version: 66.03
glider: 16
mission: 9
dive: 151
start: 7 6 108 10 59 15
data:
$ID,16
$MISSION,9
$DIVE,151
$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,-2096136.2
$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,17
$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
$GPS1,105052,6213.210,-1000.784,40,3.6,59,-10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-48.0
$GPS2,105859,6213.259,-1000.677,13,2.3,32,-10.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6213.259,-1005.710
$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,280.0,20000,-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,30,-1.08,-146.6,0.0,0.0,0,153,0.00,0.00,-120.80,0.000,2,0.000,0.000,71,2307,3038
$GC,156,-1.08,-146.6,4.1,-3.3,6,181,11.15,2.67,-7.53,0.000,4,0.170,0.083,2055,3705,3381
$GC,434,-0.89,-146.6,51.4,-14.1,18,439,0.25,2.58,0.00,0.000,6,0.098,0.054,2104,2298,3382
$GC,750,-0.89,-146.6,84.8,-11.3,33,754,0.00,2.62,0.00,0.000,4,0.000,0.065,2104,884,3382
$GC,812,-0.89,-146.6,92.7,-13.0,36,817,0.00,2.60,0.00,0.000,6,0.000,0.052,2104,2300,3382
$GC,1139,-0.89,-146.6,133.1,-11.2,52,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2300,3382
$GC,1448,-0.89,-146.6,164.1,-10.2,67,1453,0.00,2.67,0.00,0.000,4,0.000,0.066,2104,879,3382
$GC,1504,-0.89,-146.6,169.7,-9.7,69,1509,0.00,2.60,0.00,0.000,6,0.000,0.052,2104,2300,3382
$GC,1819,-0.89,-146.6,202.7,-10.8,85,1823,0.00,2.67,0.00,0.000,4,0.000,0.067,2104,875,3382
$GC,1859,-0.89,-146.6,207.0,-11.1,87,1863,0.00,2.62,0.00,0.000,6,0.000,0.054,2104,2299,3382
$GC,2185,-0.89,-146.6,244.1,-11.6,103,2189,0.00,2.67,0.00,0.000,4,0.000,0.067,2104,877,3382
$GC,2224,-0.89,-146.6,248.6,-11.8,105,2228,0.00,2.60,0.00,0.000,6,0.000,0.054,2104,2304,3382
$GC,2551,-0.89,-146.6,284.0,-10.5,121,2555,0.00,2.67,0.00,0.000,4,0.000,0.068,2104,880,3382
$GC,2596,-0.89,-146.6,288.7,-10.2,123,2601,0.00,2.62,0.00,0.000,6,0.000,0.054,2104,2304,3382
$GC,2917,-0.89,-146.6,321.3,-9.9,139,2921,0.00,2.70,0.00,0.000,4,0.000,0.067,2104,875,3382
$GC,2958,-0.89,-146.6,325.3,-10.2,141,2962,0.00,2.62,0.00,0.000,6,0.000,0.054,2104,2300,3382
$GC,3284,-0.89,-146.6,357.3,-9.8,157,3288,0.00,2.67,0.00,0.000,4,0.000,0.067,2104,884,3382
$GC,3323,-0.89,-146.6,361.1,-9.6,159,3327,0.00,2.62,0.00,0.000,6,0.000,0.054,2104,2307,3382
$GC,3649,-0.89,-146.6,392.1,-9.6,175,3654,0.00,2.70,0.00,0.000,4,0.000,0.067,2104,878,3381
$GC,3689,-0.89,-146.6,396.0,-9.9,177,3694,0.00,2.60,0.00,0.000,6,0.000,0.054,2104,2300,3381
$GC,4017,-0.89,-146.6,426.4,-9.5,193,4021,0.00,2.67,0.00,0.000,4,0.000,0.067,2104,884,3381
$GC,4050,-0.89,-146.6,429.5,-8.8,194,4056,0.00,2.60,0.00,0.000,6,0.000,0.055,2102,2301,3381
$GC,4365,-0.89,-146.6,458.7,-9.6,210,4369,0.00,2.67,0.00,0.000,4,0.000,0.067,2104,879,3381
$GC,4415,-0.94,-146.6,463.7,-9.6,212,4419,0.00,2.62,0.00,0.000,6,0.000,0.055,2104,2304,3381
$GC,4731,-0.94,-146.6,496.4,-10.6,227,4735,0.00,2.67,0.00,0.000,4,0.000,0.067,2104,884,3381
$GC,4771,-0.94,-146.6,500.5,-10.3,229,4775,0.00,2.62,0.00,0.000,6,0.000,0.055,2104,2307,3381
$GC,5097,-0.94,-146.6,533.8,-9.8,245,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2307,3380
$GC,5406,-0.94,-146.6,562.3,-8.9,260,5411,0.00,2.67,0.00,0.000,4,0.000,0.067,2104,884,3381
$GC,5464,-0.99,-146.6,567.2,-8.1,262,5470,0.00,2.60,0.00,0.000,6,0.000,0.055,2104,2302,3381
$GC,5780,-0.99,-146.6,595.5,-9.0,278,5784,0.00,2.67,0.00,0.000,4,0.000,0.065,2104,875,3381
$GC,5819,-1.03,-146.6,598.9,-8.7,280,5824,0.12,2.62,0.00,0.000,6,0.048,0.055,2066,2300,3380
$GC,6149,-0.92,-146.6,631.0,-10.2,296,6154,0.15,2.67,0.00,0.000,4,0.095,0.066,2098,879,3380
$GC,6222,-0.92,-146.6,638.0,-7.9,299,6226,0.00,2.62,0.00,0.000,6,0.000,0.055,2098,2305,3380
$GC,6537,-0.92,-146.6,660.6,-7.4,314,6542,0.00,2.67,0.00,0.000,4,0.000,0.077,2098,3713,3380
$GC,6587,-0.92,-146.6,665.0,-8.9,316,6592,0.00,2.62,0.00,0.000,6,0.000,0.056,2098,2291,3380
$GC,6903,-0.92,-146.6,692.4,-8.4,331,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2291,3380
$GC,7212,-0.92,-146.6,717.9,-8.8,346,7217,0.00,2.75,0.00,0.000,4,0.000,0.081,2098,3713,3379
$GC,7252,-0.92,-146.6,721.8,-9.8,348,7256,0.00,2.65,0.00,0.000,6,0.000,0.061,2099,2292,3379
$STATE,7431,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7431,begin apogee
$GC,7438,-0.31,0.0,739.9,10.0,357,7574,0.65,0.00,132.40,1.131,6,0.098,0.000,2230,2200,2781
$STATE,7575,end apogee,CONTROL_FINISHED_OK
$STATE,7575,begin climb
$GC,7578,1.08,146.6,744.6,0.0,364,7722,1.42,2.83,130.55,1.110,4,0.071,0.080,2534,3613,2183
$GC,7815,1.02,146.6,733.3,9.2,375,7820,0.00,2.67,0.00,0.000,6,0.000,0.061,2534,2201,2183
$GC,8142,1.07,194.4,712.4,6.3,391,8191,0.00,2.83,43.20,1.076,4,0.000,0.079,2534,3614,1988
$GC,8247,1.07,194.4,704.7,8.8,396,8251,0.00,2.67,0.00,0.000,6,0.000,0.063,2534,2197,1988
$GC,8568,1.16,275.6,684.4,5.1,412,8648,0.00,2.80,72.45,1.085,4,0.000,0.080,2534,3604,1657
$GC,8673,1.29,314.9,678.7,6.6,417,8715,0.22,2.65,36.10,1.054,6,0.046,0.062,2592,2197,1497
$GC,9027,1.29,314.9,638.8,11.0,434,9031,0.00,2.72,0.00,0.000,4,0.000,0.076,2592,3616,1495
$GC,9099,1.29,314.9,630.7,11.2,437,9103,0.00,2.65,0.00,0.000,6,0.000,0.061,2592,2196,1495
$GC,9415,1.29,314.9,598.8,10.9,452,9419,0.00,2.67,0.00,0.000,4,0.000,0.071,2593,782,1494
$GC,9477,1.29,314.9,591.6,11.7,455,9481,0.00,2.62,0.00,0.000,6,0.000,0.051,2592,2207,1493
$GC,9803,1.29,314.9,555.5,11.0,471,9807,0.00,2.65,0.00,0.000,4,0.000,0.074,2592,3611,1493
$GC,9882,1.29,314.9,545.8,12.5,474,9888,0.00,2.62,0.00,0.000,6,0.000,0.060,2592,2200,1494
$GC,10198,1.29,314.9,507.8,11.8,490,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2200,1494
$GC,10508,1.29,314.9,473.0,11.2,505,10512,0.00,2.67,0.00,0.000,4,0.000,0.073,2592,3611,1494
$GC,10564,1.29,314.9,466.3,12.3,507,10570,0.00,2.65,0.00,0.000,6,0.000,0.063,2592,2191,1495
$GC,10879,1.29,314.9,429.9,11.7,523,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2191,1494
$GC,11189,1.29,314.9,394.6,11.0,538,11193,0.00,2.70,0.00,0.000,4,0.000,0.074,2592,3613,1494
$GC,11233,1.29,314.9,389.1,12.3,540,11237,0.00,2.65,0.00,0.000,6,0.000,0.064,2592,2192,1494
$GC,11554,1.29,314.9,353.5,11.4,556,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2192,1494
$GC,11863,1.29,314.9,318.6,11.2,571,11867,0.00,2.70,0.00,0.000,4,0.000,0.074,2592,3618,1495
$GC,11913,1.29,314.9,312.7,11.6,573,11917,0.00,2.65,0.00,0.000,6,0.000,0.064,2592,2197,1495
$GC,12228,1.29,314.9,281.0,9.8,588,12229,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2197,1496
$GC,12537,1.29,314.9,251.4,9.5,603,12539,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2197,1496
$GC,12847,1.29,314.9,219.4,10.8,618,12852,0.00,2.67,0.00,0.000,4,0.000,0.073,2592,3614,1495
$GC,12886,1.29,314.9,214.8,11.3,620,12891,0.00,2.62,0.00,0.000,6,0.000,0.064,2590,2198,1496
$GC,13214,1.29,314.9,175.7,12.1,636,13215,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2199,1496
$GC,13523,1.29,314.9,139.6,11.4,651,13524,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2198,1496
$GC,13832,1.29,314.9,102.5,12.2,666,13836,0.00,2.67,0.00,0.000,4,0.000,0.071,2592,3617,1497
$GC,13898,1.29,314.9,93.6,13.0,669,13903,0.00,2.65,0.00,0.000,6,0.000,0.062,2592,2191,1497
$GC,14220,1.29,314.9,60.9,8.8,685,14221,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2191,1497
$GC,14529,1.29,314.9,31.2,9.8,700,14533,0.00,2.65,0.00,0.000,4,0.000,0.071,2592,3612,1497
$GC,14606,1.29,314.9,23.3,10.6,703,14613,0.00,2.62,0.00,0.000,6,0.000,0.061,2592,2198,1496
$STATE,14837,end climb,SURFACE_DEPTH_REACHED
$STATE,14838,begin surface coast
$FINISH,0.6,1.026418
$STATE,14859,end surface coast,CONTROL_FINISHED_OK
$STATE,14859,begin surface
$SM_CCo,14882,115.72,0.621,0,0,509,557.32
$SM_GC,1.35,0.00,0.00,115.72,0.000,0.000,0.621,71,2309,509,-10.25,0.25,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1854
$TCM_TEMP,17.70
$XPDR_PINGS,14
$ALTIM_TOP_PING,18.8,17.0
$ALTIM_BOTTOM_PING,650.4,98.3
$24V_AH,23.3,27.016
$10V_AH,10.1,13.287
$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,24.875,154.675,414.700,115.725,0.000,36.148,106.577,148.097,9.250,0.000,0.000,33.154,1339.525,11225.733,701.520,1665.152,552.536,0.000,1554.612,0.000,1603.757,0.000,39.741
$DEVICE_MAMPS,169.507,82.836,1130.558,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.509,487.704,425.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34802,716
$CAP_FILE_SIZE,114313,0
$CFSIZE,260165632,249454592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,060708,151033,6212.854,-1003.995,39,1.7,41,-10.1