version: 66.03
glider: 16
mission: 9
dive: 133
start: 7 3 108 16 20 58
data:
$ID,16
$MISSION,9
$DIVE,133
$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,-2095714.9
$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,21
$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
$GPS1,161508,6227.635,-914.514,36,1.4,36,-9.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-58.6
$GPS2,162044,6227.586,-914.685,15,1.5,32,-9.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6227.586,-919.678
$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,279.7,20000,-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,32,-1.08,-146.6,0.0,0.0,0,154,0.00,0.00,-120.88,0.000,2,0.000,0.000,71,2308,3015
$GC,158,-1.08,-146.6,4.2,-3.5,6,183,11.10,2.70,-8.02,0.000,4,0.167,0.082,2056,3709,3381
$GC,414,-0.92,-146.6,50.2,-15.1,17,419,0.22,2.60,0.00,0.000,6,0.094,0.054,2099,2296,3381
$GC,731,-0.92,-146.6,84.7,-9.3,32,735,0.00,2.65,0.00,0.000,4,0.000,0.066,2099,876,3382
$GC,764,-0.92,-146.6,88.0,-9.1,33,770,0.00,2.62,0.00,0.000,6,0.000,0.054,2099,2302,3381
$GC,1080,-0.92,-146.6,118.3,-10.8,49,1084,0.00,2.67,0.00,0.000,4,0.000,0.063,2099,874,3382
$GC,1152,-0.92,-146.6,125.9,-9.9,52,1156,0.00,2.65,0.00,0.000,6,0.000,0.055,2099,2303,3382
$GC,1468,-0.92,-146.6,156.0,-10.0,67,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2303,3382
$GC,1776,-0.92,-146.6,190.5,-11.4,82,1781,0.00,2.70,0.00,0.000,4,0.000,0.067,2099,878,3383
$GC,1820,-0.92,-146.6,195.4,-11.0,84,1825,0.00,2.65,0.00,0.000,6,0.000,0.055,2099,2306,3382
$GC,2142,-0.92,-146.6,227.9,-9.6,100,2146,0.00,2.70,0.00,0.000,4,0.000,0.067,2100,874,3382
$GC,2181,-0.92,-146.6,231.8,-9.9,102,2185,0.00,2.65,0.00,0.000,6,0.000,0.057,2100,2300,3382
$GC,2507,-0.92,-146.6,266.7,-11.3,118,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2300,3383
$GC,2817,-0.92,-146.6,299.3,-9.9,133,2821,0.00,2.65,0.00,0.000,4,0.000,0.068,2100,885,3382
$GC,2877,-0.92,-146.6,305.5,-9.4,135,2883,0.00,2.62,0.00,0.000,6,0.000,0.058,2100,2304,3383
$GC,3193,-0.92,-146.6,331.7,-8.7,151,3197,0.00,2.70,0.00,0.000,4,0.000,0.068,2100,876,3382
$GC,3301,-0.96,-146.6,343.4,-10.5,156,3305,0.00,2.62,0.00,0.000,6,0.000,0.058,2100,2300,3382
$GC,3627,-0.96,-146.6,379.6,-10.7,172,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2300,3382
$GC,3937,-0.96,-146.6,410.6,-10.3,187,3941,0.00,2.67,0.00,0.000,4,0.000,0.068,2100,877,3382
$GC,4009,-0.96,-146.6,417.6,-9.2,190,4013,0.00,2.65,0.00,0.000,6,0.000,0.058,2100,2300,3381
$GC,4324,-0.96,-146.6,446.9,-10.4,205,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2299,3381
$GC,4634,-0.96,-146.6,477.0,-9.4,220,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2299,3381
$GC,4943,-0.96,-146.6,508.8,-10.6,235,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2300,3380
$GC,5252,-0.96,-146.6,538.6,-8.6,250,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2300,3379
$STATE,5559,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5559,begin apogee
$GC,5566,-0.31,0.0,565.3,8.5,265,5701,0.65,0.00,129.68,1.039,6,0.100,0.000,2230,2196,2781
$STATE,5702,end apogee,CONTROL_FINISHED_OK
$STATE,5702,begin climb
$GC,5705,1.08,146.6,570.9,0.0,272,5838,1.42,0.00,128.43,1.020,6,0.079,0.000,2530,2196,2182
$GC,6137,1.11,165.9,548.0,7.3,293,6161,0.00,2.78,18.20,0.950,4,0.000,0.072,2529,791,2104
$GC,6195,1.11,165.9,543.5,8.3,295,6202,0.00,2.65,0.00,0.000,6,0.000,0.059,2529,2198,2103
$GC,6512,1.15,206.8,521.6,6.5,311,6554,0.00,2.83,36.25,0.984,4,0.000,0.082,2529,3618,1937
$GC,6588,1.20,213.3,516.1,7.8,314,6603,0.15,2.67,7.68,0.822,6,0.054,0.064,2571,2200,1911
$GC,6931,1.20,213.3,486.7,8.3,331,6935,0.00,2.75,0.00,0.000,4,0.000,0.084,2570,3612,1909
$GC,6986,1.12,213.3,481.9,9.0,333,6993,0.12,2.65,0.00,0.000,6,0.106,0.064,2547,2200,1909
$GC,7302,1.14,226.2,459.4,7.5,349,7316,0.00,0.00,12.35,0.894,6,0.000,0.000,2547,2200,1857
$GC,7612,1.18,226.2,431.1,8.6,364,7616,0.00,2.72,0.00,0.000,4,0.000,0.084,2547,3612,1857
$GC,7644,1.18,226.2,428.1,9.0,365,7651,0.00,2.65,0.00,0.000,6,0.000,0.065,2547,2197,1857
$GC,7961,1.23,226.2,398.7,9.4,381,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2197,1856
$GC,8270,1.27,226.2,370.3,9.5,396,8275,0.15,2.75,0.00,0.000,4,0.054,0.082,2592,3617,1856
$GC,8445,1.17,226.2,345.9,14.2,404,8451,0.20,2.67,0.00,0.000,6,0.101,0.069,2553,2204,1856
$GC,8772,1.17,226.2,309.9,9.7,420,8776,0.00,2.70,0.00,0.000,4,0.000,0.080,2555,3613,1855
$GC,8834,1.10,226.2,303.5,11.4,423,8839,0.00,2.65,0.00,0.000,6,0.000,0.063,2555,2197,1855
$GC,9161,1.06,226.2,272.2,10.1,439,9163,0.12,0.00,0.00,0.000,6,0.100,0.000,2532,2196,1856
$GC,9471,1.12,235.0,246.3,7.7,454,9485,0.00,2.72,8.65,0.733,4,0.000,0.076,2532,3617,1822
$GC,9543,1.12,235.0,239.9,8.8,457,9547,0.00,2.65,0.00,0.000,6,0.000,0.062,2532,2199,1822
$GC,9864,1.18,235.0,213.0,8.5,473,9869,0.10,2.70,0.00,0.000,4,0.057,0.075,2562,3618,1822
$GC,9908,1.11,235.0,208.2,11.7,475,9913,0.12,2.65,0.00,0.000,6,0.100,0.063,2540,2193,1822
$GC,10230,1.15,235.0,179.2,8.9,491,10234,0.00,2.70,0.00,0.000,4,0.000,0.075,2540,3614,1823
$GC,10270,1.15,235.0,175.4,10.6,493,10274,0.00,2.65,0.00,0.000,6,0.000,0.061,2540,2194,1823
$GC,10597,1.20,235.0,145.7,10.0,509,10598,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2194,1823
$GC,10905,1.20,235.0,118.2,9.0,524,10910,0.00,2.70,0.00,0.000,4,0.000,0.074,2540,3614,1824
$GC,10946,1.20,235.0,113.8,11.4,526,10950,0.00,2.62,0.00,0.000,6,0.000,0.061,2540,2191,1824
$GC,11273,1.24,235.3,85.5,8.0,542,11278,0.15,2.67,0.00,0.000,4,0.045,0.074,2587,3614,1824
$GC,11337,1.12,235.3,78.8,11.7,545,11342,0.22,2.62,0.00,0.000,6,0.104,0.061,2545,2199,1824
$GC,11664,1.18,287.1,53.0,6.1,561,11710,0.00,0.00,43.97,0.679,6,0.000,0.000,2545,2199,1609
$GC,12015,1.27,287.1,22.9,8.8,578,12017,0.15,0.00,0.00,0.000,6,0.048,0.000,2585,2199,1609
$STATE,12217,end climb,SURFACE_DEPTH_REACHED
$STATE,12217,begin surface coast
$FINISH,0.6,1.014253
$STATE,12239,end surface coast,CONTROL_FINISHED_OK
$STATE,12239,begin surface
$SM_CCo,12262,132.90,0.626,0,0,508,557.32
$SM_GC,1.24,0.00,0.00,132.90,0.000,0.000,0.626,75,2307,508,-10.24,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1847
$TCM_TEMP,16.50
$XPDR_PINGS,38
$ALTIM_TOP_PING,18.8,18.3
$ALTIM_BOTTOM_PING,525.9,48.0
$24V_AH,23.6,24.338
$10V_AH,10.1,12.125
$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,25.850,102.075,385.200,132.900,0.000,17.994,28.242,162.697,14.250,0.000,0.000,32.588,1105.968,9178.550,664.330,1366.956,418.574,0.000,1353.679,0.000,1312.388,0.000,34.415
$DEVICE_MAMPS,167.206,83.603,1039.285,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.033,399.749,406.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28652,589
$CAP_FILE_SIZE,93958,0
$CFSIZE,260165632,250331136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,030708,194855,6227.118,-918.864,24,2.0,42,-9.7