version: 66.03
glider: 16
mission: 9
dive: 230
start: 7 25 108 9 6 6
data:
$ID,16
$MISSION,9
$DIVE,230
$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,-2098019.5
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,090002,6350.348,-1259.989,39,1.7,39,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-57.5
$GPS2,090545,6350.389,-1300.134,16,1.8,16,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,default
$TGT_LATLONG,62.000,-6.800
$TGT_RADIUS,1852.000
$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,180.8,7124448,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,128,0.00,0.00,-101.55,0.000,2,0.000,0.000,70,2235,2595
$GC,131,-0.85,-146.6,3.0,-1.8,5,175,11.43,2.65,-25.98,0.000,4,0.167,0.068,2110,816,3381
$GC,296,-0.71,-146.6,19.9,-11.5,12,301,0.17,2.55,0.00,0.000,6,0.095,0.048,2144,2229,3381
$GC,617,-0.59,-146.6,48.2,-7.6,28,622,0.15,2.62,0.00,0.000,4,0.095,0.066,2176,3642,3381
$GC,658,-0.59,-146.6,50.9,-5.7,30,663,0.00,2.53,0.00,0.000,6,0.000,0.048,2176,2230,3381
$GC,986,-0.59,-146.6,71.0,-7.0,46,990,0.00,2.58,0.00,0.000,4,0.000,0.060,2176,817,3381
$GC,1042,-0.68,-146.6,75.2,-7.8,48,1049,0.12,2.55,0.00,0.000,6,0.044,0.048,2133,2234,3381
$GC,1360,-0.57,-146.6,103.9,-8.7,64,1365,0.17,2.60,0.00,0.000,4,0.083,0.059,2173,817,3382
$GC,1405,-0.65,-146.6,107.4,-7.1,66,1409,0.00,2.55,0.00,0.000,6,0.000,0.047,2173,2233,3381
$GC,1727,-0.65,-146.6,128.3,-6.4,82,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2233,3381
$GC,2035,-0.65,-146.6,147.5,-6.2,97,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2232,3381
$GC,2345,-0.65,-146.6,165.7,-5.9,112,2349,0.00,2.60,0.00,0.000,4,0.000,0.060,2173,817,3381
$GC,2374,-0.70,-146.6,167.4,-6.0,113,2379,0.12,2.55,0.00,0.000,6,0.046,0.049,2130,2229,3381
$GC,2690,-0.58,-146.6,192.8,-8.5,128,2695,0.17,2.62,0.00,0.000,4,0.085,0.070,2170,3640,3381
$GC,2722,-0.58,-146.6,195.4,-7.2,129,2728,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2225,3381
$GC,3039,-0.58,-146.6,215.8,-6.8,145,3043,0.00,2.58,0.00,0.000,4,0.000,0.062,2170,815,3381
$GC,3066,-0.58,-146.6,217.9,-7.2,146,3070,0.00,2.55,0.00,0.000,6,0.000,0.049,2170,2230,3382
$GC,3382,-0.58,-146.6,240.7,-7.3,161,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3381
$GC,3692,-0.58,-146.6,264.1,-7.9,176,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3381
$GC,4001,-0.58,-146.6,288.7,-7.8,191,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3381
$GC,4310,-0.58,-146.6,312.3,-7.7,206,4314,0.00,2.60,0.00,0.000,4,0.000,0.060,2170,813,3381
$GC,4350,-0.64,-146.6,315.4,-8.2,208,4354,0.00,2.58,0.00,0.000,6,0.000,0.049,2170,2235,3381
$GC,4676,-0.64,-146.6,340.7,-7.6,224,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2235,3381
$GC,4985,-0.64,-146.6,364.5,-7.6,239,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2236,3381
$GC,5295,-0.64,-146.6,388.4,-8.0,254,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2236,3381
$GC,5604,-0.64,-146.6,411.5,-7.2,269,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2235,3380
$GC,5913,-0.64,-146.6,434.6,-7.3,284,5918,0.00,2.60,0.00,0.000,4,0.000,0.061,2170,819,3380
$GC,5942,-0.70,-146.6,436.9,-8.3,285,5946,0.00,2.55,0.00,0.000,6,0.000,0.049,2170,2235,3380
$GC,6257,-0.70,-146.6,461.4,-7.7,300,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2235,3380
$GC,6567,-0.70,-146.6,485.0,-7.5,315,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2235,3380
$GC,6876,-0.70,-146.6,505.5,-6.3,330,6881,0.00,2.60,0.00,0.000,4,0.000,0.060,2170,816,3380
$GC,6904,-0.76,-146.6,507.5,-7.3,331,6909,0.17,2.55,0.00,0.000,6,0.041,0.049,2116,2233,3380
$GC,7221,-0.61,-146.6,537.4,-9.6,346,7226,0.22,2.60,0.00,0.000,4,0.084,0.070,2165,3639,3379
$GC,7271,-0.61,-146.6,541.7,-7.9,348,7275,0.00,2.53,0.00,0.000,6,0.000,0.050,2165,2230,3379
$GC,7587,-0.61,-146.6,565.3,-7.5,363,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3379
$GC,7896,-0.61,-146.6,589.0,-8.1,378,7901,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,817,3379
$GC,7937,-0.67,-146.6,592.5,-8.9,380,7941,0.00,2.55,0.00,0.000,6,0.000,0.048,2165,2232,3379
$GC,8264,-0.67,-146.6,622.7,-9.9,396,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3379
$GC,8578,-0.67,-146.6,651.0,-8.7,411,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3379
$GC,8883,-0.67,-146.6,672.2,-5.9,426,8887,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,817,3379
$GC,8933,-0.78,-146.6,675.1,-6.0,428,8938,0.17,2.55,0.00,0.000,6,0.042,0.050,2112,2236,3379
$STATE,9205,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9205,begin apogee
$GC,9212,-0.31,0.0,697.3,8.5,441,9348,0.57,0.00,131.70,1.067,6,0.092,0.000,2228,2235,2781
$STATE,9348,end apogee,CONTROL_FINISHED_OK
$STATE,9348,begin climb
$GC,9351,0.85,146.6,702.3,0.0,448,9489,1.20,2.78,130.15,1.050,4,0.074,0.073,2480,3645,2182
$GC,9568,0.85,146.6,693.8,7.1,458,9572,0.00,2.58,0.00,0.000,6,0.000,0.054,2479,2240,2182
$GC,9884,0.85,153.5,676.0,5.8,473,9898,0.00,2.72,7.25,0.838,4,0.000,0.074,2480,3646,2155
$GC,9932,0.85,153.5,672.9,7.2,475,9936,0.00,2.58,0.00,0.000,6,0.000,0.054,2480,2239,2155
$GC,10254,0.87,165.7,654.6,5.7,491,10268,0.00,0.00,12.27,0.933,6,0.000,0.000,2479,2239,2105
$GC,10580,0.88,175.5,635.1,5.7,506,10596,0.00,2.67,10.45,0.912,4,0.000,0.067,2480,826,2064
$GC,10630,0.92,178.3,632.1,5.9,507,10642,0.00,2.60,3.92,0.639,6,0.000,0.051,2480,2243,2053
$GC,10952,1.06,263.0,617.0,3.7,523,11035,0.20,2.72,75.05,1.026,4,0.047,0.074,2537,3652,1708
$GC,11072,0.97,265.6,610.8,5.9,528,11084,0.15,2.60,4.03,0.641,6,0.088,0.054,2509,2243,1698
$GC,11393,1.06,347.8,599.5,3.8,544,11471,0.00,0.00,72.50,1.011,6,0.000,0.000,2509,2243,1362
$GC,11782,1.14,352.4,578.7,5.9,563,11794,0.17,2.65,5.80,0.759,4,0.047,0.064,2556,828,1343
$GC,11817,1.08,352.4,575.9,8.3,564,11823,0.00,2.58,0.00,0.000,6,0.000,0.049,2556,2242,1343
$GC,12132,1.00,352.4,547.0,9.7,580,12137,0.17,2.65,0.00,0.000,4,0.086,0.071,2518,3652,1343
$GC,12155,1.00,352.4,544.9,9.3,581,12159,0.00,2.58,0.00,0.000,6,0.000,0.053,2519,2239,1343
$GC,12476,1.05,352.4,518.1,8.4,597,12477,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2239,1343
$GC,12785,1.05,352.4,493.6,8.0,612,12789,0.00,2.60,0.00,0.000,4,0.000,0.064,2518,829,1343
$GC,12813,1.11,352.4,491.3,8.4,613,12818,0.10,2.55,0.00,0.000,6,0.054,0.048,2546,2240,1343
$GC,13128,1.11,352.4,458.1,10.8,628,13133,0.00,2.62,0.00,0.000,4,0.000,0.071,2546,3648,1343
$GC,13146,1.11,352.4,456.3,10.9,629,13150,0.00,2.58,0.00,0.000,6,0.000,0.053,2545,2237,1343
$GC,13473,1.11,352.4,421.0,10.6,645,13474,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2237,1343
$GC,13781,1.11,352.4,388.9,10.3,660,13782,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2237,1343
$GC,14090,1.11,352.4,356.5,10.3,675,14095,0.00,2.60,0.00,0.000,4,0.000,0.064,2547,825,1344
$GC,14109,1.11,352.4,354.7,10.3,676,14113,0.00,2.58,0.00,0.000,6,0.000,0.048,2547,2245,1343
$GC,14435,1.11,352.4,322.0,9.7,692,14436,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2245,1343
$GC,14744,1.11,352.4,293.5,9.1,707,14745,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2244,1344
$GC,15054,1.11,352.4,265.2,9.1,722,15055,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2245,1344
$GC,15363,1.11,352.4,237.4,8.8,737,15364,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2244,1344
$GC,15672,1.11,352.4,210.1,9.5,752,15676,0.00,2.62,0.00,0.000,4,0.000,0.063,2546,820,1345
$GC,15689,1.11,352.4,208.5,8.9,753,15693,0.00,2.58,0.00,0.000,6,0.000,0.048,2547,2243,1344
$GC,16015,1.11,352.4,178.3,8.8,769,16020,0.00,2.60,0.00,0.000,4,0.000,0.070,2547,3648,1345
$GC,16037,1.11,352.4,176.1,8.8,770,16042,0.00,2.55,0.00,0.000,6,0.000,0.054,2547,2238,1345
$GC,16359,1.11,352.4,148.9,8.4,786,16363,0.00,2.58,0.00,0.000,4,0.000,0.063,2547,828,1345
$GC,16387,1.11,352.4,146.5,7.7,787,16391,0.00,2.55,0.00,0.000,6,0.000,0.048,2547,2244,1344
$GC,16704,1.11,352.4,122.7,7.0,802,16708,0.00,2.60,0.00,0.000,4,0.000,0.070,2547,3648,1345
$GC,16727,1.11,352.4,120.9,6.9,803,16731,0.00,2.55,0.00,0.000,6,0.000,0.054,2547,2240,1345
$GC,17048,1.11,352.4,99.3,6.7,819,17050,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2240,1345
$GC,17359,1.11,352.4,79.1,6.4,834,17360,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2240,1345
$GC,17666,1.11,352.4,56.6,7.3,849,17668,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2240,1345
$GC,17976,1.11,352.4,33.6,7.2,864,17977,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2240,1345
$GC,18285,1.11,352.4,8.0,7.7,879,18289,0.00,2.58,0.00,0.000,4,0.000,0.063,2547,829,1345
$STATE,18348,end climb,SURFACE_DEPTH_REACHED
$STATE,18349,begin surface coast
$FINISH,0.8,1.012679
$STATE,18372,end surface coast,CONTROL_FINISHED_OK
$STATE,18372,begin surface
$SM_CCo,18397,98.78,0.597,0,0,509,557.32
$SM_GC,1.33,0.00,0.00,98.78,0.000,0.000,0.597,69,2229,509,-10.26,-0.06,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1876
$TCM_TEMP,19.90
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,651.0,55.9
$24V_AH,23.6,40.040
$10V_AH,10.2,20.406
$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,26.150,139.950,453.125,98.775,0.000,18.055,37.275,154.946,7.750,0.000,0.000,16.478,1583.217,14225.047,723.779,1783.388,523.936,0.000,1628.074,0.000,1746.823,0.000,39.625
$DEVICE_MAMPS,167.206,74.399,1066.897,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.723,603.974,576.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44159,883
$CAP_FILE_SIZE,128818,0
$CFSIZE,260165632,244273152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250708,141538,6349.019,-1300.497,36,1.1,36,-12.4