version: 66.03
glider: 16
mission: 9
dive: 116
start: 7 1 108 4 41 2
data:
$ID,16
$MISSION,9
$DIVE,116
$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,1
$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,-2095362.5
$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,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,25
$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,2
$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
$GPS1,043500,6215.794,-902.952,28,3.1,47,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-54.2
$GPS2,044011,6215.906,-902.914,10,7.4,29,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.023,-0.220
$KALMAN_X,-170989.4,1340.7,-437.1,-34148.8,-11029.0
$KALMAN_Y,1253.9,-2346.4,-1899.3,166497.1,44032.0
$MHEAD_RNG_PITCHd_Wd,190.5,54467,-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,-146.6,0.0,0.0,0,146,0.00,0.00,-121.15,0.000,2,0.000,0.000,69,2315,2918
$GC,150,-0.85,-146.6,3.4,-2.9,6,180,11.32,2.72,-11.73,0.000,4,0.166,0.077,2107,889,3381
$GC,328,-0.70,-146.6,26.4,-11.8,14,333,0.20,2.60,0.00,0.000,6,0.094,0.054,2146,2292,3381
$GC,655,-0.62,-146.6,57.0,-9.1,30,660,0.00,2.65,0.00,0.000,4,0.000,0.062,2146,878,3382
$GC,689,-0.62,-146.6,60.2,-8.9,31,695,0.00,2.62,0.00,0.000,6,0.000,0.053,2146,2308,3381
$GC,1007,-0.55,-146.6,89.8,-10.0,47,1012,0.15,2.65,0.00,0.000,4,0.092,0.071,2180,3713,3382
$GC,1034,-0.55,-146.6,92.8,-9.8,48,1038,0.00,2.60,0.00,0.000,6,0.000,0.052,2179,2295,3382
$GC,1350,-0.60,-146.6,120.0,-8.1,63,1355,0.00,2.62,0.00,0.000,4,0.000,0.066,2180,885,3382
$GC,1423,-0.68,-146.6,125.7,-7.5,66,1428,0.15,2.60,0.00,0.000,6,0.041,0.054,2130,2300,3381
$GC,1740,-0.58,-146.6,156.3,-10.2,81,1741,0.20,0.00,0.00,0.000,6,0.081,0.000,2171,2300,3382
$GC,2049,-0.58,-146.6,178.4,-6.4,96,2053,0.00,2.65,0.00,0.000,4,0.000,0.065,2171,885,3382
$GC,2104,-0.63,-146.6,182.0,-6.2,98,2110,0.00,2.60,0.00,0.000,6,0.000,0.055,2171,2300,3382
$GC,2420,-0.63,-146.6,201.9,-6.5,114,2424,0.00,2.65,0.00,0.000,4,0.000,0.066,2171,878,3382
$GC,2447,-0.69,-146.6,203.7,-6.6,115,2452,0.00,2.62,0.00,0.000,6,0.000,0.054,2171,2305,3382
$GC,2763,-0.69,-146.6,223.9,-6.4,130,2767,0.00,2.65,0.00,0.000,4,0.000,0.067,2171,886,3382
$GC,2796,-0.74,-146.6,226.1,-6.6,131,2803,0.15,2.60,0.00,0.000,6,0.044,0.056,2122,2300,3382
$GC,3112,-0.61,-146.6,254.3,-9.1,147,3117,0.17,2.67,0.00,0.000,4,0.084,0.067,2162,881,3382
$GC,3145,-0.61,-146.6,257.0,-7.5,148,3151,0.00,2.62,0.00,0.000,6,0.000,0.055,2163,2306,3381
$GC,3461,-0.61,-146.6,278.8,-6.8,164,3465,0.00,2.67,0.00,0.000,4,0.000,0.067,2162,883,3382
$GC,3510,-0.61,-146.6,282.3,-6.5,166,3515,0.00,2.60,0.00,0.000,6,0.000,0.056,2162,2300,3382
$GC,3827,-0.61,-146.6,302.6,-6.4,181,3831,0.00,2.65,0.00,0.000,4,0.000,0.068,2162,886,3382
$GC,3866,-0.61,-146.6,305.2,-6.8,183,3870,0.00,2.60,0.00,0.000,6,0.000,0.057,2162,2300,3382
$GC,4193,-0.61,-146.6,326.2,-6.4,199,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2299,3381
$GC,4501,-0.61,-146.6,344.7,-6.2,214,4506,0.00,2.65,0.00,0.000,4,0.000,0.068,2162,881,3381
$GC,4584,-0.61,-146.6,350.0,-6.6,217,4590,0.00,2.62,0.00,0.000,6,0.000,0.057,2162,2305,3382
$GC,4900,-0.61,-146.6,370.3,-6.1,233,4904,0.00,2.67,0.00,0.000,4,0.000,0.067,2162,881,3381
$GC,4955,-0.66,-146.6,374.0,-6.7,235,4962,0.00,2.60,0.00,0.000,6,0.000,0.058,2162,2301,3381
$GC,5272,-0.66,-146.6,391.9,-5.0,251,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2301,3381
$GC,5581,-0.66,-146.6,402.7,-2.5,266,5585,0.00,2.65,0.00,0.000,4,0.000,0.067,2162,886,3382
$GC,5643,-0.72,-146.6,403.6,-0.8,269,5648,0.00,2.60,0.00,0.000,6,0.000,0.058,2162,2302,3381
$GC,5970,-0.72,-146.6,410.7,-3.9,285,5974,0.00,2.70,0.00,0.000,4,0.000,0.081,2162,3714,3382
$GC,6014,-0.72,-146.6,412.9,-6.2,287,6018,0.00,2.60,0.00,0.000,6,0.000,0.060,2162,2297,3381
$GC,6335,-0.72,-146.6,421.7,-2.1,303,6339,0.00,2.67,0.00,0.000,4,0.000,0.077,2162,886,3381
$GC,6369,-0.80,-146.6,423.4,-5.9,304,6375,0.17,2.62,0.00,0.000,6,0.042,0.061,2108,2298,3381
$STATE,6579,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6579,begin apogee
$GC,6586,-0.31,0.0,444.4,11.1,315,6721,0.60,0.00,127.78,0.935,6,0.100,0.000,2228,2202,2781
$STATE,6721,end apogee,CONTROL_FINISHED_OK
$STATE,6721,begin climb
$GC,6725,0.85,146.6,450.3,0.0,322,6860,1.17,2.83,125.75,0.919,4,0.067,0.070,2482,776,2183
$GC,7053,0.85,146.6,436.5,6.0,337,7058,0.00,2.65,0.00,0.000,6,0.000,0.055,2482,2200,2182
$GC,7375,1.07,353.1,429.6,0.3,353,7561,0.20,2.80,175.23,0.907,4,0.043,0.078,2543,3616,1341
$GC,7612,1.11,353.1,408.5,9.9,364,7617,0.00,2.67,0.00,0.000,6,0.000,0.067,2542,2204,1341
$GC,7933,1.11,353.1,384.9,8.0,380,7937,0.00,2.72,0.00,0.000,4,0.000,0.081,2542,3613,1341
$GC,8021,1.11,353.1,376.2,8.7,384,8026,0.00,2.67,0.00,0.000,6,0.000,0.067,2542,2199,1341
$GC,8343,1.31,532.4,366.0,1.1,400,8509,0.17,2.83,152.38,0.883,4,0.051,0.074,2595,782,610
$GC,8565,1.31,532.4,354.5,6.7,410,8569,0.00,2.62,0.00,0.000,6,0.000,0.055,2595,2200,610
$GC,8880,1.31,532.4,327.8,9.5,425,8885,0.00,2.72,0.00,0.000,4,0.000,0.072,2595,779,610
$GC,8958,1.31,532.4,319.9,9.9,428,8964,0.00,2.65,0.00,0.000,6,0.000,0.054,2595,2205,610
$GC,9274,1.31,532.4,285.2,10.9,444,9279,0.00,2.72,0.00,0.000,4,0.000,0.071,2595,777,610
$GC,9347,1.31,532.4,277.1,10.6,447,9351,0.00,2.65,0.00,0.000,6,0.000,0.054,2595,2209,610
$GC,9662,1.31,532.4,242.2,11.1,462,9667,0.00,2.72,0.00,0.000,4,0.000,0.071,2595,774,611
$GC,9735,1.31,532.4,233.8,12.0,465,9739,0.00,2.62,0.00,0.000,6,0.000,0.053,2595,2202,610
$GC,10050,1.31,532.4,197.9,11.1,480,10055,0.00,2.70,0.00,0.000,4,0.000,0.070,2595,776,611
$GC,10128,1.31,532.4,189.4,10.4,483,10134,0.00,2.62,0.00,0.000,6,0.000,0.052,2595,2204,611
$GC,10444,1.31,532.4,156.0,10.8,499,10448,0.00,2.67,0.00,0.000,4,0.000,0.068,2595,781,611
$GC,10510,1.31,532.4,148.7,10.7,502,10514,0.00,2.60,0.00,0.000,6,0.000,0.052,2595,2198,611
$GC,10833,1.27,532.4,116.6,9.4,518,10837,0.00,2.67,0.00,0.000,4,0.000,0.069,2596,780,611
$GC,10900,1.27,532.4,109.7,9.5,521,10904,0.00,2.60,0.00,0.000,6,0.000,0.052,2595,2201,611
$GC,11221,1.27,532.4,72.0,13.9,537,11225,0.00,2.67,0.00,0.000,4,0.000,0.068,2595,781,612
$GC,11287,1.27,532.4,62.9,13.3,540,11291,0.00,2.60,0.00,0.000,6,0.000,0.052,2594,2201,611
$GC,11608,1.27,532.4,23.5,11.3,556,11612,0.00,2.67,0.00,0.000,4,0.000,0.068,2595,780,611
$GC,11680,1.27,532.4,16.0,10.3,559,11684,0.00,2.60,0.00,0.000,6,0.000,0.053,2595,2202,612
$STATE,11809,end climb,SURFACE_DEPTH_REACHED
$STATE,11809,begin surface coast
$FINISH,0.5,1.027203
$STATE,11830,end surface coast,CONTROL_FINISHED_OK
$STATE,11830,begin surface
$SM_CCo,11852,12.52,0.585,0,0,509,557.32
$SM_GC,1.00,0.00,0.00,12.52,0.000,0.000,0.585,68,2312,509,-10.27,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1863
$TCM_TEMP,17.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,350.0,101.7
$24V_AH,23.7,21.980
$10V_AH,10.1,11.052
$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,25.550,143.775,581.125,12.525,0.000,17.986,28.709,134.322,4.250,0.000,0.000,29.992,1078.328,8519.204,696.247,1477.255,410.034,33.354,1507.893,0.000,1425.114,0.000,20.271
$DEVICE_MAMPS,166.439,81.302,934.973,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.954,382.443,392.858,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28530,566
$CAP_FILE_SIZE,100231,0
$CFSIZE,260165632,251129856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,010708,080028,6217.890,-859.964,42,2.3,61,-9.5