version: 66.03
glider: 16
mission: 9
dive: 226
start: 7 24 108 10 4 13
data:
$ID,16
$MISSION,9
$DIVE,226
$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,-2097906
$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,21
$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
$GPS1,095808,6357.301,-1311.503,34,2.0,34,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-55.6
$GPS2,100356,6357.326,-1311.455,16,1.8,33,-12.5
$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,170.2,24680,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,151,0.00,0.00,-121.15,0.000,2,0.000,0.000,70,2250,3014
$GC,154,-0.85,-146.6,4.2,-3.5,6,180,11.50,2.67,-8.18,0.000,4,0.168,0.073,2110,814,3380
$GC,214,-0.67,-146.6,16.2,-11.7,9,219,0.20,2.58,0.00,0.000,6,0.096,0.048,2149,2230,3380
$GC,536,-0.58,-146.6,47.3,-9.1,25,541,0.12,2.62,0.00,0.000,4,0.098,0.058,2173,808,3380
$GC,581,-0.63,-146.6,51.0,-8.0,27,585,0.00,2.58,0.00,0.000,6,0.000,0.046,2173,2233,3380
$GC,902,-0.63,-146.6,77.6,-8.9,43,907,0.00,2.62,0.00,0.000,4,0.000,0.058,2173,810,3381
$GC,958,-0.69,-146.6,82.7,-8.9,45,965,0.00,2.58,0.00,0.000,6,0.000,0.047,2173,2239,3380
$GC,1275,-0.69,-146.6,107.1,-7.0,61,1279,0.00,2.60,0.00,0.000,4,0.000,0.067,2173,3641,3381
$GC,1307,-0.69,-146.6,109.8,-7.8,62,1314,0.00,2.55,0.00,0.000,6,0.000,0.050,2173,2224,3381
$GC,1625,-0.69,-146.6,133.9,-7.7,78,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3381
$GC,1932,-0.69,-146.6,159.0,-8.6,93,1937,0.00,2.65,0.00,0.000,4,0.000,0.068,2173,3641,3381
$GC,1973,-0.69,-146.6,162.3,-8.8,95,1977,0.00,2.55,0.00,0.000,6,0.000,0.050,2173,2227,3381
$GC,2299,-0.69,-146.6,188.4,-7.9,111,2304,0.00,2.58,0.00,0.000,4,0.000,0.061,2173,817,3381
$GC,2327,-0.74,-146.6,190.8,-8.8,112,2332,0.15,2.55,0.00,0.000,6,0.043,0.048,2125,2230,3381
$GC,2644,-0.60,-146.6,224.6,-10.8,127,2652,0.17,2.58,0.00,0.000,4,0.085,0.070,2164,3637,3381
$GC,2680,-0.60,-146.6,228.4,-9.4,128,2684,0.00,2.55,0.00,0.000,6,0.000,0.051,2164,2226,3381
$GC,2996,-0.60,-146.6,254.5,-8.4,143,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3381
$GC,3305,-0.60,-146.6,280.8,-8.6,158,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3381
$GC,3614,-0.60,-146.6,306.2,-7.9,173,3618,0.00,2.65,0.00,0.000,4,0.000,0.071,2164,3640,3381
$GC,3647,-0.60,-146.6,309.1,-8.3,174,3653,0.00,2.55,0.00,0.000,6,0.000,0.051,2164,2225,3381
$GC,3962,-0.60,-146.6,332.3,-7.0,190,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3381
$GC,4272,-0.60,-146.6,352.5,-6.3,205,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3381
$GC,4582,-0.60,-146.6,372.9,-7.0,220,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3381
$GC,4890,-0.60,-146.6,394.7,-6.6,235,4895,0.00,2.65,0.00,0.000,4,0.000,0.071,2164,3643,3381
$GC,4946,-0.60,-146.6,398.8,-7.3,237,4952,0.00,2.55,0.00,0.000,6,0.000,0.050,2164,2225,3381
$GC,5262,-0.60,-146.6,423.8,-8.4,253,5266,0.00,2.65,0.00,0.000,4,0.000,0.072,2164,3638,3381
$GC,5301,-0.60,-146.6,427.5,-9.5,255,5306,0.00,2.55,0.00,0.000,6,0.000,0.051,2164,2230,3381
$GC,5629,-0.60,-146.6,452.2,-7.4,271,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3381
$GC,5939,-0.60,-146.6,467.5,-3.9,286,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3381
$GC,6247,-0.60,-146.6,483.5,-5.8,301,6252,0.00,2.65,0.00,0.000,4,0.000,0.073,2164,3644,3380
$GC,6292,-0.60,-146.6,486.5,-6.3,303,6296,0.00,2.55,0.00,0.000,6,0.000,0.051,2164,2230,3380
$GC,6613,-0.60,-146.6,506.4,-6.0,319,6618,0.00,2.65,0.00,0.000,4,0.000,0.073,2164,3637,3380
$GC,6653,-0.60,-146.6,509.6,-7.4,321,6658,0.00,2.55,0.00,0.000,6,0.000,0.052,2164,2228,3380
$GC,6980,-0.60,-146.6,534.2,-7.2,337,6985,0.00,2.65,0.00,0.000,4,0.000,0.074,2164,3640,3380
$GC,7025,-0.60,-146.6,537.7,-7.7,339,7029,0.00,2.55,0.00,0.000,6,0.000,0.051,2164,2226,3380
$GC,7346,-0.60,-146.6,560.6,-7.2,355,7351,0.00,2.67,0.00,0.000,4,0.000,0.074,2164,3644,3379
$GC,7396,-0.60,-146.6,564.1,-6.3,357,7401,0.00,2.55,0.00,0.000,6,0.000,0.051,2164,2229,3379
$GC,7712,-0.60,-146.6,584.0,-6.1,372,7717,0.00,2.65,0.00,0.000,4,0.000,0.077,2164,3637,3379
$GC,7756,-0.60,-146.6,586.8,-6.4,374,7761,0.00,2.55,0.00,0.000,6,0.000,0.053,2164,2228,3378
$GC,8079,-0.60,-146.6,600.9,-4.7,390,8083,0.00,2.67,0.00,0.000,4,0.000,0.080,2164,3637,3378
$GC,8123,-0.60,-146.6,603.6,-6.4,392,8127,0.00,2.55,0.00,0.000,6,0.000,0.054,2164,2230,3378
$GC,8444,-0.60,-146.6,621.3,-5.6,408,8448,0.00,2.67,0.00,0.000,4,0.000,0.081,2164,3635,3377
$GC,8488,-0.64,-146.6,624.3,-7.3,410,8492,0.00,2.58,0.00,0.000,6,0.000,0.056,2164,2222,3377
$GC,8809,-0.64,-146.6,647.1,-6.9,426,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2222,3376
$GC,9119,-0.64,-146.6,674.9,-7.3,441,9123,0.00,2.70,0.00,0.000,4,0.000,0.085,2164,3634,3375
$GC,9152,-0.69,-146.6,677.6,-7.7,442,9156,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2229,3375
$GC,9468,-0.69,-146.6,698.5,-6.4,457,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3374
$GC,9777,-0.74,-146.6,716.6,-4.8,472,9782,0.12,2.65,0.00,0.000,4,0.058,0.074,2129,822,3374
$GC,9844,-0.74,-146.6,721.0,-6.6,475,9849,0.00,2.60,0.00,0.000,6,0.000,0.060,2128,2229,3373
$STATE,9915,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9915,begin apogee
$GC,9922,-0.31,0.0,727.6,9.5,479,10058,0.50,0.00,131.35,1.147,6,0.101,0.000,2227,2229,2781
$STATE,10059,end apogee,CONTROL_FINISHED_OK
$STATE,10059,begin climb
$GC,10062,0.85,146.6,733.5,0.0,486,10205,1.20,2.80,130.77,1.122,4,0.082,0.078,2479,829,2183
$GC,10456,0.89,182.8,722.8,5.0,504,10498,0.00,2.65,33.35,1.088,6,0.000,0.058,2479,2247,2035
$GC,10811,1.04,273.6,706.3,3.5,521,10900,0.20,2.83,81.15,1.121,4,0.058,0.074,2532,826,1664
$GC,10948,1.00,316.3,699.9,4.8,527,10992,0.00,2.65,38.80,1.091,6,0.000,0.060,2532,2239,1491
$GC,11311,1.00,316.3,670.6,8.0,545,11315,0.00,2.72,0.00,0.000,4,0.000,0.084,2532,3647,1489
$GC,11360,1.00,316.3,665.9,9.2,547,11365,0.00,2.62,0.00,0.000,6,0.000,0.064,2532,2242,1489
$GC,11676,1.00,316.3,630.2,13.4,562,11681,0.00,2.70,0.00,0.000,4,0.000,0.083,2532,3648,1488
$GC,11799,0.95,316.3,612.0,18.0,567,11806,0.12,2.62,0.00,0.000,6,0.094,0.061,2507,2235,1488
$GC,12116,1.08,472.0,592.8,1.7,583,12259,0.12,2.78,136.05,1.070,4,0.058,0.078,2542,3648,855
$GC,12283,1.08,472.0,575.5,12.1,591,12288,0.00,2.65,0.00,0.000,6,0.000,0.059,2542,2238,856
$GC,12610,1.08,472.0,531.4,12.2,607,12614,0.00,2.67,0.00,0.000,4,0.000,0.071,2542,824,856
$GC,12638,1.08,472.0,528.3,11.3,608,12643,0.00,2.60,0.00,0.000,6,0.000,0.051,2542,2243,856
$GC,12954,1.08,472.0,499.5,9.1,623,12958,0.00,2.67,0.00,0.000,4,0.000,0.070,2542,827,856
$GC,13009,1.08,472.0,494.1,9.9,625,13015,0.00,2.58,0.00,0.000,6,0.000,0.051,2542,2240,856
$GC,13325,1.08,472.0,456.8,14.1,641,13330,0.00,2.67,0.00,0.000,4,0.000,0.069,2542,821,856
$GC,13388,1.08,472.0,447.5,14.3,644,13392,0.00,2.60,0.00,0.000,6,0.000,0.050,2542,2245,857
$GC,13715,1.08,472.0,407.2,10.9,660,13719,0.00,2.67,0.00,0.000,4,0.000,0.067,2542,823,857
$GC,13770,1.08,472.0,401.6,9.5,662,13776,0.00,2.58,0.00,0.000,6,0.000,0.050,2542,2240,858
$GC,14085,1.08,472.0,368.9,10.7,678,14090,0.00,2.62,0.00,0.000,4,0.000,0.067,2542,828,858
$GC,14148,1.08,472.0,362.1,10.5,681,14152,0.00,2.58,0.00,0.000,6,0.000,0.049,2542,2242,858
$GC,14475,1.08,472.0,323.4,11.8,697,14479,0.00,2.65,0.00,0.000,4,0.000,0.067,2542,828,859
$GC,14536,1.08,472.0,315.9,11.7,700,14541,0.00,2.58,0.00,0.000,6,0.000,0.049,2542,2243,859
$GC,14864,1.08,472.0,279.5,10.2,716,14869,0.00,2.65,0.00,0.000,4,0.000,0.067,2542,826,859
$GC,14931,1.08,472.0,272.6,9.4,719,14935,0.00,2.58,0.00,0.000,6,0.000,0.049,2542,2246,859
$GC,15252,1.08,472.0,241.5,9.6,735,15256,0.00,2.65,0.00,0.000,4,0.000,0.066,2542,828,860
$GC,15318,1.08,472.0,235.0,9.4,738,15323,0.00,2.55,0.00,0.000,6,0.000,0.048,2542,2244,860
$GC,15639,1.08,472.0,201.3,10.8,754,15644,0.00,2.65,0.00,0.000,4,0.000,0.066,2542,827,860
$GC,15708,1.08,472.0,194.2,10.3,757,15712,0.00,2.55,0.00,0.000,6,0.000,0.048,2542,2240,860
$GC,16029,1.08,472.0,160.9,10.7,773,16033,0.00,2.62,0.00,0.000,4,0.000,0.066,2542,828,861
$GC,16106,1.08,472.0,152.8,10.0,776,16112,0.00,2.55,0.00,0.000,6,0.000,0.048,2542,2242,861
$GC,16422,1.08,472.0,121.1,10.0,792,16427,0.00,2.62,0.00,0.000,4,0.000,0.066,2542,828,862
$GC,16486,1.08,472.0,114.9,9.1,795,16490,0.00,2.55,0.00,0.000,6,0.000,0.048,2541,2242,861
$GC,16813,1.08,472.0,80.2,11.1,811,16817,0.00,2.62,0.00,0.000,4,0.000,0.066,2542,828,862
$GC,16875,1.08,472.0,73.1,10.2,814,16879,0.00,2.55,0.00,0.000,6,0.000,0.047,2541,2240,862
$GC,17202,1.08,472.0,37.1,10.2,830,17207,0.00,2.62,0.00,0.000,4,0.000,0.066,2542,828,862
$GC,17275,1.12,472.0,29.8,9.8,833,17280,0.00,2.55,0.00,0.000,6,0.000,0.048,2542,2243,863
$GC,17592,1.22,472.0,2.1,8.6,848,17597,0.12,1.98,0.00,0.000,3,0.062,0.067,2573,3323,862
$STATE,17598,end climb,SURFACE_DEPTH_REACHED
$STATE,17598,begin surface coast
$FINISH,0.6,1.015660
$STATE,17635,end surface coast,CONTROL_FINISHED_OK
$STATE,17635,begin surface
$SM_CCo,17658,41.83,0.597,0,0,509,557.32
$SM_GC,1.38,0.00,0.00,41.83,0.000,0.000,0.597,68,2228,509,-10.26,-0.06,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1896
$TCM_TEMP,17.40
$XPDR_PINGS,42
$ALTIM_TOP_PING,18.2,17.5
$ALTIM_BOTTOM_PING,701.1,36.4
$24V_AH,23.5,39.424
$10V_AH,10.1,20.039
$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,25.375,197.675,551.475,41.825,0.000,18.365,31.768,148.624,17.000,0.000,0.000,33.836,1583.134,13168.974,751.415,2012.799,528.485,0.000,1805.939,0.000,1941.477,0.000,45.805
$DEVICE_MAMPS,167.973,85.137,1147.432,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,625.334,578.589,511.467,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44277,850
$CAP_FILE_SIZE,138818,0
$CFSIZE,260165632,244543488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,240708,150037,6356.262,-1306.890,39,1.3,44,-12.5