version: 66.03
glider: 16
mission: 9
dive: 119
start: 7 1 108 14 46 1
data:
$ID,16
$MISSION,9
$DIVE,119
$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,-2095438.2
$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,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,24
$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
$GPS1,144037,6217.492,-900.433,39,1.8,44,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-51.2
$GPS2,144509,6217.565,-900.549,13,1.8,13,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.210,-0.067
$KALMAN_X,-168070.1,-581.6,331.5,-33731.0,-4096.5
$KALMAN_Y,10320.6,-4055.6,-544.5,160898.3,54112.7
$MHEAD_RNG_PITCHd_Wd,192.5,57611,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-120.85,0.000,2,0.000,0.000,64,2313,2909
$GC,150,-0.85,-146.6,3.4,-3.0,6,180,11.35,2.72,-11.57,0.000,4,0.166,0.075,2108,882,3380
$GC,300,-0.68,-146.6,23.9,-10.4,12,307,0.22,2.60,0.00,0.000,6,0.100,0.055,2150,2294,3380
$GC,616,-0.62,-146.6,57.5,-11.2,28,621,0.00,2.65,0.00,0.000,4,0.000,0.062,2150,880,3380
$GC,661,-0.62,-146.6,62.4,-10.3,30,665,0.00,2.62,0.00,0.000,6,0.000,0.054,2150,2301,3380
$GC,982,-0.55,-146.6,95.4,-10.3,46,988,0.15,2.67,0.00,0.000,4,0.118,0.063,2180,875,3381
$GC,1010,-0.60,-146.6,98.0,-8.7,47,1015,0.00,2.65,0.00,0.000,6,0.000,0.055,2180,2304,3380
$GC,1327,-0.60,-146.6,125.4,-8.6,62,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2304,3381
$GC,1636,-0.60,-146.6,149.5,-7.6,77,1640,0.00,2.67,0.00,0.000,4,0.000,0.064,2180,878,3381
$GC,1685,-0.69,-146.6,153.4,-7.4,79,1691,0.15,2.62,0.00,0.000,6,0.044,0.056,2130,2302,3381
$GC,2002,-0.57,-146.6,184.0,-9.7,94,2004,0.22,0.00,0.00,0.000,6,0.083,0.000,2175,2302,3381
$GC,2310,-0.57,-146.6,206.5,-7.1,109,2315,0.00,2.67,0.00,0.000,4,0.000,0.066,2175,875,3381
$GC,2360,-0.64,-146.6,210.1,-7.1,111,2364,0.00,2.62,0.00,0.000,6,0.000,0.057,2175,2300,3381
$GC,2676,-0.64,-146.6,233.0,-7.2,126,2681,0.00,2.67,0.00,0.000,4,0.000,0.067,2175,877,3381
$GC,2704,-0.70,-146.6,235.2,-7.8,127,2709,0.15,2.62,0.00,0.000,6,0.043,0.057,2126,2299,3382
$GC,3019,-0.59,-146.6,267.0,-10.3,142,3025,0.17,2.67,0.00,0.000,4,0.086,0.068,2164,881,3382
$GC,3060,-0.64,-146.6,270.5,-8.3,144,3064,0.00,2.62,0.00,0.000,6,0.000,0.058,2165,2300,3381
$GC,3386,-0.64,-146.6,295.4,-7.5,160,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2300,3382
$GC,3695,-0.64,-146.6,319.7,-7.6,175,3700,0.00,2.65,0.00,0.000,4,0.000,0.068,2165,881,3382
$GC,3764,-0.69,-146.6,325.0,-7.9,178,3768,0.00,2.62,0.00,0.000,6,0.000,0.058,2165,2300,3381
$GC,4084,-0.69,-146.6,349.8,-8.2,194,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2299,3382
$GC,4394,-0.69,-146.6,374.6,-8.1,209,4403,0.00,2.67,0.00,0.000,4,0.000,0.070,2165,874,3381
$GC,4448,-0.75,-146.6,379.0,-7.9,211,4454,0.12,2.65,0.00,0.000,6,0.048,0.058,2123,2303,3381
$GC,4772,-0.63,-146.6,409.4,-9.2,227,4777,0.15,2.70,0.00,0.000,4,0.087,0.067,2156,877,3381
$GC,4800,-0.63,-146.6,411.8,-8.1,228,4804,0.00,2.65,0.00,0.000,6,0.000,0.058,2156,2305,3381
$GC,5115,-0.63,-146.6,434.2,-6.9,243,5120,0.00,2.70,0.00,0.000,4,0.000,0.069,2156,873,3381
$GC,5155,-0.63,-146.6,436.8,-6.7,245,5160,0.00,2.65,0.00,0.000,6,0.000,0.058,2155,2303,3381
$STATE,5334,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5334,begin apogee
$GC,5342,-0.31,0.0,448.9,6.7,254,5477,0.38,0.00,127.93,0.927,6,0.110,0.000,2228,2192,2781
$STATE,5478,end apogee,CONTROL_FINISHED_OK
$STATE,5478,begin climb
$GC,5481,0.85,146.6,454.6,0.0,261,5619,1.23,2.83,126.43,0.913,4,0.082,0.078,2482,3605,2183
$GC,5687,0.85,146.6,450.1,6.0,271,5692,0.00,2.65,0.00,0.000,6,0.000,0.061,2482,2196,2182
$GC,6014,0.86,160.1,432.4,5.6,287,6036,0.00,2.75,13.05,0.818,4,0.000,0.070,2482,791,2128
$GC,6099,0.86,160.1,426.8,6.5,290,6105,0.00,2.62,0.00,0.000,6,0.000,0.056,2483,2201,2127
$GC,6415,0.88,178.6,408.1,5.5,306,6439,0.00,2.83,17.17,0.848,4,0.000,0.080,2482,3611,2052
$GC,6481,0.94,187.0,404.5,5.8,309,6495,0.00,2.67,8.77,0.768,6,0.000,0.062,2483,2201,2018
$GC,6814,1.11,284.0,390.2,3.3,325,6900,0.28,0.00,83.05,0.894,6,0.042,0.000,2553,2202,1624
$GC,7202,1.04,284.0,364.8,6.7,344,7208,0.15,2.70,0.00,0.000,4,0.087,0.071,2523,783,1622
$GC,7224,1.04,284.0,363.3,6.7,345,7229,0.00,2.65,0.00,0.000,6,0.000,0.055,2523,2206,1621
$GC,7546,1.06,301.5,345.9,5.5,361,7565,0.00,0.00,16.17,0.813,6,0.000,0.000,2523,2206,1551
$GC,7875,1.06,301.5,325.3,6.6,377,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2206,1551
$GC,8184,1.06,301.5,304.0,7.5,392,8189,0.00,2.67,0.00,0.000,4,0.000,0.067,2523,785,1551
$GC,8234,1.06,301.5,300.0,8.0,394,8239,0.00,2.62,0.00,0.000,6,0.000,0.054,2522,2206,1550
$GC,8549,1.06,301.5,274.8,7.9,409,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2206,1550
$GC,8859,1.06,301.5,249.9,8.0,424,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2206,1550
$GC,9168,1.06,301.5,224.5,8.0,439,9172,0.00,2.70,0.00,0.000,4,0.000,0.067,2523,778,1550
$GC,9195,1.10,301.5,222.3,8.4,440,9200,0.00,2.62,0.00,0.000,6,0.000,0.053,2523,2206,1550
$GC,9511,1.10,301.5,199.4,7.5,455,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2206,1550
$GC,9820,1.14,301.5,179.1,6.7,470,9822,0.12,0.00,0.00,0.000,6,0.047,0.000,2560,2206,1550
$GC,10130,1.08,301.5,152.5,9.1,485,10132,0.15,0.00,0.00,0.000,6,0.084,0.000,2530,2206,1550
$GC,10439,1.08,301.5,128.3,7.8,500,10440,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2206,1551
$GC,10750,1.08,301.5,105.3,7.1,515,10754,0.00,2.67,0.00,0.000,4,0.000,0.075,2530,3618,1551
$GC,10777,1.08,301.5,103.1,7.6,516,10781,0.00,2.60,0.00,0.000,6,0.000,0.058,2530,2200,1550
$GC,11093,1.08,301.5,80.9,7.4,531,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2200,1551
$GC,11402,1.08,301.5,59.3,6.5,546,11406,0.00,2.67,0.00,0.000,4,0.000,0.074,2530,3619,1551
$GC,11435,1.08,301.5,56.9,7.5,547,11441,0.00,2.60,0.00,0.000,6,0.000,0.057,2530,2199,1551
$GC,11752,1.08,301.5,35.3,7.6,563,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1551
$GC,12060,1.08,301.5,13.5,6.5,578,12064,0.00,2.67,0.00,0.000,4,0.000,0.074,2530,3613,1552
$GC,12087,1.08,301.5,11.0,9.0,579,12091,0.00,2.58,0.00,0.000,6,0.000,0.054,2530,2199,1552
$STATE,12215,end climb,SURFACE_DEPTH_REACHED
$STATE,12215,begin surface coast
$FINISH,0.7,1.027148
$STATE,12237,end surface coast,CONTROL_FINISHED_OK
$STATE,12237,begin surface
$SM_CCo,12259,122.60,0.624,0,0,509,557.32
$SM_GC,1.03,0.00,0.00,122.60,0.000,0.000,0.624,63,2320,509,-10.29,0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1855
$TCM_TEMP,16.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,18.8,18.0
$ALTIM_BOTTOM_PING,400.0,58.3
$24V_AH,23.7,22.368
$10V_AH,10.2,11.236
$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,25.525,106.950,392.575,122.600,0.000,18.034,26.901,120.751,4.500,0.000,0.000,13.656,1089.200,9245.234,685.407,1258.166,384.815,33.364,1338.677,0.000,1233.195,0.000,26.342
$DEVICE_MAMPS,165.672,79.768,927.303,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.571,397.803,446.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28553,586
$CAP_FILE_SIZE,91941,0
$CFSIZE,260165632,250994688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,010708,181358,6219.284,-901.117,35,2.4,54,-9.5