version: 66.03
glider: 16
mission: 9
dive: 93
start: 6 27 108 13 4 17
data:
$ID,16
$MISSION,9
$DIVE,93
$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,557.32159
$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,-2094841
$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,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,19
$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
$GPS1,125426,6147.049,-856.429,41,1.7,42,-9.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-53.3
$GPS2,130326,6147.172,-856.282,18,1.8,35,-9.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.210,0.070
$KALMAN_X,-149187.7,71.0,-448.3,-48635.0,4304.0
$KALMAN_Y,-84000.2,-312.0,1103.9,193359.8,-2754.1
$MHEAD_RNG_PITCHd_Wd,268.9,6873,-12.0,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.89,-127.2,0.0,0.0,0,148,0.00,0.00,-120.97,0.000,2,0.000,0.000,65,2307,2938
$GC,152,-0.91,-146.6,3.7,-3.0,6,182,11.20,2.72,-10.88,0.000,4,0.163,0.085,2093,3710,3380
$GC,407,-0.73,-146.6,38.5,-12.5,17,413,0.22,2.60,0.00,0.000,6,0.091,0.054,2138,2296,3381
$GC,725,-0.68,-146.6,67.5,-9.3,32,729,0.00,2.62,0.00,0.000,4,0.000,0.064,2138,884,3381
$GC,780,-0.68,-146.6,72.9,-9.3,34,787,0.00,2.62,0.00,0.000,6,0.000,0.055,2138,2303,3380
$GC,1097,-0.64,-146.6,104.6,-10.1,50,1102,0.12,2.67,0.00,0.000,4,0.094,0.064,2163,875,3381
$GC,1147,-0.72,-146.6,109.4,-8.7,52,1151,0.00,2.62,0.00,0.000,6,0.000,0.054,2162,2304,3381
$GC,1463,-0.72,-146.6,136.6,-8.4,67,1467,0.00,2.65,0.00,0.000,4,0.000,0.064,2162,884,3381
$GC,1513,-0.77,-146.6,140.7,-7.5,69,1518,0.15,2.62,0.00,0.000,6,0.041,0.054,2113,2307,3381
$GC,1829,-0.66,-146.6,169.7,-8.1,84,1834,0.17,2.67,0.00,0.000,4,0.087,0.064,2152,883,3381
$GC,1870,-0.71,-146.6,172.3,-5.9,86,1874,0.00,2.62,0.00,0.000,6,0.000,0.055,2152,2303,3380
$GC,2196,-0.71,-146.6,193.5,-7.8,102,2200,0.00,2.67,0.00,0.000,4,0.000,0.065,2152,878,3381
$GC,2251,-0.76,-146.6,198.4,-8.9,104,2257,0.00,2.62,0.00,0.000,6,0.000,0.055,2152,2300,3381
$GC,2567,-0.76,-146.6,230.1,-10.0,120,2571,0.00,2.70,0.00,0.000,4,0.000,0.079,2152,3712,3381
$GC,2599,-0.76,-146.6,233.4,-9.8,121,2605,0.00,2.60,0.00,0.000,6,0.000,0.056,2152,2299,3381
$GC,2915,-0.76,-146.6,261.4,-8.8,137,2919,0.00,2.65,0.00,0.000,4,0.000,0.067,2152,881,3381
$GC,2948,-0.80,-146.6,264.5,-9.0,138,2955,0.12,2.62,0.00,0.000,6,0.045,0.057,2108,2299,3381
$GC,3265,-0.68,-146.6,301.7,-12.5,154,3270,0.17,2.67,0.00,0.000,4,0.087,0.067,2147,881,3381
$GC,3305,-0.75,-146.6,305.6,-8.8,156,3310,0.00,2.62,0.00,0.000,6,0.000,0.057,2147,2299,3381
$GC,3632,-0.75,-146.6,335.3,-8.7,172,3637,0.00,2.67,0.00,0.000,4,0.000,0.067,2147,877,3381
$GC,3688,-0.75,-146.6,340.4,-8.8,174,3694,0.00,2.65,0.00,0.000,6,0.000,0.058,2147,2303,3381
$GC,4004,-0.75,-146.6,368.9,-8.5,190,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2303,3381
$GC,4313,-0.75,-146.6,393.4,-8.2,205,4317,0.00,2.67,0.00,0.000,4,0.000,0.067,2147,881,3380
$GC,4379,-0.80,-146.6,398.7,-7.9,208,4384,0.00,2.62,0.00,0.000,6,0.000,0.057,2147,2299,3380
$GC,4701,-0.80,-146.6,424.2,-8.3,224,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2300,3380
$GC,5010,-0.80,-146.6,449.9,-8.4,239,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2299,3380
$GC,5319,-0.80,-146.6,474.7,-8.6,254,5324,0.00,2.67,0.00,0.000,4,0.000,0.084,2147,3702,3380
$GC,5357,-0.80,-146.6,478.5,-10.5,255,5364,0.00,2.58,0.00,0.000,6,0.000,0.058,2147,2297,3380
$GC,5674,-0.80,-146.6,501.6,-4.9,271,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2297,3380
$GC,5983,-0.80,-146.6,512.8,-3.2,286,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2297,3379
$GC,6292,-0.80,-146.6,527.2,-5.9,301,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2297,3379
$GC,6601,-0.80,-146.6,556.2,-9.7,316,6605,0.00,2.67,0.00,0.000,4,0.000,0.074,2147,890,3378
$GC,6679,-0.89,-146.6,564.7,-9.9,319,6686,0.20,2.67,0.00,0.000,6,0.046,0.066,2093,2304,3377
$GC,6995,-0.77,-146.6,602.7,-11.3,335,7000,0.15,2.70,0.00,0.000,4,0.099,0.074,2125,886,3376
$GC,7028,-0.77,-146.6,605.3,-8.1,336,7034,0.00,2.67,0.00,0.000,6,0.000,0.068,2126,2302,3375
$STATE,7300,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7300,begin apogee
$GC,7307,-0.31,0.0,634.2,10.4,350,7443,0.52,0.00,130.35,1.108,6,0.100,0.000,2230,2204,2781
$STATE,7443,end apogee,CONTROL_FINISHED_OK
$STATE,7443,begin climb
$GC,7446,0.91,146.6,638.9,0.0,357,7584,1.25,2.80,130.20,1.083,4,0.074,0.075,2495,786,2182
$GC,7736,0.96,188.6,627.0,4.7,369,7783,0.00,2.67,37.80,1.054,6,0.000,0.064,2496,2198,2012
$GC,8094,1.03,188.6,600.7,9.9,387,8099,0.12,2.72,0.00,0.000,4,0.058,0.080,2529,791,2010
$GC,8145,0.93,188.6,595.5,10.9,389,8150,0.12,2.67,0.00,0.000,6,0.101,0.066,2506,2200,2009
$GC,8460,0.93,188.6,561.9,7.0,404,8465,0.00,2.80,0.00,0.000,4,0.000,0.096,2506,3616,2009
$GC,8494,1.00,253.3,560.1,4.0,405,8561,0.00,2.67,57.35,1.062,6,0.000,0.069,2506,2202,1748
$GC,8874,1.01,256.1,543.7,5.9,424,8880,0.00,0.00,4.35,0.726,6,0.000,0.000,2506,2202,1736
$GC,9180,1.06,256.1,521.8,7.8,439,9185,0.12,2.80,0.00,0.000,4,0.058,0.095,2540,3613,1735
$GC,9221,1.01,256.1,516.7,12.4,441,9225,0.00,2.67,0.00,0.000,6,0.000,0.066,2540,2200,1735
$GC,9547,1.01,256.1,486.7,8.1,457,9551,0.00,2.75,0.00,0.000,4,0.000,0.084,2540,782,1734
$GC,9579,1.01,256.1,483.8,8.8,458,9585,0.00,2.70,0.00,0.000,6,0.000,0.067,2540,2204,1734
$GC,9895,1.01,256.1,458.2,7.8,474,9900,0.00,2.78,0.00,0.000,4,0.000,0.095,2540,3616,1734
$GC,9995,0.96,256.1,449.8,8.0,478,10002,0.15,2.70,0.00,0.000,6,0.099,0.070,2511,2197,1733
$GC,10311,0.96,256.1,424.5,8.6,494,10315,0.00,2.78,0.00,0.000,4,0.000,0.090,2511,3613,1731
$GC,10440,0.96,256.1,412.3,10.0,500,10445,0.00,2.67,0.00,0.000,6,0.000,0.066,2511,2196,1732
$GC,10767,0.96,256.1,382.4,9.1,516,10772,0.00,2.75,0.00,0.000,4,0.000,0.085,2511,3614,1731
$GC,10797,0.96,256.1,379.5,9.8,517,10801,0.00,2.65,0.00,0.000,6,0.000,0.064,2511,2200,1731
$GC,11112,0.96,256.1,352.9,8.0,532,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2200,1732
$GC,11421,0.96,256.1,329.5,7.4,547,11426,0.00,2.72,0.00,0.000,4,0.000,0.082,2512,3615,1732
$GC,11477,0.96,256.1,324.9,8.1,549,11483,0.00,2.65,0.00,0.000,6,0.000,0.062,2511,2193,1732
$GC,11793,0.96,256.1,303.0,6.9,565,11797,0.00,2.75,0.00,0.000,4,0.000,0.081,2511,3616,1732
$GC,11836,0.96,256.1,299.5,8.1,567,11841,0.00,2.65,0.00,0.000,6,0.000,0.061,2511,2192,1732
$GC,12158,0.96,256.1,275.9,7.5,583,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2192,1733
$GC,12467,0.96,256.1,251.5,8.1,598,12471,0.00,2.75,0.00,0.000,4,0.000,0.080,2511,3617,1734
$GC,12494,0.96,256.1,249.1,8.3,599,12498,0.00,2.65,0.00,0.000,6,0.000,0.060,2511,2192,1735
$GC,12809,0.96,256.1,223.5,7.8,614,12814,0.00,2.75,0.00,0.000,4,0.000,0.079,2511,3621,1735
$GC,12859,0.96,256.1,219.5,7.6,616,12863,0.00,2.62,0.00,0.000,6,0.000,0.058,2511,2199,1735
$GC,13175,0.96,256.1,198.2,6.6,631,13176,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2199,1735
$GC,13484,0.96,256.1,175.6,6.9,646,13489,0.00,2.72,0.00,0.000,4,0.000,0.078,2511,3620,1737
$GC,13573,0.96,256.1,168.4,8.1,650,13577,0.00,2.62,0.00,0.000,6,0.000,0.058,2511,2200,1737
$GC,13895,1.00,256.1,147.6,6.3,666,13900,0.00,2.72,0.00,0.000,4,0.000,0.078,2511,3620,1738
$GC,13951,1.00,256.1,143.5,7.4,668,13957,0.00,2.60,0.00,0.000,6,0.000,0.058,2511,2200,1738
$GC,14267,1.00,256.1,118.3,8.7,684,14268,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2199,1738
$GC,14576,1.00,256.1,88.4,9.4,699,14580,0.00,2.72,0.00,0.000,4,0.000,0.078,2511,3620,1739
$GC,14603,1.00,256.1,85.9,8.8,700,14607,0.00,2.62,0.00,0.000,6,0.000,0.057,2511,2194,1739
$GC,14920,1.00,256.1,62.3,6.8,715,14922,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2194,1739
$GC,15228,1.00,256.1,39.2,8.0,730,15233,0.00,2.72,0.00,0.000,4,0.000,0.077,2509,3620,1740
$GC,15269,1.00,256.1,35.7,9.3,732,15273,0.00,2.62,0.00,0.000,6,0.000,0.057,2511,2192,1740
$GC,15596,1.05,256.1,10.4,7.4,748,15600,0.00,2.72,0.00,0.000,4,0.000,0.077,2511,3619,1740
$GC,15623,1.05,256.1,8.1,8.3,749,15627,0.00,2.62,0.00,0.000,6,0.000,0.058,2511,2194,1740
$STATE,15709,end climb,SURFACE_DEPTH_REACHED
$STATE,15709,begin surface coast
$FINISH,0.6,1.023706
$STATE,15731,end surface coast,CONTROL_FINISHED_OK
$STATE,15731,begin surface
$SM_CCo,15753,146.82,0.628,0,0,509,557.32
$SM_GC,1.25,0.00,0.00,146.82,0.000,0.000,0.628,73,2303,509,-10.24,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1843
$TCM_TEMP,17.80
$XPDR_PINGS,45
$ALTIM_TOP_PING,19.6,18.6
$ALTIM_BOTTOM_PING,625.6,16.8
$24V_AH,23.6,18.621
$10V_AH,10.1,9.502
$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,25.350,166.475,360.050,146.825,0.000,36.363,56.238,235.544,17.000,0.000,0.000,35.716,1419.069,11948.969,705.366,1755.365,607.962,33.352,1598.877,0.000,1689.516,0.000,40.699
$DEVICE_MAMPS,162.604,95.875,1107.548,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,554.044,511.786,484.958,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37971,754
$CAP_FILE_SIZE,125469,0
$CFSIZE,260165632,252276736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,270608,173057,6149.333,-859.381,40,4.3,59,-9.3