version: 66.03
glider: 16
mission: 9
dive: 143
start: 7 5 108 3 48 30
data:
$ID,16
$MISSION,9
$DIVE,143
$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,-2095958.5
$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,15
$R_STBD_OVSHOOT,23
$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
$GPS1,034208,6221.991,-938.182,27,1.8,27,-9.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-59.4
$GPS2,034814,6221.947,-938.313,12,1.8,17,-9.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6221.947,-943.322
$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,-146.6,0.0,0.0,0,153,0.00,0.00,-120.53,0.000,2,0.000,0.000,73,2305,3041
$GC,157,-1.08,-146.6,4.4,-3.8,6,182,11.12,2.70,-7.32,0.000,4,0.168,0.077,2056,883,3379
$GC,381,-0.97,-146.6,38.4,-12.4,16,386,0.17,2.62,0.00,0.000,6,0.107,0.054,2089,2300,3379
$GC,708,-0.90,-146.6,73.5,-10.5,32,713,0.00,2.67,0.00,0.000,4,0.000,0.064,2089,877,3380
$GC,753,-0.90,-146.6,78.4,-10.9,34,757,0.00,2.62,0.00,0.000,6,0.000,0.053,2089,2300,3380
$GC,1074,-0.83,-146.6,113.1,-11.4,50,1076,0.15,0.00,0.00,0.000,6,0.100,0.000,2117,2300,3381
$GC,1385,-0.83,-146.6,142.9,-9.5,65,1389,0.00,2.67,0.00,0.000,4,0.000,0.065,2117,880,3381
$GC,1470,-0.89,-146.6,150.7,-9.1,69,1475,0.00,2.65,0.00,0.000,6,0.000,0.055,2117,2306,3381
$GC,1796,-0.89,-146.6,179.3,-8.5,85,1801,0.00,2.70,0.00,0.000,4,0.000,0.066,2117,873,3381
$GC,1830,-0.94,-146.6,182.3,-8.5,86,1837,0.12,2.65,0.00,0.000,6,0.048,0.055,2079,2303,3381
$GC,2146,-0.85,-146.6,214.9,-10.6,102,2148,0.17,0.00,0.00,0.000,6,0.091,0.000,2112,2303,3381
$GC,2455,-0.85,-146.6,243.2,-9.3,117,2459,0.00,2.70,0.00,0.000,4,0.000,0.067,2112,873,3381
$GC,2528,-0.91,-146.6,250.2,-10.1,120,2533,0.00,2.65,0.00,0.000,6,0.000,0.055,2112,2305,3381
$GC,2844,-0.91,-146.6,281.0,-9.9,135,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2305,3381
$GC,3153,-0.91,-146.6,311.2,-9.8,150,3158,0.00,2.70,0.00,0.000,4,0.000,0.067,2112,873,3381
$GC,3221,-0.96,-146.6,317.7,-9.4,153,3225,0.00,2.65,0.00,0.000,6,0.000,0.055,2112,2305,3381
$GC,3541,-0.96,-146.6,347.9,-9.5,169,3546,0.00,2.67,0.00,0.000,4,0.000,0.067,2112,880,3381
$GC,3586,-1.02,-146.6,352.4,-9.5,171,3591,0.17,2.62,0.00,0.000,6,0.043,0.056,2062,2300,3381
$GC,3908,-0.90,-146.6,394.7,-13.3,187,3913,0.17,2.67,0.00,0.000,4,0.094,0.067,2100,880,3381
$GC,3963,-0.90,-146.6,401.0,-10.3,189,3969,0.00,2.62,0.00,0.000,6,0.000,0.056,2100,2300,3380
$GC,4279,-0.90,-146.6,429.0,-8.0,205,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2300,3381
$GC,4588,-0.90,-146.6,453.7,-8.9,220,4592,0.00,2.67,0.00,0.000,4,0.000,0.067,2100,878,3380
$GC,4688,-0.90,-146.6,464.6,-12.3,224,4694,0.00,2.62,0.00,0.000,6,0.000,0.056,2100,2300,3381
$GC,5004,-0.90,-146.6,510.6,-14.3,240,5008,0.00,2.70,0.00,0.000,4,0.000,0.079,2100,3712,3380
$GC,5030,-0.90,-146.6,514.4,-14.1,241,5035,0.00,2.60,0.00,0.000,6,0.000,0.054,2100,2294,3380
$GC,5347,-0.90,-146.6,545.7,-8.0,256,5351,0.00,2.65,0.00,0.000,4,0.000,0.070,2100,886,3380
$GC,5425,-0.90,-146.6,552.1,-7.8,259,5431,0.00,2.62,0.00,0.000,6,0.000,0.058,2100,2301,3380
$GC,5740,-0.90,-146.6,580.6,-9.8,275,5745,0.00,2.70,0.00,0.000,4,0.000,0.082,2100,3715,3379
$GC,5807,-0.90,-146.6,587.7,-11.2,278,5812,0.00,2.62,0.00,0.000,6,0.000,0.058,2101,2294,3379
$STATE,5962,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5962,begin apogee
$GC,5969,-0.31,0.0,602.3,9.7,286,6104,0.65,0.00,130.02,1.039,6,0.096,0.000,2231,2197,2781
$STATE,6105,end apogee,CONTROL_FINISHED_OK
$STATE,6105,begin climb
$GC,6107,1.08,146.6,608.7,0.0,293,6241,1.40,0.00,128.95,1.023,6,0.066,0.000,2534,2197,2182
$GC,6539,1.13,186.3,589.7,6.6,314,6579,0.00,0.00,35.75,0.991,6,0.000,0.000,2534,2196,2021
$GC,6889,1.18,237.8,568.8,6.1,331,6943,0.10,2.83,46.05,1.005,4,0.059,0.083,2562,3610,1810
$GC,7033,1.18,237.8,557.5,8.0,337,7039,0.00,2.67,0.00,0.000,6,0.000,0.062,2562,2201,1809
$GC,7349,1.22,268.2,536.7,6.9,353,7378,0.00,0.00,27.40,0.977,6,0.000,0.000,2562,2201,1687
$GC,7678,1.22,268.2,504.4,12.0,369,7683,0.00,2.72,0.00,0.000,4,0.000,0.080,2562,3610,1686
$GC,7767,1.22,268.2,492.3,13.6,373,7772,0.00,2.65,0.00,0.000,6,0.000,0.061,2562,2199,1686
$GC,8088,1.28,282.7,460.8,7.5,389,8110,0.00,2.78,13.62,0.893,4,0.000,0.078,2562,3611,1628
$GC,8135,1.35,296.1,457.5,7.5,391,8156,0.15,2.65,13.30,0.883,6,0.051,0.060,2603,2200,1573
$GC,8466,1.30,296.1,426.9,10.0,407,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2200,1572
$GC,8775,1.30,296.1,394.3,10.3,422,8779,0.00,2.70,0.00,0.000,4,0.000,0.077,2603,3618,1572
$GC,8830,1.26,296.1,387.6,12.5,424,8837,0.15,2.65,0.00,0.000,6,0.093,0.062,2574,2199,1572
$GC,9146,1.26,296.1,354.9,10.6,440,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2199,1572
$GC,9455,1.26,296.1,321.3,10.8,455,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2198,1572
$GC,9765,1.31,296.1,290.3,9.8,470,9769,0.00,2.70,0.00,0.000,4,0.000,0.075,2575,3620,1572
$GC,9809,1.36,296.1,285.5,10.8,472,9813,0.00,2.65,0.00,0.000,6,0.000,0.061,2575,2196,1573
$GC,10130,1.40,296.1,251.6,11.0,488,10132,0.15,0.00,0.00,0.000,6,0.046,0.000,2618,2196,1572
$GC,10439,1.33,296.1,211.5,12.4,503,10441,0.15,0.00,0.00,0.000,6,0.090,0.000,2589,2196,1573
$GC,10748,1.33,296.1,178.2,10.7,518,10753,0.00,2.67,0.00,0.000,4,0.000,0.075,2589,3613,1573
$GC,10798,1.33,296.1,172.2,12.0,520,10802,0.00,2.62,0.00,0.000,6,0.000,0.060,2589,2197,1574
$GC,11114,1.33,296.1,138.3,10.4,535,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,1573
$GC,11423,1.33,296.1,108.6,9.7,550,11424,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,1573
$GC,11733,1.33,296.1,72.2,13.3,565,11737,0.00,2.67,0.00,0.000,4,0.000,0.072,2589,3613,1574
$GC,11819,1.33,296.1,61.1,11.7,569,11823,0.00,2.62,0.00,0.000,6,0.000,0.060,2589,2192,1574
$GC,12147,1.33,296.1,28.9,10.1,585,12152,0.00,2.67,0.00,0.000,4,0.000,0.072,2589,3612,1574
$GC,12202,1.33,296.1,22.2,11.4,587,12209,0.00,2.60,0.00,0.000,6,0.000,0.061,2589,2201,1574
$STATE,12392,end climb,SURFACE_DEPTH_REACHED
$STATE,12392,begin surface coast
$FINISH,0.6,1.013313
$STATE,12414,end surface coast,CONTROL_FINISHED_OK
$STATE,12414,begin surface
$SM_CCo,12436,126.57,0.627,0,0,508,557.32
$SM_GC,1.30,0.00,0.00,126.57,0.000,0.000,0.627,72,2312,508,-10.25,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1870
$TCM_TEMP,17.80
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.3,18.3
$ALTIM_BOTTOM_PING,527.2,84.7
$24V_AH,23.6,25.775
$10V_AH,10.2,12.741
$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,25.775,107.050,395.100,126.575,0.000,18.073,27.060,186.708,9.000,0.000,0.000,17.389,1122.583,9298.951,689.470,1350.626,472.132,0.000,1378.312,0.000,1314.315,0.000,34.551
$DEVICE_MAMPS,167.973,82.836,1039.285,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.545,406.148,394.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31623,598
$CAP_FILE_SIZE,95533,0
$CFSIZE,260165632,249868288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,050708,071928,6219.741,-943.799,35,2.3,54,-9.9