version: 66.03
glider: 16
mission: 9
dive: 152
start: 7 6 108 15 16 13
data:
$ID,16
$MISSION,9
$DIVE,152
$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,-2096168.8
$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,15
$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
$GPS1,151033,6212.854,-1003.995,39,1.7,41,-10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-49.4
$GPS2,151559,6212.798,-1004.082,12,2.1,31,-10.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6212.798,-1009.116
$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,280.1,20000,-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,32,-1.08,-146.6,0.0,0.0,0,154,0.00,0.00,-120.80,0.000,2,0.000,0.000,70,2311,3057
$GC,158,-1.08,-146.6,4.9,-4.4,6,183,11.15,2.70,-6.65,0.000,4,0.170,0.080,2054,3709,3381
$GC,382,-0.84,-146.6,43.0,-12.6,16,387,0.30,2.60,0.00,0.000,6,0.100,0.054,2113,2297,3381
$GC,709,-0.79,-146.6,72.6,-8.5,32,714,0.00,2.62,0.00,0.000,4,0.000,0.065,2113,880,3382
$GC,737,-0.79,-146.6,75.4,-9.9,33,741,0.00,2.60,0.00,0.000,6,0.000,0.051,2112,2300,3382
$GC,1054,-0.79,-146.6,106.1,-9.8,48,1059,0.00,2.65,0.00,0.000,4,0.000,0.071,2113,3712,3382
$GC,1095,-0.74,-146.6,110.3,-10.4,50,1100,0.12,2.60,0.00,0.000,6,0.102,0.054,2136,2294,3382
$GC,1423,-0.74,-146.6,136.8,-8.1,66,1427,0.00,2.67,0.00,0.000,4,0.000,0.073,2136,3708,3382
$GC,1455,-0.74,-146.6,139.8,-9.0,67,1462,0.00,2.58,0.00,0.000,6,0.000,0.054,2136,2297,3382
$GC,1771,-0.74,-146.6,165.3,-8.3,83,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2298,3382
$GC,2081,-0.79,-146.6,194.1,-9.8,98,2085,0.00,2.62,0.00,0.000,4,0.000,0.065,2136,883,3382
$GC,2136,-0.89,-146.6,199.7,-10.0,100,2147,0.15,2.60,0.00,0.000,6,0.043,0.054,2090,2304,3382
$GC,2453,-0.82,-146.6,236.3,-11.5,116,2455,0.15,0.00,0.00,0.000,6,0.091,0.000,2119,2305,3382
$GC,2761,-0.82,-146.6,267.1,-9.8,131,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2304,3382
$GC,3071,-0.82,-146.6,295.3,-8.9,146,3075,0.00,2.67,0.00,0.000,4,0.000,0.065,2119,880,3382
$GC,3111,-0.88,-146.6,298.8,-8.7,148,3115,0.00,2.62,0.00,0.000,6,0.000,0.054,2119,2304,3382
$GC,3437,-0.88,-146.6,329.0,-9.5,164,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2304,3382
$GC,3746,-0.88,-146.6,358.1,-9.6,179,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2305,3382
$GC,4056,-0.88,-146.6,386.9,-9.6,194,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2304,3382
$GC,4365,-0.88,-146.6,413.9,-8.7,209,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2304,3382
$GC,4674,-0.88,-146.6,441.9,-9.2,224,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2304,3382
$GC,4984,-0.88,-146.6,469.6,-8.9,239,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2305,3382
$GC,5293,-0.88,-146.6,498.5,-9.6,254,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2304,3382
$GC,5602,-0.88,-146.6,528.5,-9.7,269,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2305,3381
$GC,5912,-0.88,-146.6,558.1,-9.7,284,5916,0.00,2.65,0.00,0.000,4,0.000,0.076,2119,3709,3381
$GC,5952,-0.88,-146.6,562.2,-10.8,286,5956,0.00,2.60,0.00,0.000,6,0.000,0.054,2119,2291,3381
$GC,6278,-0.88,-146.6,593.1,-9.6,302,6283,0.00,2.70,0.00,0.000,4,0.000,0.074,2119,3709,3381
$GC,6312,-0.88,-146.6,596.5,-10.4,303,6318,0.00,2.58,0.00,0.000,6,0.000,0.053,2119,2297,3381
$GC,6628,-0.92,-146.6,627.8,-10.5,319,6632,0.00,2.70,0.00,0.000,4,0.000,0.074,2119,3713,3381
$GC,6668,-0.97,-146.6,632.1,-11.2,321,6673,0.15,2.60,0.00,0.000,6,0.044,0.054,2076,2293,3381
$GC,6995,-0.91,-146.6,672.9,-12.3,337,7000,0.12,2.70,0.00,0.000,4,0.102,0.075,2099,3709,3381
$GC,7028,-0.91,-146.6,677.0,-12.2,338,7034,0.00,2.58,0.00,0.000,6,0.000,0.054,2099,2299,3381
$GC,7344,-0.91,-146.6,706.8,-8.8,354,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2299,3380
$GC,7653,-0.91,-146.6,731.2,-8.1,369,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2299,3380
$GC,7962,-0.91,-146.6,757.1,-9.1,384,7967,0.00,2.72,0.00,0.000,4,0.000,0.081,2099,3711,3380
$GC,8051,-0.91,-146.6,766.5,-10.7,388,8056,0.00,2.62,0.00,0.000,6,0.000,0.061,2099,2299,3380
$GC,8372,-0.91,-146.6,794.9,-8.5,404,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2300,3380
$STATE,8555,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8555,begin apogee
$GC,8562,-0.31,0.0,812.6,9.3,413,8699,0.65,0.00,133.77,1.180,6,0.098,0.000,2230,2202,2781
$STATE,8700,end apogee,CONTROL_FINISHED_OK
$STATE,8700,begin climb
$GC,8703,1.08,146.6,818.8,0.0,420,8847,1.42,2.83,131.70,1.160,4,0.076,0.081,2531,3606,2183
$GC,8861,1.11,218.3,814.5,5.4,427,8934,0.00,2.67,64.60,1.136,6,0.000,0.061,2531,2204,1891
$GC,9247,1.22,266.1,786.8,6.3,446,9293,0.15,0.00,43.55,1.116,6,0.055,0.000,2572,2204,1696
$GC,9597,1.22,266.1,753.0,9.7,463,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2204,1695
$GC,9907,1.22,266.1,723.4,10.1,478,9911,0.00,2.72,0.00,0.000,4,0.000,0.078,2572,3610,1694
$GC,9973,1.22,266.1,715.8,11.6,481,9978,0.00,2.65,0.00,0.000,6,0.000,0.061,2572,2200,1694
$GC,10294,1.22,266.1,680.5,10.7,497,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2199,1693
$GC,10604,1.22,266.1,649.6,9.6,512,10608,0.00,2.70,0.00,0.000,4,0.000,0.074,2572,3610,1692
$GC,10648,1.22,266.1,644.8,10.2,514,10652,0.00,2.65,0.00,0.000,6,0.000,0.059,2572,2200,1692
$GC,10968,1.22,266.1,613.6,9.5,530,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2200,1692
$GC,11278,1.22,266.1,583.1,10.1,545,11282,0.00,2.67,0.00,0.000,4,0.000,0.074,2572,3610,1692
$GC,11333,1.22,266.1,576.5,12.1,547,11339,0.00,2.65,0.00,0.000,6,0.000,0.058,2573,2192,1692
$GC,11648,1.22,266.1,543.6,10.3,563,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2192,1692
$GC,11958,1.22,266.1,511.0,10.4,578,11962,0.00,2.70,0.00,0.000,4,0.000,0.073,2572,3610,1692
$GC,11997,1.22,266.1,506.6,12.1,580,12002,0.00,2.60,0.00,0.000,6,0.000,0.059,2572,2200,1692
$GC,12324,1.22,266.1,474.0,9.6,596,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2200,1693
$GC,12634,1.22,266.1,445.0,9.4,611,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2201,1693
$GC,12943,1.22,266.1,416.1,9.2,626,12947,0.00,2.67,0.00,0.000,4,0.000,0.074,2572,3618,1693
$GC,12988,1.22,266.1,411.4,9.8,628,12993,0.00,2.62,0.00,0.000,6,0.000,0.061,2572,2202,1693
$GC,13309,1.22,266.1,380.6,9.4,644,13310,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2202,1693
$GC,13618,1.22,266.1,351.6,9.3,659,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2201,1693
$GC,13927,1.22,266.1,322.9,9.4,674,13928,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2201,1694
$GC,14237,1.22,266.1,293.9,9.3,689,14238,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2202,1694
$GC,14546,1.22,266.1,264.9,9.4,704,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2201,1694
$GC,14855,1.22,266.1,234.4,10.1,719,14859,0.00,2.65,0.00,0.000,4,0.000,0.072,2572,3613,1695
$GC,14895,1.22,266.1,230.3,10.8,721,14900,0.00,2.62,0.00,0.000,6,0.000,0.061,2572,2199,1695
$GC,15222,1.22,266.1,197.2,10.1,737,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2199,1695
$GC,15531,1.22,266.1,165.9,10.3,752,15533,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2198,1695
$GC,15841,1.22,266.1,134.5,10.4,767,15843,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2198,1695
$GC,16152,1.22,266.1,102.7,10.6,782,16156,0.00,2.65,0.00,0.000,4,0.000,0.071,2572,3611,1695
$GC,16192,1.22,266.1,97.8,12.4,784,16196,0.00,2.60,0.00,0.000,6,0.000,0.059,2572,2198,1695
$GC,16518,1.22,266.1,64.0,9.2,800,16520,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2198,1695
$GC,16828,1.24,285.5,39.5,7.3,815,16850,0.00,2.72,17.02,0.633,4,0.000,0.064,2573,781,1616
$GC,16942,1.30,285.5,30.2,8.5,820,16947,0.00,2.58,0.00,0.000,6,0.000,0.049,2572,2203,1616
$STATE,17267,end climb,SURFACE_DEPTH_REACHED
$STATE,17267,begin surface coast
$FINISH,0.6,1.027008
$STATE,17291,end surface coast,CONTROL_FINISHED_OK
$STATE,17291,begin surface
$SM_CCo,17313,131.90,0.620,0,0,509,557.32
$SM_GC,1.27,0.00,0.00,131.90,0.000,0.000,0.620,72,2306,509,-10.24,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1868
$TCM_TEMP,17.80
$XPDR_PINGS,15
$ALTIM_TOP_PING,18.3,17.1
$ALTIM_BOTTOM_PING,751.4,69.9
$24V_AH,23.6,27.177
$10V_AH,10.1,13.365
$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,25.250,106.325,390.650,131.900,0.000,18.361,25.626,148.123,10.500,0.000,0.000,31.911,1487.391,13442.728,671.425,1706.097,462.801,0.000,1525.217,0.000,1653.060,0.000,46.165
$DEVICE_MAMPS,169.507,80.535,1180.413,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.940,579.587,495.737,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41138,837
$CAP_FILE_SIZE,114586,0
$CFSIZE,260165632,249389056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060708,200807,6211.489,-1011.121,29,1.3,29,-10.1