version: 66.03
glider: 16
mission: 9
dive: 130
start: 7 3 108 6 12 12
data:
$ID,16
$MISSION,9
$DIVE,130
$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,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,-2095654.4
$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,26
$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
$GPS1,060507,6226.373,-902.121,31,1.7,31,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-57.5
$GPS2,061156,6226.525,-902.133,12,1.5,12,-9.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6226.525,-907.129
$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,279.6,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.08,-146.6,0.0,0.0,0,151,0.00,0.00,-120.50,0.000,2,0.000,0.000,63,2309,2917
$GC,155,-1.08,-146.6,3.2,-2.5,6,185,11.05,2.67,-11.95,0.000,4,0.165,0.084,2056,3703,3380
$GC,438,-0.91,-146.6,47.9,-14.7,18,445,0.22,2.58,0.00,0.000,6,0.096,0.053,2100,2291,3381
$GC,756,-0.87,-146.6,82.8,-10.0,34,760,0.00,2.70,0.00,0.000,4,0.000,0.073,2100,3707,3380
$GC,796,-0.82,-146.6,87.0,-10.8,36,801,0.00,2.58,0.00,0.000,6,0.000,0.053,2099,2298,3380
$GC,1124,-0.82,-146.6,118.7,-10.2,52,1129,0.10,2.62,0.00,0.000,4,0.105,0.064,2118,884,3381
$GC,1174,-0.91,-146.6,123.8,-9.5,54,1178,0.00,2.58,0.00,0.000,6,0.000,0.054,2118,2294,3380
$GC,1490,-0.91,-146.6,152.6,-8.9,69,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2294,3381
$GC,1798,-0.91,-146.6,179.7,-8.7,84,1803,0.00,2.65,0.00,0.000,4,0.000,0.065,2119,884,3380
$GC,1849,-0.98,-146.6,184.1,-8.3,86,1854,0.15,2.60,0.00,0.000,6,0.044,0.056,2072,2300,3381
$GC,2165,-0.88,-146.6,219.7,-11.7,101,2167,0.17,0.00,0.00,0.000,6,0.091,0.000,2107,2300,3380
$GC,2475,-0.88,-146.6,251.6,-10.5,116,2479,0.00,2.65,0.00,0.000,4,0.000,0.066,2107,884,3381
$GC,2508,-0.88,-146.6,255.4,-10.8,117,2514,0.00,2.62,0.00,0.000,6,0.000,0.056,2107,2304,3381
$GC,2823,-0.88,-146.6,291.1,-11.7,133,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2304,3381
$GC,3132,-0.88,-146.6,324.4,-10.0,148,3137,0.00,2.67,0.00,0.000,4,0.000,0.066,2107,877,3380
$GC,3177,-0.93,-146.6,328.6,-9.0,150,3181,0.00,2.62,0.00,0.000,6,0.000,0.057,2107,2299,3380
$GC,3498,-0.93,-146.6,351.6,-6.7,166,3503,0.00,2.67,0.00,0.000,4,0.000,0.067,2107,878,3380
$GC,3532,-0.98,-146.6,354.3,-7.4,167,3538,0.00,2.62,0.00,0.000,6,0.000,0.056,2107,2302,3380
$GC,3848,-0.98,-146.6,380.7,-9.7,183,3852,0.00,2.65,0.00,0.000,4,0.000,0.067,2107,884,3380
$GC,3944,-1.04,-146.6,390.1,-9.8,187,3949,0.17,2.60,0.00,0.000,6,0.044,0.057,2056,2301,3380
$GC,4261,-0.91,-146.6,425.9,-10.7,202,4266,0.20,2.67,0.00,0.000,4,0.093,0.067,2097,884,3380
$GC,4368,-0.95,-146.6,435.9,-9.3,207,4373,0.00,2.60,0.00,0.000,6,0.000,0.059,2098,2305,3380
$GC,4695,-0.95,-146.6,462.8,-8.6,223,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2304,3380
$GC,5005,-0.95,-146.6,493.6,-10.9,238,5009,0.00,2.67,0.00,0.000,4,0.000,0.070,2098,886,3379
$GC,5099,-0.95,-146.6,503.8,-10.4,242,5103,0.00,2.62,0.00,0.000,6,0.000,0.061,2098,2299,3379
$GC,5415,-0.95,-146.6,537.9,-10.8,257,5419,0.00,2.65,0.00,0.000,4,0.000,0.071,2098,887,3379
$GC,5492,-0.95,-146.6,546.3,-8.5,260,5499,0.00,2.62,0.00,0.000,6,0.000,0.061,2098,2303,3379
$STATE,5537,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5537,begin apogee
$GC,5544,-0.31,0.0,550.2,8.6,263,5680,0.65,0.00,129.23,1.022,6,0.097,0.000,2229,2190,2781
$STATE,5681,end apogee,CONTROL_FINISHED_OK
$STATE,5681,begin climb
$GC,5684,1.08,146.6,556.6,0.0,270,5817,1.42,0.00,128.75,0.996,6,0.074,0.000,2532,2188,2183
$GC,6119,1.08,146.6,530.9,8.2,291,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2190,2183
$GC,6425,1.16,216.4,510.9,5.5,306,6489,0.00,0.00,61.40,0.976,6,0.000,0.000,2532,2190,1898
$GC,6795,1.22,216.4,479.4,9.3,324,6800,0.15,2.65,0.00,0.000,4,0.048,0.072,2579,791,1896
$GC,6862,1.13,216.4,472.8,11.1,327,6867,0.17,2.62,0.00,0.000,6,0.090,0.058,2545,2198,1896
$GC,7183,1.13,216.4,446.1,8.9,343,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2198,1896
$GC,7492,1.17,216.4,421.7,9.1,358,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2198,1895
$GC,7802,1.24,216.4,394.7,9.7,373,7803,0.12,0.00,0.00,0.000,6,0.054,0.000,2579,2198,1895
$GC,8111,1.18,216.4,359.5,10.7,388,8116,0.12,2.72,0.00,0.000,4,0.096,0.081,2556,3616,1894
$GC,8144,1.18,216.4,355.9,10.7,389,8150,0.00,2.65,0.00,0.000,6,0.000,0.065,2556,2207,1894
$GC,8460,1.29,316.4,334.8,4.4,405,8550,0.10,2.78,84.00,0.889,4,0.059,0.070,2585,778,1491
$GC,8607,1.35,374.7,326.6,5.9,412,8663,0.00,2.67,50.15,0.861,6,0.000,0.054,2585,2206,1254
$GC,8978,1.43,376.8,299.2,7.9,429,8980,0.12,0.00,0.00,0.000,6,0.049,0.000,2623,2206,1253
$GC,9283,1.43,376.8,265.6,11.4,444,9292,0.00,2.72,3.53,0.494,4,0.000,0.068,2623,785,1246
$GC,9320,1.43,376.8,261.1,11.6,445,9327,0.00,2.62,0.00,0.000,6,0.000,0.054,2623,2203,1246
$GC,9637,1.43,376.8,221.7,13.1,461,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2203,1245
$GC,9946,1.43,376.8,181.6,13.0,476,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2203,1246
$GC,10255,1.43,376.8,142.1,12.5,491,10259,0.00,2.67,0.00,0.000,4,0.000,0.067,2623,782,1246
$GC,10295,1.43,376.8,137.0,12.9,493,10299,0.00,2.62,0.00,0.000,6,0.000,0.052,2623,2207,1246
$GC,10621,1.43,376.8,97.8,11.0,509,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2207,1246
$GC,10930,1.43,376.8,63.4,11.8,524,10935,0.00,2.65,0.00,0.000,4,0.000,0.072,2623,3614,1247
$GC,10971,1.43,376.8,58.3,12.8,526,10975,0.00,2.62,0.00,0.000,6,0.000,0.061,2623,2199,1247
$GC,11299,1.43,376.8,18.7,11.9,542,11303,0.00,2.62,0.00,0.000,4,0.000,0.067,2623,782,1247
$GC,11361,1.43,376.8,11.1,11.8,545,11365,0.00,2.58,0.00,0.000,6,0.000,0.051,2623,2202,1247
$STATE,11437,end climb,SURFACE_DEPTH_REACHED
$STATE,11437,begin surface coast
$FINISH,0.5,1.014522
$STATE,11461,end surface coast,CONTROL_FINISHED_OK
$STATE,11461,begin surface
$SM_CCo,11484,89.38,0.626,0,0,508,557.32
$SM_GC,1.22,0.00,0.00,89.38,0.000,0.000,0.626,69,2317,508,-10.26,0.48,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1883
$TCM_TEMP,17.60
$XPDR_PINGS,18
$ALTIM_TOP_PING,18.7,17.2
$ALTIM_BOTTOM_PING,476.7,82.8
$24V_AH,23.7,23.913
$10V_AH,10.1,11.943
$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,26.000,95.575,457.050,89.375,0.000,36.105,105.506,109.744,8.500,0.000,0.000,11.961,1037.637,8568.889,687.353,1245.809,449.641,0.000,1341.814,0.000,1217.579,0.000,28.332
$DEVICE_MAMPS,164.905,83.603,1021.644,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.062,372.904,368.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28508,550
$CAP_FILE_SIZE,88293,0
$CFSIZE,260165632,250470400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,030708,092625,6229.653,-903.489,36,1.0,40,-9.6