version: 66.03
glider: 16
mission: 9
dive: 131
start: 7 3 108 9 34 15
data:
$ID,16
$MISSION,9
$DIVE,131
$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,-2095668.6
$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,27
$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
$GPS1,092625,6229.653,-903.489,36,1.0,40,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-56.1
$GPS2,093359,6229.799,-903.402,11,2.0,13,-9.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6229.799,-908.389
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.08,-146.6,0.0,0.0,0,154,0.00,0.00,-121.12,0.000,2,0.000,0.000,69,2318,2919
$GC,158,-1.08,-146.6,3.3,-2.6,6,188,11.07,2.70,-11.90,0.000,4,0.167,0.074,2056,885,3380
$GC,359,-0.98,-146.6,33.3,-13.8,15,364,0.15,2.60,0.00,0.000,6,0.107,0.054,2083,2294,3380
$GC,687,-0.89,-146.6,76.1,-14.2,31,688,0.12,0.00,0.00,0.000,6,0.102,0.000,2106,2294,3380
$GC,995,-0.89,-146.6,112.9,-11.9,46,999,0.00,2.67,0.00,0.000,4,0.000,0.071,2106,3715,3381
$GC,1045,-0.89,-146.6,119.5,-13.3,48,1049,0.00,2.58,0.00,0.000,6,0.000,0.051,2106,2296,3381
$GC,1360,-0.89,-146.6,160.5,-12.7,63,1364,0.00,2.60,0.00,0.000,4,0.000,0.065,2106,883,3381
$GC,1400,-0.93,-146.6,165.3,-12.0,65,1404,0.00,2.62,0.00,0.000,6,0.000,0.054,2106,2307,3381
$GC,1727,-0.93,-146.6,197.7,-8.4,81,1731,0.00,2.67,0.00,0.000,4,0.000,0.064,2106,883,3382
$GC,1789,-0.97,-146.6,202.6,-7.3,84,1794,0.00,2.62,0.00,0.000,6,0.000,0.054,2106,2304,3381
$GC,2116,-0.97,-146.6,228.4,-8.3,100,2120,0.00,2.65,0.00,0.000,4,0.000,0.065,2106,884,3382
$GC,2166,-1.02,-146.6,232.7,-8.6,102,2171,0.15,2.62,0.00,0.000,6,0.044,0.055,2061,2308,3382
$GC,2482,-0.89,-146.6,269.8,-12.8,117,2487,0.17,2.67,0.00,0.000,4,0.092,0.066,2099,884,3381
$GC,2538,-0.89,-146.6,276.2,-10.9,119,2544,0.00,2.62,0.00,0.000,6,0.000,0.055,2099,2305,3382
$GC,2853,-0.89,-146.6,310.4,-11.0,135,2858,0.00,2.67,0.00,0.000,4,0.000,0.067,2100,881,3382
$GC,2938,-0.89,-146.6,319.4,-10.0,139,2943,0.00,2.62,0.00,0.000,6,0.000,0.057,2100,2303,3382
$GC,3265,-0.89,-146.6,352.1,-9.6,155,3269,0.00,2.67,0.00,0.000,4,0.000,0.069,2100,885,3381
$GC,3337,-0.95,-146.6,359.9,-11.0,158,3341,0.00,2.62,0.00,0.000,6,0.000,0.058,2100,2302,3382
$GC,3652,-0.95,-146.6,397.6,-12.7,173,3657,0.00,2.67,0.00,0.000,4,0.000,0.069,2100,885,3381
$GC,3680,-0.95,-146.6,401.3,-13.1,174,3685,0.00,2.62,0.00,0.000,6,0.000,0.058,2100,2302,3382
$GC,3996,-0.95,-146.6,435.7,-10.9,189,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2302,3381
$GC,4305,-0.95,-146.6,471.0,-12.4,204,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2302,3381
$GC,4615,-0.95,-146.6,503.0,-10.1,219,4619,0.00,2.67,0.00,0.000,4,0.000,0.071,2100,879,3380
$GC,4699,-0.99,-146.6,511.1,-9.7,223,4704,0.00,2.62,0.00,0.000,6,0.000,0.062,2100,2297,3380
$GC,5026,-0.99,-146.6,545.1,-11.2,239,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2297,3379
$STATE,5066,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5066,begin apogee
$GC,5073,-0.31,0.0,549.5,11.1,241,5208,0.65,0.00,129.48,1.018,6,0.108,0.000,2227,2199,2781
$STATE,5208,end apogee,CONTROL_FINISHED_OK
$STATE,5208,begin climb
$GC,5211,1.08,146.6,553.8,0.0,248,5348,1.45,2.75,128.30,0.996,4,0.081,0.070,2532,787,2183
$GC,5463,1.11,168.5,542.7,7.2,259,5490,0.00,2.65,20.15,0.932,6,0.000,0.057,2532,2200,2094
$GC,5799,1.17,224.1,518.7,6.0,276,5854,0.10,2.83,49.22,0.969,4,0.059,0.081,2562,3614,1867
$GC,5894,1.19,240.0,511.8,7.4,279,5915,0.00,2.67,15.57,0.907,6,0.000,0.063,2562,2204,1802
$GC,6225,1.19,240.0,486.6,8.8,295,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2204,1801
$GC,6534,1.19,240.0,458.1,10.3,310,6539,0.00,2.75,0.00,0.000,4,0.000,0.081,2562,3616,1800
$GC,6574,1.19,240.0,454.0,10.5,312,6578,0.00,2.67,0.00,0.000,6,0.000,0.064,2562,2200,1800
$GC,6900,1.19,240.0,421.8,8.9,328,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2199,1799
$GC,7209,1.19,240.0,392.1,9.9,343,7214,0.00,2.75,0.00,0.000,4,0.000,0.083,2562,3611,1798
$GC,7265,1.19,240.0,385.6,12.0,345,7271,0.00,2.67,0.00,0.000,6,0.000,0.065,2562,2194,1798
$GC,7581,1.19,240.0,350.6,10.1,361,7585,0.00,2.70,0.00,0.000,4,0.000,0.075,2562,777,1797
$GC,7614,1.19,240.0,347.1,9.7,362,7620,0.00,2.67,0.00,0.000,6,0.000,0.058,2563,2208,1797
$GC,7929,1.19,242.6,321.1,7.9,378,7934,0.00,2.70,0.00,0.000,4,0.000,0.081,2562,3611,1796
$GC,8019,1.19,242.6,313.2,9.0,382,8023,0.00,2.67,0.00,0.000,6,0.000,0.066,2562,2197,1797
$GC,8340,1.19,242.6,285.8,9.4,398,8344,0.00,2.72,0.00,0.000,4,0.000,0.077,2562,3612,1796
$GC,8389,1.19,242.6,280.7,10.5,400,8393,0.00,2.65,0.00,0.000,6,0.000,0.062,2562,2199,1796
$GC,8704,1.19,242.6,251.8,8.8,415,8709,0.00,2.67,0.00,0.000,4,0.000,0.069,2562,781,1796
$GC,8738,1.19,242.6,248.8,9.2,416,8744,0.00,2.62,0.00,0.000,6,0.000,0.053,2562,2203,1796
$GC,9053,1.19,242.6,222.6,8.4,432,9058,0.00,2.70,0.00,0.000,4,0.000,0.075,2562,3619,1796
$GC,9133,1.19,242.6,215.0,9.7,435,9139,0.00,2.65,0.00,0.000,6,0.000,0.061,2562,2198,1796
$GC,9449,1.19,242.6,185.7,9.2,451,9453,0.00,2.70,0.00,0.000,4,0.000,0.074,2562,3612,1796
$GC,9481,1.19,242.6,182.6,8.9,452,9487,0.00,2.62,0.00,0.000,6,0.000,0.061,2562,2199,1796
$GC,9797,1.20,256.4,157.6,7.5,468,9817,0.00,0.00,14.45,0.714,6,0.000,0.000,2562,2199,1735
$GC,10128,1.25,256.4,130.5,8.6,484,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2199,1735
$GC,10436,1.30,256.4,103.7,9.1,499,10441,0.00,2.67,0.00,0.000,4,0.000,0.073,2562,3613,1735
$GC,10499,1.30,256.4,97.5,10.6,502,10503,0.00,2.62,0.00,0.000,6,0.000,0.059,2562,2192,1735
$GC,10826,1.35,256.4,66.4,9.8,518,10831,0.15,2.62,0.00,0.000,4,0.045,0.064,2612,777,1735
$GC,10876,1.26,256.4,60.1,12.6,520,10882,0.20,2.60,0.00,0.000,6,0.087,0.050,2573,2209,1735
$GC,11193,1.26,256.4,28.3,9.3,535,11197,0.00,2.62,0.00,0.000,4,0.000,0.072,2573,3611,1736
$GC,11255,1.26,256.4,22.1,10.2,538,11259,0.00,2.62,0.00,0.000,6,0.000,0.059,2573,2194,1736
$STATE,11475,end climb,SURFACE_DEPTH_REACHED
$STATE,11475,begin surface coast
$FINISH,0.5,1.021601
$STATE,11498,end surface coast,CONTROL_FINISHED_OK
$STATE,11498,begin surface
$SM_CCo,11519,148.20,0.630,0,0,508,557.32
$SM_GC,1.25,0.00,0.00,148.20,0.000,0.000,0.630,73,2305,508,-10.25,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1873
$TCM_TEMP,16.70
$XPDR_PINGS,30
$ALTIM_TOP_PING,18.6,18.2
$ALTIM_BOTTOM_PING,476.2,81.5
$24V_AH,23.6,24.056
$10V_AH,10.1,12.004
$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,25.100,122.850,357.175,148.200,0.000,38.068,64.632,178.523,11.500,0.000,0.000,13.659,1055.919,8590.124,660.123,1322.428,499.346,0.000,1357.048,0.000,1289.340,0.000,28.331
$DEVICE_MAMPS,167.206,82.836,1017.809,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.669,372.998,377.676,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28580,550
$CAP_FILE_SIZE,95677,0
$CFSIZE,260165632,250417152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,030708,125001,6229.992,-906.312,38,2.0,38,-9.6