version: 66.03
glider: 16
mission: 9
dive: 127
start: 7 2 108 19 46 55
data:
$ID,16
$MISSION,9
$DIVE,127
$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,270
$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,-2095614.4
$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,18
$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,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
$GPS1,193738,6222.837,-853.354,28,2.0,28,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-54.6
$GPS2,194637,6223.088,-853.199,18,1.8,28,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6223.088,-858.205
$TGT_RADIUS,1852.000
$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,279.5,20000,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-0.85,-146.6,0.0,0.0,0,154,0.00,0.00,-121.15,0.000,2,0.000,0.000,66,2312,2919
$GC,158,-0.85,-146.6,3.2,-2.5,6,188,11.38,2.70,-11.77,0.000,4,0.166,0.075,2108,890,3381
$GC,340,-0.70,-146.6,26.8,-11.1,14,345,0.20,2.60,0.00,0.000,6,0.095,0.055,2147,2305,3381
$GC,662,-0.63,-146.6,55.9,-9.5,30,667,0.00,2.67,0.00,0.000,4,0.000,0.061,2148,874,3381
$GC,718,-0.63,-146.6,61.5,-9.8,32,724,0.00,2.62,0.00,0.000,6,0.000,0.054,2147,2300,3381
$GC,1034,-0.58,-146.6,94.5,-10.6,48,1036,0.12,0.00,0.00,0.000,6,0.094,0.000,2171,2300,3381
$GC,1345,-0.58,-146.6,123.6,-9.2,63,1349,0.00,2.65,0.00,0.000,4,0.000,0.062,2171,881,3381
$GC,1400,-0.63,-146.6,128.8,-8.7,65,1407,0.00,2.62,0.00,0.000,6,0.000,0.055,2172,2305,3382
$GC,1717,-0.63,-146.6,150.6,-6.3,81,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2305,3382
$GC,2025,-0.63,-146.6,171.9,-6.8,96,2030,0.00,2.67,0.00,0.000,4,0.000,0.064,2172,878,3382
$GC,2066,-0.69,-146.6,174.7,-6.5,98,2074,0.08,2.62,0.00,0.000,6,0.036,0.057,2135,2307,3381
$GC,2402,-0.62,-146.6,198.5,-6.5,114,2403,0.15,0.00,0.00,0.000,6,0.083,0.000,2165,2307,3382
$GC,2710,-0.62,-146.6,215.4,-5.7,129,2715,0.00,2.67,0.00,0.000,4,0.000,0.064,2165,877,3382
$GC,2761,-0.66,-146.6,218.7,-6.5,131,2765,0.00,2.62,0.00,0.000,6,0.000,0.057,2165,2299,3381
$GC,3077,-0.66,-146.6,239.6,-6.8,146,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2299,3381
$GC,3386,-0.66,-146.6,262.2,-7.6,161,3391,0.00,2.67,0.00,0.000,4,0.000,0.065,2165,874,3381
$GC,3449,-0.71,-146.6,267.3,-8.0,164,3453,0.00,2.65,0.00,0.000,6,0.000,0.058,2165,2303,3381
$GC,3775,-0.71,-146.6,296.8,-9.7,180,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2303,3381
$GC,4085,-0.71,-146.6,325.7,-9.0,195,4090,0.00,2.67,0.00,0.000,4,0.000,0.066,2165,880,3381
$GC,4148,-0.75,-146.6,331.1,-8.2,198,4153,0.15,2.62,0.00,0.000,6,0.043,0.058,2118,2299,3381
$GC,4475,-0.63,-146.6,362.5,-9.7,214,4480,0.17,2.65,0.00,0.000,4,0.085,0.067,2158,883,3381
$GC,4520,-0.69,-146.6,366.8,-8.7,216,4524,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2299,3381
$GC,4840,-0.69,-146.6,394.7,-8.2,232,4845,0.00,2.65,0.00,0.000,4,0.000,0.068,2158,883,3381
$GC,4862,-0.69,-146.6,395.9,-5.3,233,4867,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2304,3381
$GC,5183,-0.69,-146.6,418.3,-8.9,249,5188,0.00,2.67,0.00,0.000,4,0.000,0.067,2158,876,3381
$GC,5217,-0.69,-146.6,421.4,-7.9,250,5223,0.00,2.62,0.00,0.000,6,0.000,0.061,2158,2299,3381
$GC,5533,-0.69,-146.6,444.8,-6.1,266,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2299,3379
$STATE,5571,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5571,begin apogee
$GC,5578,-0.31,0.0,447.8,6.6,268,5713,0.35,0.00,127.68,0.934,6,0.084,0.000,2230,2197,2781
$STATE,5713,end apogee,CONTROL_FINISHED_OK
$STATE,5713,begin climb
$GC,5717,0.85,146.6,453.7,0.0,275,5854,1.20,2.80,126.53,0.917,4,0.076,0.077,2482,3609,2183
$GC,5968,0.85,146.6,446.3,7.4,287,5972,0.00,2.65,0.00,0.000,6,0.000,0.059,2482,2200,2183
$GC,6294,0.95,242.1,430.7,3.4,303,6383,0.12,2.78,81.95,0.900,4,0.050,0.079,2520,3610,1794
$GC,6440,0.95,242.1,419.8,8.4,310,6444,0.00,2.65,0.00,0.000,6,0.000,0.060,2520,2198,1794
$GC,6767,0.99,276.6,399.6,5.1,326,6803,0.00,2.75,30.67,0.867,4,0.000,0.069,2520,777,1652
$GC,6898,0.99,276.6,391.6,6.6,331,6903,0.00,2.65,0.00,0.000,6,0.000,0.056,2520,2198,1651
$GC,7219,0.99,276.6,367.2,8.0,347,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2198,1651
$GC,7528,0.99,276.6,341.8,8.6,362,7533,0.00,2.72,0.00,0.000,4,0.000,0.080,2520,3616,1651
$GC,7568,0.99,276.6,338.3,9.3,364,7573,0.00,2.65,0.00,0.000,6,0.000,0.064,2520,2201,1651
$GC,7894,0.99,276.6,312.6,7.7,380,7899,0.00,2.62,0.00,0.000,4,0.000,0.068,2520,783,1650
$GC,7945,0.99,276.6,308.2,8.9,382,7949,0.00,2.60,0.00,0.000,6,0.000,0.054,2520,2202,1650
$GC,8260,0.99,276.6,281.6,8.6,397,8264,0.00,2.67,0.00,0.000,4,0.000,0.078,2520,3611,1650
$GC,8304,0.99,276.6,277.5,9.2,399,8308,0.00,2.62,0.00,0.000,6,0.000,0.061,2520,2197,1650
$GC,8625,0.99,276.6,253.7,7.0,415,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2197,1650
$GC,8934,0.99,276.6,232.7,7.1,430,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2197,1650
$GC,9243,0.99,276.6,211.3,6.9,445,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2196,1650
$GC,9552,0.99,276.6,190.0,7.1,460,9557,0.00,2.67,0.00,0.000,4,0.000,0.075,2520,3610,1650
$GC,9597,0.99,276.6,186.6,8.3,462,9601,0.00,2.60,0.00,0.000,6,0.000,0.058,2520,2199,1650
$GC,9917,0.99,276.6,164.1,7.0,478,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2198,1650
$GC,10228,0.99,276.6,141.9,7.2,493,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2199,1650
$GC,10536,0.99,276.6,118.0,7.8,508,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2199,1650
$GC,10845,0.99,276.6,95.3,7.2,523,10850,0.00,2.67,0.00,0.000,4,0.000,0.074,2520,3613,1650
$GC,10878,0.99,276.6,92.7,7.7,524,10885,0.00,2.60,0.00,0.000,6,0.000,0.058,2520,2194,1650
$GC,11196,0.99,276.6,71.2,7.0,540,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2194,1650
$GC,11504,1.03,276.6,52.7,6.1,555,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2194,1650
$GC,11813,1.03,276.6,33.4,6.6,570,11818,0.00,2.67,0.00,0.000,4,0.000,0.072,2520,3616,1651
$GC,11879,1.03,276.6,28.4,6.9,573,11884,0.00,2.60,0.00,0.000,6,0.000,0.058,2520,2203,1651
$GC,12201,1.03,276.6,5.5,7.5,589,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2203,1651
$STATE,12260,end climb,SURFACE_DEPTH_REACHED
$STATE,12260,begin surface coast
$FINISH,0.5,1.022829
$STATE,12283,end surface coast,CONTROL_FINISHED_OK
$STATE,12284,begin surface
$SM_CCo,12306,134.88,0.621,0,0,509,557.32
$SM_GC,1.10,0.00,0.00,134.88,0.000,0.000,0.621,73,2307,509,-10.24,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1852
$TCM_TEMP,17.90
$XPDR_PINGS,6
$ALTIM_TOP_PING,18.7,17.0
$ALTIM_BOTTOM_PING,400.7,55.4
$24V_AH,23.7,23.480
$10V_AH,10.2,11.762
$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,24.500,101.300,366.825,134.875,0.000,36.061,51.443,261.824,4.750,0.000,0.000,28.217,1105.470,9318.555,667.391,1323.913,572.564,0.000,1336.314,0.000,1288.391,0.000,23.412
$DEVICE_MAMPS,165.672,79.768,934.206,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.744,403.195,460.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28634,593
$CAP_FILE_SIZE,92887,0
$CFSIZE,260165632,250597376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,020708,231531,6225.424,-851.955,36,1.5,36,-9.5