version: 66.03
glider: 16
mission: 9
dive: 215
start: 7 22 108 17 54 13
data:
$ID,16
$MISSION,9
$DIVE,215
$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,-2097648
$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,25
$R_STBD_OVSHOOT,21
$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,0
$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
$GPS1,174725,6348.773,-1311.840,24,1.9,42,-12.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-50.0
$GPS2,175356,6348.759,-1311.749,15,2.0,32,-12.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BT1
$TGT_LATLONG,6401.000,-1331.000
$TGT_RADIUS,3000.000
$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,337.9,27531,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-121.22,0.000,2,0.000,0.000,69,2248,3006
$GC,152,-0.85,-146.6,4.2,-3.6,6,178,11.35,2.67,-7.75,0.000,4,0.166,0.068,2107,822,3381
$GC,313,-0.69,-146.6,27.9,-11.5,13,318,0.20,2.55,0.00,0.000,6,0.091,0.046,2147,2232,3381
$GC,635,-0.60,-146.6,55.4,-8.4,29,637,0.12,0.00,0.00,0.000,6,0.096,0.000,2170,2231,3381
$GC,943,-0.60,-146.6,77.9,-7.3,44,948,0.00,2.60,0.00,0.000,4,0.000,0.058,2171,819,3381
$GC,984,-0.65,-146.6,80.8,-7.2,46,988,0.00,2.55,0.00,0.000,6,0.000,0.046,2171,2233,3381
$GC,1311,-0.65,-146.6,109.9,-9.0,62,1315,0.00,2.60,0.00,0.000,4,0.000,0.067,2171,3640,3381
$GC,1355,-0.65,-146.6,114.6,-10.8,64,1359,0.00,2.55,0.00,0.000,6,0.000,0.049,2171,2225,3381
$GC,1676,-0.65,-146.6,145.7,-9.6,80,1680,0.00,2.58,0.00,0.000,4,0.000,0.059,2171,810,3382
$GC,1727,-0.70,-146.6,150.5,-9.2,82,1732,0.12,2.58,0.00,0.000,6,0.045,0.047,2127,2238,3382
$GC,2043,-0.58,-146.6,182.7,-9.5,97,2045,0.22,0.00,0.00,0.000,6,0.081,0.000,2173,2238,3382
$GC,2354,-0.58,-146.6,200.0,-5.3,112,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2238,3381
$GC,2662,-0.58,-146.6,216.6,-5.7,127,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2238,3382
$GC,2970,-0.58,-146.6,237.5,-7.5,142,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2237,3382
$GC,3280,-0.58,-146.6,262.5,-7.7,157,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2238,3381
$GC,3589,-0.58,-146.6,289.1,-8.4,172,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2238,3381
$GC,3898,-0.58,-146.6,315.0,-8.5,187,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2238,3381
$GC,4207,-0.58,-146.6,337.9,-6.8,202,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2239,3381
$GC,4517,-0.58,-146.6,357.5,-6.1,217,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2238,3381
$GC,4826,-0.58,-146.6,376.5,-6.3,232,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3381
$GC,5135,-0.58,-146.6,396.2,-6.5,247,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2238,3381
$GC,5445,-0.58,-146.6,416.1,-6.2,262,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2238,3381
$GC,5754,-0.58,-146.6,434.3,-6.0,277,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3380
$GC,6064,-0.58,-146.6,452.0,-5.8,292,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3380
$GC,6373,-0.58,-146.6,468.2,-5.0,307,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3380
$GC,6682,-0.58,-146.6,482.8,-4.8,322,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3380
$GC,6992,-0.58,-146.6,498.9,-5.6,337,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3380
$GC,7300,-0.58,-146.6,519.0,-7.3,352,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3380
$GC,7609,-0.58,-146.6,541.5,-7.1,367,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3380
$GC,7919,-0.58,-146.6,561.2,-5.8,382,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3380
$GC,8228,-0.58,-146.6,579.0,-5.9,397,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3379
$GC,8538,-0.62,-146.6,600.4,-7.6,412,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3379
$GC,8847,-0.67,-146.6,622.7,-6.8,427,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3379
$GC,9156,-0.67,-146.6,646.0,-7.9,442,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2239,3379
$GC,9465,-0.67,-146.6,670.2,-7.1,457,9469,0.00,2.62,0.00,0.000,4,0.000,0.071,2173,3646,3379
$GC,9515,-0.73,-146.6,673.7,-6.8,459,9520,0.15,2.55,0.00,0.000,6,0.046,0.050,2131,2226,3379
$GC,9831,-0.66,-146.6,694.8,-6.8,474,9833,0.12,0.00,0.00,0.000,6,0.090,0.000,2155,2225,3378
$GC,10140,-0.66,-146.6,717.2,-7.5,489,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2225,3379
$GC,10450,-0.66,-146.6,736.2,-5.5,504,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2225,3378
$GC,10758,-0.66,-146.6,753.3,-6.1,519,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2225,3378
$GC,11072,-0.66,-146.6,775.5,-7.6,534,11077,0.00,2.67,0.00,0.000,4,0.000,0.077,2155,3637,3377
$GC,11117,-0.66,-146.6,779.0,-6.8,536,11121,0.00,2.55,0.00,0.000,6,0.000,0.053,2155,2227,3377
$GC,11437,-0.66,-146.6,801.7,-7.3,552,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2226,3376
$GC,11747,-0.66,-146.6,821.0,-6.8,567,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2226,3376
$STATE,11930,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11930,begin apogee
$GC,11937,-0.31,0.0,834.0,7.0,576,12073,0.38,0.00,133.50,1.173,6,0.089,0.000,2231,2226,2781
$STATE,12074,end apogee,CONTROL_FINISHED_OK
$STATE,12074,begin climb
$GC,12077,0.85,146.6,839.3,0.0,583,12217,1.20,2.67,133.10,1.153,4,0.080,0.064,2481,832,2183
$GC,12252,0.90,191.7,835.2,4.8,592,12301,0.00,2.62,41.42,1.118,6,0.000,0.051,2481,2246,1999
$GC,12626,1.02,191.7,812.3,6.6,610,12631,0.15,2.67,0.00,0.000,4,0.052,0.064,2528,827,1999
$GC,12839,0.91,191.7,794.5,8.5,619,12846,0.15,2.60,0.00,0.000,6,0.091,0.050,2498,2249,1997
$GC,13154,0.91,191.7,769.5,7.7,635,13156,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2248,1997
$GC,13464,0.91,191.7,747.4,6.8,650,13465,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2249,1996
$GC,13773,0.91,191.7,726.1,7.5,665,13774,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2249,1996
$GC,14082,0.91,191.7,700.9,8.1,680,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2248,1995
$GC,14392,0.93,205.1,679.9,5.6,695,14411,0.00,0.00,12.88,0.979,6,0.000,0.000,2498,2249,1944
$GC,14721,0.95,230.4,660.9,5.3,711,14751,0.00,2.72,23.45,1.023,4,0.000,0.071,2498,3642,1841
$GC,14787,0.96,232.6,657.0,5.9,714,14791,0.00,2.60,0.00,0.000,6,0.000,0.053,2499,2235,1841
$GC,15114,0.96,232.6,631.2,9.3,730,15118,0.00,2.67,0.00,0.000,4,0.000,0.072,2498,3645,1841
$GC,15157,0.96,232.6,626.6,10.5,732,15162,0.00,2.58,0.00,0.000,6,0.000,0.051,2498,2234,1841
$GC,15479,0.96,235.4,602.7,5.9,748,15493,0.00,2.70,6.45,0.813,4,0.000,0.063,2498,823,1820
$GC,15523,1.00,235.4,600.2,6.2,750,15528,0.00,2.60,0.00,0.000,6,0.000,0.048,2498,2243,1820
$GC,15851,1.01,240.5,581.3,5.9,766,15864,0.00,2.65,6.28,0.800,4,0.000,0.061,2498,828,1799
$GC,15899,1.05,242.9,578.5,5.9,768,15904,0.15,2.58,0.00,0.000,6,0.049,0.047,2537,2244,1799
$GC,16221,0.99,258.0,559.1,5.6,784,16241,0.10,0.00,16.58,0.937,6,0.090,0.000,2518,2244,1729
$GC,16550,1.00,266.6,542.5,5.8,800,16565,0.00,2.67,9.35,0.856,4,0.000,0.068,2518,3651,1693
$GC,16605,1.00,266.6,538.3,7.7,801,16611,0.00,2.58,0.00,0.000,6,0.000,0.051,2518,2243,1693
$GC,16920,1.00,266.6,514.1,8.5,817,16921,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2243,1693
$GC,17230,1.00,266.6,485.7,9.1,832,17231,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2243,1693
$GC,17539,1.00,266.6,462.4,6.1,847,17540,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2243,1693
$GC,17849,1.10,355.3,449.1,3.6,862,17928,0.00,0.00,75.80,0.915,6,0.000,0.000,2518,2243,1332
$GC,18239,1.16,358.5,430.8,5.9,881,18249,0.17,2.65,4.55,0.621,4,0.045,0.061,2569,827,1319
$GC,18279,1.08,358.5,427.2,9.0,883,18284,0.17,2.58,0.00,0.000,6,0.082,0.047,2533,2239,1319
$GC,18606,1.08,358.5,395.7,10.7,899,18607,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2239,1319
$GC,18915,1.08,358.5,360.6,11.1,914,18916,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2239,1319
$GC,19224,1.08,358.5,328.6,9.3,929,19228,0.00,2.62,0.00,0.000,4,0.000,0.061,2533,825,1319
$GC,19265,1.14,358.5,325.1,8.4,931,19269,0.00,2.58,0.00,0.000,6,0.000,0.047,2533,2243,1319
$GC,19591,1.14,358.5,300.8,7.0,947,19592,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2243,1319
$GC,19900,1.14,358.5,279.4,7.3,962,19904,0.00,2.62,0.00,0.000,4,0.000,0.061,2533,825,1319
$GC,19956,1.18,358.5,275.1,7.9,964,19962,0.12,2.55,0.00,0.000,6,0.049,0.047,2569,2241,1319
$GC,20272,1.11,358.5,244.5,10.2,980,20277,0.12,2.62,0.00,0.000,4,0.087,0.068,2544,3650,1320
$GC,20305,1.11,358.5,240.8,10.3,981,20311,0.00,2.58,0.00,0.000,6,0.000,0.051,2544,2234,1320
$GC,20621,1.11,358.5,211.1,8.1,997,20625,0.00,2.58,0.00,0.000,4,0.000,0.061,2544,827,1320
$GC,20670,1.11,358.5,207.1,7.3,999,20675,0.00,2.55,0.00,0.000,6,0.000,0.046,2544,2243,1320
$GC,20986,1.11,358.5,177.0,10.9,1014,20987,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2243,1320
$GC,21296,1.11,358.5,143.8,9.5,1029,21297,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2243,1320
$GC,21605,1.11,358.5,115.6,10.1,1044,21609,0.00,2.62,0.00,0.000,4,0.000,0.060,2544,823,1320
$GC,21649,1.11,358.5,110.6,11.1,1046,21653,0.00,2.55,0.00,0.000,6,0.000,0.044,2544,2244,1320
$GC,21970,1.11,358.5,74.5,11.2,1062,21971,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2244,1320
$GC,22280,1.11,358.5,47.7,6.3,1077,22285,0.00,2.62,0.00,0.000,4,0.000,0.059,2544,819,1320
$GC,22336,1.18,368.9,44.3,5.7,1079,22352,0.00,2.55,10.32,0.590,6,0.000,0.046,2544,2248,1276
$GC,22669,1.18,368.9,17.1,8.1,1096,22670,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2249,1276
$STATE,22851,end climb,SURFACE_DEPTH_REACHED
$STATE,22851,begin surface coast
$FINISH,0.7,1.026928
$STATE,22874,end surface coast,CONTROL_FINISHED_OK
$STATE,22874,begin surface
$SM_CCo,22896,91.43,0.592,0,0,508,557.32
$SM_GC,1.28,0.00,0.00,91.43,0.000,0.000,0.592,73,2250,508,-10.24,0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1858
$TCM_TEMP,17.70
$XPDR_PINGS,26
$ALTIM_TOP_PING,18.8,17.3
$ALTIM_BOTTOM_PING,800.2,43.4
$24V_AH,23.5,37.854
$10V_AH,10.2,19.338
$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,25.700,104.275,473.675,91.425,0.000,17.975,28.774,185.448,14.000,0.000,0.000,32.374,1921.814,18016.342,744.757,2119.168,571.133,0.000,1762.012,0.000,2059.145,0.000,52.247
$DEVICE_MAMPS,166.439,76.700,1172.743,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,807.777,763.599,604.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56825,1106
$CAP_FILE_SIZE,143664,0
$CFSIZE,260165632,245063680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230708,001837,6352.137,-1313.984,35,1.3,36,-12.5