version: 66.03
glider: 16
mission: 9
dive: 137
start: 7 4 108 6 17 25
data:
$ID,16
$MISSION,9
$DIVE,137
$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,-2095847
$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
$GPS1,061231,6224.620,-924.377,38,1.3,43,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-59.6
$GPS2,061709,6224.621,-924.420,15,1.4,15,-9.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6224.621,-929.421
$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,279.8,20000,-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,-146.6,0.0,0.0,0,133,0.00,0.00,-101.70,0.000,2,0.000,0.000,71,2314,2578
$GC,136,-1.08,-146.6,3.0,-1.9,5,182,11.05,2.67,-28.58,0.000,4,0.166,0.081,2054,3707,3381
$GC,407,-0.91,-146.6,37.5,-14.1,17,412,0.22,2.60,0.00,0.000,6,0.094,0.053,2098,2290,3380
$GC,728,-0.91,-146.6,71.4,-10.2,33,732,0.00,2.62,0.00,0.000,4,0.000,0.065,2098,877,3381
$GC,768,-0.91,-146.6,75.2,-9.6,35,773,0.00,2.62,0.00,0.000,6,0.000,0.053,2098,2302,3381
$GC,1095,-0.87,-146.6,108.5,-10.1,51,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2303,3382
$GC,1404,-0.87,-146.6,137.9,-9.4,66,1408,0.00,2.67,0.00,0.000,4,0.000,0.066,2098,881,3382
$GC,1476,-0.87,-146.6,144.9,-9.7,69,1480,0.00,2.62,0.00,0.000,6,0.000,0.054,2098,2304,3382
$GC,1792,-0.87,-146.6,175.5,-9.7,84,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2303,3382
$GC,2101,-0.87,-146.6,206.6,-10.0,99,2105,0.00,2.65,0.00,0.000,4,0.000,0.066,2098,881,3382
$GC,2173,-0.87,-146.6,214.1,-9.9,102,2178,0.00,2.62,0.00,0.000,6,0.000,0.055,2098,2304,3382
$GC,2488,-0.87,-146.6,247.9,-11.0,117,2493,0.00,2.67,0.00,0.000,4,0.000,0.067,2098,881,3382
$GC,2528,-0.87,-146.6,252.4,-12.0,119,2533,0.00,2.62,0.00,0.000,6,0.000,0.056,2098,2304,3382
$GC,2855,-0.87,-146.6,287.6,-10.3,135,2860,0.00,2.67,0.00,0.000,4,0.000,0.067,2098,881,3382
$GC,2900,-0.87,-146.6,292.5,-10.2,137,2904,0.00,2.62,0.00,0.000,6,0.000,0.055,2098,2304,3382
$GC,3220,-0.87,-146.6,324.7,-9.9,153,3225,0.00,2.67,0.00,0.000,4,0.000,0.067,2098,878,3382
$GC,3265,-0.87,-146.6,329.0,-9.9,155,3270,0.00,2.62,0.00,0.000,6,0.000,0.057,2098,2305,3382
$GC,3592,-0.87,-146.6,360.2,-9.1,171,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2305,3382
$GC,3902,-0.87,-146.6,388.2,-9.5,186,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2305,3382
$GC,4211,-0.87,-146.6,420.1,-11.0,201,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2305,3382
$GC,4520,-0.87,-146.6,457.3,-12.4,216,4525,0.00,2.67,0.00,0.000,4,0.000,0.069,2098,883,3382
$GC,4593,-0.87,-146.6,466.4,-12.4,219,4597,0.00,2.62,0.00,0.000,6,0.000,0.059,2098,2303,3381
$GC,4909,-0.87,-146.6,498.6,-9.0,234,4913,0.00,2.67,0.00,0.000,4,0.000,0.069,2098,884,3381
$GC,4949,-0.92,-146.6,501.9,-8.1,236,4953,0.00,2.65,0.00,0.000,6,0.000,0.059,2098,2305,3381
$GC,5276,-0.92,-146.6,528.2,-7.7,252,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2305,3381
$GC,5584,-0.92,-146.6,555.5,-8.7,267,5589,0.00,2.70,0.00,0.000,4,0.000,0.072,2098,885,3380
$GC,5669,-0.92,-146.6,563.0,-9.1,271,5674,0.00,2.65,0.00,0.000,6,0.000,0.062,2098,2306,3380
$GC,5996,-1.30,-146.6,586.6,-0.5,287,6002,0.35,2.72,0.00,0.000,4,0.055,0.077,2015,887,3379
$STATE,6112,end dive,NO_VERTICAL_VELOCITY
$STATE,6112,begin apogee
$GC,6121,-0.31,0.0,586.6,0.0,292,6254,1.00,0.00,129.57,1.051,6,0.077,0.000,2226,2200,2781
$STATE,6255,end apogee,CONTROL_FINISHED_OK
$STATE,6255,begin climb
$GC,6258,1.08,146.6,586.6,0.0,299,6394,1.45,2.75,127.93,1.030,4,0.077,0.070,2534,785,2183
$GC,6652,1.12,176.7,572.3,6.9,317,6687,0.00,2.67,27.55,0.987,6,0.000,0.059,2533,2206,2059
$GC,7004,1.16,217.2,549.5,6.5,334,7046,0.00,2.80,36.00,1.005,4,0.000,0.073,2534,785,1895
$GC,7110,1.24,231.2,542.2,7.5,338,7130,0.17,2.67,13.65,0.933,6,0.053,0.061,2579,2200,1837
$GC,7449,1.19,231.2,511.2,9.5,355,7453,0.00,2.78,0.00,0.000,4,0.000,0.086,2579,3616,1837
$GC,7516,1.12,231.2,504.0,11.0,358,7521,0.17,2.65,0.00,0.000,6,0.100,0.067,2546,2203,1837
$GC,7837,1.12,231.2,474.3,10.2,374,7841,0.00,2.75,0.00,0.000,4,0.000,0.084,2546,3618,1836
$GC,7881,1.12,231.2,469.2,11.3,376,7885,0.00,2.67,0.00,0.000,6,0.000,0.065,2546,2192,1836
$GC,8201,1.12,231.2,435.5,10.4,392,8206,0.00,2.67,0.00,0.000,4,0.000,0.074,2545,779,1835
$GC,8235,1.12,231.2,431.9,10.7,393,8241,0.00,2.65,0.00,0.000,6,0.000,0.057,2546,2202,1834
$GC,8550,1.12,231.2,401.2,8.9,409,8555,0.00,2.70,0.00,0.000,4,0.000,0.081,2546,3612,1834
$GC,8617,1.12,231.2,394.8,9.7,412,8621,0.00,2.67,0.00,0.000,6,0.000,0.066,2546,2199,1834
$GC,8937,1.12,231.2,366.2,8.9,428,8942,0.00,2.72,0.00,0.000,4,0.000,0.079,2546,3611,1834
$GC,9004,1.12,231.2,359.9,9.4,431,9008,0.00,2.65,0.00,0.000,6,0.000,0.063,2546,2200,1835
$GC,9325,1.12,231.2,331.0,9.2,447,9329,0.00,2.72,0.00,0.000,4,0.000,0.078,2546,3612,1834
$GC,9380,1.12,231.2,325.3,10.1,449,9386,0.00,2.65,0.00,0.000,6,0.000,0.065,2546,2199,1834
$GC,9695,1.12,231.2,295.4,9.6,465,9700,0.00,2.70,0.00,0.000,4,0.000,0.077,2546,3619,1834
$GC,9745,1.12,231.2,290.4,10.1,467,9750,0.00,2.65,0.00,0.000,6,0.000,0.064,2546,2200,1834
$GC,10061,1.12,231.2,264.2,8.1,482,10065,0.00,2.70,0.00,0.000,4,0.000,0.076,2546,3616,1834
$GC,10104,1.12,231.2,260.2,9.0,484,10109,0.00,2.65,0.00,0.000,6,0.000,0.063,2546,2192,1835
$GC,10425,1.12,231.2,234.5,8.2,500,10430,0.00,2.70,0.00,0.000,4,0.000,0.075,2546,3613,1835
$GC,10470,1.12,231.2,230.5,9.2,502,10474,0.00,2.62,0.00,0.000,6,0.000,0.062,2546,2201,1835
$GC,10790,1.12,231.2,204.0,8.3,518,10795,0.00,2.67,0.00,0.000,4,0.000,0.074,2546,3615,1835
$GC,10830,1.12,231.2,200.5,9.8,520,10835,0.00,2.62,0.00,0.000,6,0.000,0.061,2546,2198,1836
$GC,11158,1.12,231.6,174.1,8.0,536,11162,0.00,2.67,0.00,0.000,4,0.000,0.073,2546,3613,1836
$GC,11202,1.12,231.6,170.4,8.1,538,11206,0.00,2.62,0.00,0.000,6,0.000,0.061,2546,2199,1836
$GC,11523,1.13,237.8,146.3,7.8,554,11532,0.00,0.00,7.18,0.632,6,0.000,0.000,2546,2199,1811
$GC,11833,1.13,237.8,120.2,9.0,569,11838,0.00,2.67,0.00,0.000,4,0.000,0.073,2546,3613,1811
$GC,11911,1.13,237.8,111.9,9.7,572,11918,0.00,2.60,0.00,0.000,6,0.000,0.059,2546,2201,1811
$GC,12229,1.13,237.8,80.2,10.1,588,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2201,1811
$GC,12537,1.13,237.8,53.4,8.4,603,12541,0.00,2.67,0.00,0.000,4,0.000,0.072,2546,3620,1811
$GC,12586,1.13,237.8,48.5,9.4,605,12590,0.00,2.62,0.00,0.000,6,0.000,0.061,2546,2201,1812
$GC,12904,1.13,238.0,22.5,8.0,620,12908,0.00,2.67,0.00,0.000,4,0.000,0.071,2546,3620,1812
$GC,12966,1.13,238.0,16.1,10.2,623,12971,0.00,2.62,0.00,0.000,6,0.000,0.059,2546,2195,1813
$STATE,13125,end climb,SURFACE_DEPTH_REACHED
$STATE,13125,begin surface coast
$FINISH,0.7,1.020774
$STATE,13147,end surface coast,CONTROL_FINISHED_OK
$STATE,13147,begin surface
$SM_CCo,13169,154.77,0.628,0,0,509,557.32
$SM_GC,1.17,0.00,0.00,154.77,0.000,0.000,0.628,74,2305,509,-10.24,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1860
$TCM_TEMP,17.60
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.6,18.8
$24V_AH,23.6,24.902
$10V_AH,10.1,12.374
$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,25.200,144.100,341.875,154.775,0.000,28.424,25.951,115.360,13.500,0.000,0.000,15.545,1225.122,9760.335,654.072,1563.972,404.902,0.000,1457.631,0.000,1516.248,0.000,43.240
$DEVICE_MAMPS,165.672,85.904,1050.790,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.501,429.783,427.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31743,632
$CAP_FILE_SIZE,105008,0
$CFSIZE,260165632,250134528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,040708,100038,6226.225,-925.009,29,1.1,29,-9.8