version: 66.03
glider: 16
mission: 9
dive: 132
start: 7 3 108 12 54 49
data:
$ID,16
$MISSION,9
$DIVE,132
$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,412.5
$T_MISSION,440
$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,-2095681.6
$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
$GPS1,125001,6229.992,-906.312,38,2.0,38,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-59.1
$GPS2,125433,6229.978,-906.419,12,1.9,12,-9.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6229.978,-911.406
$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,279.6,20000,-14.8,-8.000
$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,-1.08,-146.6,0.0,0.0,0,151,0.00,0.00,-120.53,0.000,2,0.000,0.000,73,2307,2992
$GC,155,-1.08,-146.6,4.0,-3.4,6,181,11.12,2.67,-8.88,0.000,4,0.168,0.075,2057,874,3381
$GC,309,-0.98,-146.6,28.9,-13.4,13,314,0.15,2.65,0.00,0.000,6,0.104,0.054,2085,2305,3380
$GC,638,-0.90,-146.6,69.3,-11.9,29,642,0.00,2.67,0.00,0.000,4,0.000,0.062,2085,878,3381
$GC,732,-0.90,-146.6,80.7,-11.3,33,736,0.00,2.62,0.00,0.000,6,0.000,0.054,2085,2300,3381
$GC,1050,-0.82,-146.6,119.2,-13.4,48,1052,0.17,0.00,0.00,0.000,6,0.100,0.000,2118,2300,3382
$GC,1357,-0.82,-146.6,157.0,-12.2,63,1361,0.00,2.67,0.00,0.000,4,0.000,0.064,2118,877,3382
$GC,1407,-0.89,-146.6,163.2,-12.0,65,1411,0.00,2.62,0.00,0.000,6,0.000,0.054,2118,2299,3381
$GC,1722,-0.89,-146.6,198.5,-10.2,80,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2300,3382
$GC,2032,-0.89,-146.6,226.3,-9.1,95,2037,0.00,2.67,0.00,0.000,4,0.000,0.066,2118,879,3382
$GC,2100,-0.96,-146.6,232.8,-9.6,98,2105,0.12,2.62,0.00,0.000,6,0.047,0.057,2079,2299,3382
$GC,2421,-0.87,-146.6,272.9,-12.3,114,2426,0.15,2.67,0.00,0.000,4,0.094,0.067,2111,883,3381
$GC,2462,-0.94,-146.6,277.2,-10.2,116,2467,0.00,2.62,0.00,0.000,6,0.000,0.058,2111,2300,3382
$GC,2788,-0.94,-146.6,305.7,-8.0,132,2793,0.00,2.67,0.00,0.000,4,0.000,0.067,2112,883,3382
$GC,2829,-1.00,-146.6,309.1,-8.6,134,2834,0.15,2.62,0.00,0.000,6,0.044,0.058,2066,2302,3382
$GC,3156,-0.90,-146.6,345.8,-11.4,150,3158,0.17,0.00,0.00,0.000,6,0.091,0.000,2100,2302,3382
$GC,3464,-0.90,-146.6,374.0,-8.4,165,3469,0.00,2.70,0.00,0.000,4,0.000,0.069,2100,874,3382
$GC,3520,-0.95,-146.6,378.6,-8.5,167,3526,0.00,2.65,0.00,0.000,6,0.000,0.059,2100,2300,3382
$GC,3836,-0.95,-146.6,407.3,-10.1,183,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2300,3381
$GC,4145,-0.95,-146.6,438.4,-9.4,198,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2300,3381
$GC,4454,-0.95,-146.6,466.2,-9.6,213,4459,0.00,2.70,0.00,0.000,4,0.000,0.071,2100,885,3381
$GC,4518,-1.00,-146.6,472.3,-9.9,216,4523,0.00,2.67,0.00,0.000,6,0.000,0.063,2099,2305,3381
$GC,4844,-1.00,-146.6,503.6,-9.5,232,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2304,3380
$GC,5154,-1.00,-146.6,531.9,-8.6,247,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2304,3379
$STATE,5378,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5378,begin apogee
$GC,5385,-0.31,0.0,553.2,10.6,258,5520,0.68,0.00,129.75,1.029,6,0.117,0.000,2230,2192,2781
$STATE,5521,end apogee,CONTROL_FINISHED_OK
$STATE,5521,begin climb
$GC,5524,1.08,146.6,559.6,0.0,265,5661,1.45,2.85,128.38,1.012,4,0.086,0.084,2532,3611,2183
$GC,5687,1.16,219.2,556.0,5.4,272,5757,0.00,2.67,63.95,0.992,6,0.000,0.061,2532,2206,1885
$GC,6080,1.24,219.2,527.3,8.2,291,6082,0.17,0.00,0.00,0.000,6,0.049,0.000,2578,2207,1885
$GC,6389,1.18,219.2,497.3,9.3,306,6394,0.00,2.75,0.00,0.000,4,0.000,0.084,2578,3610,1883
$GC,6474,1.09,219.2,488.7,10.3,310,6479,0.22,2.67,0.00,0.000,6,0.098,0.065,2536,2200,1883
$GC,6802,1.17,238.5,463.6,7.3,326,6822,0.00,0.00,17.62,0.932,6,0.000,0.000,2536,2200,1808
$GC,7131,1.27,249.8,438.4,7.6,342,7152,0.15,2.83,11.05,0.877,4,0.053,0.083,2580,3615,1761
$GC,7186,1.19,249.8,432.8,10.7,344,7191,0.00,2.70,0.00,0.000,6,0.000,0.065,2580,2203,1761
$GC,7501,1.19,249.8,399.1,11.5,359,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2203,1761
$GC,7811,1.15,249.8,365.4,10.7,374,7816,0.15,2.75,0.00,0.000,4,0.096,0.084,2547,3612,1760
$GC,7923,1.15,249.8,354.2,9.7,379,7928,0.00,2.67,0.00,0.000,6,0.000,0.068,2547,2200,1760
$GC,8244,1.15,249.8,327.1,8.3,395,8248,0.00,2.70,0.00,0.000,4,0.000,0.074,2546,782,1760
$GC,8287,1.15,249.8,323.1,8.5,397,8292,0.00,2.65,0.00,0.000,6,0.000,0.058,2546,2200,1760
$GC,8609,1.15,249.8,294.4,9.4,413,8613,0.00,2.72,0.00,0.000,4,0.000,0.080,2545,3613,1760
$GC,8658,1.15,249.8,289.2,10.0,415,8663,0.00,2.70,0.00,0.000,6,0.000,0.064,2546,2190,1759
$GC,8974,1.15,249.8,260.2,8.5,430,8978,0.00,2.72,0.00,0.000,4,0.000,0.077,2546,3613,1760
$GC,9023,1.15,249.8,255.3,10.4,432,9028,0.00,2.62,0.00,0.000,6,0.000,0.063,2547,2201,1760
$GC,9339,1.15,249.8,226.7,9.3,447,9343,0.00,2.70,0.00,0.000,4,0.000,0.076,2546,3619,1760
$GC,9401,1.15,249.8,220.7,9.3,450,9405,0.00,2.62,0.00,0.000,6,0.000,0.062,2546,2200,1761
$GC,9728,1.16,261.9,193.1,7.6,466,9745,0.00,0.00,11.65,0.734,6,0.000,0.000,2546,2200,1713
$GC,10055,1.16,261.9,160.8,10.0,482,10059,0.00,2.67,0.00,0.000,4,0.000,0.076,2546,3613,1713
$GC,10110,1.16,261.9,155.6,9.0,484,10116,0.00,2.62,0.00,0.000,6,0.000,0.060,2547,2201,1713
$GC,10427,1.20,261.9,130.2,9.2,500,10431,0.00,2.67,0.00,0.000,4,0.000,0.074,2546,3613,1714
$GC,10493,1.20,261.9,122.9,10.8,503,10497,0.00,2.62,0.00,0.000,6,0.000,0.061,2546,2202,1713
$GC,10815,1.25,261.9,92.5,9.8,519,10820,0.12,2.65,0.00,0.000,4,0.050,0.067,2584,780,1714
$GC,10859,1.19,261.9,86.5,14.1,521,10865,0.12,2.60,0.00,0.000,6,0.097,0.051,2561,2206,1713
$GC,11181,1.19,261.9,53.9,8.6,537,11186,0.00,2.65,0.00,0.000,4,0.000,0.074,2561,3616,1714
$GC,11254,1.19,261.9,46.7,10.4,540,11258,0.00,2.62,0.00,0.000,6,0.000,0.059,2561,2197,1715
$GC,11570,1.19,261.9,17.6,9.3,555,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2196,1715
$STATE,11754,end climb,SURFACE_DEPTH_REACHED
$STATE,11754,begin surface coast
$FINISH,0.6,1.001293
$STATE,11775,end surface coast,CONTROL_FINISHED_OK
$STATE,11775,begin surface
$SM_CCo,11797,145.70,0.632,0,0,508,557.32
$SM_GC,1.20,0.00,0.00,145.70,0.000,0.000,0.632,71,2307,508,-10.25,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1885
$TCM_TEMP,17.60
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.5,18.5
$ALTIM_BOTTOM_PING,475.9,86.6
$24V_AH,23.6,24.195
$10V_AH,10.1,12.063
$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,25.900,107.425,362.400,145.700,0.000,17.983,26.028,121.483,11.500,0.000,0.000,12.335,1076.196,8822.865,653.683,1290.850,376.234,0.000,1327.736,0.000,1262.722,0.000,28.347
$DEVICE_MAMPS,167.973,84.370,1028.547,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.945,383.627,384.507,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28517,565
$CAP_FILE_SIZE,92316,0
$CFSIZE,260165632,250380288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,030708,161508,6227.635,-914.514,36,1.4,36,-9.7