version: 66.03
glider: 16
mission: 9
dive: 138
start: 7 4 108 10 11 46
data:
$ID,16
$MISSION,9
$DIVE,138
$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,-2095880.2
$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,17
$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
$GPS1,100038,6226.225,-925.009,29,1.1,29,-9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-56.6
$GPS2,101132,6226.352,-924.900,15,1.7,32,-9.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6226.352,-929.896
$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,30,-1.08,-146.6,0.0,0.0,0,152,0.00,0.00,-120.85,0.000,2,0.000,0.000,73,2306,3028
$GC,156,-1.08,-146.6,4.3,-3.6,6,181,11.07,2.70,-7.80,0.000,4,0.167,0.081,2054,3708,3380
$GC,434,-0.93,-146.6,49.0,-15.0,18,440,0.20,2.58,0.00,0.000,6,0.098,0.054,2092,2298,3380
$GC,751,-0.89,-146.6,87.2,-11.8,33,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2298,3380
$GC,1060,-0.89,-146.6,124.6,-12.2,48,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2298,3381
$GC,1369,-0.85,-146.6,160.2,-10.9,63,1374,0.12,2.62,0.00,0.000,4,0.104,0.066,2116,883,3381
$GC,1409,-0.93,-146.6,164.0,-9.1,65,1414,0.00,2.60,0.00,0.000,6,0.000,0.054,2116,2298,3381
$GC,1736,-0.93,-146.6,194.4,-9.2,81,1740,0.00,2.65,0.00,0.000,4,0.000,0.065,2116,884,3382
$GC,1780,-1.00,-146.6,198.5,-8.7,83,1785,0.15,2.62,0.00,0.000,6,0.044,0.054,2070,2307,3381
$GC,2102,-0.89,-146.6,233.3,-10.8,99,2104,0.17,0.00,0.00,0.000,6,0.091,0.000,2104,2307,3381
$GC,2411,-0.89,-146.6,260.3,-8.6,114,2415,0.00,2.67,0.00,0.000,4,0.000,0.067,2104,883,3381
$GC,2468,-0.94,-146.6,265.3,-9.1,116,2474,0.00,2.62,0.00,0.000,6,0.000,0.055,2104,2304,3381
$GC,2783,-0.94,-146.6,294.8,-9.2,132,2788,0.00,2.67,0.00,0.000,4,0.000,0.068,2104,884,3381
$GC,2816,-0.94,-146.6,297.9,-9.7,133,2822,0.00,2.62,0.00,0.000,6,0.000,0.055,2104,2307,3381
$GC,3132,-0.94,-146.6,328.1,-10.3,149,3136,0.00,2.67,0.00,0.000,4,0.000,0.068,2104,884,3381
$GC,3164,-0.94,-146.6,331.8,-10.9,150,3170,0.00,2.60,0.00,0.000,6,0.000,0.057,2104,2299,3381
$GC,3480,-0.94,-146.6,368.3,-12.0,166,3485,0.00,2.67,0.00,0.000,4,0.000,0.069,2104,876,3381
$GC,3527,-0.98,-146.6,373.8,-12.0,168,3531,0.00,2.62,0.00,0.000,6,0.000,0.056,2104,2300,3381
$GC,3847,-0.98,-146.6,411.3,-11.7,184,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2299,3381
$GC,4157,-0.98,-146.6,445.7,-10.8,199,4161,0.00,2.67,0.00,0.000,4,0.000,0.069,2104,883,3381
$GC,4202,-1.04,-146.6,450.4,-10.1,201,4207,0.15,2.62,0.00,0.000,6,0.046,0.057,2059,2302,3381
$GC,4523,-0.91,-146.6,485.1,-9.6,217,4528,0.17,2.67,0.00,0.000,4,0.094,0.070,2099,886,3380
$GC,4586,-0.91,-146.6,489.8,-7.3,220,4590,0.00,2.62,0.00,0.000,6,0.000,0.058,2097,2300,3380
$GC,4912,-0.91,-146.6,515.1,-9.1,236,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2300,3379
$GC,5222,-0.91,-146.6,546.9,-9.9,251,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2301,3378
$STATE,5529,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5529,begin apogee
$GC,5536,-0.31,0.0,577.0,10.0,266,5671,0.65,0.00,129.48,1.035,6,0.098,0.000,2228,2197,2781
$STATE,5672,end apogee,CONTROL_FINISHED_OK
$STATE,5672,begin climb
$GC,5675,1.08,146.6,581.8,0.0,273,5811,1.40,2.78,128.15,1.016,4,0.066,0.071,2531,785,2183
$GC,5953,1.08,146.6,570.0,8.9,286,5957,0.00,2.65,0.00,0.000,6,0.000,0.058,2531,2198,2183
$GC,6279,1.08,146.6,544.6,8.1,302,6284,0.00,2.78,0.00,0.000,4,0.000,0.083,2531,3618,2181
$GC,6525,1.08,146.6,524.8,8.1,313,6530,0.00,2.65,0.00,0.000,6,0.000,0.067,2531,2205,2181
$GC,6846,1.14,196.6,504.1,6.2,329,6892,0.00,0.00,43.88,0.990,6,0.000,0.000,2531,2205,1979
$GC,7196,1.28,267.3,483.2,5.4,346,7266,0.20,2.83,61.62,0.985,4,0.049,0.081,2585,3613,1691
$GC,7321,1.24,267.3,472.6,10.0,351,7327,0.00,2.67,0.00,0.000,6,0.000,0.066,2585,2201,1691
$GC,7636,1.24,267.3,440.4,10.5,367,7641,0.00,2.72,0.00,0.000,4,0.000,0.079,2586,3613,1690
$GC,7664,1.20,267.3,437.2,11.8,368,7669,0.12,2.67,0.00,0.000,6,0.105,0.065,2563,2194,1690
$GC,7980,1.20,267.3,410.2,8.4,383,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2194,1689
$GC,8289,1.24,267.3,381.2,10.2,398,8294,0.00,2.72,0.00,0.000,4,0.000,0.079,2563,3614,1689
$GC,8352,1.24,267.3,374.0,11.5,401,8357,0.00,2.65,0.00,0.000,6,0.000,0.064,2563,2201,1689
$GC,8679,1.29,267.3,338.1,10.9,417,8683,0.00,2.70,0.00,0.000,4,0.000,0.077,2563,3613,1689
$GC,8728,1.29,267.3,332.2,12.0,419,8733,0.00,2.65,0.00,0.000,6,0.000,0.064,2563,2199,1689
$GC,9044,1.34,267.3,301.7,9.0,434,9046,0.12,0.00,0.00,0.000,6,0.051,0.000,2601,2199,1689
$GC,9354,1.28,267.3,269.3,10.5,449,9359,0.12,2.67,0.00,0.000,4,0.097,0.074,2578,3615,1689
$GC,9387,1.28,267.3,265.8,10.6,450,9393,0.00,2.62,0.00,0.000,6,0.000,0.062,2578,2198,1689
$GC,9703,1.28,267.3,237.7,9.0,466,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2198,1690
$GC,10012,1.28,267.3,207.7,10.3,481,10017,0.00,2.70,0.00,0.000,4,0.000,0.074,2578,3621,1690
$GC,10068,1.28,267.3,201.2,12.1,483,10074,0.00,2.65,0.00,0.000,6,0.000,0.061,2578,2193,1690
$GC,10383,1.28,267.3,166.1,11.2,499,10388,0.00,2.70,0.00,0.000,4,0.000,0.074,2578,3618,1691
$GC,10428,1.28,267.3,160.8,11.7,501,10432,0.00,2.62,0.00,0.000,6,0.000,0.061,2578,2200,1691
$GC,10748,1.28,267.3,129.6,9.0,517,10750,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2200,1691
$GC,11058,1.28,267.3,104.1,8.2,532,11062,0.00,2.67,0.00,0.000,4,0.000,0.074,2578,3614,1690
$GC,11098,1.28,267.3,100.4,10.1,534,11102,0.00,2.62,0.00,0.000,6,0.000,0.060,2578,2194,1691
$GC,11424,1.28,267.3,66.4,11.2,550,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2194,1691
$GC,11734,1.28,267.3,32.2,11.0,565,11735,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2194,1692
$STATE,12041,end climb,SURFACE_DEPTH_REACHED
$STATE,12041,begin surface coast
$FINISH,0.5,1.027137
$STATE,12062,end surface coast,CONTROL_FINISHED_OK
$STATE,12062,begin surface
$SM_CCo,12085,140.85,0.628,0,0,508,557.32
$SM_GC,1.26,0.00,0.00,140.85,0.000,0.000,0.628,70,2305,508,-10.26,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1863
$TCM_TEMP,17.70
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.3,18.7
$ALTIM_BOTTOM_PING,551.4,35.1
$24V_AH,23.6,25.052
$10V_AH,10.1,12.438
$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,25.525,101.675,363.125,140.850,0.000,54.485,180.691,165.858,10.750,0.000,0.000,32.578,1092.069,9172.674,654.657,1345.364,615.645,0.000,1334.489,0.000,1295.718,0.000,33.081
$DEVICE_MAMPS,167.206,82.836,1034.683,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.078,394.288,384.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28495,581
$CAP_FILE_SIZE,93703,0
$CFSIZE,260165632,250101760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,040708,133638,6226.273,-925.444,27,1.9,27,-9.8