version: 66.03
glider: 16
mission: 9
dive: 136
start: 7 4 108 2 51 7
data:
$ID,16
$MISSION,9
$DIVE,136
$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,-2095830.9
$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,16
$R_STBD_OVSHOOT,22
$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
$GPS1,024558,6225.830,-919.104,40,4.1,59,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-59.5
$GPS2,025053,6225.780,-919.175,10,2.5,29,-9.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6225.780,-924.174
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.08,-146.6,0.0,0.0,0,153,0.00,0.00,-120.82,0.000,2,0.000,0.000,73,2308,3025
$GC,156,-1.08,-146.6,4.3,-3.6,6,181,11.10,2.70,-7.70,0.000,4,0.169,0.082,2055,3707,3379
$GC,434,-0.93,-146.6,49.5,-15.1,18,440,0.20,2.60,0.00,0.000,6,0.096,0.053,2093,2291,3380
$GC,751,-0.88,-146.6,84.8,-10.6,33,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2291,3380
$GC,1060,-0.88,-146.6,115.6,-10.1,48,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2292,3381
$GC,1371,-0.83,-146.6,148.0,-10.6,63,1372,0.12,0.00,0.00,0.000,6,0.105,0.000,2117,2291,3381
$GC,1678,-0.83,-146.6,174.6,-8.9,78,1685,0.00,2.62,0.00,0.000,4,0.000,0.066,2117,878,3381
$GC,1728,-0.91,-146.6,179.1,-9.1,80,1732,0.00,2.60,0.00,0.000,6,0.000,0.054,2117,2297,3381
$GC,2055,-0.91,-146.6,208.4,-9.1,96,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2298,3381
$GC,2364,-0.91,-146.6,236.3,-9.0,111,2368,0.00,2.65,0.00,0.000,4,0.000,0.066,2117,876,3382
$GC,2431,-0.97,-146.6,242.6,-9.3,114,2436,0.15,2.62,0.00,0.000,6,0.044,0.055,2071,2305,3382
$GC,2754,-0.87,-146.6,281.5,-12.5,130,2756,0.20,0.00,0.00,0.000,6,0.091,0.000,2111,2306,3381
$GC,3061,-0.87,-146.6,315.7,-11.1,145,3066,0.00,2.67,0.00,0.000,4,0.000,0.067,2111,881,3381
$GC,3134,-0.93,-146.6,323.5,-10.9,148,3139,0.00,2.60,0.00,0.000,6,0.000,0.057,2111,2301,3382
$GC,3450,-0.93,-146.6,355.0,-9.5,163,3454,0.00,2.67,0.00,0.000,4,0.000,0.067,2111,877,3381
$GC,3483,-0.98,-146.6,358.2,-9.7,164,3489,0.12,2.62,0.00,0.000,6,0.049,0.057,2072,2301,3381
$GC,3799,-0.88,-146.6,394.1,-11.1,180,3801,0.17,0.00,0.00,0.000,6,0.091,0.000,2106,2302,3381
$GC,4108,-0.88,-146.6,422.6,-9.2,195,4112,0.00,2.67,0.00,0.000,4,0.000,0.067,2106,883,3381
$GC,4193,-0.93,-146.6,430.1,-8.8,199,4197,0.00,2.62,0.00,0.000,6,0.000,0.057,2106,2301,3381
$GC,4519,-0.93,-146.6,460.5,-9.7,215,4523,0.00,2.70,0.00,0.000,4,0.000,0.077,2106,3716,3380
$GC,4558,-0.93,-146.6,464.7,-10.9,217,4563,0.00,2.62,0.00,0.000,6,0.000,0.056,2106,2296,3381
$GC,4885,-0.93,-146.6,496.5,-9.3,233,4889,0.00,2.65,0.00,0.000,4,0.000,0.071,2106,885,3380
$GC,4935,-1.00,-146.6,501.3,-9.5,235,4939,0.00,2.62,0.00,0.000,6,0.000,0.058,2106,2308,3380
$GC,5251,-1.00,-146.6,531.8,-10.4,250,5253,0.12,0.00,0.00,0.000,6,0.050,0.000,2069,2308,3380
$STATE,5557,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5557,begin apogee
$GC,5564,-0.31,0.0,567.2,11.0,265,5700,0.80,0.00,129.52,1.022,6,0.100,0.000,2229,2197,2781
$STATE,5701,end apogee,CONTROL_FINISHED_OK
$STATE,5701,begin climb
$GC,5704,1.08,146.6,573.5,0.0,272,5840,1.48,0.00,128.10,1.008,6,0.077,0.000,2537,2196,2184
$GC,6151,1.12,175.7,549.6,6.9,294,6185,0.00,2.85,26.42,0.965,4,0.000,0.080,2537,3610,2066
$GC,6226,1.12,175.7,543.7,8.1,297,6230,0.00,2.65,0.00,0.000,6,0.000,0.062,2537,2203,2065
$GC,6542,1.12,176.0,520.0,8.0,312,6546,0.00,2.75,0.00,0.000,4,0.000,0.081,2537,3613,2063
$GC,6626,1.12,176.0,512.6,8.8,316,6631,0.00,2.67,0.00,0.000,6,0.000,0.064,2538,2197,2063
$GC,6953,1.18,235.2,489.9,5.8,332,7007,0.00,0.00,51.88,0.988,6,0.000,0.000,2537,2197,1822
$GC,7302,1.30,272.0,468.8,6.7,349,7345,0.17,2.85,32.67,0.964,4,0.051,0.079,2588,3611,1672
$GC,7379,1.23,272.0,461.1,11.4,352,7384,0.00,2.70,0.00,0.000,6,0.000,0.064,2588,2201,1672
$GC,7695,1.23,272.0,423.6,12.4,367,7699,0.00,2.72,0.00,0.000,4,0.000,0.078,2588,3612,1671
$GC,7767,1.18,272.0,414.6,12.3,370,7772,0.15,2.67,0.00,0.000,6,0.097,0.064,2560,2200,1671
$GC,8083,1.18,272.0,384.2,8.9,385,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2200,1670
$GC,8392,1.18,272.0,356.2,9.2,400,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2200,1670
$GC,8701,1.18,272.0,324.8,10.4,415,8705,0.00,2.72,0.00,0.000,4,0.000,0.076,2560,3619,1670
$GC,8756,1.18,272.0,318.3,12.5,417,8762,0.00,2.65,0.00,0.000,6,0.000,0.064,2560,2200,1670
$GC,9072,1.18,272.0,284.4,10.7,433,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2200,1670
$GC,9381,1.18,272.0,250.1,10.9,448,9385,0.00,2.67,0.00,0.000,4,0.000,0.074,2560,3619,1670
$GC,9414,1.18,272.0,246.0,12.3,449,9420,0.00,2.65,0.00,0.000,6,0.000,0.061,2560,2194,1670
$GC,9729,1.18,272.0,210.6,11.1,465,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2194,1670
$GC,10039,1.18,272.0,177.3,10.5,480,10043,0.00,2.67,0.00,0.000,4,0.000,0.073,2560,3613,1671
$GC,10078,1.18,272.0,173.0,10.7,482,10083,0.00,2.62,0.00,0.000,6,0.000,0.060,2560,2197,1671
$GC,10405,1.18,272.0,139.8,10.2,498,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2197,1671
$GC,10715,1.18,272.0,109.5,9.6,513,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2197,1672
$GC,11024,1.18,272.0,80.7,9.2,528,11029,0.00,2.67,0.00,0.000,4,0.000,0.071,2560,3620,1672
$GC,11057,1.18,272.0,77.3,10.2,529,11064,0.00,2.62,0.00,0.000,6,0.000,0.059,2560,2194,1672
$GC,11375,1.18,272.0,46.4,10.1,545,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2193,1672
$GC,11683,1.18,272.0,15.2,9.8,560,11687,0.00,2.67,0.00,0.000,4,0.000,0.071,2560,3616,1673
$GC,11723,1.18,272.0,11.1,11.2,562,11727,0.00,2.60,0.00,0.000,6,0.000,0.059,2560,2202,1672
$STATE,11821,end climb,SURFACE_DEPTH_REACHED
$STATE,11821,begin surface coast
$FINISH,0.8,1.015106
$STATE,11842,end surface coast,CONTROL_FINISHED_OK
$STATE,11842,begin surface
$SM_CCo,11864,137.75,0.627,0,0,509,557.32
$SM_GC,1.33,0.00,0.00,137.75,0.000,0.000,0.627,71,2314,509,-10.25,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1875
$TCM_TEMP,17.60
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.2,17.7
$ALTIM_BOTTOM_PING,525.5,50.8
$24V_AH,23.6,24.764
$10V_AH,10.2,12.307
$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,25.625,91.125,368.600,137.750,0.000,18.285,27.766,122.658,11.250,0.000,0.000,30.045,1057.056,8939.983,668.613,1259.227,374.439,0.000,1303.166,0.000,1214.029,0.000,34.458
$DEVICE_MAMPS,168.740,82.069,1021.644,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.713,385.351,386.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28517,568
$CAP_FILE_SIZE,86894,0
$CFSIZE,260165632,250200064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,040708,061231,6224.620,-924.377,38,1.3,43,-9.8