version: 66.03
glider: 16
mission: 9
dive: 128
start: 7 2 108 23 20 28
data:
$ID,16
$MISSION,9
$DIVE,128
$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,-2095629.4
$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,15
$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
$GPS1,231531,6225.424,-851.955,36,1.5,36,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-54.4
$GPS2,232009,6225.442,-851.915,14,1.6,14,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6225.442,-856.915
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.85,-146.6,0.0,0.0,0,152,0.00,0.00,-121.15,0.000,2,0.000,0.000,72,2309,2977
$GC,156,-0.85,-146.6,4.0,-3.6,6,183,11.32,2.65,-9.18,0.000,4,0.166,0.082,2108,3705,3380
$GC,436,-0.66,-146.6,43.9,-12.4,18,443,0.25,2.58,0.00,0.000,6,0.092,0.052,2157,2291,3380
$GC,753,-0.61,-146.6,74.8,-9.1,34,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2291,3380
$GC,1061,-0.61,-146.6,99.7,-8.4,49,1066,0.00,2.60,0.00,0.000,4,0.000,0.064,2157,883,3381
$GC,1124,-0.61,-146.6,105.3,-8.6,52,1129,0.00,2.62,0.00,0.000,6,0.000,0.054,2157,2303,3380
$GC,1452,-0.61,-146.6,138.7,-10.4,68,1457,0.00,2.65,0.00,0.000,4,0.000,0.063,2157,883,3381
$GC,1502,-0.61,-146.6,144.4,-10.8,70,1506,0.00,2.62,0.00,0.000,6,0.000,0.054,2157,2305,3381
$GC,1817,-0.61,-146.6,177.3,-10.6,85,1822,0.00,2.67,0.00,0.000,4,0.000,0.064,2157,878,3381
$GC,1850,-0.61,-146.6,181.0,-10.8,86,1856,0.00,2.62,0.00,0.000,6,0.000,0.055,2157,2302,3381
$GC,2166,-0.61,-146.6,210.2,-8.5,102,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3381
$GC,2475,-0.61,-146.6,234.7,-7.7,117,2480,0.00,2.67,0.00,0.000,4,0.000,0.065,2157,877,3381
$GC,2548,-0.61,-146.6,240.6,-8.1,120,2552,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2300,3381
$GC,2864,-0.61,-146.6,263.1,-6.5,135,2868,0.00,2.65,0.00,0.000,4,0.000,0.065,2157,883,3381
$GC,2903,-0.61,-146.6,265.7,-6.6,137,2907,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2300,3381
$GC,3229,-0.61,-146.6,282.3,-4.8,153,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2300,3381
$GC,3539,-0.61,-146.6,293.3,-2.8,168,3543,0.00,2.67,0.00,0.000,4,0.000,0.067,2157,879,3381
$GC,3602,-0.61,-146.6,295.4,-3.7,171,3606,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2301,3381
$GC,3928,-0.61,-146.6,309.1,-5.7,187,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3381
$GC,4237,-0.61,-146.6,330.4,-6.7,202,4242,0.00,2.67,0.00,0.000,4,0.000,0.067,2157,877,3381
$GC,4282,-0.66,-146.6,333.1,-6.1,204,4286,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2300,3381
$GC,4602,-0.66,-146.6,352.8,-6.1,220,4607,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,884,3380
$GC,4659,-0.70,-146.6,356.1,-6.0,222,4665,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2302,3380
$GC,4975,-0.70,-146.6,373.5,-4.6,238,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3380
$GC,5284,-0.70,-146.6,390.0,-4.7,253,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3380
$GC,5593,-0.70,-146.6,410.8,-7.7,268,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3380
$GC,5902,-0.70,-146.6,434.3,-7.1,283,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3379
$GC,6212,-0.70,-146.6,457.3,-7.3,298,6216,0.00,2.67,0.00,0.000,4,0.000,0.071,2157,886,3379
$STATE,6249,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6249,begin apogee
$GC,6258,-0.31,0.0,460.3,7.6,300,6391,0.35,0.00,127.65,0.943,6,0.091,0.000,2228,2201,2781
$STATE,6392,end apogee,CONTROL_FINISHED_OK
$STATE,6392,begin climb
$GC,6395,0.85,146.6,466.1,0.0,307,6531,1.17,2.80,126.38,0.930,4,0.077,0.077,2478,3607,2183
$GC,6583,0.92,218.5,461.6,4.0,316,6653,0.10,2.65,62.28,0.910,6,0.058,0.059,2509,2195,1890
$GC,6975,0.92,218.5,436.4,6.8,335,6979,0.00,2.67,0.00,0.000,4,0.000,0.070,2509,779,1889
$GC,7018,0.92,218.5,433.6,6.2,337,7023,0.00,2.65,0.00,0.000,6,0.000,0.055,2509,2204,1888
$GC,7340,0.95,241.7,414.3,5.4,353,7366,0.00,2.75,21.02,0.864,4,0.000,0.077,2509,3612,1795
$GC,7418,0.95,241.7,409.2,7.2,356,7424,0.00,2.65,0.00,0.000,6,0.000,0.061,2509,2199,1795
$GC,7734,0.95,241.7,390.4,6.8,372,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2199,1795
$GC,8043,0.95,241.7,366.4,7.3,387,8047,0.00,2.72,0.00,0.000,4,0.000,0.079,2509,3619,1794
$GC,8087,0.95,241.7,363.4,7.5,389,8092,0.00,2.65,0.00,0.000,6,0.000,0.063,2509,2203,1794
$GC,8408,0.97,263.4,344.9,5.4,405,8433,0.00,2.75,19.58,0.840,4,0.000,0.071,2509,775,1706
$GC,8456,0.99,280.6,342.1,5.5,407,8477,0.00,2.67,16.00,0.811,6,0.000,0.055,2509,2206,1637
$GC,8802,1.05,291.4,322.2,5.7,424,8818,0.00,0.00,10.50,0.772,6,0.000,0.000,2509,2206,1593
$GC,9128,1.11,291.4,301.3,6.4,440,9130,0.15,0.00,0.00,0.000,6,0.062,0.000,2544,2206,1592
$GC,9437,1.11,291.4,275.8,8.5,455,9442,0.00,2.67,0.00,0.000,4,0.000,0.077,2544,3616,1592
$GC,9487,1.11,291.4,271.1,8.5,457,9492,0.00,2.65,0.00,0.000,6,0.000,0.062,2544,2193,1592
$GC,9803,1.11,291.4,246.0,7.7,472,9804,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2192,1592
$GC,10112,1.11,291.4,224.1,7.1,487,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2192,1592
$GC,10421,1.11,291.4,202.2,6.9,502,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2193,1592
$GC,10731,1.11,291.4,178.6,8.1,517,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2193,1592
$GC,11040,1.11,291.4,151.0,9.4,532,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2193,1592
$GC,11350,1.11,291.4,121.4,9.5,547,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2193,1592
$GC,11660,1.11,291.4,94.7,8.0,562,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2193,1592
$GC,11968,1.11,291.4,69.8,7.9,577,11973,0.00,2.70,0.00,0.000,4,0.000,0.074,2545,3619,1592
$GC,11995,1.11,291.4,67.6,7.6,578,12000,0.00,2.62,0.00,0.000,6,0.000,0.058,2544,2196,1593
$GC,12311,1.11,291.4,44.6,7.5,593,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2196,1593
$GC,12620,1.11,291.4,23.9,6.2,608,12625,0.00,2.62,0.00,0.000,4,0.000,0.065,2545,775,1593
$GC,12661,1.11,291.4,21.0,7.2,610,12666,0.00,2.62,0.00,0.000,6,0.000,0.051,2544,2209,1593
$STATE,12923,end climb,SURFACE_DEPTH_REACHED
$STATE,12923,begin surface coast
$FINISH,0.5,1.013734
$STATE,12945,end surface coast,CONTROL_FINISHED_OK
$STATE,12947,begin surface
$SM_CCo,12969,127.45,0.620,0,0,509,557.32
$SM_GC,1.04,0.00,0.00,127.45,0.000,0.000,0.620,71,2306,509,-10.25,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1872
$TCM_TEMP,16.70
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.8,19.7
$ALTIM_BOTTOM_PING,425.1,45.1
$24V_AH,23.7,23.612
$10V_AH,10.2,11.825
$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,23.975,95.675,383.400,127.450,0.000,18.249,29.617,120.986,6.000,0.000,0.000,14.357,1145.040,9847.124,648.730,1354.260,387.359,0.000,1343.874,0.000,1325.856,0.000,27.889
$DEVICE_MAMPS,165.672,82.069,942.643,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.907,423.895,441.138,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31766,624
$CAP_FILE_SIZE,90956,0
$CFSIZE,260165632,250548224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030708,030025,6224.887,-857.040,44,1.1,61,-9.5