version: 66.03
glider: 16
mission: 9
dive: 118
start: 7 1 108 11 30 2
data:
$ID,16
$MISSION,9
$DIVE,118
$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,-2095424
$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,23
$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
$GPS1,112416,6218.320,-857.987,42,2.5,61,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-53.9
$GPS2,112911,6218.341,-858.058,9,2.2,28,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.041,-0.219
$KALMAN_X,-163924.2,165.3,-153.8,-35918.9,2782.7
$KALMAN_Y,9689.5,-2574.7,-1047.2,161981.1,52919.4
$MHEAD_RNG_PITCHd_Wd,194.5,59198,-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,-121.12,0.000,2,0.000,0.000,68,2306,2908
$GC,150,-0.85,-146.6,3.3,-2.8,6,180,11.27,2.70,-11.90,0.000,4,0.163,0.075,2108,890,3380
$GC,315,-0.70,-146.6,25.5,-11.3,13,320,0.20,2.62,0.00,0.000,6,0.099,0.055,2146,2303,3381
$GC,632,-0.63,-146.6,58.8,-11.4,28,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2303,3381
$GC,942,-0.56,-146.6,93.9,-10.8,43,947,0.15,2.67,0.00,0.000,4,0.121,0.063,2175,881,3380
$GC,1060,-0.62,-146.6,104.7,-8.4,48,1064,0.00,2.62,0.00,0.000,6,0.000,0.054,2175,2305,3380
$GC,1376,-0.62,-146.6,132.0,-8.5,63,1380,0.00,2.67,0.00,0.000,4,0.000,0.064,2175,881,3381
$GC,1426,-0.68,-146.6,136.5,-8.5,65,1431,0.12,2.62,0.00,0.000,6,0.049,0.054,2131,2304,3381
$GC,1742,-0.58,-146.6,169.5,-10.5,80,1747,0.17,2.67,0.00,0.000,4,0.087,0.065,2170,881,3381
$GC,1787,-0.65,-146.6,173.6,-8.4,82,1791,0.00,2.60,0.00,0.000,6,0.000,0.055,2170,2298,3381
$GC,2107,-0.65,-146.6,199.5,-8.1,98,2112,0.00,2.65,0.00,0.000,4,0.000,0.066,2170,880,3381
$GC,2153,-0.70,-146.6,203.3,-8.5,100,2157,0.00,2.62,0.00,0.000,6,0.000,0.055,2170,2304,3381
$GC,2480,-0.70,-146.6,230.9,-8.6,116,2484,0.00,2.67,0.00,0.000,4,0.000,0.067,2170,880,3381
$GC,2519,-0.75,-146.6,234.3,-9.0,118,2525,0.15,2.62,0.00,0.000,6,0.044,0.056,2121,2302,3380
$GC,2846,-0.63,-146.6,268.9,-10.4,134,2851,0.17,2.67,0.00,0.000,4,0.087,0.067,2159,881,3381
$GC,2887,-0.63,-146.6,272.5,-8.7,136,2891,0.00,2.62,0.00,0.000,6,0.000,0.056,2159,2300,3381
$GC,3213,-0.63,-146.6,298.3,-7.1,152,3217,0.00,2.67,0.00,0.000,4,0.000,0.068,2159,881,3381
$GC,3245,-0.63,-146.6,300.6,-6.7,153,3251,0.00,2.62,0.00,0.000,6,0.000,0.056,2159,2302,3381
$GC,3561,-0.63,-146.6,322.0,-7.4,169,3566,0.00,2.70,0.00,0.000,4,0.000,0.068,2159,873,3381
$GC,3594,-0.63,-146.6,324.7,-7.4,170,3605,0.00,2.62,0.00,0.000,6,0.000,0.056,2159,2300,3381
$GC,3910,-0.63,-146.6,347.7,-6.9,186,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2300,3381
$GC,4220,-0.63,-146.6,367.4,-7.0,201,4224,0.00,2.67,0.00,0.000,4,0.000,0.066,2159,874,3381
$GC,4292,-0.68,-146.6,372.0,-6.2,204,4297,0.00,2.62,0.00,0.000,6,0.000,0.056,2159,2298,3381
$GC,4608,-0.68,-146.6,389.7,-5.4,219,4612,0.00,2.67,0.00,0.000,4,0.000,0.068,2159,880,3380
$GC,4649,-0.72,-146.6,391.9,-5.6,221,4653,0.00,2.62,0.00,0.000,6,0.000,0.057,2159,2300,3381
$GC,4975,-0.72,-146.6,408.0,-4.8,237,4980,0.00,2.67,0.00,0.000,4,0.000,0.070,2159,882,3380
$GC,5038,-0.72,-146.6,411.6,-5.8,240,5043,0.00,2.62,0.00,0.000,6,0.000,0.058,2159,2299,3380
$GC,5365,-0.72,-146.6,433.1,-7.7,256,5370,0.00,2.67,0.00,0.000,4,0.000,0.070,2159,881,3380
$STATE,5452,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5452,begin apogee
$GC,5461,-0.31,0.0,439.9,7.7,260,5592,0.32,0.00,127.62,0.927,6,0.119,0.000,2223,2203,2781
$STATE,5593,end apogee,CONTROL_FINISHED_OK
$STATE,5593,begin climb
$GC,5596,0.85,146.6,445.4,0.0,266,5731,1.23,2.78,126.47,0.912,4,0.085,0.067,2481,786,2183
$GC,5748,0.89,187.5,442.6,4.9,274,5789,0.00,2.65,36.12,0.881,6,0.000,0.054,2479,2201,2016
$GC,6113,0.95,187.5,421.5,6.2,292,6115,0.12,0.00,0.00,0.000,6,0.051,0.000,2519,2201,2015
$GC,6420,0.90,187.5,402.8,6.2,307,6426,0.12,2.72,0.00,0.000,4,0.087,0.070,2494,776,2014
$GC,6488,0.98,266.2,399.9,3.8,310,6565,0.00,2.62,67.78,0.890,6,0.000,0.054,2494,2201,1694
$GC,6878,1.11,311.7,382.2,4.8,329,6921,0.22,0.00,39.40,0.865,6,0.044,0.000,2555,2201,1510
$GC,7224,1.07,311.7,353.3,9.1,346,7226,0.12,0.00,0.00,0.000,6,0.086,0.000,2530,2201,1509
$GC,7533,1.07,311.7,328.4,7.6,361,7537,0.00,2.72,0.00,0.000,4,0.000,0.078,2530,3622,1509
$GC,7554,1.07,311.7,326.4,8.8,362,7559,0.00,2.67,0.00,0.000,6,0.000,0.064,2530,2203,1509
$GC,7876,1.07,311.7,300.9,8.3,378,7880,0.00,2.70,0.00,0.000,4,0.000,0.069,2530,773,1508
$GC,7919,1.07,311.7,296.9,8.7,380,7924,0.00,2.62,0.00,0.000,6,0.000,0.053,2530,2203,1508
$GC,8240,1.07,311.7,269.2,8.6,396,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2203,1508
$GC,8550,1.07,311.7,242.9,8.5,411,8554,0.00,2.67,0.00,0.000,4,0.000,0.067,2530,779,1509
$GC,8571,1.07,311.7,240.9,8.4,412,8576,0.00,2.62,0.00,0.000,6,0.000,0.052,2529,2204,1508
$GC,8892,1.07,311.7,213.8,8.7,428,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2204,1508
$GC,9202,1.07,311.7,186.8,8.8,443,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2205,1508
$GC,9511,1.07,311.7,159.1,8.9,458,9516,0.00,2.67,0.00,0.000,4,0.000,0.066,2530,781,1508
$GC,9551,1.07,311.7,155.5,9.6,460,9555,0.00,2.60,0.00,0.000,6,0.000,0.052,2530,2202,1508
$GC,9878,1.07,311.7,125.4,9.6,476,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2202,1508
$GC,10189,1.07,311.7,96.0,9.8,491,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2202,1508
$GC,10496,1.07,311.7,66.2,9.3,506,10501,0.00,2.67,0.00,0.000,4,0.000,0.065,2530,778,1508
$GC,10529,1.07,311.7,63.0,9.5,507,10536,0.00,2.60,0.00,0.000,6,0.000,0.052,2530,2203,1508
$GC,10847,1.07,311.7,29.9,10.4,523,10851,0.00,2.65,0.00,0.000,4,0.000,0.074,2530,3609,1509
$GC,10869,1.12,311.7,27.3,10.7,524,10874,0.00,2.60,0.00,0.000,6,0.000,0.059,2530,2197,1509
$STATE,11189,end climb,SURFACE_DEPTH_REACHED
$STATE,11189,begin surface coast
$FINISH,0.4,1.023080
$STATE,11211,end surface coast,CONTROL_FINISHED_OK
$STATE,11211,begin surface
$SM_CCo,11234,117.65,0.627,0,0,509,557.32
$SM_GC,1.12,0.00,0.00,117.65,0.000,0.000,0.627,65,2311,509,-10.28,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1842
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,18.5
$ALTIM_BOTTOM_PING,350.5,99.4
$24V_AH,23.7,22.236
$10V_AH,10.2,11.173
$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,24.925,111.550,397.400,117.650,0.000,18.022,28.206,124.350,3.500,0.000,0.000,29.634,1018.696,8350.757,678.648,1224.518,380.180,33.362,1312.826,0.000,1184.638,0.000,20.279
$DEVICE_MAMPS,163.371,78.234,927.303,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.588,367.311,391.041,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28587,541
$CAP_FILE_SIZE,87903,0
$CFSIZE,260165632,251043840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,010708,144037,6217.492,-900.433,39,1.8,44,-9.5