version: 66.03
glider: 16
mission: 9
dive: 135
start: 7 3 108 23 26 4
data:
$ID,16
$MISSION,9
$DIVE,135
$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,-2095800.2
$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,15
$R_STBD_OVSHOOT,22
$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
$GPS1,231725,6227.651,-917.029,28,1.8,45,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-59.5
$GPS2,232550,6227.662,-916.805,33,1.9,50,-9.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6227.662,-921.798
$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,-120.70,0.000,2,0.000,0.000,72,2310,2994
$GC,156,-1.08,-146.6,3.8,-3.1,6,183,11.15,2.67,-9.02,0.000,4,0.169,0.074,2057,878,3381
$GC,376,-1.00,-146.6,37.3,-12.5,16,381,0.12,2.62,0.00,0.000,6,0.109,0.054,2080,2295,3381
$GC,705,-0.92,-146.6,76.5,-12.1,32,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2297,3382
$GC,1012,-0.83,-146.6,113.3,-11.8,47,1017,0.15,2.67,0.00,0.000,4,0.099,0.063,2113,872,3382
$GC,1053,-0.89,-146.6,117.9,-10.9,49,1057,0.00,2.65,0.00,0.000,6,0.000,0.054,2113,2307,3382
$GC,1380,-0.89,-146.6,151.2,-10.5,65,1385,0.00,2.70,0.00,0.000,4,0.000,0.064,2113,872,3382
$GC,1425,-0.94,-146.6,156.1,-10.1,67,1429,0.00,2.62,0.00,0.000,6,0.000,0.055,2113,2299,3382
$GC,1746,-0.94,-146.6,186.3,-9.1,83,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2300,3382
$GC,2054,-0.94,-146.6,213.7,-9.1,98,2059,0.00,2.67,0.00,0.000,4,0.000,0.066,2113,878,3382
$GC,2133,-1.00,-146.6,221.4,-9.1,101,2140,0.15,2.65,0.00,0.000,6,0.044,0.056,2067,2306,3382
$GC,2449,-0.88,-146.6,258.6,-12.0,117,2451,0.20,0.00,0.00,0.000,6,0.091,0.000,2107,2307,3382
$GC,2758,-0.88,-146.6,290.2,-9.4,132,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2307,3382
$GC,3067,-0.88,-146.6,318.7,-9.0,147,3071,0.00,2.70,0.00,0.000,4,0.000,0.067,2106,877,3383
$GC,3112,-0.94,-146.6,322.4,-8.8,149,3116,0.00,2.65,0.00,0.000,6,0.000,0.057,2106,2304,3382
$GC,3433,-0.94,-146.6,350.7,-10.0,165,3437,0.00,2.70,0.00,0.000,4,0.000,0.067,2106,874,3382
$GC,3546,-0.99,-146.6,363.6,-11.9,170,3551,0.00,2.65,0.00,0.000,6,0.000,0.058,2106,2301,3382
$GC,3870,-0.99,-146.6,402.1,-11.8,186,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2302,3382
$GC,4177,-0.99,-146.6,435.8,-10.2,201,4181,0.00,2.70,0.00,0.000,4,0.000,0.081,2106,3710,3382
$GC,4244,-0.99,-146.6,443.2,-10.5,204,4248,0.00,2.60,0.00,0.000,6,0.000,0.058,2106,2296,3381
$GC,4568,-0.99,-146.6,476.9,-10.5,220,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2295,3381
$GC,4874,-0.99,-146.6,508.1,-10.3,235,4878,0.00,2.67,0.00,0.000,4,0.000,0.071,2106,877,3381
$GC,4936,-1.06,-146.6,514.4,-9.6,238,4941,0.17,2.65,0.00,0.000,6,0.047,0.060,2058,2305,3381
$GC,5263,-0.93,-146.6,553.9,-12.1,254,5268,0.15,2.72,0.00,0.000,4,0.100,0.086,2090,3709,3380
$STATE,5305,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5305,begin apogee
$GC,5314,-0.31,0.0,559.6,12.0,256,5451,0.68,0.00,129.90,1.020,6,0.097,0.000,2228,2204,2781
$STATE,5451,end apogee,CONTROL_FINISHED_OK
$STATE,5451,begin climb
$GC,5454,1.08,146.6,567.0,0.0,263,5593,1.45,2.83,127.82,1.007,4,0.074,0.082,2533,3613,2183
$GC,5648,1.13,191.0,561.8,6.4,272,5693,0.00,2.67,39.25,0.976,6,0.000,0.061,2533,2197,2002
$GC,6012,1.22,227.1,536.7,6.7,290,6055,0.15,2.85,32.25,0.973,4,0.053,0.082,2578,3615,1855
$GC,6196,1.15,227.1,521.6,9.7,298,6201,0.15,2.67,0.00,0.000,6,0.103,0.063,2551,2204,1855
$GC,6517,1.20,227.1,497.0,8.5,314,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2203,1854
$GC,6826,1.20,227.1,469.5,9.2,329,6831,0.00,2.75,0.00,0.000,4,0.000,0.083,2551,3610,1853
$GC,6889,1.20,227.1,462.8,11.5,332,6893,0.00,2.65,0.00,0.000,6,0.000,0.063,2550,2198,1853
$GC,7215,1.24,227.1,427.9,11.4,348,7220,0.00,2.75,0.00,0.000,4,0.000,0.081,2551,3610,1852
$GC,7304,1.24,227.1,417.2,12.7,352,7308,0.00,2.65,0.00,0.000,6,0.000,0.064,2551,2201,1852
$GC,7625,1.28,227.1,382.0,10.0,368,7630,0.12,2.75,0.00,0.000,4,0.054,0.081,2586,3613,1850
$GC,7670,1.18,227.1,376.6,12.1,370,7675,0.15,2.67,0.00,0.000,6,0.108,0.064,2559,2194,1850
$GC,7992,1.22,265.5,352.3,6.6,386,8030,0.00,0.00,33.12,0.900,6,0.000,0.000,2559,2194,1698
$GC,8341,1.28,266.5,325.7,8.0,403,8345,0.00,2.75,0.00,0.000,4,0.000,0.077,2559,3613,1696
$GC,8374,1.32,266.5,322.7,8.8,404,8381,0.12,2.65,0.00,0.000,6,0.053,0.064,2594,2199,1697
$GC,8690,1.32,266.5,293.3,9.4,420,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2199,1697
$GC,8999,1.32,266.5,261.7,10.9,435,9003,0.00,2.70,0.00,0.000,4,0.000,0.076,2594,3613,1697
$GC,9071,1.26,266.5,253.0,12.4,438,9076,0.12,2.62,0.00,0.000,6,0.102,0.061,2572,2200,1698
$GC,9387,1.26,266.5,219.7,10.2,453,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2200,1697
$GC,9697,1.26,266.5,189.6,9.5,468,9701,0.00,2.67,0.00,0.000,4,0.000,0.074,2571,3618,1698
$GC,9746,1.26,266.5,184.4,10.7,470,9751,0.00,2.62,0.00,0.000,6,0.000,0.060,2571,2202,1698
$GC,10062,1.26,266.5,154.8,9.0,485,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2201,1698
$GC,10371,1.26,266.5,126.1,9.7,500,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2201,1699
$GC,10681,1.26,266.5,97.3,9.0,515,10685,0.00,2.67,0.00,0.000,4,0.000,0.072,2572,3617,1699
$GC,10767,1.26,266.5,89.1,10.3,519,10772,0.00,2.62,0.00,0.000,6,0.000,0.059,2572,2195,1700
$GC,11095,1.26,266.5,59.9,8.7,535,11100,0.00,2.67,0.00,0.000,4,0.000,0.071,2571,3613,1700
$GC,11136,1.26,266.5,55.8,10.8,537,11140,0.00,2.62,0.00,0.000,6,0.000,0.058,2571,2193,1701
$GC,11462,1.26,266.5,25.1,8.9,553,11467,0.00,2.67,0.00,0.000,4,0.000,0.071,2571,3615,1701
$GC,11520,1.26,266.5,19.6,10.5,555,11526,0.00,2.60,0.00,0.000,6,0.000,0.058,2571,2197,1701
$STATE,11709,end climb,SURFACE_DEPTH_REACHED
$STATE,11709,begin surface coast
$FINISH,0.6,1.013218
$STATE,11731,end surface coast,CONTROL_FINISHED_OK
$STATE,11732,begin surface
$SM_CCo,11753,141.00,0.629,0,0,509,557.32
$SM_GC,1.26,0.00,0.00,141.00,0.000,0.000,0.629,72,2308,509,-10.24,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1871
$TCM_TEMP,16.60
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,501.6,67.7
$24V_AH,23.6,24.624
$10V_AH,10.1,12.248
$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,25.875,107.500,362.350,141.000,0.000,36.054,56.825,202.836,11.250,0.000,0.000,50.152,1080.394,8792.078,655.956,1366.478,507.882,0.000,1339.646,0.000,1297.123,0.000,32.859
$DEVICE_MAMPS,168.740,85.904,1020.110,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.656,384.437,392.875,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28596,566
$CAP_FILE_SIZE,94157,0
$CFSIZE,260165632,250241024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,040708,024558,6225.830,-919.104,40,4.1,59,-9.7