version: 66.03
glider: 16
mission: 9
dive: 140
start: 7 4 108 17 6 24
data:
$ID,16
$MISSION,9
$DIVE,140
$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,-2095912.9
$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,20
$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
$GPS1,170132,6224.421,-931.203,41,1.6,41,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-60.1
$GPS2,170608,6224.407,-931.188,11,1.6,16,-9.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6224.407,-936.190
$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,279.8,20000,-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,-120.50,0.000,2,0.000,0.000,70,2306,2988
$GC,155,-1.08,-146.6,3.9,-3.3,6,178,11.15,0.00,-9.15,0.000,6,0.169,0.000,2057,2306,3381
$GC,488,-0.93,-146.6,53.8,-13.3,22,493,0.15,2.65,0.00,0.000,4,0.103,0.070,2089,3709,3382
$GC,544,-0.87,-146.6,61.4,-12.0,24,551,0.10,2.58,0.00,0.000,6,0.102,0.054,2107,2297,3382
$GC,860,-0.87,-146.6,94.8,-10.4,40,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2297,3382
$GC,1169,-0.87,-146.6,125.7,-9.8,55,1174,0.00,2.62,0.00,0.000,4,0.000,0.066,2108,883,3382
$GC,1242,-0.87,-146.6,132.9,-9.4,58,1246,0.00,2.60,0.00,0.000,6,0.000,0.053,2107,2298,3382
$GC,1557,-0.87,-146.6,163.7,-9.8,73,1562,0.00,2.67,0.00,0.000,4,0.000,0.066,2107,876,3383
$GC,1631,-0.91,-146.6,170.7,-9.7,76,1635,0.00,2.62,0.00,0.000,6,0.000,0.053,2109,2299,3383
$GC,1948,-0.91,-146.6,200.8,-9.5,91,1952,0.00,2.67,0.00,0.000,4,0.000,0.066,2108,880,3383
$GC,2020,-0.95,-146.6,208.0,-9.8,94,2024,0.00,2.62,0.00,0.000,6,0.000,0.054,2107,2303,3383
$GC,2336,-0.95,-146.6,241.8,-11.5,109,2340,0.00,2.67,0.00,0.000,4,0.000,0.067,2108,883,3383
$GC,2380,-1.01,-146.6,247.1,-11.5,111,2385,0.12,2.60,0.00,0.000,6,0.049,0.054,2068,2300,3383
$GC,2701,-0.89,-146.6,296.2,-16.2,127,2703,0.17,0.00,0.00,0.000,6,0.094,0.000,2101,2300,3383
$GC,3010,-0.89,-146.6,339.6,-13.3,142,3014,0.00,2.67,0.00,0.000,4,0.000,0.067,2101,879,3383
$GC,3109,-0.89,-146.6,352.1,-11.7,146,3115,0.00,2.62,0.00,0.000,6,0.000,0.054,2101,2305,3383
$GC,3426,-0.89,-146.6,380.4,-7.0,162,3430,0.00,2.70,0.00,0.000,4,0.000,0.068,2101,874,3383
$GC,3470,-0.94,-146.6,383.2,-5.9,164,3475,0.00,2.62,0.00,0.000,6,0.000,0.054,2101,2300,3383
$GC,3792,-0.94,-146.6,400.2,-5.2,180,3797,0.00,2.67,0.00,0.000,4,0.000,0.068,2101,884,3383
$GC,3855,-0.94,-146.6,403.6,-5.5,183,3859,0.00,2.62,0.00,0.000,6,0.000,0.055,2101,2303,3383
$GC,4181,-0.94,-146.6,427.6,-8.9,199,4185,0.00,2.67,0.00,0.000,4,0.000,0.068,2101,883,3383
$GC,4221,-0.99,-146.6,431.4,-9.9,201,4226,0.00,2.60,0.00,0.000,6,0.000,0.056,2100,2299,3383
$GC,4548,-0.99,-146.6,464.3,-11.2,217,4553,0.00,2.67,0.00,0.000,4,0.000,0.068,2101,881,3382
$GC,4611,-0.99,-146.6,471.8,-11.7,220,4615,0.00,2.62,0.00,0.000,6,0.000,0.056,2101,2299,3383
$GC,4937,-0.99,-146.6,510.5,-11.7,236,4942,0.00,2.70,0.00,0.000,4,0.000,0.078,2101,3711,3382
$GC,4999,-0.99,-146.6,517.7,-11.4,239,5004,0.00,2.60,0.00,0.000,6,0.000,0.057,2101,2297,3382
$GC,5327,-0.99,-146.6,545.8,-7.5,255,5331,0.00,2.65,0.00,0.000,4,0.000,0.071,2101,887,3381
$GC,5384,-1.06,-146.6,550.2,-7.7,257,5391,0.15,2.62,0.00,0.000,6,0.048,0.058,2059,2302,3381
$GC,5700,-0.93,-146.6,584.9,-11.9,273,5705,0.15,2.70,0.00,0.000,4,0.100,0.071,2091,883,3380
$STATE,5747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5748,begin apogee
$GC,5757,-0.31,0.0,590.2,9.5,275,5891,0.68,0.00,130.48,1.043,6,0.104,0.000,2228,2198,2781
$STATE,5892,end apogee,CONTROL_FINISHED_OK
$STATE,5892,begin climb
$GC,5895,1.08,146.6,596.3,0.0,282,6031,1.48,2.88,128.77,1.024,4,0.081,0.081,2533,3617,2183
$GC,6058,1.04,151.3,590.9,7.8,290,6069,0.00,2.70,5.75,0.757,6,0.000,0.062,2533,2203,2164
$GC,6385,1.10,211.5,569.4,5.8,306,6447,0.00,2.83,52.90,1.006,4,0.000,0.074,2533,793,1917
$GC,6481,1.21,261.1,563.7,6.2,310,6534,0.15,2.65,44.40,0.994,6,0.051,0.058,2574,2200,1716
$GC,6846,1.21,261.1,532.7,8.5,328,6851,0.00,2.75,0.00,0.000,4,0.000,0.083,2574,3615,1715
$GC,6897,1.21,261.1,527.8,9.0,330,6901,0.00,2.67,0.00,0.000,6,0.000,0.065,2574,2202,1715
$GC,7212,1.21,266.7,503.8,7.8,345,7223,0.00,2.75,6.00,0.776,4,0.000,0.081,2574,3614,1693
$GC,7291,1.21,266.7,496.8,9.0,348,7297,0.00,2.67,0.00,0.000,6,0.000,0.064,2574,2199,1693
$GC,7606,1.21,266.7,465.1,11.0,364,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2199,1692
$GC,7915,1.21,266.7,430.4,12.0,379,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2199,1692
$GC,8225,1.21,266.7,388.5,14.1,394,8229,0.00,2.72,0.00,0.000,4,0.000,0.077,2574,3620,1691
$GC,8291,1.21,266.7,378.6,14.6,397,8296,0.00,2.67,0.00,0.000,6,0.000,0.063,2574,2198,1691
$GC,8612,1.21,266.7,336.3,12.6,413,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2199,1691
$GC,8922,1.21,266.7,304.9,8.8,428,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2200,1691
$GC,9231,1.22,273.5,280.7,7.8,443,9245,0.00,2.78,7.00,0.704,4,0.000,0.074,2574,3617,1666
$GC,9303,1.22,273.5,274.2,10.2,446,9307,0.00,2.65,0.00,0.000,6,0.000,0.061,2574,2200,1666
$GC,9623,1.22,273.5,244.8,9.3,462,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2200,1666
$GC,9932,1.22,273.5,215.0,9.8,477,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2200,1666
$GC,10242,1.22,273.5,183.0,10.3,492,10246,0.00,2.67,0.00,0.000,4,0.000,0.074,2574,3613,1667
$GC,10287,1.22,273.5,177.9,11.8,494,10291,0.00,2.62,0.00,0.000,6,0.000,0.059,2574,2199,1667
$GC,10608,1.22,273.5,147.3,8.8,510,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2199,1667
$GC,10919,1.22,273.5,121.3,8.1,525,10923,0.00,2.70,0.00,0.000,4,0.000,0.072,2574,3620,1667
$GC,10962,1.22,273.5,117.2,9.1,527,10967,0.00,2.65,0.00,0.000,6,0.000,0.059,2574,2193,1667
$GC,11284,1.22,273.5,90.6,8.5,543,11288,0.00,2.70,0.00,0.000,4,0.000,0.073,2574,3614,1668
$GC,11346,1.22,273.5,84.5,10.3,546,11351,0.00,2.62,0.00,0.000,6,0.000,0.059,2574,2200,1668
$GC,11674,1.22,273.5,56.6,8.3,562,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2200,1668
$GC,11982,1.22,273.5,30.7,8.3,577,11987,0.00,2.67,0.00,0.000,4,0.000,0.073,2574,3614,1668
$GC,12023,1.22,273.5,27.1,9.1,579,12027,0.00,2.60,0.00,0.000,6,0.000,0.058,2574,2202,1668
$STATE,12326,end climb,SURFACE_DEPTH_REACHED
$STATE,12326,begin surface coast
$FINISH,0.6,1.003819
$STATE,12350,end surface coast,CONTROL_FINISHED_OK
$STATE,12350,begin surface
$SM_CCo,12372,136.40,0.626,0,0,508,557.32
$SM_GC,1.32,0.00,0.00,136.40,0.000,0.000,0.626,67,2314,508,-10.27,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1869
$TCM_TEMP,17.70
$XPDR_PINGS,22
$ALTIM_TOP_PING,18.5,17.3
$ALTIM_BOTTOM_PING,526.0,73.7
$24V_AH,23.6,25.340
$10V_AH,10.1,12.557
$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,25.125,122.750,375.300,136.400,0.000,18.072,27.302,119.803,10.000,0.000,0.000,15.996,1127.918,9251.375,666.727,1357.433,386.338,0.000,1372.329,0.000,1324.050,0.000,31.553
$DEVICE_MAMPS,168.740,82.836,1043.120,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.324,403.699,415.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31691,595
$CAP_FILE_SIZE,96110,0
$CFSIZE,260165632,250003456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,040708,203607,6224.655,-935.435,35,1.2,35,-9.9