version: 66.03
glider: 16
mission: 9
dive: 147
start: 7 5 108 18 45 43
data:
$ID,16
$MISSION,9
$DIVE,147
$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,-2096041.8
$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
$GPS1,183302,6215.753,-948.304,43,1.4,43,-9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-54.3
$GPS2,184527,6215.761,-948.375,14,1.8,14,-9.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6215.761,-953.401
$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,-119.40,0.000,2,0.000,0.000,66,2309,3028
$GC,156,-1.08,-146.6,4.3,-3.7,6,181,11.10,2.70,-7.68,0.000,4,0.166,0.082,2055,3709,3380
$GC,434,-0.90,-146.6,45.0,-12.2,18,440,0.22,2.60,0.00,0.000,6,0.096,0.055,2098,2298,3381
$GC,751,-0.84,-146.6,73.8,-8.9,33,755,0.00,2.67,0.00,0.000,4,0.000,0.073,2098,3707,3381
$GC,791,-0.80,-146.6,77.7,-10.3,35,796,0.15,2.58,0.00,0.000,6,0.098,0.055,2127,2299,3381
$GC,1118,-0.80,-146.6,103.5,-8.1,51,1122,0.00,2.62,0.00,0.000,4,0.000,0.066,2127,881,3381
$GC,1151,-0.88,-146.6,106.5,-8.9,52,1157,0.00,2.60,0.00,0.000,6,0.000,0.054,2127,2303,3381
$GC,1469,-0.88,-146.6,137.7,-10.3,68,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2303,3382
$GC,1776,-0.88,-146.6,167.6,-9.5,83,1780,0.00,2.67,0.00,0.000,4,0.000,0.065,2127,877,3381
$GC,1820,-0.96,-146.6,172.0,-9.6,85,1825,0.17,2.62,0.00,0.000,6,0.041,0.054,2074,2301,3381
$GC,2142,-0.85,-146.6,212.2,-12.8,101,2144,0.20,0.00,0.00,0.000,6,0.089,0.000,2114,2301,3382
$GC,2450,-0.85,-146.6,244.2,-9.9,116,2455,0.00,2.65,0.00,0.000,4,0.000,0.067,2115,881,3381
$GC,2501,-0.90,-146.6,249.4,-9.7,118,2506,0.00,2.60,0.00,0.000,6,0.000,0.054,2114,2299,3381
$GC,2817,-0.90,-146.6,279.3,-9.2,133,2821,0.00,2.65,0.00,0.000,4,0.000,0.067,2114,881,3380
$GC,2857,-0.95,-146.6,282.9,-9.2,135,2861,0.00,2.62,0.00,0.000,6,0.000,0.055,2114,2301,3380
$GC,3183,-0.95,-146.6,313.8,-9.6,151,3188,0.00,2.67,0.00,0.000,4,0.000,0.067,2114,880,3380
$GC,3224,-1.01,-146.6,317.7,-9.3,153,3229,0.17,2.62,0.00,0.000,6,0.043,0.055,2063,2300,3380
$GC,3553,-0.87,-146.6,357.6,-12.2,169,3555,0.22,0.00,0.00,0.000,6,0.091,0.000,2107,2300,3380
$GC,3859,-0.87,-146.6,387.4,-9.5,184,3864,0.00,2.67,0.00,0.000,4,0.000,0.067,2107,880,3380
$GC,3904,-0.92,-146.6,391.5,-8.8,186,3908,0.00,2.62,0.00,0.000,6,0.000,0.055,2107,2302,3380
$GC,4225,-0.92,-146.6,419.4,-8.6,202,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2301,3379
$GC,4534,-0.92,-146.6,446.5,-9.1,217,4538,0.00,2.67,0.00,0.000,4,0.000,0.067,2107,874,3379
$GC,4578,-0.98,-146.6,450.6,-9.2,219,4582,0.00,2.62,0.00,0.000,6,0.000,0.055,2107,2302,3379
$GC,4899,-0.98,-146.6,481.2,-9.3,235,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2302,3379
$GC,5208,-0.98,-146.6,509.4,-9.1,250,5212,0.00,2.67,0.00,0.000,4,0.000,0.067,2107,874,3379
$GC,5258,-1.02,-146.6,514.0,-9.0,252,5263,0.15,2.62,0.00,0.000,6,0.047,0.055,2063,2310,3379
$GC,5574,-0.90,-146.6,547.4,-9.7,267,5579,0.17,2.70,0.00,0.000,4,0.095,0.067,2101,876,3379
$GC,5624,-0.95,-146.6,551.8,-8.2,269,5629,0.00,2.60,0.00,0.000,6,0.000,0.055,2101,2298,3379
$GC,5940,-0.95,-146.6,580.7,-9.9,284,5944,0.00,2.67,0.00,0.000,4,0.000,0.076,2101,3709,3378
$GC,5980,-0.95,-146.6,584.9,-11.2,286,5984,0.00,2.60,0.00,0.000,6,0.000,0.054,2101,2293,3378
$GC,6306,-0.95,-146.6,619.6,-10.2,302,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2293,3378
$GC,6615,-0.95,-146.6,646.1,-8.5,317,6620,0.00,2.65,0.00,0.000,4,0.000,0.071,2101,883,3378
$GC,6734,-1.00,-146.6,657.5,-9.2,322,6738,0.00,2.62,0.00,0.000,6,0.000,0.058,2101,2300,3378
$STATE,6759,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6760,begin apogee
$GC,6767,-0.31,0.0,659.0,6.5,323,6901,0.65,0.00,131.07,1.080,6,0.103,0.000,2231,2196,2781
$STATE,6902,end apogee,CONTROL_FINISHED_OK
$STATE,6902,begin climb
$GC,6905,1.08,146.6,664.0,0.0,330,7039,1.40,0.00,129.40,1.059,6,0.071,0.000,2530,2196,2183
$GC,7338,1.11,169.3,639.8,7.2,351,7366,0.00,2.72,21.20,0.996,4,0.000,0.069,2530,787,2089
$GC,7434,1.13,193.2,632.3,7.1,355,7465,0.00,2.65,21.80,0.995,6,0.000,0.054,2530,2203,1993
$GC,7775,1.18,193.2,606.4,8.6,372,7780,0.12,2.72,0.00,0.000,4,0.054,0.077,2566,3619,1993
$GC,7826,1.09,193.2,601.3,11.5,374,7831,0.15,2.65,0.00,0.000,6,0.100,0.061,2538,2208,1993
$GC,8141,1.09,193.2,570.4,9.3,389,8146,0.00,2.72,0.00,0.000,4,0.000,0.079,2538,3614,1992
$GC,8197,1.04,193.2,565.1,9.6,391,8203,0.00,2.65,0.00,0.000,6,0.000,0.062,2538,2202,1992
$GC,8512,1.04,193.2,536.2,9.1,407,8517,0.00,2.72,0.00,0.000,4,0.000,0.077,2538,3613,1990
$GC,8636,0.98,193.2,524.6,9.2,412,8642,0.12,2.65,0.00,0.000,6,0.101,0.062,2515,2190,1990
$GC,8952,1.06,202.8,501.0,7.6,428,8966,0.00,2.70,9.30,0.870,4,0.000,0.071,2514,779,1953
$GC,9042,1.11,202.8,493.3,8.8,432,9047,0.12,2.65,0.00,0.000,6,0.054,0.053,2550,2204,1953
$GC,9369,1.11,202.8,459.8,10.4,448,9373,0.00,2.70,0.00,0.000,4,0.000,0.076,2550,3619,1953
$GC,9431,1.04,202.8,452.6,11.6,451,9437,0.12,2.67,0.00,0.000,6,0.101,0.062,2527,2201,1953
$GC,9758,1.04,202.8,420.5,9.4,467,9762,0.00,2.72,0.00,0.000,4,0.000,0.076,2527,3619,1953
$GC,9798,1.04,202.8,416.5,10.9,469,9802,0.00,2.65,0.00,0.000,6,0.000,0.061,2528,2199,1953
$GC,10124,1.04,202.8,387.5,8.6,485,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2199,1953
$GC,10433,1.04,202.8,360.8,8.2,500,10437,0.00,2.67,0.00,0.000,4,0.000,0.074,2528,3613,1953
$GC,10490,1.04,202.8,355.8,9.0,502,10496,0.00,2.62,0.00,0.000,6,0.000,0.062,2528,2198,1953
$GC,10805,1.07,237.3,333.5,6.7,518,10841,0.00,2.75,30.52,0.856,4,0.000,0.074,2527,3613,1812
$GC,10869,1.07,237.3,328.7,8.4,520,10874,0.00,2.67,0.00,0.000,6,0.000,0.062,2527,2195,1812
$GC,11192,1.16,260.1,305.2,7.2,536,11215,0.12,0.00,20.42,0.818,6,0.050,0.000,2563,2196,1720
$GC,11520,1.16,260.1,274.0,9.6,552,11524,0.00,2.70,0.00,0.000,4,0.000,0.074,2563,3614,1720
$GC,11592,1.16,260.1,266.3,9.8,555,11597,0.00,2.65,0.00,0.000,6,0.000,0.061,2563,2196,1720
$GC,11907,1.16,260.1,236.9,9.2,570,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2196,1720
$GC,12217,1.16,260.1,207.3,9.7,585,12221,0.00,2.70,0.00,0.000,4,0.000,0.074,2563,3621,1721
$GC,12261,1.16,260.1,202.6,10.6,587,12265,0.00,2.65,0.00,0.000,6,0.000,0.061,2563,2192,1720
$GC,12581,1.16,260.1,170.6,10.0,603,12582,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2192,1720
$GC,12891,1.16,260.1,139.0,10.2,618,12896,0.00,2.70,0.00,0.000,4,0.000,0.073,2563,3623,1721
$GC,12964,1.16,260.1,130.4,12.4,621,12968,0.00,2.62,0.00,0.000,6,0.000,0.061,2563,2201,1721
$GC,13280,1.16,260.1,98.2,9.9,636,13284,0.00,2.67,0.00,0.000,4,0.000,0.073,2563,3617,1721
$GC,13320,1.16,260.1,93.9,10.6,638,13324,0.00,2.62,0.00,0.000,6,0.000,0.061,2563,2197,1722
$GC,13647,1.16,260.1,64.7,8.3,654,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2197,1721
$GC,13956,1.16,260.1,38.3,10.0,669,13960,0.00,2.67,0.00,0.000,4,0.000,0.072,2563,3620,1722
$GC,14078,1.16,260.1,23.8,10.8,674,14085,0.00,2.60,0.00,0.000,6,0.000,0.062,2563,2202,1722
$STATE,14309,end climb,SURFACE_DEPTH_REACHED
$STATE,14309,begin surface coast
$FINISH,0.6,1.018266
$STATE,14331,end surface coast,CONTROL_FINISHED_OK
$STATE,14331,begin surface
$SM_CCo,14353,143.43,0.628,0,0,508,557.32
$SM_GC,1.41,0.00,0.00,143.43,0.000,0.000,0.628,71,2314,508,-10.25,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1872
$TCM_TEMP,17.60
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.0,18.4
$ALTIM_BOTTOM_PING,650.5,18.1
$24V_AH,23.6,26.388
$10V_AH,10.2,13.013
$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,26.175,143.950,363.725,143.425,0.000,74.303,106.524,321.085,14.750,0.000,0.000,14.249,1317.664,10878.122,678.002,1612.385,758.853,0.000,1501.167,0.000,1566.181,0.000,42.410
$DEVICE_MAMPS,166.439,82.069,1079.936,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.357,469.626,442.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34818,687
$CAP_FILE_SIZE,118878,0
$CFSIZE,260165632,249651200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,050708,224838,6216.184,-949.318,38,1.2,38,-9.9