version: 66.03
glider: 16
mission: 9
dive: 145
start: 7 5 108 11 16 54
data:
$ID,16
$MISSION,9
$DIVE,145
$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,-2096013.4
$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,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
$GPS1,111058,6220.057,-943.466,36,2.1,55,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-58.6
$GPS2,111638,6220.042,-943.294,12,1.9,17,-9.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6220.042,-948.308
$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,279.9,20000,-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,-146.6,0.0,0.0,0,152,0.00,0.00,-119.43,0.000,2,0.000,0.000,72,2313,3026
$GC,156,-1.08,-146.6,4.4,-3.6,6,181,11.15,2.72,-7.62,0.000,4,0.170,0.077,2056,878,3379
$GC,383,-0.97,-146.6,41.8,-13.2,16,388,0.17,2.62,0.00,0.000,6,0.107,0.054,2089,2300,3380
$GC,705,-0.90,-146.6,78.3,-11.4,32,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2300,3380
$GC,1015,-0.83,-146.6,115.9,-11.9,47,1020,0.15,2.67,0.00,0.000,4,0.103,0.064,2120,880,3380
$GC,1048,-0.89,-146.6,119.7,-10.6,48,1054,0.00,2.62,0.00,0.000,6,0.000,0.054,2121,2304,3381
$GC,1363,-0.89,-146.6,152.6,-10.7,64,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2304,3381
$GC,1673,-0.89,-146.6,184.4,-9.7,79,1678,0.00,2.67,0.00,0.000,4,0.000,0.066,2121,880,3380
$GC,1745,-0.97,-146.6,191.3,-9.2,82,1750,0.15,2.60,0.00,0.000,6,0.044,0.054,2076,2300,3380
$GC,2062,-0.86,-146.6,226.8,-11.2,97,2064,0.17,0.00,0.00,0.000,6,0.091,0.000,2109,2300,3380
$GC,2370,-0.86,-146.6,256.4,-9.6,112,2374,0.00,2.67,0.00,0.000,4,0.000,0.067,2110,877,3380
$GC,2432,-0.90,-146.6,262.1,-9.5,115,2437,0.00,2.62,0.00,0.000,6,0.000,0.054,2109,2299,3380
$GC,2760,-0.90,-146.6,292.2,-9.1,131,2764,0.00,2.67,0.00,0.000,4,0.000,0.067,2109,881,3380
$GC,2799,-0.95,-146.6,295.9,-9.2,133,2804,0.00,2.62,0.00,0.000,6,0.000,0.054,2110,2305,3380
$GC,3127,-0.95,-146.6,326.5,-9.4,149,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2305,3380
$GC,3435,-0.95,-146.6,354.5,-8.8,164,3440,0.00,2.67,0.00,0.000,4,0.000,0.067,2109,880,3380
$GC,3521,-1.00,-146.6,361.8,-7.9,168,3526,0.12,2.62,0.00,0.000,6,0.049,0.054,2071,2303,3380
$GC,3848,-0.89,-146.6,397.6,-11.1,184,3850,0.17,0.00,0.00,0.000,6,0.093,0.000,2105,2303,3380
$GC,4157,-0.89,-146.6,427.9,-10.6,199,4161,0.00,2.67,0.00,0.000,4,0.000,0.068,2105,881,3380
$GC,4189,-0.89,-146.6,431.6,-10.3,200,4196,0.00,2.60,0.00,0.000,6,0.000,0.054,2105,2302,3380
$GC,4506,-0.89,-146.6,463.5,-9.2,216,4510,0.00,2.67,0.00,0.000,4,0.000,0.067,2105,880,3380
$GC,4606,-0.93,-146.6,472.3,-8.2,220,4613,0.00,2.60,0.00,0.000,6,0.000,0.056,2105,2299,3380
$GC,4923,-0.93,-146.6,498.0,-8.2,236,4927,0.00,2.67,0.00,0.000,4,0.000,0.077,2105,3710,3380
$GC,4989,-0.93,-146.6,504.7,-10.4,239,4993,0.00,2.60,0.00,0.000,6,0.000,0.055,2105,2295,3380
$GC,5309,-0.93,-146.6,535.4,-9.6,255,5314,0.00,2.65,0.00,0.000,4,0.000,0.070,2105,885,3379
$GC,5343,-0.93,-146.6,538.5,-9.2,256,5349,0.00,2.60,0.00,0.000,6,0.000,0.055,2104,2299,3379
$GC,5658,-0.93,-146.6,568.6,-9.9,272,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2300,3379
$GC,5967,-0.93,-146.6,597.5,-9.1,287,5972,0.00,2.70,0.00,0.000,4,0.000,0.081,2105,3713,3379
$GC,6007,-0.93,-146.6,601.3,-9.7,289,6012,0.00,2.60,0.00,0.000,6,0.000,0.058,2105,2298,3379
$STATE,6063,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6063,begin apogee
$GC,6070,-0.31,0.0,607.1,9.9,292,6206,0.62,0.00,130.65,1.049,6,0.097,0.000,2231,2200,2782
$STATE,6206,end apogee,CONTROL_FINISHED_OK
$STATE,6206,begin climb
$GC,6209,1.08,146.6,612.5,0.0,299,6347,1.45,0.00,129.68,1.032,6,0.071,0.000,2537,2200,2182
$GC,6658,1.13,186.4,589.3,6.6,321,6700,0.00,2.80,35.25,0.999,4,0.000,0.079,2537,3609,2020
$GC,6851,1.13,186.4,573.1,8.5,329,6857,0.00,2.65,0.00,0.000,6,0.000,0.061,2536,2205,2021
$GC,7167,1.14,199.5,549.0,7.5,345,7189,0.00,2.80,12.60,0.920,4,0.000,0.079,2537,3608,1967
$GC,7228,1.14,199.5,543.8,8.9,347,7234,0.00,2.67,0.00,0.000,6,0.000,0.061,2537,2196,1967
$GC,7544,1.25,237.4,520.8,6.6,363,7586,0.15,2.80,33.88,0.985,4,0.051,0.078,2583,3611,1813
$GC,7667,1.17,237.4,509.8,9.7,368,7672,0.15,2.67,0.00,0.000,6,0.099,0.061,2556,2194,1813
$GC,7983,1.21,272.4,487.5,6.7,383,8024,0.00,2.80,31.30,0.965,4,0.000,0.077,2556,3616,1669
$GC,8080,1.21,272.4,479.8,8.8,387,8085,0.00,2.67,0.00,0.000,6,0.000,0.061,2556,2200,1669
$GC,8397,1.33,323.9,458.3,6.1,402,8444,0.15,0.00,45.03,0.954,6,0.050,0.000,2598,2200,1460
$GC,8745,1.33,323.9,428.2,10.8,419,8750,0.00,2.72,0.00,0.000,4,0.000,0.077,2598,3616,1460
$GC,8795,1.33,323.9,422.0,11.9,421,8799,0.00,2.65,0.00,0.000,6,0.000,0.061,2598,2200,1461
$GC,9110,1.33,323.9,384.1,12.3,436,9115,0.00,2.67,0.00,0.000,4,0.000,0.071,2598,781,1460
$GC,9161,1.33,323.9,378.0,12.1,438,9165,0.00,2.60,0.00,0.000,6,0.000,0.053,2598,2200,1460
$GC,9476,1.33,323.9,341.0,11.5,453,9481,0.00,2.67,0.00,0.000,4,0.000,0.077,2598,3617,1460
$GC,9516,1.33,323.9,336.1,12.6,455,9521,0.00,2.65,0.00,0.000,6,0.000,0.065,2598,2201,1461
$GC,9843,1.33,323.9,297.7,11.9,471,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2200,1460
$GC,10152,1.33,323.9,259.5,12.6,486,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2200,1461
$GC,10461,1.33,323.9,220.5,12.6,501,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2200,1461
$GC,10771,1.33,323.9,182.4,12.2,516,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2201,1461
$GC,11080,1.33,323.9,145.1,12.0,531,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2201,1461
$GC,11390,1.33,323.9,107.8,12.1,546,11395,0.00,2.67,0.00,0.000,4,0.000,0.074,2598,3612,1462
$GC,11431,1.33,323.9,102.4,13.7,548,11435,0.00,2.62,0.00,0.000,6,0.000,0.061,2598,2201,1461
$GC,11757,1.33,323.9,65.0,11.2,564,11762,0.00,2.65,0.00,0.000,4,0.000,0.067,2596,779,1461
$GC,11790,1.33,323.9,61.0,11.0,565,11796,0.00,2.60,0.00,0.000,6,0.000,0.051,2598,2207,1461
$GC,12108,1.33,323.9,24.7,11.5,581,12112,0.00,2.65,0.00,0.000,4,0.000,0.072,2598,3617,1462
$GC,12180,1.33,323.9,15.7,12.0,584,12184,0.00,2.62,0.00,0.000,6,0.000,0.061,2598,2200,1462
$STATE,12309,end climb,SURFACE_DEPTH_REACHED
$STATE,12309,begin surface coast
$FINISH,0.7,1.013518
$STATE,12329,end surface coast,CONTROL_FINISHED_OK
$STATE,12329,begin surface
$SM_CCo,12351,113.10,0.629,0,0,508,557.32
$SM_GC,1.35,0.00,0.00,113.10,0.000,0.000,0.629,71,2305,508,-10.25,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1881
$TCM_TEMP,17.60
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,525.7,89.5
$24V_AH,23.6,26.071
$10V_AH,10.2,12.872
$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,25.550,112.225,418.375,113.100,0.000,17.991,29.987,179.825,10.500,0.000,0.000,17.317,1109.478,9205.477,693.820,1353.491,445.389,0.000,1399.453,0.000,1316.463,0.000,31.600
$DEVICE_MAMPS,169.507,80.535,1049.256,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.085,401.098,373.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28568,591
$CAP_FILE_SIZE,95435,0
$CFSIZE,260165632,249778176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,050708,144602,6218.347,-943.606,44,1.9,44,-9.9