version: 66.03
glider: 16
mission: 9
dive: 171
start: 7 11 108 0 35 5
data:
$ID,16
$MISSION,9
$DIVE,171
$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,2
$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,-2096580.6
$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,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,16
$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
$GPS1,002827,6237.124,-1221.580,27,2.3,46,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-58.3
$GPS2,003446,6237.129,-1221.530,13,2.3,32,-11.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,25.3,5474,-16.3,-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,-1.10,-75.8,0.0,0.0,0,147,0.00,0.00,-120.45,0.000,2,0.000,0.000,71,2197,2992
$GC,151,-1.15,-123.3,4.2,-3.5,6,173,11.10,0.00,-6.78,0.000,6,0.170,0.000,2041,2197,3286
$GC,484,-0.96,-123.3,57.5,-14.3,22,486,0.25,0.00,0.00,0.000,6,0.106,0.000,2089,2195,3286
$GC,792,-0.92,-123.3,94.0,-11.4,37,796,0.00,2.78,0.00,0.000,4,0.000,0.076,2089,3650,3286
$GC,842,-0.88,-123.3,100.2,-12.3,39,846,0.00,2.60,0.00,0.000,6,0.000,0.056,2089,2234,3287
$GC,1158,-0.88,-123.3,140.1,-13.0,54,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2234,3287
$GC,1467,-0.88,-123.3,180.0,-12.6,69,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2234,3287
$GC,1776,-0.88,-123.3,217.6,-11.6,84,1781,0.00,2.70,0.00,0.000,4,0.000,0.079,2089,3642,3287
$GC,1826,-0.88,-123.3,223.7,-11.8,86,1831,0.00,2.60,0.00,0.000,6,0.000,0.056,2089,2221,3287
$GC,2142,-0.88,-123.3,257.6,-10.4,101,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2221,3287
$GC,2452,-0.88,-123.3,289.1,-10.1,116,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2221,3287
$GC,2761,-0.88,-123.3,319.0,-9.7,131,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2221,3287
$GC,3070,-0.88,-123.3,349.0,-9.8,146,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2221,3287
$GC,3380,-0.88,-123.3,379.0,-9.7,161,3384,0.00,2.72,0.00,0.000,4,0.000,0.081,2089,3641,3287
$GC,3425,-0.84,-123.3,383.8,-10.4,163,3430,0.15,2.60,0.00,0.000,6,0.108,0.057,2117,2226,3287
$GC,3746,-0.90,-123.3,411.7,-8.5,179,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2225,3287
$GC,4056,-0.96,-123.3,436.9,-8.0,194,4058,0.12,0.00,0.00,0.000,6,0.048,0.000,2079,2225,3287
$GC,4365,-0.90,-123.3,467.8,-10.0,209,4367,0.12,0.00,0.00,0.000,6,0.100,0.000,2102,2225,3287
$GC,4674,-0.90,-123.3,495.9,-9.1,224,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2225,3286
$GC,4983,-0.90,-123.3,523.5,-8.7,239,4988,0.00,2.72,0.00,0.000,4,0.000,0.081,2102,3647,3286
$GC,5026,-0.90,-123.3,527.7,-9.2,241,5031,0.00,2.60,0.00,0.000,6,0.000,0.055,2102,2226,3286
$GC,5347,-0.90,-123.3,554.4,-8.4,257,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2226,3287
$GC,5656,-0.90,-123.3,580.1,-8.3,272,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2226,3286
$GC,5966,-0.90,-123.3,605.0,-8.0,287,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2226,3286
$GC,6275,-0.90,-123.3,630.8,-8.2,302,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2226,3286
$GC,6584,-0.90,-123.3,655.7,-8.0,317,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2226,3285
$GC,6893,-0.90,-123.3,679.8,-8.0,332,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2226,3286
$GC,7203,-0.90,-123.3,708.2,-10.0,347,7207,0.00,2.60,0.00,0.000,4,0.000,0.065,2102,813,3286
$GC,7247,-1.01,-123.3,712.9,-11.5,349,7252,0.00,2.60,0.00,0.000,6,0.000,0.055,2102,2230,3286
$GC,7569,-1.05,-123.3,749.6,-11.1,365,7571,0.15,0.00,0.00,0.000,6,0.048,0.000,2059,2231,3286
$GC,7878,-0.97,-123.3,788.8,-12.3,380,7880,0.15,0.00,0.00,0.000,6,0.098,0.000,2087,2231,3285
$STATE,8061,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8061,begin apogee
$GC,8067,-0.31,0.0,808.2,10.1,389,8184,0.70,0.00,112.55,1.164,6,0.102,0.000,2227,2231,2781
$STATE,8184,end apogee,CONTROL_FINISHED_OK
$STATE,8185,begin climb
$GC,8187,1.15,123.3,813.1,0.0,395,8304,1.55,0.00,112.22,1.148,6,0.075,0.000,2552,2231,2279
$GC,8614,1.16,125.7,793.8,5.9,416,8620,0.00,0.00,4.00,0.692,6,0.000,0.000,2552,2231,2268
$GC,8923,1.16,125.7,775.3,6.0,431,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2231,2267
$GC,9232,1.16,125.7,753.5,7.8,446,9237,0.00,2.72,0.00,0.000,4,0.000,0.083,2552,3654,2266
$GC,9288,1.09,125.7,748.4,9.1,448,9294,0.00,2.62,0.00,0.000,6,0.000,0.060,2552,2240,2266
$GC,9604,1.04,125.7,723.0,7.4,464,9606,0.15,0.00,0.00,0.000,6,0.107,0.000,2524,2240,2265
$GC,9914,1.10,131.4,704.9,5.7,479,9922,0.00,0.00,6.47,0.879,6,0.000,0.000,2524,2241,2244
$GC,10223,1.19,154.1,689.4,4.8,494,10252,0.15,2.78,21.48,1.059,4,0.054,0.067,2564,825,2152
$GC,10335,1.13,154.1,682.8,6.1,499,10339,0.00,2.65,0.00,0.000,6,0.000,0.056,2563,2246,2152
$GC,10661,1.14,163.4,665.0,5.5,515,10673,0.00,0.00,9.62,0.950,6,0.000,0.000,2563,2246,2115
$GC,10970,1.14,163.4,644.6,7.1,530,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2245,2114
$GC,11280,1.14,163.4,621.9,7.3,545,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2245,2114
$GC,11589,1.14,163.4,600.6,6.8,560,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2245,2114
$GC,11898,1.14,163.4,578.1,7.6,575,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2245,2114
$GC,12208,1.14,163.4,553.5,8.1,590,12212,0.00,2.65,0.00,0.000,4,0.000,0.080,2564,3650,2114
$GC,12319,1.08,163.4,543.6,9.6,595,12324,0.15,2.60,0.00,0.000,6,0.100,0.058,2536,2241,2114
$GC,12642,1.15,163.4,521.1,6.8,611,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2240,2114
$GC,12950,1.23,163.4,500.6,6.3,626,12952,0.15,0.00,0.00,0.000,6,0.049,0.000,2577,2240,2114
$GC,13259,1.18,163.4,478.5,6.9,641,13264,0.00,2.70,0.00,0.000,4,0.000,0.079,2577,3650,2114
$GC,13322,1.08,163.4,473.7,8.1,644,13327,0.22,2.60,0.00,0.000,6,0.104,0.058,2534,2240,2114
$GC,13649,1.18,183.2,456.2,5.0,660,13670,0.10,0.00,18.62,0.891,6,0.055,0.000,2568,2241,2034
$GC,13979,1.18,183.2,434.8,6.6,676,13980,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2241,2034
$GC,14288,1.18,183.2,414.2,6.8,691,14289,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2241,2034
$GC,14597,1.18,183.2,393.4,6.8,706,14601,0.00,2.70,0.00,0.000,4,0.000,0.081,2568,3650,2034
$GC,14652,1.14,183.2,388.9,8.3,708,14658,0.00,2.60,0.00,0.000,6,0.000,0.058,2568,2241,2034
$GC,14968,1.14,183.2,365.9,7.3,724,14969,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2241,2034
$GC,15277,1.14,183.2,341.9,8.0,739,15278,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2241,2035
$GC,15586,1.14,183.2,316.8,8.1,754,15591,0.00,2.70,0.00,0.000,4,0.000,0.080,2568,3651,2035
$GC,15637,1.10,183.2,312.3,9.5,756,15642,0.15,2.60,0.00,0.000,6,0.103,0.059,2540,2241,2035
$GC,15953,1.18,183.2,289.0,7.4,771,15955,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2241,2035
$GC,16263,1.26,183.2,265.3,7.6,786,16265,0.15,0.00,0.00,0.000,6,0.048,0.000,2582,2241,2035
$GC,16572,1.26,183.2,237.5,8.9,801,16573,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2241,2036
$GC,16881,1.26,183.2,210.4,8.8,816,16882,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2241,2036
$GC,17190,1.26,183.2,183.8,8.8,831,17192,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2241,2036
$GC,17499,1.26,183.2,153.9,10.1,846,17501,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2241,2036
$GC,17809,1.26,183.2,120.7,11.6,861,17810,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2241,2036
$GC,18118,1.26,183.2,87.5,10.8,876,18119,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2241,2036
$GC,18429,1.26,183.2,56.8,9.7,891,18430,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2241,2036
$GC,18736,1.26,183.2,27.6,9.5,906,18741,0.00,2.70,0.00,0.000,4,0.000,0.077,2583,3656,2037
$GC,18822,1.19,183.2,19.0,9.0,910,18827,0.12,2.60,0.00,0.000,6,0.103,0.058,2560,2237,2037
$STATE,19023,end climb,SURFACE_DEPTH_REACHED
$STATE,19023,begin surface coast
$FINISH,0.6,1.001898
$STATE,19046,end surface coast,CONTROL_FINISHED_OK
$STATE,19046,begin surface
$SM_CCo,19068,180.70,0.619,0,0,509,557.32
$SM_GC,1.35,0.00,0.00,180.70,0.000,0.000,0.619,73,2235,509,-10.24,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1834
$TCM_TEMP,17.60
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,752.2,65.7
$24V_AH,23.6,30.251
$10V_AH,10.2,15.026
$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,26.450,63.750,284.975,180.700,0.000,18.174,32.529,172.439,12.750,0.000,0.000,33.768,1596.678,15180.176,644.878,1698.808,502.375,0.000,1441.875,0.000,1648.425,0.000,49.087
$DEVICE_MAMPS,170.274,82.836,1163.539,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.455,633.354,497.641,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47384,921
$CAP_FILE_SIZE,115001,0
$CFSIZE,260165632,248152064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110708,055707,6239.458,-1219.491,34,1.0,34,-11.5