version: 66.03
glider: 16
mission: 9
dive: 144
start: 7 5 108 7 25 37
data:
$ID,16
$MISSION,9
$DIVE,144
$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,-2095995.4
$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
$GPS1,071928,6219.741,-943.799,35,2.3,54,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-59.1
$GPS2,072523,6219.775,-943.663,16,3.3,35,-9.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6219.775,-948.678
$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,29,begin dive
$GC,32,-1.08,-146.6,0.0,0.0,0,152,0.00,0.00,-118.70,0.000,2,0.000,0.000,72,2312,2972
$GC,156,-1.08,-146.6,3.9,-3.1,6,183,11.10,2.67,-9.40,0.000,4,0.168,0.074,2054,878,3379
$GC,353,-0.95,-146.6,35.1,-13.0,15,359,0.20,2.62,0.00,0.000,6,0.105,0.053,2091,2302,3378
$GC,681,-0.89,-146.6,74.6,-12.3,31,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2302,3379
$GC,990,-0.83,-146.6,106.8,-8.7,46,995,0.12,2.67,0.00,0.000,4,0.107,0.063,2114,876,3379
$GC,1024,-0.89,-146.6,109.4,-7.0,47,1031,0.00,2.62,0.00,0.000,6,0.000,0.054,2114,2302,3379
$GC,1342,-0.89,-146.6,131.0,-7.2,63,1346,0.00,2.67,0.00,0.000,4,0.000,0.064,2114,874,3380
$GC,1387,-0.94,-146.6,134.7,-8.0,65,1391,0.00,2.62,0.00,0.000,6,0.000,0.054,2114,2298,3380
$GC,1708,-0.94,-146.6,164.9,-10.5,81,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2298,3380
$GC,2017,-0.94,-146.6,196.1,-9.6,96,2022,0.00,2.67,0.00,0.000,4,0.000,0.067,2114,871,3380
$GC,2102,-0.99,-146.6,203.9,-8.9,100,2108,0.15,2.62,0.00,0.000,6,0.044,0.053,2069,2300,3380
$GC,2430,-0.89,-146.6,240.2,-11.2,116,2435,0.15,2.67,0.00,0.000,4,0.093,0.066,2102,878,3380
$GC,2474,-0.89,-146.6,245.1,-9.8,118,2479,0.00,2.62,0.00,0.000,6,0.000,0.053,2102,2305,3380
$GC,2796,-0.89,-146.6,276.5,-9.8,134,2801,0.00,2.70,0.00,0.000,4,0.000,0.067,2102,873,3380
$GC,2829,-0.89,-146.6,280.1,-9.5,135,2836,0.00,2.62,0.00,0.000,6,0.000,0.053,2102,2302,3380
$GC,3146,-0.89,-146.6,313.1,-11.1,151,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2302,3380
$GC,3455,-0.89,-146.6,353.3,-14.1,166,3459,0.00,2.67,0.00,0.000,4,0.000,0.067,2102,879,3379
$GC,3532,-0.89,-146.6,364.2,-14.1,169,3538,0.00,2.62,0.00,0.000,6,0.000,0.053,2102,2307,3379
$GC,3849,-0.89,-146.6,401.2,-10.6,185,3853,0.00,2.67,0.00,0.000,4,0.000,0.067,2102,878,3379
$GC,3888,-0.89,-146.6,405.4,-10.0,187,3892,0.00,2.62,0.00,0.000,6,0.000,0.054,2102,2304,3379
$GC,4214,-0.89,-146.6,444.4,-13.0,203,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2304,3379
$GC,4523,-0.89,-146.6,483.3,-12.2,218,4528,0.00,2.67,0.00,0.000,4,0.000,0.067,2102,878,3379
$GC,4551,-0.89,-146.6,486.5,-12.6,219,4555,0.00,2.62,0.00,0.000,6,0.000,0.054,2102,2305,3379
$GC,4867,-0.89,-146.6,518.2,-9.7,234,4871,0.00,2.65,0.00,0.000,4,0.000,0.075,2102,3709,3379
$GC,4916,-0.89,-146.6,523.1,-9.3,236,4921,0.00,2.60,0.00,0.000,6,0.000,0.054,2102,2289,3379
$GC,5232,-0.89,-146.6,543.4,-5.8,251,5237,0.00,2.72,0.00,0.000,4,0.000,0.075,2102,3715,3379
$GC,5260,-0.89,-146.6,545.2,-6.6,252,5265,0.00,2.58,0.00,0.000,6,0.000,0.054,2102,2296,3379
$GC,5579,-0.89,-146.6,575.3,-10.8,267,5583,0.00,2.62,0.00,0.000,4,0.000,0.069,2102,887,3378
$GC,5686,-0.94,-146.6,586.9,-9.9,272,5690,0.00,2.60,0.00,0.000,6,0.000,0.057,2102,2299,3378
$STATE,5948,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5948,begin apogee
$GC,5955,-0.31,0.0,611.1,8.6,285,6090,0.62,0.00,129.98,1.048,6,0.098,0.000,2228,2199,2782
$STATE,6091,end apogee,CONTROL_FINISHED_OK
$STATE,6091,begin climb
$GC,6094,1.08,146.6,616.3,0.0,292,6231,1.40,2.75,128.88,1.028,4,0.067,0.066,2531,786,2183
$GC,6416,1.08,146.6,597.0,8.3,306,6420,0.00,2.65,0.00,0.000,6,0.000,0.054,2530,2206,2183
$GC,6737,1.10,162.5,572.3,7.4,322,6756,0.00,0.00,15.15,0.934,6,0.000,0.000,2531,2206,2118
$GC,7066,1.17,223.5,551.8,5.8,338,7127,0.10,2.78,53.97,1.002,4,0.058,0.069,2561,789,1869
$GC,7173,1.17,223.5,542.7,9.9,343,7178,0.00,2.65,0.00,0.000,6,0.000,0.055,2561,2202,1868
$GC,7500,1.17,223.5,511.7,8.9,359,7504,0.00,2.70,0.00,0.000,4,0.000,0.077,2561,3612,1867
$GC,7594,1.17,223.5,503.0,8.5,363,7599,0.00,2.62,0.00,0.000,6,0.000,0.062,2561,2206,1867
$GC,7910,1.17,223.5,476.7,9.6,378,7914,0.00,2.67,0.00,0.000,4,0.000,0.076,2561,3611,1867
$GC,8010,1.17,223.5,465.1,12.0,382,8016,0.00,2.65,0.00,0.000,6,0.000,0.062,2561,2192,1867
$GC,8326,1.17,223.5,433.2,9.2,398,8330,0.00,2.70,0.00,0.000,4,0.000,0.074,2561,3613,1866
$GC,8397,1.17,223.5,425.9,9.7,401,8402,0.00,2.62,0.00,0.000,6,0.000,0.061,2561,2200,1866
$GC,8714,1.17,228.2,400.2,7.8,416,8725,0.00,2.70,5.40,0.700,4,0.000,0.074,2561,3612,1850
$GC,8769,1.17,228.2,395.3,8.9,418,8775,0.00,2.65,0.00,0.000,6,0.000,0.061,2561,2193,1850
$GC,9085,1.17,228.2,367.6,9.2,434,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2193,1850
$GC,9394,1.17,228.2,338.3,9.3,449,9399,0.00,2.70,0.00,0.000,4,0.000,0.074,2561,3621,1850
$GC,9489,1.17,228.2,328.8,9.7,453,9494,0.00,2.65,0.00,0.000,6,0.000,0.061,2561,2194,1850
$GC,9805,1.17,228.2,301.7,8.7,468,9810,0.00,2.70,0.00,0.000,4,0.000,0.074,2561,3618,1850
$GC,9850,1.17,228.2,297.4,10.3,470,9854,0.00,2.62,0.00,0.000,6,0.000,0.061,2561,2200,1851
$GC,10171,1.17,228.2,268.9,8.6,486,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2200,1851
$GC,10481,1.17,228.2,243.5,8.2,501,10485,0.00,2.67,0.00,0.000,4,0.000,0.072,2561,3615,1851
$GC,10542,1.17,228.2,237.9,8.6,504,10547,0.00,2.62,0.00,0.000,6,0.000,0.059,2561,2192,1851
$GC,10869,1.17,228.2,210.2,8.7,520,10873,0.00,2.67,0.00,0.000,4,0.000,0.071,2561,3613,1851
$GC,10918,1.17,228.2,205.3,9.7,522,10923,0.00,2.60,0.00,0.000,6,0.000,0.058,2561,2201,1851
$GC,11234,1.17,228.2,177.8,8.6,537,11238,0.00,2.65,0.00,0.000,4,0.000,0.072,2561,3613,1852
$GC,11278,1.17,228.2,173.6,9.9,539,11282,0.00,2.60,0.00,0.000,6,0.000,0.058,2561,2202,1852
$GC,11599,1.17,228.2,146.5,8.4,555,11603,0.00,2.67,0.00,0.000,4,0.000,0.071,2561,3622,1852
$GC,11654,1.17,228.2,141.4,9.6,557,11660,0.00,2.62,0.00,0.000,6,0.000,0.059,2561,2197,1852
$GC,11970,1.17,228.2,112.2,9.7,573,11974,0.00,2.67,0.00,0.000,4,0.000,0.072,2561,3617,1852
$GC,12025,1.17,228.2,106.0,10.8,575,12032,0.00,2.60,0.00,0.000,6,0.000,0.060,2561,2200,1852
$GC,12343,1.17,228.2,75.7,9.2,591,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2200,1852
$GC,12651,1.19,244.0,50.1,7.4,606,12673,0.00,2.70,14.62,0.645,4,0.000,0.074,2561,3614,1786
$GC,12729,1.19,244.0,43.5,8.6,609,12733,0.00,2.62,0.00,0.000,6,0.000,0.060,2561,2201,1786
$GC,13045,1.24,244.0,17.7,8.2,624,13050,0.00,2.67,0.00,0.000,4,0.000,0.072,2561,3616,1786
$GC,13141,1.24,244.0,8.9,8.9,628,13145,0.00,2.62,0.00,0.000,6,0.000,0.060,2561,2200,1786
$STATE,13227,end climb,SURFACE_DEPTH_REACHED
$STATE,13227,begin surface coast
$FINISH,0.7,1.012957
$STATE,13249,end surface coast,CONTROL_FINISHED_OK
$STATE,13249,begin surface
$SM_CCo,13271,154.45,0.630,0,0,508,557.32
$SM_GC,1.33,0.00,0.00,154.45,0.000,0.000,0.630,73,2312,508,-10.24,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1858
$TCM_TEMP,17.40
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.4,18.5
$ALTIM_BOTTOM_PING,575.3,43.8
$24V_AH,23.6,25.916
$10V_AH,10.2,12.810
$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,24.700,143.725,348.000,154.450,0.000,18.043,30.828,177.503,8.500,0.000,0.000,36.302,1215.162,9874.341,690.214,1542.510,461.113,0.000,1466.382,0.000,1480.878,0.000,37.628
$DEVICE_MAMPS,167.973,77.467,1047.722,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.863,430.349,430.556,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31719,633
$CAP_FILE_SIZE,106045,0
$CFSIZE,260165632,249815040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,050708,111058,6220.057,-943.466,36,2.1,55,-9.9