version: 66.03
glider: 16
mission: 9
dive: 139
start: 7 4 108 13 41 31
data:
$ID,16
$MISSION,9
$DIVE,139
$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,-2095896.2
$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
$GPS1,133638,6226.273,-925.444,27,1.9,27,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-58.2
$GPS2,134115,6226.270,-925.455,15,2.0,15,-9.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6226.270,-930.452
$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,-146.6,0.0,0.0,0,151,0.00,0.00,-120.50,0.000,2,0.000,0.000,70,2306,3003
$GC,155,-1.08,-146.6,4.2,-3.6,6,180,11.15,2.67,-8.38,0.000,4,0.169,0.076,2057,872,3381
$GC,383,-1.00,-146.6,40.6,-14.2,16,388,0.12,2.62,0.00,0.000,6,0.107,0.054,2080,2303,3381
$GC,705,-0.91,-146.6,87.9,-15.3,32,710,0.10,2.67,0.00,0.000,4,0.107,0.063,2098,879,3381
$GC,772,-0.91,-146.6,98.0,-13.9,35,776,0.00,2.62,0.00,0.000,6,0.000,0.054,2097,2299,3381
$GC,1093,-0.91,-146.6,142.1,-12.8,51,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2299,3382
$GC,1403,-0.87,-146.6,174.7,-9.7,66,1407,0.00,2.67,0.00,0.000,4,0.000,0.065,2097,867,3382
$GC,1475,-0.87,-146.6,181.7,-9.1,69,1480,0.00,2.65,0.00,0.000,6,0.000,0.054,2097,2301,3382
$GC,1797,-0.82,-146.6,211.8,-9.5,85,1802,0.12,2.67,0.00,0.000,4,0.108,0.066,2120,880,3382
$GC,1837,-0.91,-146.6,215.4,-8.3,87,1841,0.00,2.60,0.00,0.000,6,0.000,0.056,2120,2299,3383
$GC,2163,-0.91,-146.6,243.2,-8.9,103,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2299,3382
$GC,2472,-0.91,-146.6,270.9,-9.1,118,2477,0.00,2.67,0.00,0.000,4,0.000,0.067,2121,872,3382
$GC,2536,-0.99,-146.6,276.7,-9.0,121,2541,0.17,2.62,0.00,0.000,6,0.043,0.055,2069,2302,3382
$GC,2863,-0.88,-146.6,317.7,-13.1,137,2865,0.20,0.00,0.00,0.000,6,0.091,0.000,2108,2302,3383
$GC,3173,-0.88,-146.6,351.8,-10.4,152,3177,0.00,2.67,0.00,0.000,4,0.000,0.068,2108,881,3383
$GC,3235,-0.94,-146.6,358.1,-9.8,155,3240,0.00,2.62,0.00,0.000,6,0.000,0.057,2108,2302,3382
$GC,3562,-0.94,-146.6,392.1,-10.6,171,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2302,3382
$GC,3872,-0.94,-146.6,421.0,-9.0,186,3876,0.00,2.67,0.00,0.000,4,0.000,0.068,2108,881,3382
$GC,3921,-1.02,-146.6,426.6,-10.9,188,3926,0.15,2.62,0.00,0.000,6,0.047,0.056,2062,2304,3382
$GC,4237,-0.90,-146.6,464.9,-11.1,203,4242,0.15,2.70,0.00,0.000,4,0.096,0.067,2097,875,3382
$GC,4277,-0.90,-146.6,468.7,-8.5,205,4282,0.00,2.62,0.00,0.000,6,0.000,0.055,2097,2299,3382
$GC,4605,-0.90,-146.6,492.6,-6.4,221,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2299,3382
$GC,4914,-0.90,-146.6,518.0,-9.1,236,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2299,3381
$GC,5224,-0.90,-146.6,544.8,-7.6,251,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2300,3381
$GC,5532,-0.90,-146.6,572.9,-9.3,266,5537,0.00,2.70,0.00,0.000,4,0.000,0.082,2097,3708,3380
$GC,5582,-0.90,-146.6,578.1,-10.2,268,5587,0.00,2.62,0.00,0.000,6,0.000,0.060,2097,2294,3380
$STATE,5627,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5627,begin apogee
$GC,5634,-0.31,0.0,582.8,10.4,270,5770,0.65,0.00,130.55,1.043,6,0.100,0.000,2228,2199,2781
$STATE,5771,end apogee,CONTROL_FINISHED_OK
$STATE,5771,begin climb
$GC,5774,1.08,146.6,589.7,0.0,277,5913,1.45,2.80,128.27,1.026,4,0.078,0.080,2533,3610,2184
$GC,5947,1.09,217.7,584.8,5.4,284,6019,0.00,2.67,62.75,1.005,6,0.000,0.061,2533,2205,1893
$GC,6332,1.15,218.2,555.8,8.0,303,6337,0.00,2.75,0.00,0.000,4,0.000,0.081,2533,3614,1892
$GC,6399,1.20,218.2,549.4,9.1,306,6404,0.12,2.65,0.00,0.000,6,0.054,0.062,2568,2200,1892
$GC,6721,1.20,221.3,519.7,7.9,322,6727,0.00,0.00,4.45,0.680,6,0.000,0.000,2568,2200,1878
$GC,7030,1.28,292.8,500.6,5.4,337,7100,0.00,2.83,62.38,0.995,4,0.000,0.080,2568,3608,1586
$GC,7219,1.28,292.8,483.5,10.6,345,7225,0.00,2.65,0.00,0.000,6,0.000,0.064,2568,2199,1587
$GC,7535,1.34,292.8,446.1,12.7,361,7537,0.10,0.00,0.00,0.000,6,0.058,0.000,2598,2199,1585
$GC,7844,1.34,292.8,400.6,14.8,376,7848,0.00,2.70,0.00,0.000,4,0.000,0.078,2598,3610,1585
$GC,7877,1.29,292.8,395.4,15.4,377,7883,0.00,2.65,0.00,0.000,6,0.000,0.064,2598,2197,1585
$GC,8192,1.29,292.8,353.1,12.2,393,8197,0.00,2.67,0.00,0.000,4,0.000,0.072,2598,782,1585
$GC,8226,1.25,292.8,348.9,12.5,394,8233,0.15,2.62,0.00,0.000,6,0.094,0.054,2570,2204,1583
$GC,8542,1.31,292.8,319.4,8.6,410,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2204,1584
$GC,8852,1.36,292.8,293.9,8.1,425,8853,0.12,0.00,0.00,0.000,6,0.052,0.000,2605,2204,1584
$GC,9160,1.36,292.8,264.5,9.7,440,9164,0.00,2.65,0.00,0.000,4,0.000,0.075,2605,3616,1585
$GC,9193,1.31,292.8,261.0,10.3,441,9199,0.00,2.65,0.00,0.000,6,0.000,0.064,2605,2195,1585
$GC,9509,1.31,292.8,231.1,9.1,457,9513,0.00,2.70,0.00,0.000,4,0.000,0.074,2605,3620,1585
$GC,9553,1.26,292.8,226.5,10.5,459,9558,0.17,2.65,0.00,0.000,6,0.087,0.062,2570,2199,1585
$GC,9874,1.26,292.8,199.6,8.8,475,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2199,1585
$GC,10183,1.26,292.8,170.0,10.0,490,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2199,1585
$GC,10493,1.26,292.8,136.6,11.2,505,10494,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2199,1586
$GC,10802,1.26,292.8,102.7,10.9,520,10803,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2199,1586
$GC,11113,1.26,292.8,69.4,11.3,535,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2198,1586
$GC,11421,1.26,292.8,35.6,10.7,550,11425,0.00,2.67,0.00,0.000,4,0.000,0.071,2570,3619,1587
$GC,11505,1.26,292.8,26.1,11.4,554,11510,0.00,2.62,0.00,0.000,6,0.000,0.058,2570,2194,1588
$STATE,11747,end climb,SURFACE_DEPTH_REACHED
$STATE,11747,begin surface coast
$FINISH,0.6,1.011045
$STATE,11769,end surface coast,CONTROL_FINISHED_OK
$STATE,11769,begin surface
$SM_CCo,11791,128.45,0.631,0,0,508,557.32
$SM_GC,1.35,0.00,0.00,128.45,0.000,0.000,0.631,70,2306,508,-10.26,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1871
$TCM_TEMP,17.70
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,500.3,91.9
$24V_AH,23.6,25.197
$10V_AH,10.1,12.495
$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,25.800,91.075,388.400,128.450,0.000,18.363,27.607,119.077,10.000,0.000,0.000,15.429,1056.547,8867.353,640.073,1268.047,369.706,0.000,1307.403,0.000,1238.155,0.000,29.991
$DEVICE_MAMPS,168.740,82.069,1043.120,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.820,384.579,363.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28529,567
$CAP_FILE_SIZE,88949,0
$CFSIZE,260165632,250060800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,040708,170132,6224.421,-931.203,41,1.6,41,-9.8