version: 66.03
glider: 16
mission: 9
dive: 123
start: 7 2 108 5 47 23
data:
$ID,16
$MISSION,9
$DIVE,123
$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,-2095534.4
$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,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
$GPS1,053608,6220.507,-856.899,32,1.2,32,-9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-55.5
$GPS2,054632,6220.759,-856.827,14,1.8,31,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,-0.221
$KALMAN_X,-169545.4,635.7,421.3,-30239.9,-6669.9
$KALMAN_Y,20669.2,-3087.3,-1841.5,156774.1,49016.7
$MHEAD_RNG_PITCHd_Wd,195.2,63758,-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,23,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-121.00,0.000,2,0.000,0.000,63,2313,2886
$GC,150,-0.85,-146.6,3.0,-2.6,6,180,11.30,2.65,-13.20,0.000,4,0.163,0.074,2109,880,3380
$GC,289,-0.70,-146.6,21.1,-11.2,12,295,0.17,2.60,0.00,0.000,6,0.092,0.054,2143,2298,3381
$GC,612,-0.60,-146.6,53.6,-10.5,28,617,0.12,2.65,0.00,0.000,4,0.099,0.062,2166,880,3381
$GC,679,-0.64,-146.6,60.3,-9.9,31,683,0.00,2.60,0.00,0.000,6,0.000,0.053,2167,2302,3380
$GC,1000,-0.64,-146.6,89.1,-9.2,47,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2302,3381
$GC,1309,-0.64,-146.6,118.5,-9.8,62,1313,0.00,2.65,0.00,0.000,4,0.000,0.064,2167,880,3381
$GC,1342,-0.64,-146.6,121.9,-9.6,63,1348,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2302,3381
$GC,1660,-0.64,-146.6,151.0,-8.7,79,1664,0.00,2.65,0.00,0.000,4,0.000,0.064,2167,880,3381
$GC,1700,-0.64,-146.6,154.5,-8.6,81,1704,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2299,3381
$GC,2026,-0.64,-146.6,181.3,-7.9,97,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2300,3381
$GC,2335,-0.64,-146.6,204.5,-7.3,112,2340,0.00,2.67,0.00,0.000,4,0.000,0.066,2167,871,3380
$GC,2386,-0.68,-146.6,208.2,-7.1,114,2391,0.00,2.62,0.00,0.000,6,0.000,0.054,2167,2302,3381
$GC,2701,-0.68,-146.6,230.7,-7.1,129,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2302,3381
$GC,3011,-0.68,-146.6,251.9,-6.6,144,3015,0.00,2.67,0.00,0.000,4,0.000,0.066,2167,872,3381
$GC,3078,-0.73,-146.6,256.6,-6.6,147,3083,0.12,2.62,0.00,0.000,6,0.046,0.054,2125,2303,3381
$GC,3399,-0.62,-146.6,285.5,-9.2,163,3404,0.15,2.67,0.00,0.000,4,0.087,0.067,2158,878,3381
$GC,3462,-0.62,-146.6,290.7,-8.2,166,3466,0.00,2.62,0.00,0.000,6,0.000,0.056,2158,2301,3381
$GC,3788,-0.62,-146.6,315.5,-7.1,182,3792,0.00,2.67,0.00,0.000,4,0.000,0.067,2158,879,3381
$GC,3837,-0.62,-146.6,318.8,-6.3,184,3842,0.00,2.60,0.00,0.000,6,0.000,0.056,2158,2304,3381
$GC,4153,-0.62,-146.6,338.7,-6.2,199,4158,0.00,2.67,0.00,0.000,4,0.000,0.067,2158,877,3381
$GC,4203,-0.62,-146.6,341.8,-6.1,201,4208,0.00,2.62,0.00,0.000,6,0.000,0.056,2158,2305,3381
$GC,4520,-0.62,-146.6,360.1,-5.5,216,4524,0.00,2.70,0.00,0.000,4,0.000,0.068,2158,874,3380
$GC,4560,-0.62,-146.6,362.3,-5.0,218,4564,0.00,2.62,0.00,0.000,6,0.000,0.055,2158,2302,3380
$GC,4886,-0.62,-146.6,380.3,-5.1,234,4891,0.00,2.67,0.00,0.000,4,0.000,0.068,2158,880,3380
$GC,4936,-0.62,-146.6,382.1,-2.9,236,4941,0.00,2.60,0.00,0.000,6,0.000,0.056,2158,2299,3380
$GC,5253,-0.62,-146.6,379.3,1.6,251,5257,0.00,2.67,0.00,0.000,4,0.000,0.078,2158,3716,3380
$GC,5303,-0.62,-146.6,380.4,-2.7,253,5308,0.00,2.62,0.00,0.000,6,0.000,0.059,2158,2297,3380
$GC,5619,-0.62,-146.6,396.7,-3.8,268,5624,0.00,2.70,0.00,0.000,4,0.000,0.076,2158,878,3380
$GC,5704,-0.67,-146.6,402.5,-7.3,272,5709,0.00,2.62,0.00,0.000,6,0.000,0.057,2158,2301,3380
$GC,6031,-0.67,-146.6,421.3,-6.3,288,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2301,3380
$GC,6341,-0.67,-146.6,440.7,-5.2,303,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2302,3379
$STATE,6358,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6359,begin apogee
$GC,6365,-0.31,0.0,442.5,6.2,304,6495,0.35,0.00,127.20,0.929,6,0.094,0.000,2228,2193,2782
$STATE,6496,end apogee,CONTROL_FINISHED_OK
$STATE,6496,begin climb
$GC,6499,0.85,146.6,446.5,0.0,310,6635,1.15,2.70,125.80,0.909,4,0.062,0.063,2481,785,2183
$GC,6667,0.98,168.7,439.9,5.4,318,6693,0.15,2.65,20.23,0.846,6,0.045,0.053,2526,2201,2093
$GC,7017,0.86,168.7,408.3,12.1,335,7019,0.20,0.00,0.00,0.000,6,0.084,0.000,2485,2202,2093
$GC,7324,0.86,168.7,382.2,8.2,350,7328,0.00,2.70,0.00,0.000,4,0.000,0.077,2485,3615,2092
$GC,7441,0.86,168.7,372.4,9.5,355,7446,0.00,2.65,0.00,0.000,6,0.000,0.061,2485,2199,2092
$GC,7757,0.90,168.7,349.5,7.5,370,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2199,2092
$GC,8066,0.94,168.7,321.9,9.3,385,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2199,2091
$GC,8375,0.94,168.7,293.3,8.7,400,8379,0.00,2.70,0.00,0.000,4,0.000,0.076,2487,3613,2091
$GC,8419,0.94,168.7,289.4,9.1,402,8423,0.00,2.62,0.00,0.000,6,0.000,0.061,2485,2199,2091
$GC,8740,1.00,223.1,270.7,4.5,418,8789,0.15,0.00,46.35,0.815,6,0.045,0.000,2531,2199,1870
$GC,9089,1.11,324.9,255.8,3.2,435,9180,0.00,2.80,85.15,0.806,4,0.000,0.074,2531,3617,1456
$GC,9203,1.19,396.7,252.2,4.0,440,9271,0.12,2.67,60.28,0.787,6,0.048,0.061,2570,2190,1163
$GC,9581,1.20,409.3,230.7,5.7,459,9603,0.00,2.72,12.30,0.713,4,0.000,0.069,2570,784,1112
$GC,9649,1.22,424.3,226.9,5.6,462,9670,0.00,2.62,13.90,0.718,6,0.000,0.053,2570,2209,1051
$GC,9980,1.22,424.3,206.4,6.3,478,9984,0.00,2.67,0.00,0.000,4,0.000,0.068,2570,784,1051
$GC,10020,1.22,424.3,204.0,6.5,480,10024,0.00,2.60,0.00,0.000,6,0.000,0.053,2570,2203,1051
$GC,10346,1.22,424.3,182.0,7.0,496,10351,0.00,2.65,0.00,0.000,4,0.000,0.068,2570,785,1051
$GC,10385,1.22,424.3,179.1,7.0,498,10390,0.00,2.60,0.00,0.000,6,0.000,0.053,2570,2201,1050
$GC,10712,1.22,424.3,153.9,7.7,514,10716,0.00,2.67,0.00,0.000,4,0.000,0.068,2570,777,1050
$GC,10751,1.22,424.3,150.9,7.4,516,10756,0.00,2.62,0.00,0.000,6,0.000,0.052,2570,2209,1050
$GC,11080,1.22,424.3,124.6,8.5,532,11084,0.00,2.65,0.00,0.000,4,0.000,0.067,2570,784,1050
$GC,11129,1.22,424.3,120.0,9.1,534,11134,0.00,2.60,0.00,0.000,6,0.000,0.052,2570,2206,1051
$GC,11447,1.22,424.3,93.0,8.2,549,11451,0.00,2.67,0.00,0.000,4,0.000,0.067,2570,781,1051
$GC,11486,1.22,424.3,89.1,9.4,551,11491,0.00,2.60,0.00,0.000,6,0.000,0.051,2570,2207,1050
$GC,11814,1.22,424.3,56.4,10.3,567,11818,0.00,2.67,0.00,0.000,4,0.000,0.067,2570,778,1051
$GC,11854,1.22,424.3,52.5,10.0,569,11858,0.00,2.60,0.00,0.000,6,0.000,0.051,2570,2201,1051
$GC,12180,1.22,424.3,20.8,9.5,585,12185,0.00,2.65,0.00,0.000,4,0.000,0.072,2570,3614,1051
$GC,12208,1.26,424.3,17.8,10.4,586,12213,0.00,2.62,0.00,0.000,6,0.000,0.061,2570,2197,1051
$STATE,12377,end climb,SURFACE_DEPTH_REACHED
$STATE,12377,begin surface coast
$FINISH,0.3,1.013688
$STATE,12401,end surface coast,CONTROL_FINISHED_OK
$STATE,12401,begin surface
$SM_CCo,12423,65.05,0.621,0,0,509,557.32
$SM_GC,0.94,0.00,0.00,65.05,0.000,0.000,0.621,70,2311,509,-10.25,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1880
$TCM_TEMP,17.70
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.6,17.8
$ALTIM_BOTTOM_PING,350.8,100.3
$24V_AH,23.7,22.939
$10V_AH,10.2,11.508
$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,24.800,132.850,491.200,65.050,0.000,54.859,163.413,155.096,4.000,0.000,0.000,31.007,1125.118,9292.641,679.481,1410.511,609.339,33.359,1433.811,0.000,1362.235,0.000,20.266
$DEVICE_MAMPS,163.371,78.234,928.837,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.580,403.662,422.224,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28643,595
$CAP_FILE_SIZE,102016,0
$CFSIZE,260165632,250785792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,020708,091655,6222.814,-851.166,27,1.1,45,-9.5