version: 66.03
glider: 16
mission: 9
dive: 36
start: 6 12 108 3 38 20
data:
$ID,16
$MISSION,9
$DIVE,36
$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,-2093250.6
$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,23
$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
$GPS1,033228,6031.380,-558.660,27,3.5,46,-7.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-59.1
$GPS2,033729,6031.354,-558.516,12,3.4,31,-7.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_1
$TGT_LATLONG,6010.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.106,-0.194
$KALMAN_X,-8159.9,-200.6,242.6,-29457.7,-2515.7
$KALMAN_Y,-21615.3,-385.9,-323.7,-7848.3,13000.1
$MHEAD_RNG_PITCHd_Wd,195.9,39996,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.92,0.000,2,0.000,0.000,68,2304,2778
$GC,90,-0.85,-146.6,3.3,-4.6,3,125,11.25,2.70,-17.65,0.000,4,0.163,0.086,2107,3701,3379
$GC,339,-0.67,-146.6,34.3,-12.8,14,344,0.22,2.58,0.00,0.000,6,0.091,0.055,2152,2299,3379
$GC,661,-0.62,-146.6,62.8,-9.0,30,665,0.00,2.65,0.00,0.000,4,0.000,0.068,2150,878,3379
$GC,716,-0.62,-146.6,67.8,-8.6,32,722,0.00,2.60,0.00,0.000,6,0.000,0.057,2152,2292,3379
$GC,1032,-0.62,-146.6,93.3,-7.8,48,1036,0.00,2.65,0.00,0.000,4,0.000,0.066,2152,873,3379
$GC,1109,-0.62,-146.6,99.0,-7.0,51,1116,0.00,2.62,0.00,0.000,6,0.000,0.058,2152,2303,3379
$GC,1425,-0.62,-146.6,120.1,-6.5,67,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2303,3380
$GC,1735,-0.62,-146.6,138.9,-5.8,82,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2304,3380
$GC,2044,-0.58,-146.6,157.7,-5.9,97,2046,0.10,0.00,0.00,0.000,6,0.101,0.000,2171,2303,3380
$GC,2353,-0.58,-146.6,174.2,-5.0,112,2357,0.00,2.65,0.00,0.000,4,0.000,0.067,2171,881,3381
$GC,2398,-0.65,-146.6,176.4,-5.2,114,2402,0.00,2.62,0.00,0.000,6,0.000,0.058,2171,2303,3380
$GC,2718,-0.65,-146.6,192.3,-4.9,130,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2303,3380
$GC,3028,-0.65,-146.6,212.4,-7.7,145,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2303,3380
$GC,3337,-0.65,-146.6,239.2,-8.9,160,3341,0.00,2.65,0.00,0.000,4,0.000,0.068,2171,881,3381
$GC,3392,-0.73,-146.6,244.3,-8.9,162,3399,0.15,2.62,0.00,0.000,6,0.044,0.059,2123,2304,3380
$GC,3709,-0.62,-146.6,276.0,-9.0,178,3714,0.17,2.67,0.00,0.000,4,0.085,0.069,2162,876,3380
$GC,3742,-0.66,-146.6,278.7,-7.2,179,3748,0.00,2.62,0.00,0.000,6,0.000,0.060,2162,2302,3380
$GC,4058,-0.66,-146.6,299.9,-7.2,195,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2302,3380
$GC,4368,-0.66,-146.6,326.3,-8.9,210,4372,0.00,2.67,0.00,0.000,4,0.000,0.070,2162,874,3380
$GC,4412,-0.72,-146.6,330.2,-8.7,212,4416,0.00,2.62,0.00,0.000,6,0.000,0.060,2162,2300,3380
$GC,4733,-0.72,-146.6,352.8,-5.9,228,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2300,3380
$GC,5042,-0.72,-146.6,372.2,-6.9,243,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2300,3379
$GC,5351,-0.72,-146.6,393.7,-6.6,258,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2300,3380
$GC,5660,-0.72,-146.6,414.9,-7.8,273,5665,0.00,2.67,0.00,0.000,4,0.000,0.082,2162,3707,3379
$GC,5716,-0.72,-146.6,419.7,-8.7,275,5722,0.00,2.58,0.00,0.000,6,0.000,0.060,2162,2300,3379
$GC,6032,-0.72,-146.6,444.5,-8.0,291,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2300,3380
$GC,6342,-0.72,-146.6,460.0,-5.9,306,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2300,3379
$GC,6650,-0.72,-146.6,480.8,-6.5,321,6655,0.00,2.65,0.00,0.000,4,0.000,0.072,2162,875,3379
$GC,6697,-0.80,-146.6,483.4,-5.4,323,6702,0.17,2.65,0.00,0.000,6,0.044,0.062,2111,2303,3379
$STATE,7016,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7016,begin apogee
$GC,7022,-0.31,0.0,506.0,7.6,339,7158,0.57,0.00,128.15,0.984,6,0.091,0.000,2228,2303,2781
$STATE,7159,end apogee,CONTROL_FINISHED_OK
$STATE,7159,begin climb
$GC,7161,0.85,146.6,511.7,0.0,346,7298,1.17,2.83,128.45,0.962,4,0.078,0.087,2477,3714,2183
$GC,7368,0.85,146.6,505.0,6.1,355,7373,0.00,2.67,0.00,0.000,6,0.000,0.062,2477,2302,2183
$GC,7696,0.94,236.4,489.5,3.5,371,7781,0.12,2.78,78.82,0.954,4,0.059,0.076,2507,880,1815
$GC,7829,0.94,236.4,482.6,6.7,377,7834,0.00,2.70,0.00,0.000,6,0.000,0.063,2507,2301,1815
$GC,8150,0.94,236.4,458.5,8.4,393,8155,0.00,2.75,0.00,0.000,4,0.000,0.076,2507,875,1814
$GC,8200,0.94,236.4,454.0,8.3,395,8204,0.00,2.70,0.00,0.000,6,0.000,0.063,2507,2304,1814
$GC,8515,0.94,236.4,432.4,6.3,410,8520,0.00,2.75,0.00,0.000,4,0.000,0.089,2507,3714,1814
$GC,8560,0.94,236.4,429.4,6.9,412,8564,0.00,2.67,0.00,0.000,6,0.000,0.065,2507,2298,1814
$GC,8881,0.95,238.9,412.1,5.9,428,8885,0.00,2.78,0.00,0.000,4,0.000,0.087,2507,3713,1814
$GC,8908,0.95,238.9,410.1,7.2,429,8912,0.00,2.67,0.00,0.000,6,0.000,0.066,2507,2295,1814
$GC,9223,0.95,238.9,387.5,7.5,444,9228,0.00,2.78,0.00,0.000,4,0.000,0.087,2507,3716,1813
$GC,9244,0.95,238.9,385.9,7.3,445,9249,0.00,2.67,0.00,0.000,6,0.000,0.064,2507,2297,1813
$GC,9566,0.95,238.9,365.5,6.2,461,9570,0.00,2.67,0.00,0.000,4,0.000,0.074,2507,873,1813
$GC,9598,0.95,238.9,363.4,6.5,462,9604,0.00,2.65,0.00,0.000,6,0.000,0.060,2507,2305,1812
$GC,9914,0.95,238.9,343.2,6.3,478,9918,0.00,2.67,0.00,0.000,4,0.000,0.071,2507,879,1812
$GC,9935,0.96,247.9,341.9,5.8,479,9952,0.00,2.65,10.50,0.801,6,0.000,0.058,2507,2302,1770
$GC,10261,0.96,247.9,320.1,6.9,495,10265,0.00,2.70,0.00,0.000,4,0.000,0.071,2507,871,1770
$GC,10288,0.96,247.9,318.3,6.3,496,10292,0.00,2.65,0.00,0.000,6,0.000,0.058,2507,2305,1769
$GC,10604,0.98,272.6,300.3,5.3,511,10633,0.00,2.78,22.58,0.831,4,0.000,0.069,2507,881,1669
$GC,10652,1.00,288.0,297.6,5.6,513,10671,0.00,2.65,14.55,0.793,6,0.000,0.057,2507,2301,1605
$GC,10996,1.05,293.8,277.0,5.8,530,11009,0.00,2.75,6.53,0.680,4,0.000,0.069,2507,880,1582
$GC,11050,1.12,319.2,273.7,5.3,532,11082,0.17,2.62,22.73,0.808,6,0.064,0.058,2544,2300,1478
$GC,11391,1.12,319.2,246.7,8.0,549,11395,0.00,2.70,0.00,0.000,4,0.000,0.071,2544,877,1479
$GC,11435,1.12,319.2,243.1,8.2,551,11439,0.00,2.65,0.00,0.000,6,0.000,0.057,2544,2304,1478
$GC,11755,1.12,319.2,219.6,7.3,567,11760,0.00,2.70,0.00,0.000,4,0.000,0.069,2544,873,1478
$GC,11783,1.12,319.2,217.6,6.8,568,11787,0.00,2.65,0.00,0.000,6,0.000,0.058,2544,2301,1478
$GC,12098,1.12,319.2,194.6,7.7,583,12100,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2301,1479
$GC,12408,1.12,319.2,167.4,9.0,598,12412,0.00,2.67,0.00,0.000,4,0.000,0.068,2544,874,1479
$GC,12474,1.12,319.2,160.7,9.8,601,12478,0.00,2.65,0.00,0.000,6,0.000,0.056,2544,2306,1480
$GC,12795,1.12,319.2,132.3,9.0,617,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2306,1479
$GC,13104,1.12,319.2,110.1,7.5,632,13108,0.00,2.67,0.00,0.000,4,0.000,0.067,2544,877,1479
$GC,13176,1.12,319.2,103.9,8.0,635,13180,0.00,2.62,0.00,0.000,6,0.000,0.055,2544,2304,1479
$GC,13494,1.07,319.2,74.1,8.1,650,13498,0.00,2.67,0.00,0.000,4,0.000,0.067,2544,872,1479
$GC,13549,1.07,319.2,69.2,8.1,652,13555,0.00,2.60,0.00,0.000,6,0.000,0.055,2544,2303,1479
$GC,13865,1.07,319.2,34.0,10.9,668,13869,0.00,2.67,0.00,0.000,4,0.000,0.067,2544,870,1479
$GC,13920,1.07,319.2,28.6,9.1,670,13926,0.00,2.60,0.00,0.000,6,0.000,0.055,2545,2298,1479
$STATE,14233,end climb,SURFACE_DEPTH_REACHED
$STATE,14233,begin surface coast
$FINISH,0.6,1.027107
$STATE,14257,end surface coast,CONTROL_FINISHED_OK
$STATE,14257,begin surface
$SM_CCo,14339,0.00,0.000,0,0,1480,319.14
$SM_GC,1.37,10.62,0.00,0.00,0.032,0.000,0.000,66,2298,1480,-10.19,-0.06,319.14
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1874
$TCM_TEMP,16.40
$XPDR_PINGS,31
$ALTIM_TOP_PING,18.4,17.4
$ALTIM_BOTTOM_PING,475.5,39.0
$24V_AH,23.6,8.540
$10V_AH,10.1,3.723
$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,24.750,138.925,412.300,0.000,0.000,18.013,27.881,132.053,12.000,0.000,0.000,32.476,1273.841,10882.030,516.547,1562.850,407.675,33.363,1325.166,0.000,1508.564,0.000,31.114
$DEVICE_MAMPS,163.371,88.972,984.061,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.723,464.926,473.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34884,687
$CAP_FILE_SIZE,107121,0
$CFSIZE,260165632,256524288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,120608,073837,6028.692,-554.087,36,1.1,42,-7.2