version: 66.03
glider: 16
mission: 9
dive: 142
start: 7 5 108 0 16 19
data:
$ID,16
$MISSION,9
$DIVE,142
$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,-2095940.5
$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,16
$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
$GPS1,001037,6224.916,-935.326,33,2.0,33,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-59.0
$GPS2,001603,6224.890,-935.266,11,1.8,11,-9.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6224.890,-940.267
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.08,-146.6,0.0,0.0,0,152,0.00,0.00,-119.30,0.000,2,0.000,0.000,69,2315,2992
$GC,156,-1.08,-146.6,4.1,-3.3,6,182,11.23,2.70,-8.68,0.000,4,0.171,0.075,2057,877,3381
$GC,421,-0.99,-146.6,43.4,-12.9,18,426,0.12,2.62,0.00,0.000,6,0.108,0.054,2080,2296,3381
$GC,750,-0.90,-146.6,79.6,-11.4,34,755,0.12,2.67,0.00,0.000,4,0.104,0.063,2101,872,3382
$GC,790,-0.90,-146.6,84.0,-10.2,36,795,0.00,2.65,0.00,0.000,6,0.000,0.054,2103,2304,3382
$GC,1117,-0.90,-146.6,119.9,-11.6,52,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2304,3382
$GC,1427,-0.90,-146.6,154.7,-11.2,67,1431,0.00,2.67,0.00,0.000,4,0.000,0.065,2103,880,3382
$GC,1498,-0.90,-146.6,162.5,-10.4,70,1503,0.00,2.65,0.00,0.000,6,0.000,0.055,2103,2305,3383
$GC,1814,-0.90,-146.6,195.7,-10.7,85,1818,0.00,2.70,0.00,0.000,4,0.000,0.066,2103,871,3383
$GC,1854,-0.90,-146.6,199.8,-10.2,87,1861,0.00,2.65,0.00,0.000,6,0.000,0.055,2103,2302,3383
$GC,2188,-0.90,-146.6,235.7,-11.3,103,2193,0.00,2.67,0.00,0.000,4,0.000,0.067,2103,880,3382
$GC,2238,-0.94,-146.6,241.6,-11.5,105,2243,0.00,2.62,0.00,0.000,6,0.000,0.056,2103,2302,3382
$GC,2554,-0.94,-146.6,278.2,-11.3,120,2558,0.00,2.67,0.00,0.000,4,0.000,0.067,2103,880,3382
$GC,2586,-0.94,-146.6,282.0,-11.0,121,2592,0.00,2.62,0.00,0.000,6,0.000,0.055,2103,2300,3382
$GC,2902,-0.94,-146.6,315.5,-10.1,137,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2300,3383
$GC,3211,-0.94,-146.6,346.0,-9.7,152,3216,0.00,2.67,0.00,0.000,4,0.000,0.068,2103,879,3382
$GC,3284,-0.94,-146.6,352.8,-8.8,155,3288,0.00,2.62,0.00,0.000,6,0.000,0.055,2103,2304,3382
$GC,3599,-0.94,-146.6,383.8,-10.4,170,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2305,3382
$GC,3909,-0.94,-146.6,420.3,-12.0,185,3913,0.00,2.67,0.00,0.000,4,0.000,0.067,2103,880,3382
$GC,3971,-0.99,-146.6,427.5,-11.2,188,3975,0.00,2.62,0.00,0.000,6,0.000,0.054,2103,2302,3382
$GC,4297,-0.99,-146.6,464.0,-11.0,204,4302,0.00,2.70,0.00,0.000,4,0.000,0.077,2103,3719,3382
$GC,4337,-0.99,-146.6,468.5,-11.5,206,4342,0.00,2.62,0.00,0.000,6,0.000,0.057,2103,2297,3382
$GC,4664,-0.99,-146.6,502.7,-11.9,222,4668,0.00,2.65,0.00,0.000,4,0.000,0.070,2103,885,3382
$GC,4771,-1.04,-146.6,515.8,-12.7,227,4776,0.15,2.62,0.00,0.000,6,0.047,0.056,2060,2302,3381
$GC,5100,-0.92,-146.6,556.9,-11.6,243,5102,0.20,0.00,0.00,0.000,6,0.094,0.000,2098,2302,3381
$GC,5407,-0.92,-146.6,585.7,-9.2,258,5412,0.00,2.70,0.00,0.000,4,0.000,0.082,2098,3713,3381
$STATE,5449,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5449,begin apogee
$GC,5458,-0.31,0.0,590.5,10.6,260,5595,0.62,0.00,129.70,1.034,6,0.101,0.000,2226,2204,2781
$STATE,5595,end apogee,CONTROL_FINISHED_OK
$STATE,5596,begin climb
$GC,5598,1.08,146.6,596.8,0.0,267,5736,1.45,2.80,128.88,1.016,4,0.068,0.080,2534,3611,2182
$GC,5765,1.07,181.4,591.8,6.7,275,5803,0.00,2.67,31.35,0.973,6,0.000,0.061,2534,2189,2042
$GC,6111,1.07,181.4,561.9,9.9,292,6116,0.00,2.75,0.00,0.000,4,0.000,0.081,2535,3614,2040
$GC,6223,1.07,181.4,549.3,12.0,297,6227,0.00,2.65,0.00,0.000,6,0.000,0.063,2535,2204,2040
$GC,6544,1.12,181.4,515.4,9.6,313,6548,0.00,2.72,0.00,0.000,4,0.000,0.082,2534,3610,2038
$GC,6599,1.12,181.4,510.1,10.0,315,6605,0.00,2.65,0.00,0.000,6,0.000,0.063,2535,2194,2038
$GC,6915,1.19,245.4,489.2,5.7,331,6978,0.12,2.80,55.17,0.983,4,0.055,0.080,2568,3617,1779
$GC,7017,1.19,245.4,481.8,8.5,335,7024,0.00,2.67,0.00,0.000,6,0.000,0.062,2568,2202,1779
$GC,7333,1.19,245.4,458.1,8.5,351,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2202,1779
$GC,7642,1.19,245.4,428.2,11.2,366,7647,0.00,2.70,0.00,0.000,4,0.000,0.080,2568,3613,1778
$GC,7720,1.19,245.4,418.5,12.3,369,7726,0.00,2.65,0.00,0.000,6,0.000,0.062,2568,2198,1778
$GC,8036,1.19,245.4,385.5,10.2,385,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2198,1777
$GC,8345,1.19,245.4,353.1,10.4,400,8349,0.00,2.70,0.00,0.000,4,0.000,0.077,2568,3615,1777
$GC,8400,1.19,245.4,346.8,11.6,402,8406,0.00,2.65,0.00,0.000,6,0.000,0.063,2568,2196,1777
$GC,8716,1.19,245.4,314.2,10.3,418,8720,0.00,2.70,0.00,0.000,4,0.000,0.075,2568,3613,1777
$GC,8760,1.19,245.4,309.2,10.7,420,8764,0.00,2.62,0.00,0.000,6,0.000,0.061,2568,2199,1777
$GC,9081,1.19,245.4,279.4,8.9,436,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2199,1777
$GC,9391,1.21,261.6,255.0,7.4,451,9412,0.00,2.75,14.90,0.774,4,0.000,0.075,2568,3613,1714
$GC,9468,1.21,261.6,248.5,8.4,454,9473,0.00,2.62,0.00,0.000,6,0.000,0.061,2568,2200,1714
$GC,9784,1.21,261.6,222.4,8.7,469,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2200,1714
$GC,10094,1.26,261.6,193.1,9.6,484,10098,0.00,2.70,0.00,0.000,4,0.000,0.074,2568,3620,1714
$GC,10137,1.26,261.6,188.4,10.6,486,10142,0.00,2.65,0.00,0.000,6,0.000,0.060,2568,2196,1714
$GC,10459,1.26,261.6,156.3,10.0,502,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2196,1714
$GC,10769,1.26,261.6,125.6,9.7,517,10773,0.00,2.70,0.00,0.000,4,0.000,0.074,2568,3618,1715
$GC,10818,1.26,261.6,120.4,11.2,519,10822,0.00,2.62,0.00,0.000,6,0.000,0.060,2568,2199,1715
$GC,11134,1.30,261.6,89.4,10.4,534,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2199,1715
$GC,11444,1.30,261.6,59.1,9.1,549,11448,0.00,2.67,0.00,0.000,4,0.000,0.074,2568,3613,1715
$GC,11493,1.30,261.6,54.1,9.6,551,11497,0.00,2.62,0.00,0.000,6,0.000,0.059,2568,2198,1716
$GC,11809,1.35,261.6,25.9,8.4,566,11814,0.12,2.65,0.00,0.000,4,0.049,0.067,2608,776,1715
$GC,11855,1.26,261.6,21.5,10.0,568,11860,0.17,2.60,0.00,0.000,6,0.087,0.051,2574,2203,1715
$STATE,12091,end climb,SURFACE_DEPTH_REACHED
$STATE,12091,begin surface coast
$FINISH,0.5,1.015482
$STATE,12116,end surface coast,CONTROL_FINISHED_OK
$STATE,12117,begin surface
$SM_CCo,12138,142.75,0.628,0,0,508,557.32
$SM_GC,1.26,0.00,0.00,142.75,0.000,0.000,0.628,73,2304,508,-10.24,0.11,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1870
$TCM_TEMP,17.60
$XPDR_PINGS,23
$ALTIM_TOP_PING,18.5,17.5
$ALTIM_BOTTOM_PING,526.2,74.0
$24V_AH,23.6,25.625
$10V_AH,10.2,12.679
$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,25.200,123.175,360.000,142.750,0.000,18.064,28.309,175.552,10.250,0.000,0.000,11.624,1109.845,9038.851,674.880,1351.353,438.153,0.000,1373.018,0.000,1318.898,0.000,31.564
$DEVICE_MAMPS,171.041,82.069,1033.916,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.747,394.501,394.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28541,581
$CAP_FILE_SIZE,95189,0
$CFSIZE,260165632,249917440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,050708,034208,6221.991,-938.182,27,1.8,27,-9.9