version: 66.03
glider: 16
mission: 9
dive: 134
start: 7 3 108 19 54 4
data:
$ID,16
$MISSION,9
$DIVE,134
$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,-2095749.5
$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,16
$R_STBD_OVSHOOT,21
$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
$GPS1,194855,6227.118,-918.864,24,2.0,42,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-58.5
$GPS2,195350,6227.156,-918.803,17,2.0,34,-9.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6227.156,-923.797
$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,279.7,20000,-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,30,-1.08,-146.6,0.0,0.0,0,152,0.00,0.00,-120.80,0.000,2,0.000,0.000,75,2310,2992
$GC,156,-1.08,-146.6,3.7,-3.0,6,183,11.12,2.65,-9.20,0.000,4,0.170,0.082,2055,3707,3380
$GC,436,-0.91,-146.6,47.2,-13.7,18,443,0.22,2.58,0.00,0.000,6,0.098,0.054,2098,2297,3380
$GC,753,-0.91,-146.6,82.5,-9.6,34,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2297,3380
$GC,1061,-0.91,-146.6,116.0,-11.5,49,1066,0.00,2.62,0.00,0.000,4,0.000,0.066,2098,882,3380
$GC,1101,-0.91,-146.6,120.4,-10.7,51,1106,0.00,2.62,0.00,0.000,6,0.000,0.054,2098,2302,3380
$GC,1428,-0.91,-146.6,156.9,-11.4,67,1432,0.00,2.65,0.00,0.000,4,0.000,0.064,2098,881,3381
$GC,1472,-0.91,-146.6,161.8,-10.8,69,1476,0.00,2.62,0.00,0.000,6,0.000,0.055,2098,2299,3381
$GC,1792,-0.91,-146.6,192.6,-9.1,85,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2300,3381
$GC,2102,-0.91,-146.6,226.5,-11.4,100,2107,0.00,2.67,0.00,0.000,4,0.000,0.066,2098,879,3381
$GC,2175,-0.91,-146.6,234.2,-9.9,103,2180,0.00,2.62,0.00,0.000,6,0.000,0.056,2098,2298,3381
$GC,2491,-0.91,-146.6,263.0,-9.0,118,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2299,3381
$GC,2800,-0.91,-146.6,294.3,-11.2,133,2804,0.00,2.67,0.00,0.000,4,0.000,0.067,2098,878,3381
$GC,2850,-0.91,-146.6,300.3,-11.6,135,2855,0.00,2.65,0.00,0.000,6,0.000,0.057,2098,2307,3381
$GC,3166,-0.91,-146.6,336.1,-10.7,150,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2307,3381
$GC,3475,-0.91,-146.6,369.5,-10.7,165,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2307,3380
$GC,3785,-0.91,-146.6,402.5,-10.9,180,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2307,3381
$GC,4094,-0.91,-146.6,436.9,-10.6,195,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2307,3380
$GC,4403,-0.91,-146.6,465.5,-8.3,210,4407,0.00,2.70,0.00,0.000,4,0.000,0.068,2098,879,3380
$GC,4430,-0.91,-146.6,467.9,-9.3,211,4435,0.00,2.65,0.00,0.000,6,0.000,0.059,2098,2303,3380
$GC,4746,-0.91,-146.6,496.5,-9.1,226,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2303,3380
$GC,5055,-0.91,-146.6,523.2,-8.4,241,5060,0.00,2.70,0.00,0.000,4,0.000,0.070,2098,880,3379
$GC,5106,-0.91,-146.6,527.6,-8.2,243,5110,0.00,2.65,0.00,0.000,6,0.000,0.061,2098,2300,3379
$GC,5421,-0.91,-146.6,554.6,-9.0,258,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2300,3378
$STATE,5542,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5542,begin apogee
$GC,5549,-0.31,0.0,565.3,8.6,264,5686,0.65,0.00,129.52,1.033,6,0.100,0.000,2228,2190,2781
$STATE,5686,end apogee,CONTROL_FINISHED_OK
$STATE,5686,begin climb
$GC,5690,1.08,146.6,571.0,0.0,271,5826,1.45,2.85,127.95,1.012,4,0.083,0.083,2531,3610,2183
$GC,6083,1.08,146.6,550.2,8.6,288,6087,0.00,2.65,0.00,0.000,6,0.000,0.061,2531,2203,2183
$GC,6404,1.12,180.5,528.3,6.8,304,6439,0.00,2.83,30.27,0.974,4,0.000,0.083,2531,3609,2045
$GC,6592,1.12,180.5,512.9,8.2,311,6598,0.00,2.67,0.00,0.000,6,0.000,0.063,2531,2199,2045
$GC,6908,1.14,200.0,489.6,7.3,327,6928,0.00,0.00,18.23,0.937,6,0.000,0.000,2531,2199,1965
$GC,7238,1.25,234.6,465.5,6.7,343,7279,0.15,2.83,31.12,0.963,4,0.053,0.082,2576,3610,1824
$GC,7332,1.18,234.6,456.1,10.7,347,7336,0.00,2.67,0.00,0.000,6,0.000,0.063,2576,2202,1824
$GC,7652,1.18,234.6,423.8,10.3,363,7657,0.00,2.78,0.00,0.000,4,0.000,0.081,2576,3618,1823
$GC,7737,1.11,234.6,414.3,11.3,367,7742,0.17,2.67,0.00,0.000,6,0.100,0.064,2543,2198,1823
$GC,8064,1.19,234.6,384.6,8.5,383,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2199,1822
$GC,8374,1.30,265.6,361.2,6.9,398,8409,0.15,2.80,27.33,0.897,4,0.051,0.079,2587,3606,1697
$GC,8461,1.24,265.6,353.5,9.5,402,8465,0.00,2.67,0.00,0.000,6,0.000,0.064,2586,2195,1698
$GC,8787,1.24,265.6,326.0,8.1,418,8791,0.00,2.72,0.00,0.000,4,0.000,0.077,2587,3616,1698
$GC,8843,1.19,265.6,321.1,9.9,420,8849,0.15,2.65,0.00,0.000,6,0.104,0.064,2559,2201,1697
$GC,9159,1.26,274.7,297.8,7.7,436,9170,0.00,0.00,9.20,0.762,6,0.000,0.000,2559,2201,1661
$GC,9469,1.33,288.5,274.0,7.5,451,9491,0.15,2.75,13.43,0.785,4,0.048,0.075,2607,3607,1604
$GC,9537,1.26,288.5,266.6,11.7,454,9542,0.17,2.65,0.00,0.000,6,0.095,0.061,2574,2200,1604
$GC,9863,1.26,288.5,232.0,10.5,470,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2200,1604
$GC,10173,1.26,288.5,202.5,9.5,485,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2200,1604
$GC,10482,1.26,288.5,172.1,9.9,500,10486,0.00,2.67,0.00,0.000,4,0.000,0.074,2574,3612,1605
$GC,10514,1.26,288.5,168.5,10.9,501,10520,0.00,2.62,0.00,0.000,6,0.000,0.061,2574,2199,1605
$GC,10831,1.26,288.5,132.2,12.3,517,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2198,1605
$GC,11141,1.26,288.5,93.5,12.6,532,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2199,1606
$GC,11449,1.26,288.5,56.3,12.1,547,11450,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2199,1606
$GC,11758,1.26,288.5,21.3,11.1,562,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2199,1606
$STATE,11941,end climb,SURFACE_DEPTH_REACHED
$STATE,11941,begin surface coast
$FINISH,0.6,1.002239
$STATE,11963,end surface coast,CONTROL_FINISHED_OK
$STATE,11963,begin surface
$SM_CCo,11985,130.48,0.628,0,0,509,557.32
$SM_GC,1.32,0.00,0.00,130.48,0.000,0.000,0.628,70,2309,509,-10.25,0.25,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1865
$TCM_TEMP,16.40
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.0,18.0
$ALTIM_BOTTOM_PING,476.0,98.6
$24V_AH,23.6,24.479
$10V_AH,10.1,12.185
$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,25.250,80.975,387.050,130.475,0.000,17.945,27.714,119.862,10.500,0.000,0.000,34.028,1068.062,9006.747,647.957,1322.419,368.255,0.000,1317.908,0.000,1275.123,0.000,28.373
$DEVICE_MAMPS,169.507,82.836,1033.149,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.981,388.202,372.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28538,572
$CAP_FILE_SIZE,86437,0
$CFSIZE,260165632,250290176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,030708,231725,6227.651,-917.029,28,1.8,45,-9.7