version: 66.03
glider: 16
mission: 9
dive: 126
start: 7 2 108 16 34 32
data:
$ID,16
$MISSION,9
$DIVE,126
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,270
$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,-2095585.5
$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
$GPS1,162532,6220.001,-851.463,37,1.6,37,-9.4
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,2
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-51.6
$GPS2,163413,6220.110,-851.567,14,1.7,18,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6220.110,-856.581
$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,279.4,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-0.85,-146.6,0.0,0.0,0,152,0.00,0.00,-119.18,0.000,2,0.000,0.000,71,2309,2860
$GC,156,-0.85,-146.6,3.3,-2.7,6,186,11.30,2.67,-13.32,0.000,4,0.164,0.077,2107,874,3381
$GC,372,-0.71,-146.6,29.8,-10.0,15,379,0.20,2.60,0.00,0.000,6,0.095,0.054,2147,2295,3381
$GC,690,-0.65,-146.6,57.8,-9.4,31,694,0.00,2.67,0.00,0.000,4,0.000,0.071,2147,3718,3381
$GC,757,-0.57,-146.6,65.5,-11.6,34,762,0.12,2.60,0.00,0.000,6,0.091,0.051,2171,2294,3381
$GC,1080,-0.57,-146.6,97.7,-10.3,50,1084,0.00,2.62,0.00,0.000,4,0.000,0.064,2171,880,3381
$GC,1130,-0.63,-146.6,103.3,-10.5,52,1134,0.00,2.60,0.00,0.000,6,0.000,0.054,2171,2302,3381
$GC,1447,-0.63,-146.6,134.2,-8.6,67,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2302,3381
$GC,1755,-0.63,-146.6,161.4,-8.1,82,1759,0.00,2.65,0.00,0.000,4,0.000,0.064,2172,878,3381
$GC,1788,-0.68,-146.6,164.0,-7.4,83,1794,0.00,2.62,0.00,0.000,6,0.000,0.054,2172,2308,3381
$GC,2103,-0.68,-146.6,187.4,-7.3,99,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2308,3381
$GC,2413,-0.68,-146.6,208.8,-6.8,114,2417,0.00,2.65,0.00,0.000,4,0.000,0.065,2171,886,3382
$GC,2479,-0.75,-146.6,213.9,-7.8,117,2484,0.17,2.60,0.00,0.000,6,0.040,0.056,2119,2300,3380
$GC,2801,-0.62,-146.6,246.1,-10.4,133,2803,0.22,0.00,0.00,0.000,6,0.082,0.000,2164,2300,3381
$GC,3110,-0.62,-146.6,273.7,-9.4,148,3114,0.00,2.65,0.00,0.000,4,0.000,0.066,2164,876,3381
$GC,3142,-0.62,-146.6,276.9,-9.9,149,3148,0.00,2.62,0.00,0.000,6,0.000,0.056,2164,2303,3381
$GC,3458,-0.62,-146.6,306.9,-10.0,165,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2303,3381
$GC,3768,-0.62,-146.6,334.8,-8.3,180,3772,0.00,2.65,0.00,0.000,4,0.000,0.067,2164,884,3381
$GC,3847,-0.66,-146.6,341.2,-8.0,183,3853,0.00,2.60,0.00,0.000,6,0.000,0.056,2164,2300,3381
$GC,4163,-0.66,-146.6,362.9,-7.4,199,4167,0.00,2.65,0.00,0.000,4,0.000,0.067,2164,881,3381
$GC,4207,-0.71,-146.6,366.2,-7.3,201,4211,0.00,2.60,0.00,0.000,6,0.000,0.057,2164,2302,3381
$GC,4527,-0.71,-146.6,389.2,-7.0,217,4532,0.00,2.65,0.00,0.000,4,0.000,0.067,2165,880,3381
$GC,4578,-0.75,-146.6,392.5,-6.3,219,4583,0.12,2.62,0.00,0.000,6,0.047,0.057,2123,2307,3380
$GC,4894,-0.65,-146.6,416.4,-7.5,234,4899,0.15,2.65,0.00,0.000,4,0.085,0.068,2157,886,3381
$GC,4950,-0.65,-146.6,419.9,-5.7,236,4956,0.00,2.60,0.00,0.000,6,0.000,0.058,2157,2300,3380
$STATE,5139,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5140,begin apogee
$GC,5147,-0.31,0.0,431.8,6.5,246,5276,0.35,0.00,126.80,0.919,6,0.092,0.000,2227,2203,2781
$STATE,5277,end apogee,CONTROL_FINISHED_OK
$STATE,5277,begin climb
$GC,5280,0.85,146.6,440.6,0.0,252,5415,1.20,2.78,125.50,0.903,4,0.080,0.066,2480,783,2182
$GC,5674,1.07,301.4,429.8,1.8,270,5812,0.22,2.62,131.02,0.890,6,0.041,0.054,2542,2198,1552
$GC,6122,1.07,301.4,390.0,10.6,291,6126,0.00,2.70,0.00,0.000,4,0.000,0.068,2542,779,1551
$GC,6233,1.07,301.4,377.9,10.7,296,6237,0.00,2.65,0.00,0.000,6,0.000,0.055,2542,2205,1551
$GC,6554,1.07,301.4,344.7,10.4,312,6558,0.00,2.70,0.00,0.000,4,0.000,0.069,2541,781,1550
$GC,6598,1.07,301.4,340.1,9.9,314,6602,0.00,2.62,0.00,0.000,6,0.000,0.055,2542,2200,1549
$GC,6919,1.07,301.4,310.8,8.6,330,6923,0.00,2.70,0.00,0.000,4,0.000,0.070,2542,782,1549
$GC,6958,1.07,301.4,307.6,8.2,332,6963,0.00,2.62,0.00,0.000,6,0.000,0.055,2543,2200,1549
$GC,7285,1.07,301.4,282.0,7.4,348,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2200,1549
$GC,7594,1.07,301.4,258.8,7.8,363,7599,0.00,2.67,0.00,0.000,4,0.000,0.067,2542,785,1549
$GC,7638,1.07,301.4,255.1,8.8,365,7643,0.00,2.60,0.00,0.000,6,0.000,0.054,2542,2206,1549
$GC,7960,1.07,301.4,226.4,9.4,381,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2206,1548
$GC,8269,1.07,301.4,199.7,8.2,396,8273,0.00,2.67,0.00,0.000,4,0.000,0.066,2543,780,1549
$GC,8313,1.07,301.4,196.2,7.8,398,8318,0.00,2.60,0.00,0.000,6,0.000,0.054,2542,2203,1548
$GC,8634,1.07,301.4,172.5,7.1,414,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2203,1548
$GC,8943,1.07,301.4,146.3,8.5,429,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2203,1548
$GC,9253,1.07,301.4,120.6,8.7,444,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2203,1548
$GC,9563,1.07,301.4,94.9,8.7,459,9568,0.00,2.67,0.00,0.000,4,0.000,0.066,2542,776,1549
$GC,9596,1.07,301.4,91.5,8.9,460,9603,0.00,2.60,0.00,0.000,6,0.000,0.052,2543,2203,1548
$GC,9912,1.07,301.4,67.0,6.7,476,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2202,1549
$GC,10223,1.07,301.4,48.6,6.2,491,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2202,1549
$GC,10531,1.07,301.4,21.2,9.2,506,10535,0.00,2.65,0.00,0.000,4,0.000,0.064,2543,784,1549
$GC,10593,1.07,301.4,15.9,8.8,509,10597,0.00,2.58,0.00,0.000,6,0.000,0.052,2542,2201,1549
$STATE,10752,end climb,SURFACE_DEPTH_REACHED
$STATE,10752,begin surface coast
$FINISH,0.4,1.020998
$STATE,10774,end surface coast,CONTROL_FINISHED_OK
$STATE,10774,begin surface
$SM_CCo,10796,122.90,0.622,0,0,508,557.32
$SM_GC,0.99,0.00,0.00,122.90,0.000,0.000,0.622,67,2310,508,-10.27,0.28,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1873
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.6
$ALTIM_BOTTOM_PING,375.7,65.5
$24V_AH,23.7,23.341
$10V_AH,10.2,11.697
$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,24.750,95.425,383.325,122.900,0.000,51.674,69.321,222.430,3.250,0.000,0.000,18.589,985.002,8040.553,629.570,1245.075,547.275,0.000,1277.744,0.000,1212.217,0.000,21.801
$DEVICE_MAMPS,164.138,76.700,918.866,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.156,351.526,408.368,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25382,518
$CAP_FILE_SIZE,85377,0
$CFSIZE,260165632,250654720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,020708,193738,6222.837,-853.354,28,2.0,28,-9.5