version: 66.03
glider: 16
mission: 9
dive: 157
start: 7 7 108 15 39 41
data:
$ID,16
$MISSION,9
$DIVE,157
$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,-1
$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,-2096263
$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,24
$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
$GPS1,153337,6214.624,-1034.331,42,1.5,53,-10.3
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-49.6
$GPS2,153923,6214.601,-1034.441,12,1.5,14,-10.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$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,321.6,29177,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.08,-146.6,0.0,0.0,0,147,0.00,0.00,-121.20,0.000,2,0.000,0.000,71,2304,3026
$GC,151,-1.08,-146.6,4.4,-3.8,6,176,11.10,2.65,-7.62,0.000,4,0.168,0.077,2056,3700,3382
$GC,287,-0.88,-146.6,30.8,-15.9,12,292,0.25,2.55,0.00,0.000,6,0.101,0.051,2103,2295,3381
$GC,614,-0.81,-146.6,74.1,-11.6,28,619,0.00,2.65,0.00,0.000,4,0.000,0.068,2103,3704,3382
$GC,802,-0.75,-146.6,96.8,-11.7,36,807,0.15,2.55,0.00,0.000,6,0.099,0.051,2132,2299,3382
$GC,1118,-0.75,-146.6,126.9,-9.5,51,1122,0.00,2.65,0.00,0.000,4,0.000,0.071,2132,3708,3382
$GC,1305,-0.75,-146.6,145.3,-9.5,59,1309,0.00,2.58,0.00,0.000,6,0.000,0.052,2132,2291,3382
$GC,1620,-0.75,-146.6,171.3,-7.6,74,1625,0.00,2.60,0.00,0.000,4,0.000,0.064,2132,883,3382
$GC,1769,-0.84,-146.6,181.8,-6.7,80,1776,0.00,2.58,0.00,0.000,6,0.000,0.051,2132,2298,3382
$GC,2085,-0.84,-146.6,205.8,-7.5,96,2090,0.00,2.62,0.00,0.000,4,0.000,0.062,2132,885,3382
$GC,2200,-0.93,-146.6,214.3,-7.2,101,2205,0.17,2.58,0.00,0.000,6,0.041,0.051,2081,2301,3382
$GC,2521,-0.82,-146.6,249.0,-11.0,117,2526,0.15,2.65,0.00,0.000,4,0.095,0.064,2114,883,3382
$GC,2658,-0.87,-146.6,261.5,-9.6,123,2662,0.00,2.58,0.00,0.000,6,0.000,0.052,2114,2299,3382
$GC,2979,-0.87,-146.6,293.8,-10.7,139,2983,0.00,2.65,0.00,0.000,4,0.000,0.064,2114,880,3382
$GC,3137,-0.92,-146.6,310.3,-10.4,146,3142,0.00,2.58,0.00,0.000,6,0.000,0.053,2112,2298,3382
$GC,3458,-0.92,-146.6,347.0,-11.4,162,3462,0.00,2.65,0.00,0.000,4,0.000,0.064,2114,880,3382
$GC,3588,-0.97,-146.6,360.9,-11.0,168,3593,0.12,2.60,0.00,0.000,6,0.047,0.052,2076,2303,3382
$GC,3914,-0.86,-146.6,399.7,-11.5,184,3920,0.15,2.62,0.00,0.000,4,0.094,0.064,2108,887,3382
$GC,4055,-0.86,-146.6,413.1,-9.5,190,4059,0.00,2.58,0.00,0.000,6,0.000,0.052,2108,2303,3382
$GC,4376,-0.86,-146.6,442.3,-8.8,206,4380,0.00,2.65,0.00,0.000,4,0.000,0.065,2108,881,3382
$GC,4521,-0.86,-146.6,455.0,-8.7,212,4527,0.00,2.58,0.00,0.000,6,0.000,0.053,2108,2302,3382
$GC,4837,-0.86,-146.6,483.7,-9.8,228,4841,0.00,2.65,0.00,0.000,4,0.000,0.064,2106,883,3382
$GC,4966,-0.86,-146.6,495.9,-8.8,234,4970,0.00,2.58,0.00,0.000,6,0.000,0.052,2108,2304,3382
$GC,5292,-0.86,-146.6,529.5,-10.5,250,5297,0.00,2.65,0.00,0.000,4,0.000,0.065,2108,878,3381
$GC,5438,-0.91,-146.6,544.2,-10.4,256,5444,0.00,2.58,0.00,0.000,6,0.000,0.051,2108,2303,3382
$GC,5754,-0.91,-146.6,574.8,-9.1,272,5759,0.00,2.62,0.00,0.000,4,0.000,0.064,2108,885,3381
$GC,5914,-0.95,-146.6,589.2,-9.3,279,5918,0.00,2.58,0.00,0.000,6,0.000,0.051,2108,2307,3381
$GC,6240,-0.95,-146.6,619.3,-9.3,295,6245,0.00,2.65,0.00,0.000,4,0.000,0.064,2108,878,3381
$GC,6341,-1.01,-146.6,628.1,-8.0,299,6348,0.12,2.58,0.00,0.000,6,0.050,0.050,2070,2303,3381
$GC,6658,-0.90,-146.6,652.1,-5.1,315,6663,0.17,2.62,0.00,0.000,4,0.094,0.062,2106,885,3381
$GC,6797,-0.90,-146.6,662.9,-9.6,321,6802,0.00,2.55,0.00,0.000,6,0.000,0.051,2107,2301,3381
$GC,7113,-0.90,-146.6,696.4,-11.9,336,7118,0.00,2.62,0.00,0.000,4,0.000,0.064,2107,884,3381
$GC,7222,-0.96,-146.6,709.8,-11.4,341,7227,0.00,2.58,0.00,0.000,6,0.000,0.052,2107,2305,3381
$GC,7549,-0.96,-146.6,736.5,-5.9,357,7553,0.00,2.62,0.00,0.000,4,0.000,0.064,2106,881,3380
$GC,7726,-1.04,-146.6,746.9,-10.6,365,7731,0.15,2.60,0.00,0.000,6,0.046,0.057,2062,2298,3380
$GC,8055,-0.93,-146.6,778.5,-10.4,381,8060,0.15,2.62,0.00,0.000,4,0.099,0.067,2094,881,3380
$GC,8105,-0.93,-146.6,783.4,-9.3,383,8110,0.00,2.60,0.00,0.000,6,0.000,0.054,2094,2307,3380
$STATE,8253,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8253,begin apogee
$GC,8260,-0.31,0.0,795.5,6.5,390,8397,0.68,0.00,132.85,1.156,6,0.105,0.000,2228,2195,2782
$STATE,8397,end apogee,CONTROL_FINISHED_OK
$STATE,8397,begin climb
$GC,8400,1.08,146.6,801.1,0.0,397,8544,1.45,2.80,131.50,1.139,4,0.077,0.077,2533,3613,2182
$GC,8625,0.99,146.6,791.4,8.7,407,8630,0.00,2.65,0.00,0.000,6,0.000,0.061,2533,2199,2182
$GC,8941,1.05,205.6,773.9,5.9,422,9002,0.00,2.78,52.62,1.114,4,0.000,0.076,2533,3601,1943
$GC,9075,1.05,205.6,762.1,9.6,428,9080,0.00,2.62,0.00,0.000,6,0.000,0.062,2533,2202,1943
$GC,9397,1.23,321.2,736.2,3.8,444,9508,0.15,2.80,102.40,1.118,4,0.050,0.073,2579,785,1471
$GC,9678,1.23,321.2,714.4,10.0,457,9682,0.00,2.60,0.00,0.000,6,0.000,0.052,2579,2201,1469
$GC,10005,1.23,321.2,678.8,12.1,473,10009,0.00,2.65,0.00,0.000,4,0.000,0.074,2579,3610,1469
$GC,10099,1.23,321.2,668.2,11.7,477,10104,0.00,2.62,0.00,0.000,6,0.000,0.058,2579,2193,1469
$GC,10415,1.23,321.2,633.0,11.2,492,10419,0.00,2.67,0.00,0.000,4,0.000,0.070,2579,3613,1468
$GC,10459,1.23,321.2,627.5,12.1,494,10463,0.00,2.62,0.00,0.000,6,0.000,0.058,2579,2190,1470
$GC,10779,1.23,321.2,584.8,14.2,510,10784,0.00,2.62,0.00,0.000,4,0.000,0.068,2579,785,1468
$GC,10875,1.23,321.2,572.0,12.8,514,10879,0.00,2.58,0.00,0.000,6,0.000,0.048,2579,2209,1468
$GC,11190,1.23,321.2,538.4,9.1,529,11195,0.00,2.60,0.00,0.000,4,0.000,0.068,2579,3610,1468
$GC,11217,1.23,321.2,535.8,9.8,530,11222,0.00,2.60,0.00,0.000,6,0.000,0.056,2579,2196,1469
$GC,11533,1.23,321.2,508.1,9.5,545,11537,0.00,2.62,0.00,0.000,4,0.000,0.067,2579,784,1469
$GC,11663,1.23,321.2,496.3,8.6,551,11667,0.00,2.58,0.00,0.000,6,0.000,0.048,2579,2204,1469
$GC,11989,1.23,321.2,462.9,10.2,567,11993,0.00,2.65,0.00,0.000,4,0.000,0.066,2579,783,1469
$GC,12123,1.23,321.2,449.2,9.5,573,12127,0.00,2.55,0.00,0.000,6,0.000,0.048,2579,2200,1469
$GC,12443,1.23,321.2,415.2,10.7,589,12448,0.00,2.65,0.00,0.000,4,0.000,0.068,2579,785,1469
$GC,12589,1.23,321.2,400.8,9.3,595,12595,0.00,2.55,0.00,0.000,6,0.000,0.048,2579,2201,1469
$GC,12905,1.23,321.2,367.2,10.4,611,12909,0.00,2.65,0.00,0.000,4,0.000,0.067,2579,783,1469
$GC,13069,1.23,321.2,349.3,10.7,618,13073,0.00,2.55,0.00,0.000,6,0.000,0.048,2579,2200,1470
$GC,13385,1.23,321.2,310.0,12.2,633,13389,0.00,2.65,0.00,0.000,4,0.000,0.067,2579,782,1470
$GC,13469,1.23,321.2,299.2,13.2,637,13473,0.00,2.58,0.00,0.000,6,0.000,0.048,2579,2205,1469
$GC,13795,1.23,321.2,261.2,10.9,653,13800,0.00,2.65,0.00,0.000,4,0.000,0.066,2579,776,1470
$GC,13890,1.23,321.2,251.0,10.0,657,13895,0.00,2.58,0.00,0.000,6,0.000,0.048,2579,2203,1470
$GC,14206,1.23,321.2,217.9,10.6,672,14210,0.00,2.62,0.00,0.000,4,0.000,0.070,2579,3614,1470
$GC,14273,1.23,321.2,210.4,11.6,675,14277,0.00,2.60,0.00,0.000,6,0.000,0.058,2579,2199,1470
$GC,14594,1.23,321.2,173.2,12.0,691,14598,0.00,2.62,0.00,0.000,4,0.000,0.066,2579,781,1471
$GC,14650,1.27,321.2,166.4,12.1,693,14655,0.00,2.55,0.00,0.000,6,0.000,0.048,2579,2200,1470
$GC,14965,1.27,321.2,129.5,11.5,709,14970,0.00,2.60,0.00,0.000,4,0.000,0.068,2579,3608,1471
$GC,15077,1.27,321.2,116.1,11.7,714,15082,0.00,2.58,0.00,0.000,6,0.000,0.056,2579,2199,1471
$GC,15399,1.27,321.2,81.7,10.4,730,15403,0.00,2.62,0.00,0.000,4,0.000,0.068,2579,3609,1471
$GC,15448,1.33,321.2,75.8,11.5,732,15453,0.00,2.58,0.00,0.000,6,0.000,0.055,2579,2196,1471
$GC,15764,1.33,321.2,43.0,10.7,747,15769,0.00,2.62,0.00,0.000,4,0.000,0.067,2579,3609,1471
$GC,15805,1.40,321.2,38.6,11.3,749,15810,0.12,2.58,0.00,0.000,6,0.047,0.055,2620,2200,1472
$STATE,16068,end climb,SURFACE_DEPTH_REACHED
$STATE,16068,begin surface coast
$FINISH,0.5,1.027154
$STATE,16093,end surface coast,CONTROL_FINISHED_OK
$STATE,16093,begin surface
$SM_CCo,16116,112.32,0.619,0,0,509,557.32
$SM_GC,1.30,0.00,0.00,112.32,0.000,0.000,0.619,66,2301,509,-10.28,0.03,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1862
$TCM_TEMP,17.70
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.4,16.9
$ALTIM_BOTTOM_PING,752.3,52.0
$24V_AH,23.6,28.004
$10V_AH,10.2,13.764
$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,26.100,188.650,419.375,112.325,0.000,18.336,33.630,176.302,9.500,0.000,0.000,14.157,1535.184,11592.929,700.592,2222.114,527.407,0.000,1820.249,0.000,2162.222,0.000,46.134
$DEVICE_MAMPS,167.973,76.700,1155.869,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.411,520.570,433.905,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38003,763
$CAP_FILE_SIZE,140071,0
$CFSIZE,260165632,249061376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,070708,201132,6214.377,-1040.746,43,1.1,43,-10.4