version: 66.03
glider: 16
mission: 9
dive: 121
start: 7 1 108 22 15 31
data:
$ID,16
$MISSION,9
$DIVE,121
$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,550
$T_MISSION,580
$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,1
$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,-2095468.8
$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,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
$GPS1,220932,6220.921,-857.107,39,1.7,39,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-57.1
$GPS2,221439,6220.935,-857.014,13,1.6,13,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.011,-0.221
$KALMAN_X,-173125.4,1303.8,964.3,-28066.9,-11585.3
$KALMAN_Y,13107.3,-1892.5,-578.3,162197.1,41116.0
$MHEAD_RNG_PITCHd_Wd,195.0,64067,-11.0,-6.000
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,166,0.00,0.00,-138.57,0.000,6,0.000,0.000,71,2313,3381
$GC,169,-0.85,-146.6,7.0,-6.4,7,190,11.32,2.72,0.00,0.000,4,0.166,0.070,2108,880,3382
$GC,253,-0.73,-146.6,29.2,-11.9,10,260,0.17,2.62,0.00,0.000,6,0.096,0.057,2142,2303,3382
$GC,571,-0.62,-146.6,68.4,-14.8,26,576,0.12,2.67,0.00,0.000,4,0.096,0.073,2166,3714,3382
$GC,615,-0.62,-146.6,75.7,-14.7,28,619,0.00,2.60,0.00,0.000,6,0.000,0.051,2166,2291,3382
$GC,936,-0.62,-146.6,117.3,-11.9,44,940,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,880,3382
$GC,1021,-0.62,-146.6,126.5,-10.8,48,1025,0.00,2.62,0.00,0.000,6,0.000,0.056,2166,2305,3382
$GC,1347,-0.62,-146.6,153.9,-7.1,64,1351,0.00,2.65,0.00,0.000,4,0.000,0.064,2166,885,3382
$GC,1387,-0.62,-146.6,156.5,-6.5,66,1391,0.00,2.62,0.00,0.000,6,0.000,0.056,2166,2303,3382
$GC,1713,-0.62,-146.6,172.3,-4.0,82,1718,0.00,2.65,0.00,0.000,4,0.000,0.064,2166,884,3381
$GC,1758,-0.66,-146.6,174.1,-3.8,84,1762,0.00,2.62,0.00,0.000,6,0.000,0.056,2166,2304,3382
$GC,2079,-0.66,-146.6,182.6,-2.6,100,2083,0.00,2.65,0.00,0.000,4,0.000,0.065,2166,885,3382
$GC,2119,-0.70,-146.6,183.7,-2.2,102,2123,0.00,2.62,0.00,0.000,6,0.000,0.057,2166,2302,3381
$GC,2446,-0.70,-146.6,191.0,-2.4,118,2450,0.00,2.65,0.00,0.000,4,0.000,0.066,2166,884,3381
$GC,2486,-0.75,-146.6,192.0,-2.3,120,2491,0.15,2.60,0.00,0.000,6,0.042,0.058,2118,2300,3381
$GC,2815,-0.61,-146.6,207.4,-5.1,136,2817,0.22,0.00,0.00,0.000,6,0.083,0.000,2163,2300,3381
$GC,3123,-0.61,-146.6,217.1,-3.2,151,3127,0.00,2.65,0.00,0.000,4,0.000,0.067,2163,879,3381
$GC,3189,-0.61,-146.6,219.3,-3.3,154,3194,0.00,2.62,0.00,0.000,6,0.000,0.058,2163,2302,3381
$GC,3511,-0.61,-146.6,230.3,-3.7,170,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2302,3381
$GC,3821,-0.61,-146.6,242.7,-4.1,185,3825,0.00,2.62,0.00,0.000,4,0.000,0.067,2162,883,3381
$GC,3893,-0.61,-146.6,246.0,-4.7,188,3897,0.00,2.60,0.00,0.000,6,0.000,0.058,2163,2299,3381
$GC,4209,-0.61,-146.6,260.0,-4.4,203,4213,0.00,2.65,0.00,0.000,4,0.000,0.067,2163,883,3381
$GC,4242,-0.61,-146.6,261.6,-4.4,204,4248,0.00,2.62,0.00,0.000,6,0.000,0.058,2163,2305,3381
$GC,4558,-0.61,-146.6,274.9,-4.1,220,4566,0.00,2.65,0.00,0.000,4,0.000,0.067,2163,874,3381
$GC,4600,-0.61,-146.6,276.8,-3.8,221,4606,0.00,2.62,0.00,0.000,6,0.000,0.057,2163,2301,3381
$GC,4916,-0.61,-146.6,291.2,-4.8,237,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2301,3381
$GC,5225,-0.61,-146.6,307.3,-5.3,252,5230,0.00,2.65,0.00,0.000,4,0.000,0.068,2163,881,3381
$GC,5253,-0.61,-146.6,309.0,-6.0,253,5257,0.00,2.62,0.00,0.000,6,0.000,0.058,2163,2306,3380
$GC,5569,-0.61,-146.6,327.1,-4.6,268,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2306,3380
$GC,5880,-0.61,-146.6,350.0,-7.3,283,5884,0.00,2.65,0.00,0.000,4,0.000,0.067,2163,884,3380
$GC,5943,-0.69,-146.6,354.7,-6.6,286,5947,0.00,2.62,0.00,0.000,6,0.000,0.058,2163,2304,3380
$GC,6269,-0.69,-146.6,377.2,-7.2,302,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2305,3380
$GC,6579,-0.69,-146.6,399.3,-8.5,317,6583,0.00,2.65,0.00,0.000,4,0.000,0.070,2163,885,3380
$GC,6645,-0.74,-146.6,404.7,-7.0,320,6650,0.12,2.60,0.00,0.000,6,0.048,0.058,2122,2300,3380
$GC,6967,-0.61,-146.6,428.2,-7.4,336,6972,0.17,2.65,0.00,0.000,4,0.086,0.067,2160,884,3380
$GC,7012,-0.68,-146.6,430.9,-5.5,338,7017,0.00,2.60,0.00,0.000,6,0.000,0.059,2160,2301,3380
$STATE,7166,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7166,begin apogee
$GC,7173,-0.31,0.0,440.8,7.2,346,7303,0.35,0.00,127.05,0.928,6,0.087,0.000,2232,2198,2781
$STATE,7304,end apogee,CONTROL_FINISHED_OK
$STATE,7304,begin climb
$GC,7307,0.85,146.6,446.8,0.0,352,7443,1.17,2.80,125.75,0.907,4,0.075,0.076,2483,3616,2183
$GC,7468,0.91,203.0,445.1,4.5,359,7522,0.00,2.65,49.08,0.882,6,0.000,0.059,2482,2205,1954
$GC,7848,1.00,225.5,428.3,5.4,378,7875,0.17,2.75,20.77,0.844,4,0.047,0.069,2535,779,1860
$GC,7920,0.94,225.5,423.3,7.0,381,7925,0.15,2.62,0.00,0.000,6,0.084,0.054,2504,2199,1860
$GC,8236,0.94,225.5,401.6,7.9,396,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2199,1860
$GC,8546,0.94,225.5,381.4,8.4,411,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2199,1860
$GC,8854,0.94,225.5,356.5,8.6,426,8859,0.00,2.70,0.00,0.000,4,0.000,0.078,2504,3612,1859
$GC,8887,0.94,225.5,353.1,10.6,427,8893,0.00,2.62,0.00,0.000,6,0.000,0.061,2505,2197,1859
$GC,9203,0.94,225.5,322.5,9.5,443,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2197,1859
$GC,9512,0.99,225.5,295.4,8.3,458,9517,0.00,2.70,0.00,0.000,4,0.000,0.077,2505,3622,1858
$GC,9579,0.99,225.5,289.2,9.7,461,9583,0.00,2.62,0.00,0.000,6,0.000,0.060,2505,2200,1859
$GC,9900,0.99,225.5,261.3,9.1,477,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2201,1858
$GC,10209,0.99,225.5,232.3,9.4,492,10213,0.00,2.67,0.00,0.000,4,0.000,0.075,2505,3613,1858
$GC,10241,0.99,225.5,229.0,10.1,493,10247,0.00,2.60,0.00,0.000,6,0.000,0.058,2505,2197,1858
$GC,10557,0.99,225.5,199.7,9.2,509,10562,0.00,2.67,0.00,0.000,4,0.000,0.074,2505,3613,1858
$GC,10585,0.99,225.5,196.8,10.5,510,10589,0.00,2.60,0.00,0.000,6,0.000,0.059,2504,2200,1858
$GC,10900,0.99,225.5,167.8,9.3,525,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2200,1857
$GC,11210,0.99,225.5,139.3,8.7,540,11215,0.00,2.67,0.00,0.000,4,0.000,0.073,2505,3620,1858
$GC,11233,1.03,225.5,137.2,9.3,541,11237,0.00,2.60,0.00,0.000,6,0.000,0.058,2504,2200,1858
$GC,11554,1.03,225.5,111.5,7.4,557,11558,0.00,2.67,0.00,0.000,4,0.000,0.072,2505,3621,1858
$GC,11587,1.03,225.5,108.7,8.4,558,11593,0.00,2.60,0.00,0.000,6,0.000,0.058,2505,2200,1858
$GC,11904,1.07,266.2,90.3,4.9,574,11943,0.12,0.00,34.08,0.692,6,0.048,0.000,2544,2200,1695
$GC,12254,1.08,271.8,69.4,5.8,591,12262,0.00,0.00,6.32,0.560,6,0.000,0.000,2544,2200,1672
$GC,12563,1.09,281.2,50.5,5.7,606,12578,0.00,2.70,9.27,0.597,4,0.000,0.072,2544,3616,1634
$GC,12635,1.09,281.2,46.4,6.1,608,12639,0.00,2.62,0.00,0.000,6,0.000,0.057,2544,2197,1634
$GC,12951,1.10,294.9,30.2,5.6,623,12973,0.00,2.70,12.35,0.611,4,0.000,0.066,2544,785,1578
$GC,13007,1.10,295.5,27.0,6.0,625,13011,0.00,2.60,0.00,0.000,6,0.000,0.051,2544,2202,1577
$GC,13323,1.10,295.5,5.6,7.6,640,13327,0.00,2.65,0.00,0.000,4,0.000,0.071,2544,3613,1578
$GC,13340,1.10,295.5,4.2,8.7,641,13345,0.00,2.62,0.00,0.000,6,0.000,0.061,2544,2196,1578
$STATE,13377,end climb,SURFACE_DEPTH_REACHED
$STATE,13377,begin surface coast
$FINISH,0.4,1.026353
$STATE,13397,end surface coast,CONTROL_FINISHED_OK
$STATE,13397,begin surface
$SM_CCo,13419,127.78,0.621,0,0,508,557.32
$SM_GC,1.03,0.00,0.00,127.78,0.000,0.000,0.621,67,2305,508,-10.27,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1850
$TCM_TEMP,17.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,20.1
$ALTIM_BOTTOM_PING,375.6,74.1
$24V_AH,23.7,22.645
$10V_AH,10.2,11.373
$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,24.950,137.900,384.675,127.775,0.000,18.362,31.026,131.249,3.500,0.000,0.000,13.883,1211.304,10093.557,692.272,1422.935,439.651,33.356,1444.456,0.000,1394.915,0.000,21.836
$DEVICE_MAMPS,166.439,78.234,928.070,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.163,437.228,456.862,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31668,644
$CAP_FILE_SIZE,105815,0
$CFSIZE,260165632,250880000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,020708,020237,6219.826,-857.025,39,1.0,39,-9.5