version: 66.03
glider: 16
mission: 9
dive: 125
start: 7 2 108 13 11 1
data:
$ID,16
$MISSION,9
$DIVE,125
$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,-2095566.2
$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,15
$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
$GPS1,130526,6221.505,-848.518,42,1.1,42,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-53.3
$GPS2,131009,6221.493,-848.529,15,1.4,15,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$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,201.2,66208,-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,-146.6,0.0,0.0,0,146,0.00,0.00,-120.65,0.000,2,0.000,0.000,69,2313,2919
$GC,150,-0.85,-146.6,3.4,-2.9,6,180,11.32,2.70,-11.60,0.000,4,0.164,0.074,2110,880,3380
$GC,209,-0.68,-146.6,12.8,-10.3,8,216,0.22,2.62,0.00,0.000,6,0.097,0.055,2153,2298,3380
$GC,525,-0.62,-146.6,37.7,-8.0,24,530,0.00,2.67,0.00,0.000,4,0.000,0.072,2153,3718,3380
$GC,559,-0.58,-146.6,40.5,-8.2,25,565,0.00,2.60,0.00,0.000,6,0.000,0.051,2153,2291,3381
$GC,877,-0.53,-146.6,61.2,-6.0,41,882,0.15,2.62,0.00,0.000,4,0.116,0.064,2183,883,3380
$GC,928,-0.63,-146.6,63.8,-4.2,43,932,0.00,2.60,0.00,0.000,6,0.000,0.054,2183,2301,3380
$GC,1246,-0.63,-146.6,78.3,-4.5,58,1250,0.00,2.65,0.00,0.000,4,0.000,0.063,2183,884,3380
$GC,1279,-0.71,-146.6,80.0,-4.9,59,1286,0.17,2.60,0.00,0.000,6,0.041,0.054,2126,2302,3380
$GC,1596,-0.60,-146.6,101.9,-7.2,75,1601,0.17,2.65,0.00,0.000,4,0.083,0.063,2166,884,3380
$GC,1636,-0.65,-146.6,104.5,-6.3,77,1640,0.00,2.60,0.00,0.000,6,0.000,0.055,2165,2302,3380
$GC,1963,-0.65,-146.6,124.5,-6.2,93,1967,0.00,2.65,0.00,0.000,4,0.000,0.064,2166,883,3381
$GC,1990,-0.65,-146.6,126.3,-6.3,94,1994,0.00,2.60,0.00,0.000,6,0.000,0.056,2166,2300,3380
$GC,2307,-0.65,-146.6,145.2,-6.2,109,2312,0.00,2.65,0.00,0.000,4,0.000,0.065,2166,884,3380
$GC,2335,-0.65,-146.6,146.9,-6.3,110,2340,0.00,2.60,0.00,0.000,6,0.000,0.055,2165,2302,3381
$GC,2651,-0.65,-146.6,165.6,-5.8,125,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2302,3381
$GC,2960,-0.65,-146.6,185.6,-6.9,140,2964,0.00,2.65,0.00,0.000,4,0.000,0.066,2166,884,3381
$GC,3000,-0.70,-146.6,188.6,-7.2,142,3004,0.00,2.60,0.00,0.000,6,0.000,0.057,2165,2305,3380
$GC,3326,-0.70,-146.6,211.8,-6.6,158,3331,0.00,2.67,0.00,0.000,4,0.000,0.066,2166,880,3380
$GC,3360,-0.70,-146.6,214.1,-6.1,159,3366,0.00,2.62,0.00,0.000,6,0.000,0.056,2165,2307,3380
$GC,3675,-0.70,-146.6,237.3,-7.7,175,3680,0.00,2.67,0.00,0.000,4,0.000,0.066,2165,883,3380
$GC,3716,-0.74,-146.6,240.5,-7.8,177,3721,0.12,2.60,0.00,0.000,6,0.046,0.056,2124,2299,3380
$GC,4043,-0.63,-146.6,270.6,-9.5,193,4045,0.17,0.00,0.00,0.000,6,0.085,0.000,2159,2299,3380
$GC,4351,-0.63,-146.6,294.2,-7.5,208,4356,0.00,2.65,0.00,0.000,4,0.000,0.067,2159,884,3380
$GC,4396,-0.63,-146.6,297.4,-6.6,210,4400,0.00,2.60,0.00,0.000,6,0.000,0.057,2159,2299,3380
$GC,4717,-0.63,-146.6,316.5,-5.6,226,4722,0.00,2.67,0.00,0.000,4,0.000,0.067,2159,877,3380
$GC,4757,-0.63,-146.6,318.8,-5.7,228,4762,0.00,2.60,0.00,0.000,6,0.000,0.057,2158,2300,3380
$GC,5085,-0.63,-146.6,338.7,-6.1,244,5089,0.00,2.67,0.00,0.000,4,0.000,0.068,2159,877,3380
$GC,5134,-0.63,-146.6,342.1,-7.5,246,5139,0.00,2.62,0.00,0.000,6,0.000,0.058,2159,2302,3380
$GC,5450,-0.63,-146.6,363.9,-6.7,261,5455,0.00,2.67,0.00,0.000,4,0.000,0.068,2159,882,3380
$GC,5500,-0.63,-146.6,367.5,-7.2,263,5505,0.00,2.60,0.00,0.000,6,0.000,0.057,2159,2300,3380
$STATE,5731,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5731,begin apogee
$GC,5738,-0.31,0.0,384.2,7.4,274,5867,0.35,0.00,125.70,0.889,6,0.103,0.000,2227,2202,2781
$STATE,5868,end apogee,CONTROL_FINISHED_OK
$STATE,5868,begin climb
$GC,5871,0.85,146.6,389.5,0.0,280,6003,1.20,2.72,124.90,0.872,4,0.077,0.064,2481,782,2183
$GC,6035,0.90,198.4,386.4,4.6,288,6085,0.00,2.65,44.45,0.844,6,0.000,0.054,2481,2202,1973
$GC,6404,1.03,233.0,366.7,5.1,306,6440,0.17,2.75,30.60,0.830,4,0.044,0.077,2538,3611,1831
$GC,6464,0.97,233.0,362.0,8.3,308,6470,0.15,2.67,0.00,0.000,6,0.084,0.063,2506,2203,1831
$GC,6791,0.97,233.0,336.9,7.9,324,6795,0.00,2.67,0.00,0.000,4,0.000,0.071,2506,782,1830
$GC,6824,0.97,233.0,334.1,7.7,325,6830,0.00,2.62,0.00,0.000,6,0.000,0.054,2506,2206,1829
$GC,7140,0.97,233.0,310.3,7.8,341,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2206,1829
$GC,7449,0.97,233.0,288.0,7.0,356,7453,0.00,2.67,0.00,0.000,4,0.000,0.067,2506,781,1829
$GC,7488,0.97,233.0,285.2,7.5,358,7493,0.00,2.62,0.00,0.000,6,0.000,0.053,2507,2206,1829
$GC,7815,0.99,256.3,264.9,5.4,374,7841,0.00,2.70,20.58,0.775,4,0.000,0.074,2507,3613,1735
$GC,7869,0.99,256.3,261.4,6.4,376,7875,0.00,2.65,0.00,0.000,6,0.000,0.062,2506,2199,1735
$GC,8185,1.03,291.3,244.2,5.0,392,8217,0.00,0.00,30.05,0.780,6,0.000,0.000,2506,2199,1593
$GC,8515,1.10,358.5,229.0,4.2,408,8575,0.15,0.00,56.47,0.779,6,0.047,0.000,2551,2199,1319
$GC,8884,1.10,358.5,204.0,7.0,426,8888,0.00,2.65,0.00,0.000,4,0.000,0.070,2551,782,1318
$GC,8923,1.10,358.5,201.3,7.0,428,8927,0.00,2.60,0.00,0.000,6,0.000,0.053,2549,2208,1318
$GC,9250,1.06,358.5,178.7,7.0,444,9254,0.00,2.67,0.00,0.000,4,0.000,0.067,2551,781,1318
$GC,9272,1.02,358.5,176.9,7.6,445,9277,0.15,2.60,0.00,0.000,6,0.080,0.051,2520,2203,1318
$GC,9593,1.02,358.5,156.3,6.8,461,9598,0.00,2.67,0.00,0.000,4,0.000,0.067,2520,779,1318
$GC,9621,1.06,358.5,154.4,6.7,462,9626,0.00,2.60,0.00,0.000,6,0.000,0.051,2520,2203,1318
$GC,9937,1.07,370.2,135.3,5.7,477,9958,0.00,2.70,11.18,0.662,4,0.000,0.065,2520,782,1270
$GC,9975,1.10,394.5,133.2,5.3,478,10003,0.00,2.60,21.17,0.696,6,0.000,0.052,2520,2199,1171
$GC,10314,1.16,394.5,111.9,6.5,495,10319,0.15,2.67,0.00,0.000,4,0.045,0.067,2570,776,1172
$GC,10337,1.16,394.5,109.9,8.2,496,10341,0.00,2.60,0.00,0.000,6,0.000,0.051,2570,2198,1172
$GC,10659,1.10,394.5,77.5,11.0,512,10664,0.15,2.67,0.00,0.000,4,0.081,0.066,2535,778,1172
$GC,10686,1.10,394.5,74.4,10.7,513,10691,0.00,2.60,0.00,0.000,6,0.000,0.051,2535,2203,1172
$GC,11003,1.10,394.5,42.8,9.4,528,11008,0.00,2.67,0.00,0.000,4,0.000,0.066,2535,779,1172
$GC,11044,1.14,394.5,39.0,9.1,530,11049,0.00,2.60,0.00,0.000,6,0.000,0.051,2535,2206,1172
$GC,11371,1.14,394.5,11.0,9.3,546,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2206,1172
$STATE,11471,end climb,SURFACE_DEPTH_REACHED
$STATE,11471,begin surface coast
$FINISH,0.4,1.014972
$STATE,11493,end surface coast,CONTROL_FINISHED_OK
$STATE,11493,begin surface
$SM_CCo,11516,78.78,0.623,0,0,509,557.32
$SM_GC,0.94,0.00,0.00,78.78,0.000,0.000,0.623,72,2307,509,-10.24,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1874
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.6,17.7
$ALTIM_BOTTOM_PING,326.0,67.7
$24V_AH,23.7,23.203
$10V_AH,10.2,11.638
$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,25.525,137.775,465.100,78.775,0.000,18.006,27.567,124.178,3.000,0.000,0.000,15.092,1048.000,8502.717,701.346,1234.245,396.738,33.369,1371.953,0.000,1208.760,0.000,18.556
$DEVICE_MAMPS,164.138,76.700,888.953,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.080,374.540,465.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28633,552
$CAP_FILE_SIZE,95967,0
$CFSIZE,260165632,250687488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,020708,162532,6220.001,-851.463,37,1.6,37,-9.4