version: 66.03
glider: 16
mission: 9
dive: 141
start: 7 4 108 20 40 55
data:
$ID,16
$MISSION,9
$DIVE,141
$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,-2095928.2
$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,14
$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
$GPS1,203607,6224.655,-935.435,35,1.2,35,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-58.4
$GPS2,204039,6224.674,-935.391,14,1.7,14,-9.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6224.674,-940.392
$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,279.9,20000,-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,-120.53,0.000,2,0.000,0.000,66,2315,3009
$GC,155,-1.08,-146.6,3.9,-3.2,6,180,11.18,2.67,-8.23,0.000,4,0.170,0.077,2054,878,3381
$GC,416,-0.98,-146.6,43.3,-12.7,17,424,0.15,2.60,0.00,0.000,6,0.107,0.054,2082,2297,3381
$GC,733,-0.90,-146.6,80.6,-11.7,33,735,0.10,0.00,0.00,0.000,6,0.107,0.000,2100,2297,3382
$GC,1042,-0.90,-146.6,115.6,-11.5,48,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2297,3382
$GC,1352,-0.90,-146.6,151.1,-11.4,63,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2297,3381
$GC,1660,-0.90,-146.6,185.8,-10.6,78,1664,0.00,2.65,0.00,0.000,4,0.000,0.065,2100,878,3382
$GC,1715,-0.90,-146.6,191.6,-10.1,80,1721,0.00,2.62,0.00,0.000,6,0.000,0.056,2100,2303,3382
$GC,2031,-0.90,-146.6,221.4,-9.1,96,2035,0.00,2.67,0.00,0.000,4,0.000,0.067,2100,877,3382
$GC,2071,-0.90,-146.6,225.0,-8.7,98,2076,0.00,2.62,0.00,0.000,6,0.000,0.055,2100,2301,3382
$GC,2398,-0.90,-146.6,256.9,-10.1,114,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2302,3382
$GC,2706,-0.90,-146.6,290.6,-11.0,129,2711,0.00,2.67,0.00,0.000,4,0.000,0.067,2100,873,3382
$GC,2778,-0.90,-146.6,298.7,-11.2,132,2783,0.00,2.62,0.00,0.000,6,0.000,0.055,2100,2301,3382
$GC,3094,-0.90,-146.6,333.9,-11.1,147,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2300,3382
$GC,3403,-0.90,-146.6,364.9,-10.1,162,3407,0.00,2.67,0.00,0.000,4,0.000,0.067,2100,873,3381
$GC,3452,-0.90,-146.6,370.1,-9.8,164,3457,0.00,2.62,0.00,0.000,6,0.000,0.055,2100,2299,3381
$GC,3768,-0.90,-146.6,407.3,-13.0,179,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2299,3381
$GC,4077,-0.90,-146.6,446.1,-13.1,194,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2299,3381
$GC,4386,-0.90,-146.6,480.0,-9.2,209,4391,0.00,2.65,0.00,0.000,4,0.000,0.067,2100,878,3382
$GC,4442,-0.90,-146.6,485.0,-9.0,211,4448,0.00,2.62,0.00,0.000,6,0.000,0.056,2100,2303,3381
$GC,4758,-0.90,-146.6,510.2,-7.8,227,4762,0.00,2.70,0.00,0.000,4,0.000,0.068,2100,871,3381
$GC,4830,-0.90,-146.6,516.2,-8.0,230,4835,0.00,2.62,0.00,0.000,6,0.000,0.057,2100,2303,3381
$GC,5146,-0.90,-146.6,541.1,-8.1,245,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2303,3380
$GC,5455,-0.90,-146.6,567.3,-9.1,260,5459,0.00,2.67,0.00,0.000,4,0.000,0.070,2100,880,3380
$GC,5527,-0.90,-146.6,574.2,-9.4,263,5532,0.00,2.62,0.00,0.000,6,0.000,0.058,2100,2299,3380
$STATE,5716,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5717,begin apogee
$GC,5724,-0.31,0.0,590.9,8.7,272,5859,0.65,0.00,130.00,1.039,6,0.094,0.000,2232,2183,2781
$STATE,5860,end apogee,CONTROL_FINISHED_OK
$STATE,5860,begin climb
$GC,5863,1.08,146.6,596.9,0.0,279,6000,1.45,0.00,128.45,1.022,6,0.077,0.000,2534,2183,2184
$GC,6312,1.16,213.2,576.2,5.6,301,6377,0.00,2.75,58.80,1.006,4,0.000,0.071,2534,790,1911
$GC,6423,1.23,229.2,568.7,7.4,306,6444,0.15,2.62,15.35,0.933,6,0.052,0.057,2575,2198,1846
$GC,6768,1.25,251.3,542.4,7.2,323,6791,0.00,0.00,20.48,0.961,6,0.000,0.000,2575,2198,1756
$GC,7095,1.27,268.7,519.4,7.4,339,7117,0.00,2.85,16.42,0.946,4,0.000,0.081,2575,3613,1685
$GC,7163,1.27,268.7,513.2,10.2,342,7168,0.00,2.67,0.00,0.000,6,0.000,0.064,2575,2204,1685
$GC,7490,1.27,268.7,481.0,10.5,358,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2204,1683
$GC,7799,1.27,268.7,445.1,11.5,373,7803,0.00,2.72,0.00,0.000,4,0.000,0.079,2575,3613,1683
$GC,7843,1.27,268.7,439.8,12.2,375,7847,0.00,2.65,0.00,0.000,6,0.000,0.062,2575,2199,1683
$GC,8164,1.27,268.7,402.4,12.0,391,8168,0.00,2.72,0.00,0.000,4,0.000,0.077,2576,3612,1683
$GC,8243,1.27,268.7,392.6,12.0,394,8249,0.00,2.65,0.00,0.000,6,0.000,0.063,2576,2200,1683
$GC,8559,1.27,268.7,359.8,9.3,410,8563,0.00,2.72,0.00,0.000,4,0.000,0.077,2575,3616,1683
$GC,8598,1.27,268.7,355.8,10.4,412,8602,0.00,2.67,0.00,0.000,6,0.000,0.063,2575,2197,1682
$GC,8924,1.27,268.7,327.1,8.6,428,8929,0.00,2.72,0.00,0.000,4,0.000,0.077,2575,3615,1682
$GC,8979,1.27,268.7,321.8,9.9,430,8986,0.00,2.65,0.00,0.000,6,0.000,0.064,2575,2193,1682
$GC,9295,1.27,268.7,293.2,9.2,446,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2193,1682
$GC,9605,1.27,268.7,266.1,8.4,461,9609,0.00,2.70,0.00,0.000,4,0.000,0.076,2575,3618,1683
$GC,9650,1.27,268.7,262.1,8.8,463,9654,0.00,2.65,0.00,0.000,6,0.000,0.062,2575,2194,1683
$GC,9971,1.29,285.6,237.6,7.4,479,9991,0.00,2.75,15.25,0.765,4,0.000,0.076,2575,3613,1616
$GC,10015,1.29,285.6,233.8,8.7,481,10019,0.00,2.67,0.00,0.000,6,0.000,0.061,2575,2193,1616
$GC,10341,1.29,285.6,208.2,8.3,497,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2193,1616
$GC,10651,1.34,285.6,180.5,9.9,512,10655,0.00,2.70,0.00,0.000,4,0.000,0.076,2575,3613,1617
$GC,10700,1.34,285.6,175.0,11.5,514,10705,0.00,2.62,0.00,0.000,6,0.000,0.061,2575,2200,1617
$GC,11017,1.38,285.6,141.0,11.1,529,11019,0.12,0.00,0.00,0.000,6,0.049,0.000,2613,2200,1617
$GC,11326,1.32,285.6,100.0,13.3,544,11328,0.15,0.00,0.00,0.000,6,0.087,0.000,2584,2200,1617
$GC,11635,1.32,285.6,66.5,10.3,559,11636,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2200,1617
$GC,11946,1.32,285.6,37.8,8.7,574,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2200,1617
$GC,12253,1.32,285.6,8.4,9.8,589,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2200,1617
$STATE,12334,end climb,SURFACE_DEPTH_REACHED
$STATE,12334,begin surface coast
$FINISH,0.6,1.004561
$STATE,12355,end surface coast,CONTROL_FINISHED_OK
$STATE,12355,begin surface
$SM_CCo,12377,132.07,0.631,0,0,509,557.32
$SM_GC,1.24,0.00,0.00,132.07,0.000,0.000,0.631,69,2314,509,-10.26,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1852
$TCM_TEMP,17.70
$XPDR_PINGS,15
$ALTIM_TOP_PING,18.6,17.4
$ALTIM_BOTTOM_PING,500.5,99.9
$24V_AH,23.6,25.483
$10V_AH,10.2,12.617
$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,24.850,91.275,384.750,132.075,0.000,18.063,27.604,117.343,8.000,0.000,0.000,14.693,1092.581,9367.373,678.239,1274.791,373.128,0.000,1324.792,0.000,1248.142,0.000,30.000
$DEVICE_MAMPS,169.507,81.302,1038.518,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.409,402.760,385.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28614,594
$CAP_FILE_SIZE,87427,0
$CFSIZE,260165632,249970688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,050708,001037,6224.916,-935.326,33,2.0,33,-9.9