version: 66.03
glider: 16
mission: 9
dive: 225
start: 7 24 108 4 48 28
data:
$ID,16
$MISSION,9
$DIVE,225
$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,-2097871.5
$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,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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,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
$GPS1,044108,6401.268,-1312.385,31,1.5,31,-12.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-57.0
$GPS2,044809,6401.232,-1311.975,11,1.4,11,-12.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BT2
$TGT_LATLONG,6345.000,-1300.000
$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,174.5,31621,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.90,0.000,2,0.000,0.000,68,2244,3028
$GC,153,-0.85,-146.6,4.2,-3.5,6,178,11.48,2.62,-7.57,0.000,4,0.170,0.077,2114,3632,3382
$GC,221,-0.67,-146.6,18.0,-11.5,9,226,0.20,2.55,0.00,0.000,6,0.095,0.051,2153,2229,3382
$GC,550,-0.58,-146.6,43.7,-6.5,25,554,0.00,2.60,0.00,0.000,4,0.000,0.062,2153,813,3382
$GC,594,-0.58,-146.6,46.9,-6.7,27,598,0.00,2.58,0.00,0.000,6,0.000,0.048,2153,2230,3382
$GC,916,-0.51,-146.6,63.9,-4.0,43,921,0.15,2.62,0.00,0.000,4,0.097,0.067,2186,3644,3382
$GC,961,-0.57,-146.6,65.5,-3.0,45,966,0.00,2.55,0.00,0.000,6,0.000,0.049,2186,2227,3382
$GC,1284,-0.61,-146.6,71.7,-2.1,61,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2227,3382
$GC,1592,-0.65,-146.6,78.8,-2.8,76,1597,0.12,2.65,0.00,0.000,4,0.043,0.068,2141,3646,3382
$GC,1626,-0.55,-146.6,80.6,-6.3,77,1633,0.20,2.55,0.00,0.000,6,0.082,0.049,2182,2224,3382
$GC,1944,-0.55,-146.6,90.7,-3.1,93,1948,0.00,2.58,0.00,0.000,4,0.000,0.061,2182,814,3382
$GC,1977,-0.62,-146.6,92.0,-3.4,94,1984,0.00,2.55,0.00,0.000,6,0.000,0.048,2182,2231,3382
$GC,2294,-0.62,-146.6,101.5,-3.0,110,2298,0.00,2.60,0.00,0.000,4,0.000,0.068,2182,3640,3382
$GC,2344,-0.66,-146.6,103.1,-3.2,112,2349,0.12,2.53,0.00,0.000,6,0.050,0.050,2151,2230,3383
$GC,2661,-0.61,-146.6,118.1,-4.7,127,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2230,3383
$GC,2971,-0.55,-146.6,136.4,-5.8,142,2976,0.15,2.65,0.00,0.000,4,0.086,0.071,2185,3644,3383
$GC,3005,-0.59,-146.6,138.2,-4.4,143,3011,0.00,2.55,0.00,0.000,6,0.000,0.049,2185,2223,3383
$GC,3321,-0.65,-146.6,152.8,-5.2,159,3323,0.12,0.00,0.00,0.000,6,0.045,0.000,2147,2223,3383
$GC,3633,-0.57,-146.6,175.1,-7.5,174,3634,0.15,0.00,0.00,0.000,6,0.085,0.000,2175,2222,3382
$GC,3939,-0.57,-146.6,195.7,-6.9,189,3943,0.00,2.65,0.00,0.000,4,0.000,0.071,2175,3639,3382
$GC,3971,-0.57,-146.6,198.3,-7.9,190,3977,0.00,2.53,0.00,0.000,6,0.000,0.050,2175,2229,3382
$GC,4290,-0.57,-146.6,226.0,-9.5,206,4294,0.00,2.58,0.00,0.000,4,0.000,0.061,2175,817,3382
$GC,4324,-0.65,-146.6,229.6,-9.8,207,4330,0.00,2.55,0.00,0.000,6,0.000,0.049,2175,2232,3382
$GC,4640,-0.65,-146.6,258.7,-9.1,223,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2231,3382
$GC,4949,-0.65,-146.6,285.6,-8.6,238,4954,0.00,2.60,0.00,0.000,4,0.000,0.072,2175,3639,3382
$GC,4996,-0.69,-146.6,289.6,-8.8,240,5001,0.12,2.53,0.00,0.000,6,0.056,0.050,2145,2229,3382
$GC,5318,-0.64,-146.6,317.3,-8.1,256,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2230,3382
$GC,5627,-0.56,-146.6,341.5,-7.8,271,5632,0.15,2.65,0.00,0.000,4,0.088,0.072,2179,3644,3381
$GC,5689,-0.64,-146.6,345.9,-6.5,274,5694,0.00,2.55,0.00,0.000,6,0.000,0.049,2179,2225,3381
$GC,6017,-0.70,-146.6,369.4,-7.2,290,6022,0.15,2.65,0.00,0.000,4,0.045,0.071,2136,3638,3381
$GC,6124,-0.60,-146.6,380.3,-10.9,295,6129,0.15,2.55,0.00,0.000,6,0.087,0.052,2166,2227,3381
$GC,6452,-0.60,-146.6,410.4,-8.8,311,6456,0.00,2.65,0.00,0.000,4,0.000,0.074,2166,3638,3381
$GC,6507,-0.60,-146.6,415.4,-8.7,313,6513,0.00,2.55,0.00,0.000,6,0.000,0.052,2166,2224,3381
$GC,6822,-0.60,-146.6,439.5,-7.0,329,6827,0.00,2.67,0.00,0.000,4,0.000,0.076,2166,3641,3381
$GC,6850,-0.60,-146.6,441.6,-8.0,330,6855,0.00,2.55,0.00,0.000,6,0.000,0.054,2166,2231,3381
$GC,7166,-0.60,-146.6,465.6,-7.9,345,7170,0.00,2.67,0.00,0.000,4,0.000,0.078,2166,3638,3381
$GC,7198,-0.60,-146.6,468.3,-8.6,346,7204,0.00,2.55,0.00,0.000,6,0.000,0.055,2166,2231,3381
$GC,7514,-0.60,-146.6,491.9,-7.3,362,7519,0.00,2.67,0.00,0.000,4,0.000,0.079,2166,3639,3380
$GC,7554,-0.60,-146.6,494.8,-7.5,364,7559,0.00,2.58,0.00,0.000,6,0.000,0.055,2166,2229,3379
$GC,7880,-0.60,-146.6,518.5,-7.2,380,7885,0.00,2.67,0.00,0.000,4,0.000,0.081,2166,3642,3379
$GC,7921,-0.64,-146.6,521.6,-8.0,382,7925,0.00,2.58,0.00,0.000,6,0.000,0.056,2166,2230,3378
$GC,8247,-0.64,-146.6,545.4,-6.6,398,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3378
$GC,8557,-0.64,-146.6,565.9,-6.2,413,8561,0.00,2.70,0.00,0.000,4,0.000,0.084,2166,3640,3376
$GC,8585,-0.64,-146.6,567.7,-6.7,414,8590,0.00,2.58,0.00,0.000,6,0.000,0.058,2166,2231,3376
$GC,8901,-0.64,-146.6,585.7,-5.0,429,8906,0.00,2.65,0.00,0.000,4,0.000,0.074,2166,814,3374
$GC,8942,-0.73,-146.6,588.1,-6.3,431,8947,0.12,2.62,0.00,0.000,6,0.054,0.059,2130,2236,3374
$GC,9271,-0.67,-146.6,615.8,-9.0,447,9277,0.12,2.70,0.00,0.000,4,0.097,0.087,2154,3643,3373
$GC,9304,-0.67,-146.6,619.0,-8.6,448,9310,0.00,2.60,0.00,0.000,6,0.000,0.063,2154,2231,3373
$GC,9620,-0.67,-146.6,641.7,-8.7,464,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2231,3373
$GC,9930,-0.71,-146.6,661.5,-7.4,479,9934,0.00,2.62,0.00,0.000,4,0.000,0.076,2154,822,3372
$GC,10002,-0.77,-146.6,667.8,-11.1,482,10007,0.00,2.60,0.00,0.000,6,0.000,0.062,2154,2227,3371
$STATE,10171,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10171,begin apogee
$GC,10178,-0.31,0.0,684.3,9.3,490,10314,0.38,0.00,130.45,1.134,6,0.098,0.000,2228,2229,2781
$STATE,10315,end apogee,CONTROL_FINISHED_OK
$STATE,10315,begin climb
$GC,10318,0.85,146.6,691.4,0.0,497,10461,1.20,2.80,130.50,1.111,4,0.080,0.084,2479,3649,2183
$GC,10492,1.00,252.7,686.5,3.1,505,10593,0.17,2.67,94.22,1.095,6,0.063,0.069,2519,2242,1750
$GC,10920,1.00,252.7,663.1,6.7,526,10925,0.00,2.70,0.00,0.000,4,0.000,0.077,2519,828,1749
$GC,10993,1.00,252.7,656.5,6.2,529,10997,0.00,2.62,0.00,0.000,6,0.000,0.058,2519,2243,1748
$GC,11309,1.02,267.8,640.8,5.6,544,11330,0.00,2.75,14.23,1.011,4,0.000,0.075,2519,826,1689
$GC,11382,1.02,267.8,636.6,6.8,547,11387,0.00,2.65,0.00,0.000,6,0.000,0.059,2519,2245,1688
$GC,11704,1.02,267.8,611.3,10.9,563,11708,0.00,2.70,0.00,0.000,4,0.000,0.084,2519,3647,1688
$GC,11731,1.02,267.8,608.1,11.0,564,11735,0.00,2.62,0.00,0.000,6,0.000,0.064,2519,2238,1688
$GC,12047,1.07,312.9,583.6,4.8,579,12093,0.00,2.75,40.58,1.067,4,0.000,0.077,2519,830,1504
$GC,12138,1.08,322.3,578.6,5.7,583,12153,0.00,2.65,9.57,0.941,6,0.000,0.060,2520,2245,1467
$GC,12475,1.09,330.3,557.6,5.8,600,12489,0.00,2.75,8.82,0.926,4,0.000,0.085,2519,3645,1434
$GC,12508,1.11,348.7,555.8,5.5,601,12533,0.00,2.65,17.55,1.003,6,0.000,0.064,2519,2239,1359
$GC,12850,1.11,348.7,541.9,6.7,618,12854,0.00,2.70,0.00,0.000,4,0.000,0.080,2519,3645,1357
$GC,12879,1.15,348.7,539.6,7.5,619,12884,0.15,2.62,0.00,0.000,6,0.064,0.062,2555,2238,1358
$GC,13195,1.15,348.7,515.0,6.9,634,13199,0.00,2.70,0.00,0.000,4,0.000,0.080,2555,3647,1357
$GC,13257,1.08,348.7,508.7,10.3,637,13261,0.00,2.62,0.00,0.000,6,0.000,0.063,2555,2239,1357
$GC,13584,1.00,348.7,470.8,10.5,653,13589,0.17,2.70,0.00,0.000,4,0.095,0.078,2518,3648,1356
$GC,13629,1.07,348.7,465.9,8.9,655,13633,0.00,2.60,0.00,0.000,6,0.000,0.058,2518,2238,1356
$GC,13950,1.07,348.7,436.8,9.6,671,13954,0.00,2.65,0.00,0.000,4,0.000,0.069,2518,823,1356
$GC,14006,1.11,348.7,432.3,8.9,673,14012,0.12,2.60,0.00,0.000,6,0.055,0.052,2551,2245,1356
$GC,14322,1.04,348.7,397.3,11.6,689,14327,0.12,2.62,0.00,0.000,4,0.098,0.074,2528,3648,1357
$GC,14349,1.04,348.7,394.3,10.0,690,14353,0.00,2.60,0.00,0.000,6,0.000,0.058,2528,2238,1357
$GC,14665,1.04,348.7,361.0,9.9,705,14669,0.00,2.62,0.00,0.000,4,0.000,0.068,2527,823,1357
$GC,14704,1.04,348.7,357.4,9.5,707,14709,0.00,2.60,0.00,0.000,6,0.000,0.051,2527,2249,1357
$GC,15032,1.04,348.7,325.6,9.2,723,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2249,1359
$GC,15340,1.04,348.7,299.3,8.3,738,15345,0.00,2.65,0.00,0.000,4,0.000,0.066,2527,824,1359
$GC,15362,1.04,348.7,297.3,8.5,739,15366,0.00,2.58,0.00,0.000,6,0.000,0.048,2527,2242,1359
$GC,15683,1.04,348.7,269.3,9.1,755,15684,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2242,1360
$GC,15993,1.04,348.7,238.1,10.3,770,15997,0.00,2.62,0.00,0.000,4,0.000,0.065,2527,829,1361
$GC,16037,1.04,348.7,233.1,10.2,772,16041,0.00,2.55,0.00,0.000,6,0.000,0.049,2527,2240,1361
$GC,16357,1.04,348.7,199.4,10.3,788,16362,0.00,2.62,0.00,0.000,4,0.000,0.065,2527,828,1361
$GC,16380,1.04,348.7,197.1,10.2,789,16384,0.00,2.55,0.00,0.000,6,0.000,0.048,2527,2246,1361
$GC,16700,1.04,348.7,164.6,10.3,805,16702,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2246,1362
$GC,17010,1.04,348.7,131.6,10.6,820,17014,0.00,2.65,0.00,0.000,4,0.000,0.064,2527,820,1362
$GC,17043,1.04,348.7,128.0,10.7,821,17050,0.00,2.55,0.00,0.000,6,0.000,0.048,2527,2240,1363
$GC,17359,1.04,348.7,96.5,9.4,837,17363,0.00,2.62,0.00,0.000,4,0.000,0.064,2527,826,1362
$GC,17392,1.04,348.7,93.1,9.8,838,17398,0.00,2.55,0.00,0.000,6,0.000,0.049,2527,2241,1363
$GC,17710,1.04,348.7,64.9,8.3,854,17714,0.00,2.62,0.00,0.000,4,0.000,0.064,2527,825,1363
$GC,17742,1.04,348.7,62.0,7.1,855,17748,0.00,2.55,0.00,0.000,6,0.000,0.048,2527,2242,1363
$GC,18058,1.04,348.7,30.0,11.5,871,18062,0.00,2.62,0.00,0.000,4,0.000,0.064,2527,825,1363
$GC,18098,1.04,348.7,25.6,10.8,873,18102,0.00,2.55,0.00,0.000,6,0.000,0.048,2527,2247,1364
$STATE,18360,end climb,SURFACE_DEPTH_REACHED
$STATE,18360,begin surface coast
$FINISH,0.7,1.013312
$STATE,18382,end surface coast,CONTROL_FINISHED_OK
$STATE,18382,begin surface
$SM_CCo,18404,101.90,0.606,0,0,509,557.32
$SM_GC,1.46,0.00,0.00,101.90,0.000,0.000,0.606,71,2250,509,-10.25,0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1890
$TCM_TEMP,16.50
$XPDR_PINGS,63
$ALTIM_TOP_PING,18.0,17.1
$ALTIM_BOTTOM_PING,601.8,91.3
$24V_AH,23.5,39.230
$10V_AH,10.1,19.954
$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,26.500,209.500,445.925,101.900,0.000,36.058,62.782,158.800,21.000,0.000,0.000,11.151,1665.138,13984.251,735.798,1972.003,584.022,0.000,1774.127,0.000,1927.560,0.000,36.476
$DEVICE_MAMPS,169.507,86.671,1134.393,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.129,602.764,625.636,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44314,887
$CAP_FILE_SIZE,147094,0
$CFSIZE,260165632,244604928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240708,095808,6357.301,-1311.503,34,2.0,34,-12.5