version: 66.03
glider: 16
mission: 9
dive: 235
start: 7 26 108 12 3 4
data:
$ID,16
$MISSION,9
$DIVE,235
$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,-2098131.5
$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
$GPS1,113831,6340.573,-1249.767,42,1.2,42,-12.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-58.6
$GPS2,120245,6340.590,-1249.864,12,1.9,12,-12.2
$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,41.3,98356,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,145,0.00,0.00,-115.12,0.000,6,0.000,0.000,72,2248,2899
$GC,149,-0.85,-146.6,4.3,-3.6,6,179,11.38,2.65,-10.82,0.000,4,0.166,0.076,2108,3638,3382
$GC,354,-0.65,-146.6,30.8,-10.8,15,359,0.25,2.55,0.00,0.000,6,0.094,0.048,2157,2227,3382
$GC,676,-0.59,-146.6,56.2,-8.0,31,681,0.00,2.62,0.00,0.000,4,0.000,0.065,2157,3637,3381
$GC,732,-0.54,-146.6,61.0,-8.5,33,739,0.12,2.53,0.00,0.000,6,0.094,0.047,2181,2228,3382
$GC,1049,-0.54,-146.6,82.8,-6.8,49,1053,0.00,2.62,0.00,0.000,4,0.000,0.067,2181,3638,3382
$GC,1099,-0.58,-146.6,86.2,-6.8,51,1103,0.00,2.50,0.00,0.000,6,0.000,0.047,2181,2230,3382
$GC,1415,-0.58,-146.6,104.2,-5.5,66,1419,0.00,2.58,0.00,0.000,4,0.000,0.060,2181,819,3382
$GC,1455,-0.68,-146.6,106.5,-6.1,68,1461,0.15,2.55,0.00,0.000,6,0.041,0.047,2130,2235,3382
$GC,1783,-0.56,-146.6,135.3,-9.5,84,1785,0.22,0.00,0.00,0.000,6,0.081,0.000,2174,2235,3382
$GC,2091,-0.56,-146.6,158.8,-7.7,99,2095,0.00,2.60,0.00,0.000,4,0.000,0.069,2175,3637,3381
$GC,2132,-0.56,-146.6,162.0,-8.2,101,2136,0.00,2.53,0.00,0.000,6,0.000,0.049,2175,2231,3382
$GC,2458,-0.56,-146.6,184.7,-6.2,117,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3382
$GC,2767,-0.56,-146.6,204.5,-6.7,132,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2231,3381
$GC,3078,-0.56,-146.6,226.1,-7.1,147,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3381
$GC,3386,-0.56,-146.6,248.0,-7.2,162,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3381
$GC,3695,-0.56,-146.6,268.3,-6.7,177,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3381
$GC,4005,-0.56,-146.6,289.1,-6.4,192,4009,0.00,2.62,0.00,0.000,4,0.000,0.072,2175,3637,3380
$GC,4044,-0.56,-146.6,291.7,-6.7,194,4049,0.00,2.53,0.00,0.000,6,0.000,0.050,2175,2229,3380
$GC,4371,-0.56,-146.6,311.6,-5.6,210,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2229,3380
$GC,4681,-0.56,-146.6,328.9,-5.5,225,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2229,3380
$GC,4990,-0.56,-146.6,348.1,-6.7,240,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2229,3380
$GC,5299,-0.56,-146.6,368.9,-7.1,255,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2229,3379
$GC,5609,-0.56,-146.6,389.3,-6.3,270,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2229,3379
$GC,5918,-0.56,-146.6,407.6,-5.7,285,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2229,3379
$GC,6227,-0.60,-146.6,424.5,-5.4,300,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2229,3378
$GC,6537,-0.60,-146.6,440.5,-5.1,315,6541,0.00,2.62,0.00,0.000,4,0.000,0.072,2175,3637,3379
$GC,6587,-0.67,-146.6,443.2,-5.0,317,6591,0.00,2.53,0.00,0.000,6,0.000,0.050,2176,2226,3379
$GC,6904,-0.71,-146.6,458.0,-4.6,332,6906,0.15,0.00,0.00,0.000,6,0.044,0.000,2126,2226,3378
$GC,7213,-0.61,-146.6,477.4,-5.9,347,7215,0.20,0.00,0.00,0.000,6,0.084,0.000,2166,2225,3379
$GC,7521,-0.61,-146.6,488.5,-2.9,362,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2225,3378
$GC,7831,-0.61,-146.6,493.9,-1.1,377,7835,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,812,3378
$GC,7887,-0.68,-146.6,494.7,-1.7,379,7893,0.00,2.55,0.00,0.000,6,0.000,0.048,2167,2229,3378
$GC,8203,-0.68,-146.6,506.4,-5.8,395,8207,0.00,2.62,0.00,0.000,4,0.000,0.073,2167,3638,3378
$GC,8253,-0.73,-146.6,510.4,-8.2,397,8258,0.12,2.53,0.00,0.000,6,0.051,0.051,2134,2231,3378
$GC,8569,-0.67,-146.6,538.4,-8.4,412,8573,0.00,2.55,0.00,0.000,4,0.000,0.062,2133,820,3378
$GC,8619,-0.67,-146.6,542.7,-8.6,414,8623,0.00,2.55,0.00,0.000,6,0.000,0.051,2133,2232,3377
$GC,8935,-0.60,-146.6,568.4,-7.8,429,8940,0.15,2.62,0.00,0.000,4,0.093,0.075,2167,3638,3376
$GC,8980,-0.65,-146.6,571.8,-7.7,431,8984,0.00,2.53,0.00,0.000,6,0.000,0.054,2167,2233,3377
$STATE,9071,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9072,begin apogee
$GC,9079,-0.31,0.0,578.3,7.1,436,9214,0.30,0.00,129.23,1.002,6,0.090,0.000,2227,2233,2781
$STATE,9214,end apogee,CONTROL_FINISHED_OK
$STATE,9214,begin climb
$GC,9217,0.85,146.6,581.3,0.0,443,9350,1.17,0.00,128.75,0.984,6,0.073,0.000,2479,2233,2183
$GC,9653,0.89,187.6,569.3,4.9,464,9691,0.00,0.00,36.83,0.950,6,0.000,0.000,2479,2232,2016
$GC,9999,0.99,221.4,551.7,5.1,481,10032,0.17,0.00,31.00,0.947,6,0.052,0.000,2526,2232,1878
$GC,10328,0.94,221.4,529.5,6.8,497,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2232,1877
$GC,10637,0.94,221.4,508.9,6.7,512,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2232,1877
$GC,10946,0.90,221.4,488.8,6.5,527,10948,0.15,0.00,0.00,0.000,6,0.088,0.000,2496,2232,1876
$GC,11256,1.03,296.1,475.4,4.0,542,11324,0.12,0.00,65.22,0.940,6,0.050,0.000,2533,2232,1575
$GC,11626,1.04,310.1,454.5,5.6,560,11645,0.00,0.00,13.80,0.850,6,0.000,0.000,2532,2232,1516
$GC,11954,1.04,310.1,434.1,6.2,576,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2232,1515
$GC,12264,1.04,310.1,413.9,6.9,591,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2232,1515
$GC,12573,1.04,310.1,390.2,8.0,606,12574,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2232,1515
$GC,12882,1.04,310.1,363.9,8.7,621,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2232,1515
$GC,13192,1.04,310.1,335.1,9.6,636,13193,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2232,1515
$GC,13501,1.04,310.1,304.6,9.6,651,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2232,1516
$GC,13810,1.04,310.1,277.5,8.2,666,13811,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2232,1515
$GC,14119,1.04,310.1,254.0,7.1,681,14120,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2232,1516
$GC,14428,1.04,310.1,231.5,7.7,696,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2232,1516
$GC,14738,1.04,310.1,207.2,8.3,711,14739,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2232,1516
$GC,15047,1.04,310.1,180.3,9.1,726,15048,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2232,1516
$GC,15356,1.04,310.1,150.4,9.8,741,15357,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2233,1517
$GC,15666,1.04,310.1,119.8,9.7,756,15667,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2232,1517
$GC,15976,1.04,310.1,91.3,8.9,771,15981,0.00,2.58,0.00,0.000,4,0.000,0.062,2533,827,1517
$GC,16021,1.04,310.1,87.2,8.0,773,16026,0.00,2.55,0.00,0.000,6,0.000,0.048,2533,2243,1516
$GC,16343,1.04,310.1,63.1,6.4,789,16344,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2243,1517
$GC,16652,1.04,310.1,42.4,6.8,804,16656,0.00,2.60,0.00,0.000,4,0.000,0.061,2533,827,1517
$GC,16697,1.10,310.1,39.3,7.5,806,16701,0.00,2.55,0.00,0.000,6,0.000,0.047,2534,2247,1517
$GC,17018,1.10,310.1,18.6,6.4,822,17019,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2247,1517
$STATE,17262,end climb,SURFACE_DEPTH_REACHED
$STATE,17263,begin surface coast
$FINISH,0.7,1.026220
$STATE,17285,end surface coast,CONTROL_FINISHED_OK
$STATE,17285,begin surface
$SM_CCo,17307,118.43,0.596,0,0,508,557.32
$SM_GC,1.42,0.00,0.00,118.43,0.000,0.000,0.596,70,2249,508,-10.25,0.54,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1879
$TCM_TEMP,16.70
$XPDR_PINGS,130
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,475.1,112.0
$24V_AH,23.6,41.029
$10V_AH,10.2,20.858
$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,25.325,66.825,404.825,118.425,0.000,106.115,162.428,754.381,36.500,0.000,0.000,12.448,1451.861,13810.664,690.735,1569.263,1341.484,0.000,1444.813,0.000,1549.078,0.000,28.419
$DEVICE_MAMPS,166.439,75.933,1001.702,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,616.521,570.187,546.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41158,835
$CAP_FILE_SIZE,116498,0
$CFSIZE,260165632,243806208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260708,165438,6342.258,-1241.855,29,1.6,29,-12.1