version: 66.03
glider: 16
mission: 9
dive: 233
start: 7 26 108 1 49 40
data:
$ID,16
$MISSION,9
$DIVE,233
$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,-2098081.5
$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,23
$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
$GPS1,011555,6343.862,-1302.465,38,1.8,38,-12.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-53.5
$GPS2,014923,6344.191,-1301.263,12,2.7,31,-12.3
$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,180.7,7113624,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-117.90,0.000,2,0.000,0.000,65,2246,2957
$GC,151,-0.85,-146.6,4.0,-3.3,6,181,11.43,2.65,-9.75,0.000,4,0.166,0.069,2110,811,3379
$GC,221,-0.70,-146.6,16.1,-11.6,9,226,0.17,2.58,0.00,0.000,6,0.096,0.047,2144,2227,3379
$GC,543,-0.60,-146.6,44.6,-8.3,25,548,0.12,2.62,0.00,0.000,4,0.095,0.065,2168,3645,3379
$GC,593,-0.60,-146.6,48.9,-8.1,27,597,0.00,2.55,0.00,0.000,6,0.000,0.046,2168,2226,3379
$GC,909,-0.60,-146.6,75.0,-8.6,42,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2226,3380
$GC,1218,-0.60,-146.6,100.6,-8.2,57,1222,0.00,2.65,0.00,0.000,4,0.000,0.067,2168,3645,3379
$GC,1239,-0.60,-146.6,102.6,-8.4,58,1244,0.00,2.55,0.00,0.000,6,0.000,0.047,2168,2225,3380
$GC,1562,-0.60,-146.6,123.9,-6.0,74,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2225,3379
$GC,1870,-0.60,-146.6,146.1,-8.1,89,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2224,3379
$GC,2179,-0.60,-146.6,172.5,-8.4,104,2183,0.00,2.65,0.00,0.000,4,0.000,0.070,2168,3641,3379
$GC,2206,-0.60,-146.6,174.9,-8.6,105,2214,0.00,2.55,0.00,0.000,6,0.000,0.048,2168,2226,3379
$GC,2530,-0.60,-146.6,199.0,-6.9,121,2535,0.00,2.58,0.00,0.000,4,0.000,0.061,2168,817,3379
$GC,2575,-0.66,-146.6,202.2,-6.6,123,2580,0.00,2.53,0.00,0.000,6,0.000,0.048,2168,2232,3379
$GC,2896,-0.66,-146.6,222.2,-6.6,139,2900,0.00,2.62,0.00,0.000,4,0.000,0.071,2168,3646,3379
$GC,2923,-0.66,-146.6,224.1,-6.9,140,2927,0.00,2.55,0.00,0.000,6,0.000,0.048,2168,2225,3379
$GC,3239,-0.66,-146.6,248.0,-8.3,155,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2225,3379
$GC,3548,-0.66,-146.6,273.1,-7.8,170,3552,0.00,2.65,0.00,0.000,4,0.000,0.071,2168,3643,3378
$GC,3578,-0.66,-146.6,275.5,-8.5,171,3582,0.00,2.55,0.00,0.000,6,0.000,0.050,2168,2225,3378
$GC,3893,-0.66,-146.6,298.5,-6.8,186,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2224,3378
$GC,4203,-0.66,-146.6,317.5,-6.0,201,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2225,3378
$GC,4513,-0.66,-146.6,337.7,-7.2,216,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2224,3377
$GC,4821,-0.66,-146.6,363.4,-9.0,231,4826,0.00,2.65,0.00,0.000,4,0.000,0.072,2168,3638,3377
$GC,4849,-0.66,-146.6,366.3,-10.5,232,4853,0.00,2.53,0.00,0.000,6,0.000,0.050,2168,2230,3377
$GC,5165,-0.66,-146.6,395.2,-9.0,247,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3377
$GC,5473,-0.66,-146.6,419.6,-6.9,262,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3377
$GC,5783,-0.66,-146.6,437.5,-5.0,277,5787,0.00,2.58,0.00,0.000,4,0.000,0.061,2168,813,3377
$GC,5811,-0.71,-146.6,439.0,-5.2,278,5816,0.10,2.55,0.00,0.000,6,0.052,0.049,2133,2230,3377
$GC,6127,-0.61,-146.6,462.8,-8.2,293,6132,0.17,2.60,0.00,0.000,4,0.085,0.071,2171,3638,3376
$GC,6168,-0.66,-146.6,465.7,-6.4,295,6172,0.00,2.53,0.00,0.000,6,0.000,0.051,2171,2230,3376
$GC,6495,-0.66,-146.6,485.7,-5.0,311,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3376
$GC,6804,-0.66,-146.6,502.3,-5.9,326,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3376
$GC,7114,-0.66,-146.6,523.1,-7.4,341,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3376
$GC,7422,-0.66,-146.6,546.8,-8.3,356,7427,0.00,2.58,0.00,0.000,4,0.000,0.062,2170,815,3376
$GC,7466,-0.74,-146.6,550.1,-8.2,358,7471,0.15,2.55,0.00,0.000,6,0.044,0.049,2123,2238,3376
$GC,7793,-0.63,-146.6,583.4,-10.0,374,7798,0.17,2.60,0.00,0.000,4,0.085,0.072,2162,3637,3375
$GC,7837,-0.68,-146.6,587.9,-9.6,376,7842,0.00,2.53,0.00,0.000,6,0.000,0.052,2162,2228,3375
$GC,8159,-0.68,-146.6,617.8,-9.6,392,8163,0.00,2.58,0.00,0.000,6,0.000,0.062,2162,820,3375
$STATE,8164,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8164,begin apogee
$GC,8173,-0.31,0.0,618.3,9.6,392,8309,0.30,0.00,128.88,1.007,6,0.081,0.000,2227,2246,2782
$STATE,8310,end apogee,CONTROL_FINISHED_OK
$STATE,8310,begin climb
$GC,8313,0.85,146.6,628.0,0.0,399,8449,1.17,2.70,128.70,0.990,4,0.071,0.071,2480,3649,2183
$GC,8514,0.92,218.6,625.5,4.0,407,8584,0.00,2.58,63.95,0.978,6,0.000,0.051,2480,2239,1889
$GC,8913,1.10,218.6,601.5,6.6,427,8918,0.22,2.67,0.00,0.000,4,0.045,0.071,2545,3648,1888
$GC,9055,1.00,218.6,588.4,6.6,433,9060,0.15,2.58,0.00,0.000,6,0.089,0.054,2515,2241,1888
$GC,9371,0.91,218.6,561.1,8.3,448,9376,0.00,2.65,0.00,0.000,4,0.000,0.071,2515,3647,1887
$GC,9427,0.81,218.6,554.8,7.7,450,9434,0.20,2.58,0.00,0.000,6,0.084,0.055,2473,2237,1887
$GC,9744,0.94,289.1,539.6,4.1,466,9808,0.15,0.00,61.17,0.957,6,0.045,0.000,2524,2237,1602
$GC,10118,0.88,289.1,515.4,7.8,484,10123,0.15,2.67,0.00,0.000,4,0.085,0.071,2490,3654,1601
$GC,10160,0.96,301.9,512.8,5.7,486,10181,0.00,2.60,12.30,0.855,6,0.000,0.054,2490,2237,1550
$GC,10491,1.05,327.3,495.6,5.3,502,10521,0.17,2.70,23.17,0.905,4,0.044,0.064,2544,833,1446
$GC,10544,0.96,327.3,491.6,7.7,504,10549,0.17,2.58,0.00,0.000,6,0.083,0.048,2509,2241,1445
$GC,10860,1.04,401.4,475.4,4.0,519,10926,0.00,0.00,63.95,0.925,6,0.000,0.000,2509,2240,1144
$GC,11230,1.17,473.2,461.7,4.0,537,11300,0.17,2.72,62.65,0.904,4,0.042,0.066,2563,830,851
$GC,11364,1.17,473.2,452.1,8.7,543,11368,0.00,2.58,0.00,0.000,6,0.000,0.048,2563,2242,852
$GC,11686,1.13,473.2,420.8,10.8,559,11690,0.00,2.65,0.00,0.000,4,0.000,0.066,2563,829,852
$GC,11752,1.13,473.2,413.3,10.7,562,11756,0.00,2.58,0.00,0.000,6,0.000,0.048,2563,2245,852
$GC,12073,1.09,473.2,375.5,12.3,578,12078,0.15,2.65,0.00,0.000,4,0.081,0.065,2529,830,852
$GC,12137,1.16,473.2,368.7,10.4,581,12142,0.10,2.58,0.00,0.000,6,0.053,0.048,2563,2247,852
$GC,12464,1.16,473.2,329.2,12.4,597,12468,0.00,2.65,0.00,0.000,4,0.000,0.067,2563,829,852
$GC,12531,1.16,473.2,321.2,11.8,600,12535,0.00,2.55,0.00,0.000,6,0.000,0.049,2563,2240,851
$GC,12853,1.12,473.2,283.0,12.0,616,12857,0.00,2.62,0.00,0.000,4,0.000,0.066,2562,830,852
$GC,12925,1.12,473.2,274.4,11.5,619,12929,0.00,2.55,0.00,0.000,6,0.000,0.048,2563,2240,852
$GC,13241,1.12,473.2,236.5,12.7,634,13245,0.00,2.62,0.00,0.000,4,0.000,0.066,2563,829,852
$GC,13307,1.12,473.2,227.2,13.6,637,13311,0.00,2.55,0.00,0.000,6,0.000,0.048,2562,2240,852
$GC,13628,1.12,473.2,183.2,13.1,653,13632,0.00,2.62,0.00,0.000,4,0.000,0.065,2563,828,852
$GC,13700,1.12,473.2,173.7,12.8,656,13704,0.00,2.55,0.00,0.000,6,0.000,0.048,2563,2240,852
$GC,14016,1.12,473.2,134.9,11.7,671,14020,0.00,2.62,0.00,0.000,4,0.000,0.066,2563,828,852
$GC,14083,1.12,473.2,127.1,10.8,674,14087,0.00,2.55,0.00,0.000,6,0.000,0.048,2563,2241,852
$GC,14405,1.12,473.2,90.5,10.9,690,14410,0.00,2.62,0.00,0.000,4,0.000,0.064,2563,825,852
$GC,14478,1.12,473.2,83.0,9.8,693,14482,0.00,2.55,0.00,0.000,6,0.000,0.048,2563,2240,852
$GC,14794,1.12,473.2,54.7,8.8,708,14798,0.00,2.62,0.00,0.000,4,0.000,0.065,2563,826,852
$GC,14889,1.12,473.2,45.5,9.2,712,14893,0.00,2.55,0.00,0.000,6,0.000,0.048,2562,2242,852
$GC,15205,1.12,473.2,12.3,10.8,727,15209,0.00,2.62,0.00,0.000,4,0.000,0.064,2563,821,852
$GC,15249,1.12,473.2,7.4,10.8,729,15253,0.00,2.55,0.00,0.000,6,0.000,0.047,2562,2241,851
$STATE,15299,end climb,SURFACE_DEPTH_REACHED
$STATE,15299,begin surface coast
$FINISH,0.7,1.026922
$STATE,15321,end surface coast,CONTROL_FINISHED_OK
$STATE,15321,begin surface
$SM_CCo,15343,40.67,0.594,0,0,508,557.32
$SM_GC,1.36,0.00,0.00,40.67,0.000,0.000,0.594,68,2242,508,-10.27,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1888
$TCM_TEMP,17.80
$XPDR_PINGS,154
$ALTIM_TOP_PING,18.9,17.9
$ALTIM_BOTTOM_PING,550.1,78.0
$24V_AH,23.6,40.649
$10V_AH,10.2,20.678
$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,26.225,150.600,544.775,40.675,0.000,93.516,160.040,1281.381,43.250,0.000,0.000,32.449,1362.964,11715.065,710.728,1692.598,1888.864,0.000,1600.557,0.000,1631.562,0.000,33.202
$DEVICE_MAMPS,166.439,72.098,1007.071,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,531.496,499.365,471.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38003,733
$CAP_FILE_SIZE,135394,0
$CFSIZE,260165632,243961856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,260708,060745,6341.420,-1256.133,41,2.3,60,-12.3