601.261,37,1.7,43,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.9
$GPS2,235805,6033.474,-601.304,11,2.7,30,-7.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_1
$TGT_LATLONG,6010.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.060,-0.213
$KALMAN_X,-8158.3,-493.4,-298.5,-31122.2,-1827.1
$KALMAN_Y,-24124.6,-507.3,12.8,-1628.4,9053.4
$MHEAD_RNG_PITCHd_Wd,191.8,43606,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,106,0.00,0.00,-81.03,0.000,2,0.000,0.000,65,2302,3136
$GC,110,-0.85,-146.6,4.8,-5.3,4,132,11.32,2.65,-4.97,0.000,4,0.165,0.084,2107,3706,3380
$GC,386,-0.67,-146.6,45.7,-13.2,16,391,0.22,2.60,0.00,0.000,6,0.091,0.055,2151,2292,3380
$GC,707,-0.67,-146.6,74.6,-8.0,32,711,0.00,2.62,0.00,0.000,4,0.000,0.068,2152,880,3381
$GC,769,-0.67,-146.6,79.3,-7.4,35,774,0.00,2.60,0.00,0.000,6,0.000,0.057,2151,2297,3382
$GC,1096,-0.67,-146.6,102.6,-7.3,51,1100,0.00,2.65,0.00,0.000,4,0.000,0.066,2151,875,3381
$GC,1140,-0.67,-146.6,105.9,-7.5,53,1144,0.00,2.60,0.00,0.000,6,0.000,0.056,2151,2299,3382
$GC,1461,-0.67,-146.6,131.3,-8.2,69,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2300,3381
$GC,1769,-0.67,-146.6,153.3,-6.2,84,1774,0.00,2.65,0.00,0.000,4,0.000,0.067,2151,878,3381
$GC,1810,-0.67,-146.6,155.7,-5.9,86,1815,0.00,2.62,0.00,0.000,6,0.000,0.058,2151,2302,3382
$GC,2136,-0.67,-146.6,178.5,-8.5,102,2141,0.00,2.67,0.00,0.000,4,0.000,0.079,2151,3713,3382
$GC,2164,-0.67,-146.6,181.2,-9.9,103,2168,0.00,2.60,0.00,0.000,6,0.000,0.058,2151,2299,3382
$GC,2479,-0.67,-146.6,210.0,-8.8,118,2484,0.00,2.65,0.00,0.000,4,0.000,0.070,2151,875,3382
$GC,2556,-0.67,-146.6,217.0,-9.0,121,2562,0.00,2.62,0.00,0.000,6,0.000,0.060,2151,2299,3383
$GC,2872,-0.67,-146.6,242.7,-8.0,137,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2299,3381
$GC,3181,-0.67,-146.6,267.9,-8.8,152,3186,0.00,2.65,0.00,0.000,4,0.000,0.069,2151,880,3382
$GC,3221,-0.67,-146.6,271.3,-8.6,154,3226,0.00,2.62,0.00,0.000,6,0.000,0.061,2151,2298,3382
$GC,3547,-0.67,-146.6,296.6,-7.4,170,3552,0.00,2.65,0.00,0.000,4,0.000,0.070,2151,878,3381
$GC,3575,-0.67,-146.6,298.7,-7.6,171,3579,0.00,2.62,0.00,0.000,6,0.000,0.061,2151,2301,3381
$GC,3891,-0.67,-146.6,321.8,-7.6,186,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2302,3382
$GC,4200,-0.67,-146.6,349.5,-9.1,201,4208,0.00,2.67,0.00,0.000,4,0.000,0.070,2151,872,3381
$GC,4241,-0.67,-146.6,353.5,-9.1,202,4247,0.00,2.65,0.00,0.000,6,0.000,0.061,2151,2304,3381
$GC,4557,-0.67,-146.6,380.0,-7.8,218,4561,0.00,2.70,0.00,0.000,4,0.000,0.085,2151,3709,3381
$GC,4589,-0.67,-146.6,382.7,-8.5,219,4595,0.00,2.60,0.00,0.000,6,0.000,0.060,2151,2300,3381
$GC,4905,-0.67,-146.6,405.0,-6.6,235,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2301,3381
$GC,5214,-0.67,-146.6,426.8,-7.2,250,5218,0.00,2.72,0.00,0.000,4,0.000,0.089,2151,3708,3381
$GC,5241,-0.67,-146.6,429.1,-8.3,251,5245,0.00,2.60,0.00,0.000,6,0.000,0.061,2151,2299,3381
$STATE,5554,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5555,begin apogee
$GC,5561,-0.31,0.0,452.3,7.4,266,5697,0.40,0.00,128.85,0.944,6,0.095,0.000,2232,2300,2780
$STATE,5697,end apogee,CONTROL_FINISHED_OK
$STATE,5697,begin climb
$GC,5700,0.85,146.6,456.5,0.0,273,5836,1.15,2.88,127.20,0.918,4,0.068,0.090,2482,3709,2183
$GC,6095,0.92,215.3,447.7,4.1,291,6160,0.00,2.65,59.88,0.911,6,0.000,0.066,2482,2299,1902
$GC,6482,1.00,219.0,429.9,5.9,310,6493,0.15,2.72,4.85,0.657,4,0.051,0.077,2529,883,1887
$GC,6578,0.94,219.0,422.8,8.5,314,6583,0.12,2.67,0.00,0.000,6,0.091,0.063,2504,2300,1886
$GC,6893,0.94,219.0,402.8,7.2,329,6898,0.00,2.72,0.00,0.000,4,0.000,0.090,2504,3711,1886
$GC,6914,0.94,219.0,401.1,7.5,330,6919,0.00,2.67,0.00,0.000,6,0.000,0.067,2504,2296,1886
$GC,7236,0.94,219.0,376.9,6.8,346,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2296,1885
$GC,7545,0.94,219.0,356.8,6.3,361,7550,0.00,2.78,0.00,0.000,4,0.000,0.089,2504,3711,1885
$GC,7600,0.94,219.0,352.4,8.3,363,7606,0.00,2.65,0.00,0.000,6,0.000,0.067,2504,2298,1885
$GC,7916,0.94,219.0,328.6,7.7,379,7920,0.00,2.67,0.00,0.000,4,0.000,0.072,2504,877,1884
$GC,7942,0.94,219.0,326.4,8.0,380,7947,0.00,2.67,0.00,0.000,6,0.000,0.059,2503,2307,1884
$GC,8258,0.94,219.0,302.3,7.6,395,8263,0.00,2.70,0.00,0.000,4,0.000,0.070,2504,876,1884
$GC,8297,0.94,219.0,299.3,8.0,397,8302,0.00,2.65,0.00,0.000,6,0.000,0.059,2504,2307,1884
$GC,8624,0.94,219.0,273.2,7.9,413,8628,0.00,2.70,0.00,0.000,4,0.000,0.071,2504,875,1883
$GC,8651,0.94,219.0,271.1,7.0,414,8656,0.00,2.65,0.00,0.000,6,0.000,0.058,2503,2308,1883
$GC,8967,0.94,222.2,250.4,5.9,429,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2308,1883
$GC,9276,0.94,222.2,231.1,6.4,444,9280,0.00,2.67,0.00,0.000,4,0.000,0.070,2503,883,1884
$GC,9331,0.94,222.2,227.1,7.1,446,9337,0.00,2.62,0.00,0.000,6,0.000,0.058,2504,2302,1884
$GC,9646,0.94,222.2,205.1,6.7,462,9655,0.00,2.67,3.90,0.523,4,0.000,0.069,2503,883,1874
$GC,9691,0.94,222.2,202.2,6.4,464,9695,0.00,2.65,0.00,0.000,6,0.000,0.057,2504,2308,1874
$GC,10017,0.96,242.7,183.1,5.4,480,10043,0.00,2.75,18.48,0.746,4,0.000,0.069,2504,887,1791
$GC,10078,0.98,258.6,179.5,5.6,482,10097,0.00,2.62,14.80,0.723,6,0.000,0.055,2504,2300,1726
$GC,10409,1.06,293.8,161.6,5.0,498,10442,0.12,0.00,30.23,0.747,6,0.051,0.000,2542,2300,1583
$GC,10737,1.06,293.8,141.5,6.1,514,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2299,1583
$GC,11048,1.06,293.8,121.9,6.9,529,11052,0.00,2.67,0.00,0.000,4,0.000,0.068,2542,881,1583
$GC,11088,1.06,293.8,118.4,9.0,531,11092,0.00,2.62,0.00,0.000,6,0.000,0.055,2542,2304,1583
$GC,11414,1.06,293.8,93.1,8.4,547,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2304,1583
$GC,11724,1.06,293.8,68.7,8.0,562,11728,0.00,2.67,0.00,0.000,4,0.000,0.068,2542,879,1583
$GC,11796,1.06,293.8,62.9,7.6,565,11800,0.00,2.60,0.00,0.000,6,0.000,0.054,2542,2301,1583
$GC,12113,1.06,293.8,42.2,6.7,580,12117,0.00,2.65,0.00,0.000,4,0.000,0.067,2542,881,1583
$GC,12179,1.06,293.8,37.6,6.7,583,12184,0.00,2.60,0.00,0.000,6,0.000,0.054,2542,2303,1583
$GC,12502,1.06,293.8,15.5,6.4,599,12507,0.00,2.65,0.00,0.000,4,0.000,0.064,2542,878,1584
$GC,12530,1.06,293.8,12.9,8.7,600,12535,0.00,2.60,0.00,0.000,6,0.000,0.053,2542,2304,1584
$STATE,12678,end climb,SURFACE_DEPTH_REACHED
$STATE,12678,begin surface coast
$FINISH,0.6,1.013770
$STATE,12701,end surface coast,CONTROL_FINISHED_OK
$STATE,12701,begin surface
$SM_CCo,12722,3.53,0.394,0,0,1557,300.00
$SM_GC,2.30,0.00,0.00,3.53,0.000,0.000,0.394,68,2304,1557,-10.27,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1865
$TCM_TEMP,16.50
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.5,18.4
$ALTIM_BOTTOM_PING,375.2,86.2
$24V_AH,23.6,8.419
$10V_AH,10.1,3.654
$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,24.175,132.925,388.175,3.525,0.000,17.994,25.364,193.597,10.500,0.000,0.000,31.073,1151.469,9509.969,509.713,1464.308,458.739,33.362,1256.151,0.000,1414.903,0.000,21.859
$DEVICE_MAMPS,164.905,89.739,944.177,394.238,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.594,411.554,460.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31711,608
$CAP_FILE_SIZE,98924,0
$CFSIZE,260165632,256585728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,120608,033228,6031.380,-558.660,27,3.5,46,-7.3