version: 66.03
glider: 16
mission: 9
dive: 237
start: 7 26 108 21 33 4
data:
$ID,16
$MISSION,9
$DIVE,237
$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,-2098175.5
$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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,212807,6342.862,-1238.495,28,1.3,28,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-59.3
$GPS2,213245,6342.839,-1238.600,12,1.8,12,-12.1
$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,37.5,90531,-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,23,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.95,0.000,2,0.000,0.000,74,2236,3037
$GC,150,-0.85,-146.6,4.3,-3.5,6,175,11.43,2.65,-7.35,0.000,4,0.168,0.078,2108,3638,3380
$GC,328,-0.66,-146.6,31.0,-11.6,14,333,0.22,2.55,0.00,0.000,6,0.091,0.050,2152,2223,3381
$GC,656,-0.59,-146.6,64.0,-9.8,30,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2223,3381
$GC,965,-0.53,-146.6,92.2,-8.8,45,967,0.15,0.00,0.00,0.000,6,0.096,0.000,2181,2223,3381
$GC,1276,-0.53,-146.6,112.4,-6.3,60,1280,0.00,2.65,0.00,0.000,4,0.000,0.069,2181,3638,3382
$GC,1331,-0.57,-146.6,116.7,-7.6,62,1338,0.00,2.53,0.00,0.000,6,0.000,0.048,2181,2228,3382
$GC,1647,-0.57,-146.6,137.3,-6.9,78,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2228,3382
$GC,1957,-0.62,-146.6,162.8,-8.0,93,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2228,3382
$GC,2266,-0.67,-146.6,185.8,-7.2,108,2268,0.12,0.00,0.00,0.000,6,0.044,0.000,2137,2228,3382
$GC,2576,-0.59,-146.6,212.1,-8.2,123,2581,0.17,2.62,0.00,0.000,4,0.082,0.071,2176,3638,3382
$GC,2620,-0.64,-146.6,215.4,-7.1,125,2625,0.00,2.53,0.00,0.000,6,0.000,0.049,2176,2230,3382
$GC,2942,-0.64,-146.6,235.0,-6.2,141,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3382
$GC,3252,-0.64,-146.6,255.2,-6.7,156,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3382
$GC,3560,-0.64,-146.6,276.9,-7.1,171,3565,0.00,2.65,0.00,0.000,4,0.000,0.072,2176,3643,3381
$GC,3601,-0.69,-146.6,280.0,-7.7,173,3606,0.12,2.55,0.00,0.000,6,0.055,0.050,2147,2223,3381
$GC,3928,-0.64,-146.6,307.8,-8.7,189,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2223,3381
$GC,4237,-0.59,-146.6,335.5,-9.0,204,4239,0.12,0.00,0.00,0.000,6,0.087,0.000,2171,2223,3381
$GC,4546,-0.59,-146.6,358.1,-6.7,219,4551,0.00,2.65,0.00,0.000,4,0.000,0.072,2171,3644,3381
$GC,4579,-0.59,-146.6,360.7,-7.3,220,4586,0.00,2.53,0.00,0.000,6,0.000,0.051,2171,2231,3381
$GC,4895,-0.59,-146.6,381.8,-6.8,236,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2231,3381
$GC,5204,-0.59,-146.6,405.0,-7.8,251,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2231,3381
$GC,5515,-0.59,-146.6,428.0,-7.3,266,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2231,3380
$GC,5824,-0.63,-146.6,449.4,-6.2,281,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2232,3380
$GC,6134,-0.68,-146.6,465.2,-4.5,296,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2231,3380
$GC,6443,-0.72,-146.6,480.1,-5.5,311,6444,0.12,0.00,0.00,0.000,6,0.048,0.000,2135,2231,3380
$GC,6751,-0.65,-146.6,503.5,-8.0,326,6753,0.10,0.00,0.00,0.000,6,0.094,0.000,2154,2231,3380
$STATE,6933,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6934,begin apogee
$GC,6941,-0.31,0.0,517.2,7.6,335,7076,0.38,0.00,129.00,0.961,6,0.087,0.000,2230,2231,2781
$STATE,7077,end apogee,CONTROL_FINISHED_OK
$STATE,7077,begin climb
$GC,7080,0.85,146.6,522.8,0.0,342,7217,1.20,2.75,127.75,0.948,4,0.075,0.072,2482,3650,2182
$GC,7270,0.91,206.8,517.6,4.4,351,7329,0.00,2.60,52.92,0.926,6,0.000,0.052,2482,2234,1936
$GC,7661,1.13,242.4,497.9,5.0,370,7703,0.28,2.72,31.90,0.907,4,0.065,0.064,2548,829,1791
$GC,7802,1.03,242.4,488.1,7.8,376,7807,0.12,2.58,0.00,0.000,6,0.095,0.051,2523,2242,1791
$GC,8122,1.03,242.4,465.5,7.6,392,8127,0.00,2.65,0.00,0.000,4,0.000,0.074,2523,3647,1791
$GC,8189,1.03,242.4,459.9,8.2,395,8194,0.00,2.58,0.00,0.000,6,0.000,0.055,2523,2242,1790
$GC,8511,1.03,242.4,436.4,7.2,411,8515,0.00,2.67,0.00,0.000,4,0.000,0.074,2523,3648,1790
$GC,8550,1.03,242.4,433.3,8.1,413,8554,0.00,2.60,0.00,0.000,6,0.000,0.055,2523,2235,1790
$GC,8876,1.03,242.4,410.4,7.1,429,8880,0.00,2.62,0.00,0.000,4,0.000,0.067,2523,825,1789
$GC,8948,1.03,242.4,405.5,6.8,432,8953,0.00,2.58,0.00,0.000,6,0.000,0.051,2523,2240,1788
$GC,9264,1.03,242.4,385.8,6.5,447,9268,0.00,2.65,0.00,0.000,4,0.000,0.074,2523,3652,1788
$GC,9341,1.03,242.4,380.0,6.9,450,9348,0.00,2.58,0.00,0.000,6,0.000,0.056,2523,2241,1789
$GC,9658,1.03,242.4,359.6,6.3,466,9662,0.00,2.60,0.00,0.000,4,0.000,0.065,2523,828,1788
$GC,9702,1.03,242.4,356.7,6.2,468,9706,0.00,2.55,0.00,0.000,6,0.000,0.050,2523,2243,1788
$GC,10022,1.03,242.4,335.6,6.8,484,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2242,1787
$GC,10332,1.03,242.4,312.6,7.4,499,10336,0.00,2.62,0.00,0.000,4,0.000,0.072,2523,3647,1788
$GC,10381,1.03,242.4,308.4,8.6,501,10386,0.00,2.55,0.00,0.000,6,0.000,0.054,2523,2240,1788
$GC,10697,1.03,242.4,285.1,7.2,516,10699,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2240,1787
$GC,11007,1.03,242.4,263.1,7.4,531,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2240,1788
$GC,11316,1.03,242.4,240.5,7.2,546,11320,0.00,2.65,0.00,0.000,4,0.000,0.071,2523,3650,1788
$GC,11371,1.03,242.4,236.3,7.6,548,11377,0.00,2.58,0.00,0.000,6,0.000,0.054,2523,2234,1788
$GC,11687,1.03,242.4,215.4,6.3,564,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2234,1788
$GC,11996,1.06,267.9,198.0,5.3,579,12025,0.00,2.75,21.85,0.726,4,0.000,0.070,2523,3648,1688
$GC,12060,1.06,267.9,194.1,6.5,582,12064,0.00,2.60,0.00,0.000,6,0.000,0.054,2523,2234,1688
$GC,12387,1.07,274.5,175.5,5.8,598,12396,0.00,0.00,7.40,0.624,6,0.000,0.000,2523,2234,1661
$GC,12695,1.07,274.5,156.2,6.2,613,12697,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2234,1661
$GC,13005,1.07,274.5,137.8,6.1,628,13010,0.00,2.65,0.00,0.000,4,0.000,0.070,2523,3647,1660
$GC,13056,1.07,274.5,134.3,6.5,630,13060,0.00,2.58,0.00,0.000,6,0.000,0.054,2523,2234,1660
$GC,13373,1.07,274.5,114.1,6.5,645,13378,0.00,2.65,0.00,0.000,4,0.000,0.070,2523,3648,1660
$GC,13414,1.07,274.5,111.2,7.5,647,13418,0.00,2.55,0.00,0.000,6,0.000,0.054,2523,2241,1660
$GC,13741,1.07,274.5,88.1,7.2,663,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2241,1660
$GC,14050,1.08,282.5,67.8,5.8,678,14064,0.00,2.67,8.12,0.577,4,0.000,0.064,2523,824,1628
$GC,14094,1.12,282.5,64.8,6.4,680,14099,0.00,2.58,0.00,0.000,6,0.000,0.049,2523,2246,1627
$GC,14422,1.12,282.5,43.1,6.9,696,14423,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2246,1628
$GC,14731,1.12,282.5,20.8,6.8,711,14732,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2245,1628
$STATE,15017,end climb,SURFACE_DEPTH_REACHED
$STATE,15017,begin surface coast
$FINISH,0.6,1.026628
$STATE,15039,end surface coast,CONTROL_FINISHED_OK
$STATE,15039,begin surface
$SM_CCo,15061,134.10,0.601,0,0,508,557.32
$SM_GC,1.39,0.00,0.00,134.10,0.000,0.000,0.601,69,2246,508,-10.26,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1885
$TCM_TEMP,16.60
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.4,18.5
$ALTIM_BOTTOM_PING,450.7,75.9
$24V_AH,23.6,41.339
$10V_AH,10.2,21.008
$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,25.075,94.050,378.950,134.100,0.000,18.027,26.411,119.222,6.000,0.000,0.000,12.132,1296.719,11588.281,676.848,1503.464,412.019,0.000,1422.069,0.000,1476.215,0.000,26.694
$DEVICE_MAMPS,167.973,78.234,961.051,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,532.507,495.173,515.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37931,726
$CAP_FILE_SIZE,100636,0
$CFSIZE,260165632,243888128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,270708,014737,6345.077,-1233.995,38,1.6,38,-12.1