version: 66.03
glider: 16
mission: 9
dive: 234
start: 7 26 108 6 31 34
data:
$ID,16
$MISSION,9
$DIVE,234
$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,-2098118.2
$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
$GPS1,060745,6341.420,-1256.133,41,2.3,60,-12.3
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,3
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-57.5
$GPS2,063117,6341.160,-1255.576,13,2.4,32,-12.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WV
$TGT_LATLONG,6427.000,-1150.000
$TGT_RADIUS,5000.000
$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,44.0,99754,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-121.20,0.000,2,0.000,0.000,66,2245,3006
$GC,151,-0.85,-146.6,4.2,-3.4,6,177,11.45,2.62,-8.40,0.000,4,0.167,0.107,2108,3638,3381
$GC,305,-0.65,-146.6,27.4,-12.3,13,310,0.25,2.58,0.00,0.000,6,0.091,0.081,2157,2228,3382
$GC,632,-0.58,-146.6,54.8,-6.8,29,637,0.00,2.60,0.00,0.000,4,0.000,0.060,2157,811,3382
$GC,711,-0.58,-146.6,59.8,-5.7,32,718,0.00,2.55,0.00,0.000,6,0.000,0.048,2157,2227,3382
$GC,1029,-0.54,-146.6,84.3,-7.8,48,1031,0.12,0.00,0.00,0.000,6,0.096,0.000,2181,2227,3382
$GC,1336,-0.54,-146.6,107.0,-8.1,63,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2228,3382
$GC,1646,-0.54,-146.6,132.5,-8.2,78,1651,0.00,2.62,0.00,0.000,4,0.000,0.070,2182,3642,3382
$GC,1691,-0.59,-146.6,136.4,-7.9,80,1695,0.00,2.53,0.00,0.000,6,0.000,0.048,2181,2230,3382
$GC,2013,-0.63,-146.6,161.1,-7.6,96,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3382
$GC,2322,-0.63,-146.6,182.0,-6.1,111,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2229,3382
$GC,2632,-0.68,-146.6,198.2,-4.8,126,2634,0.12,0.00,0.00,0.000,6,0.044,0.000,2138,2230,3382
$GC,2941,-0.59,-146.6,223.9,-9.3,141,2946,0.15,2.65,0.00,0.000,4,0.086,0.070,2168,3644,3382
$GC,2981,-0.59,-146.6,227.9,-9.4,143,2985,0.00,2.55,0.00,0.000,6,0.000,0.049,2168,2228,3381
$GC,3307,-0.59,-146.6,253.7,-7.4,159,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3381
$GC,3618,-0.59,-146.6,276.5,-7.2,174,3622,0.00,2.65,0.00,0.000,4,0.000,0.071,2168,3644,3381
$GC,3650,-0.59,-146.6,279.2,-8.1,175,3657,0.00,2.55,0.00,0.000,6,0.000,0.050,2168,2222,3381
$GC,3969,-0.59,-146.6,300.9,-6.7,191,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2222,3381
$GC,4277,-0.59,-146.6,320.2,-6.4,206,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2222,3381
$GC,4585,-0.59,-146.6,340.4,-6.7,221,4589,0.00,2.65,0.00,0.000,4,0.000,0.071,2168,3641,3380
$GC,4618,-0.59,-146.6,342.9,-7.7,222,4623,0.00,2.55,0.00,0.000,6,0.000,0.050,2168,2224,3380
$GC,4934,-0.59,-146.6,366.9,-8.0,238,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2224,3380
$GC,5242,-0.59,-146.6,390.5,-7.4,253,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2224,3379
$GC,5552,-0.59,-146.6,411.9,-6.5,268,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2224,3379
$GC,5862,-0.59,-146.6,430.1,-5.6,283,5866,0.00,2.65,0.00,0.000,4,0.000,0.071,2168,3641,3379
$GC,5917,-0.59,-146.6,433.6,-6.2,285,5923,0.00,2.53,0.00,0.000,6,0.000,0.049,2169,2228,3379
$GC,6233,-0.59,-146.6,452.3,-6.0,301,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3379
$GC,6542,-0.59,-146.6,470.9,-6.1,316,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3379
$GC,6851,-0.59,-146.6,490.7,-6.5,331,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3379
$GC,7160,-0.59,-146.6,513.4,-7.7,346,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3379
$GC,7470,-0.59,-146.6,534.2,-6.4,361,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3378
$GC,7779,-0.59,-146.6,555.2,-7.1,376,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3379
$GC,8088,-0.59,-146.6,577.5,-7.0,391,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3378
$GC,8398,-0.59,-146.6,598.1,-6.3,406,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3378
$STATE,8642,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8642,begin apogee
$GC,8649,-0.31,0.0,612.7,5.8,418,8785,0.30,0.00,130.30,1.015,6,0.086,0.000,2229,2228,2782
$STATE,8785,end apogee,CONTROL_FINISHED_OK
$STATE,8785,begin climb
$GC,8788,0.85,146.6,618.1,0.0,425,8925,1.20,0.00,130.12,0.999,6,0.072,0.000,2482,2228,2183
$GC,9235,0.89,185.7,601.5,4.9,447,9277,0.00,2.78,35.10,0.965,4,0.000,0.072,2482,3656,2024
$GC,9329,0.89,185.7,595.9,6.5,451,9333,0.00,2.60,0.00,0.000,6,0.000,0.053,2482,2239,2024
$GC,9651,0.96,200.6,576.6,5.6,467,9669,0.12,0.00,14.50,0.906,6,0.063,0.000,2511,2239,1963
$GC,9979,0.97,202.9,556.8,5.9,483,9988,0.00,2.67,3.88,0.607,4,0.000,0.072,2511,3650,1953
$GC,10039,0.97,202.9,552.9,6.2,485,10045,0.00,2.58,0.00,0.000,6,0.000,0.054,2511,2240,1953
$GC,10356,1.00,233.5,536.1,5.2,501,10386,0.00,0.00,28.02,0.947,6,0.000,0.000,2511,2240,1829
$GC,10684,1.00,233.5,516.7,6.1,517,10685,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2240,1828
$GC,10993,1.00,233.5,496.2,7.2,532,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2240,1828
$GC,11303,1.00,233.5,472.5,8.0,547,11304,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,1828
$GC,11612,1.00,233.5,447.9,7.6,562,11613,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2240,1827
$GC,11921,1.00,233.5,424.5,7.6,577,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2240,1828
$GC,12231,1.00,233.5,401.9,6.8,592,12235,0.00,2.65,0.00,0.000,4,0.000,0.070,2511,3656,1827
$GC,12276,1.00,233.5,398.9,6.5,594,12280,0.00,2.58,0.00,0.000,6,0.000,0.051,2511,2232,1827
$GC,12597,1.00,233.5,376.8,6.9,610,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2232,1828
$GC,12906,1.00,233.5,355.3,6.8,625,12907,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2232,1827
$GC,13215,1.00,233.5,334.2,6.7,640,13216,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2232,1827
$GC,13524,1.00,233.5,314.5,6.4,655,13529,0.00,2.62,0.00,0.000,4,0.000,0.069,2511,3650,1827
$GC,13569,1.00,233.5,311.3,6.9,657,13573,0.00,2.55,0.00,0.000,6,0.000,0.051,2511,2238,1827
$GC,13890,1.00,233.5,290.2,6.7,673,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2238,1827
$GC,14199,1.00,233.5,268.0,7.2,688,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2238,1827
$GC,14509,1.00,233.5,246.7,6.7,703,14513,0.00,2.62,0.00,0.000,4,0.000,0.069,2512,3652,1828
$GC,14571,1.00,233.5,242.0,7.5,706,14575,0.00,2.55,0.00,0.000,6,0.000,0.051,2512,2237,1828
$GC,14897,1.00,233.5,222.1,6.0,722,14898,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2237,1828
$GC,15207,1.00,233.5,202.3,6.6,737,15208,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2237,1828
$GC,15516,1.00,233.5,182.4,6.1,752,15517,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2237,1828
$GC,15825,1.03,259.0,164.6,5.3,767,15854,0.00,2.72,21.98,0.706,4,0.000,0.067,2511,3650,1725
$GC,15901,1.07,259.0,159.5,7.7,770,15906,0.00,2.58,0.00,0.000,6,0.000,0.051,2512,2237,1725
$GC,16219,1.07,259.0,139.4,6.7,785,16220,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2237,1725
$GC,16526,1.07,259.0,117.1,7.5,800,16528,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2236,1725
$GC,16837,1.10,282.6,99.3,5.4,815,16860,0.12,0.00,20.75,0.660,6,0.066,0.000,2542,2236,1628
$GC,17167,1.14,321.9,83.2,4.9,831,17209,0.00,2.72,32.80,0.660,4,0.000,0.067,2542,3653,1468
$GC,17256,1.14,321.9,77.6,6.8,835,17260,0.00,2.58,0.00,0.000,6,0.000,0.051,2542,2240,1468
$GC,17585,1.14,321.9,51.2,8.9,851,17586,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2240,1468
$GC,17892,1.14,321.9,24.0,8.2,866,17896,0.00,2.60,0.00,0.000,4,0.000,0.063,2542,827,1467
$GC,17955,1.14,321.9,18.9,7.0,869,17959,0.00,2.55,0.00,0.000,6,0.000,0.046,2542,2245,1467
$STATE,18175,end climb,SURFACE_DEPTH_REACHED
$STATE,18175,begin surface coast
$FINISH,0.6,1.023239
$STATE,18199,end surface coast,CONTROL_FINISHED_OK
$STATE,18199,begin surface
$SM_CCo,18220,114.38,0.597,0,0,509,557.32
$SM_GC,1.37,0.00,0.00,114.38,0.000,0.000,0.597,72,2245,509,-10.24,0.42,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1884
$TCM_TEMP,17.70
$XPDR_PINGS,117
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,576.0,46.4
$24V_AH,23.6,40.837
$10V_AH,10.2,20.770
$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,24.625,78.225,417.450,114.375,0.000,91.075,247.187,657.301,34.500,0.000,0.000,36.116,1523.808,14516.876,702.342,1703.470,1300.935,0.000,1516.224,0.000,1653.305,0.000,37.989
$DEVICE_MAMPS,167.206,106.613,1014.741,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,644.446,604.083,568.421,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44182,881
$CAP_FILE_SIZE,118497,2
$CFSIZE,260165632,243912704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260708,113831,6340.573,-1249.767,42,1.2,42,-12.2