version: 66.03
glider: 16
mission: 9
dive: 158
start: 7 7 108 20 24 57
data:
$ID,16
$MISSION,9
$DIVE,158
$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,-2096276.2
$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,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
$GPS1,201132,6214.377,-1040.746,43,1.1,43,-10.4
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-48.0
$GPS2,202439,6214.374,-1040.897,12,1.6,12,-10.4
$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,330.6,25606,-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,-121.10,0.000,2,0.000,0.000,64,2302,3008
$GC,151,-1.08,-146.6,4.0,-3.5,6,176,11.12,2.65,-8.55,0.000,4,0.166,0.079,2057,3709,3381
$GC,390,-0.91,-146.6,43.7,-15.0,16,397,0.22,2.55,0.00,0.000,6,0.095,0.054,2100,2295,3381
$GC,707,-0.83,-146.6,82.0,-11.0,32,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2295,3382
$GC,1017,-0.77,-146.6,113.5,-10.0,47,1019,0.15,0.00,0.00,0.000,6,0.103,0.000,2128,2295,3382
$GC,1325,-0.77,-146.6,139.6,-8.7,62,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2295,3382
$GC,1633,-0.77,-146.6,170.2,-9.6,77,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2294,3382
$GC,1944,-0.77,-146.6,201.1,-9.7,92,1948,0.00,2.58,0.00,0.000,4,0.000,0.065,2129,886,3382
$GC,1988,-0.83,-146.6,205.3,-8.7,94,1993,0.00,2.55,0.00,0.000,6,0.000,0.051,2128,2302,3382
$GC,2309,-0.83,-146.6,233.9,-9.1,110,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2301,3382
$GC,2619,-0.83,-146.6,259.9,-8.0,125,2623,0.00,2.62,0.00,0.000,4,0.000,0.061,2128,884,3382
$GC,2669,-0.91,-146.6,264.1,-8.4,127,2674,0.12,2.58,0.00,0.000,6,0.048,0.050,2089,2307,3382
$GC,2985,-0.81,-146.6,296.5,-10.2,142,2987,0.17,0.00,0.00,0.000,6,0.091,0.000,2122,2307,3382
$GC,3295,-0.81,-146.6,326.2,-10.1,157,3299,0.00,2.65,0.00,0.000,4,0.000,0.062,2122,882,3382
$GC,3350,-0.87,-146.6,332.0,-9.9,159,3356,0.00,2.58,0.00,0.000,6,0.000,0.050,2122,2301,3382
$GC,3666,-0.87,-146.6,363.4,-9.6,175,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2302,3382
$GC,3975,-0.87,-146.6,391.1,-8.4,190,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2302,3381
$GC,4284,-0.87,-146.6,418.7,-9.4,205,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2302,3381
$GC,4593,-0.87,-146.6,449.2,-10.1,220,4598,0.00,2.62,0.00,0.000,4,0.000,0.070,2122,3709,3381
$GC,4656,-0.87,-146.6,455.9,-10.8,223,4660,0.00,2.58,0.00,0.000,6,0.000,0.050,2122,2290,3381
$GC,4982,-0.87,-146.6,487.2,-9.3,239,4987,0.00,2.62,0.00,0.000,4,0.000,0.069,2122,3709,3381
$GC,5022,-0.87,-146.6,491.1,-9.8,241,5027,0.00,2.55,0.00,0.000,6,0.000,0.049,2122,2297,3381
$GC,5349,-0.87,-146.6,520.2,-8.8,257,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2296,3381
$GC,5658,-0.87,-146.6,546.2,-7.9,272,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2296,3381
$GC,5967,-0.87,-146.6,571.5,-8.2,287,5971,0.00,2.60,0.00,0.000,4,0.000,0.064,2122,890,3379
$GC,6034,-0.94,-146.6,577.2,-8.8,290,6039,0.15,2.55,0.00,0.000,6,0.044,0.049,2078,2306,3380
$GC,6356,-0.84,-146.6,612.1,-10.5,306,6361,0.15,2.62,0.00,0.000,4,0.094,0.062,2111,890,3380
$GC,6406,-0.91,-146.6,616.6,-8.2,308,6411,0.00,2.55,0.00,0.000,6,0.000,0.049,2111,2307,3380
$GC,6722,-0.91,-146.6,644.8,-9.7,323,6726,0.00,2.60,0.00,0.000,4,0.000,0.062,2110,890,3380
$GC,6784,-0.96,-146.6,651.1,-10.3,326,6789,0.00,2.55,0.00,0.000,6,0.000,0.050,2111,2303,3380
$GC,7111,-0.96,-146.6,685.4,-8.2,342,7115,0.00,2.62,0.00,0.000,4,0.000,0.061,2110,884,3380
$GC,7151,-1.05,-146.6,687.4,-4.5,344,7156,0.20,2.58,0.00,0.000,6,0.042,0.051,2054,2305,3379
$GC,7478,-0.89,-146.6,720.0,-12.5,360,7480,0.25,0.00,0.00,0.000,6,0.093,0.000,2103,2305,3379
$GC,7787,-0.89,-146.6,756.9,-10.0,375,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2305,3379
$GC,8096,-0.89,-146.6,781.6,-10.2,390,8100,0.00,2.65,0.00,0.000,4,0.000,0.067,2103,887,3379
$GC,8186,-0.93,-146.6,792.0,-12.4,394,8190,0.00,2.58,0.00,0.000,6,0.000,0.054,2103,2304,3379
$STATE,8462,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8462,begin apogee
$GC,8470,-0.31,0.0,819.8,6.3,408,8606,0.65,0.00,133.20,1.170,6,0.123,0.000,2227,2202,2781
$STATE,8607,end apogee,CONTROL_FINISHED_OK
$STATE,8607,begin climb
$GC,8610,1.08,146.6,824.8,0.0,415,8754,1.45,2.78,131.23,1.152,4,0.084,0.075,2530,3603,2183
$GC,8863,1.11,166.5,810.1,7.3,426,8889,0.00,2.62,19.00,1.061,6,0.000,0.062,2530,2205,2102
$GC,9199,1.17,225.3,792.3,5.9,443,9262,0.12,2.78,53.35,1.124,4,0.052,0.074,2566,791,1861
$GC,9337,1.13,225.3,777.7,12.5,449,9342,0.00,2.60,0.00,0.000,6,0.000,0.055,2566,2193,1860
$GC,9658,1.13,225.3,743.0,8.9,465,9663,0.10,2.70,0.00,0.000,4,0.104,0.071,2548,778,1860
$GC,9765,1.13,225.3,733.0,9.8,470,9770,0.00,2.62,0.00,0.000,6,0.000,0.053,2548,2209,1860
$GC,10092,1.13,225.3,699.2,10.5,486,10097,0.00,2.65,0.00,0.000,4,0.000,0.073,2548,3614,1859
$GC,10193,1.13,225.3,687.8,10.5,490,10199,0.00,2.60,0.00,0.000,6,0.000,0.057,2548,2199,1859
$GC,10509,1.14,237.4,661.1,7.6,506,10522,0.00,0.00,11.52,0.965,6,0.000,0.000,2548,2199,1813
$GC,10818,1.14,237.4,630.7,11.2,521,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2199,1813
$GC,11127,1.14,237.4,600.0,9.4,536,11131,0.00,2.65,0.00,0.000,4,0.000,0.071,2548,3613,1813
$GC,11172,1.14,237.4,595.4,10.9,538,11177,0.00,2.60,0.00,0.000,6,0.000,0.054,2548,2192,1813
$GC,11494,1.14,237.4,564.7,9.4,554,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2192,1813
$GC,11803,1.14,240.7,539.3,7.9,569,11810,0.00,0.00,4.80,0.696,6,0.000,0.000,2548,2192,1799
$GC,12113,1.17,265.4,517.1,7.1,584,12142,0.00,2.75,22.88,0.942,4,0.000,0.070,2548,3609,1698
$GC,12204,1.17,265.4,509.0,10.5,588,12209,0.00,2.58,0.00,0.000,6,0.000,0.053,2548,2203,1698
$GC,12525,1.23,265.4,480.5,9.0,604,12526,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2203,1698
$GC,12835,1.29,265.4,452.7,9.1,619,12836,0.15,0.00,0.00,0.000,6,0.047,0.000,2593,2203,1698
$GC,13143,1.23,265.4,416.8,11.8,634,13145,0.12,0.00,0.00,0.000,6,0.092,0.000,2569,2203,1698
$GC,13452,1.23,265.4,382.9,11.0,649,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2203,1698
$GC,13762,1.23,265.4,350.0,10.5,664,13763,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2203,1698
$GC,14071,1.23,265.4,317.6,10.4,679,14075,0.00,2.62,0.00,0.000,4,0.000,0.071,2569,3612,1698
$GC,14137,1.23,265.4,309.9,11.5,682,14141,0.00,2.58,0.00,0.000,6,0.000,0.054,2569,2200,1698
$GC,14458,1.23,265.4,279.2,9.3,698,14459,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2199,1699
$GC,14767,1.23,265.4,251.6,9.2,713,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2199,1699
$GC,15076,1.23,265.4,217.9,11.3,728,15077,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2199,1699
$GC,15386,1.23,265.4,185.4,10.1,743,15390,0.00,2.65,0.00,0.000,4,0.000,0.070,2569,3616,1700
$GC,15435,1.23,265.4,180.2,11.2,745,15440,0.00,2.58,0.00,0.000,6,0.000,0.053,2569,2199,1700
$GC,15751,1.23,265.4,151.1,8.9,760,15752,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2199,1699
$GC,16062,1.23,265.4,122.7,9.4,775,16063,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2198,1700
$GC,16370,1.23,265.4,92.3,10.1,790,16371,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2199,1699
$GC,16679,1.23,265.4,61.1,9.8,805,16683,0.00,2.65,0.00,0.000,4,0.000,0.069,2569,3616,1700
$GC,16751,1.23,265.4,53.0,12.7,808,16755,0.00,2.58,0.00,0.000,6,0.000,0.054,2569,2199,1700
$GC,17069,1.23,265.4,22.7,9.0,823,17070,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2199,1700
$STATE,17291,end climb,SURFACE_DEPTH_REACHED
$STATE,17291,begin surface coast
$FINISH,0.6,1.013763
$STATE,17313,end surface coast,CONTROL_FINISHED_OK
$STATE,17313,begin surface
$SM_CCo,17336,139.90,0.618,0,0,508,557.32
$SM_GC,1.26,0.00,0.00,139.90,0.000,0.000,0.618,73,2308,508,-10.24,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1866
$TCM_TEMP,17.70
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.3,17.6
$ALTIM_BOTTOM_PING,775.2,54.4
$24V_AH,23.6,28.178
$10V_AH,10.2,13.847
$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,25.975,104.950,375.975,139.900,0.000,69.591,101.674,363.362,15.000,0.000,0.000,12.676,1506.809,13511.691,664.704,1766.113,813.954,0.000,1545.985,0.000,1724.460,0.000,50.707
$DEVICE_MAMPS,166.439,79.001,1170.442,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,611.087,572.146,483.884,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41155,835
$CAP_FILE_SIZE,125147,0
$CFSIZE,260165632,249004032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,080708,011732,6217.910,-1044.869,40,1.6,40,-10.5