version: 66.03
glider: 16
mission: 9
dive: 146
start: 7 5 108 14 55 7
data:
$ID,16
$MISSION,9
$DIVE,146
$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,-2096026.9
$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
$GPS1,144602,6218.347,-943.606,44,1.9,44,-9.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-56.0
$GPS2,145451,6218.183,-943.702,12,1.7,12,-9.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6218.183,-948.722
$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,-146.6,0.0,0.0,0,151,0.00,0.00,-118.45,0.000,2,0.000,0.000,70,2306,2993
$GC,155,-1.08,-146.6,4.4,-3.8,6,180,11.10,2.65,-8.62,0.000,4,0.167,0.082,2056,3710,3379
$GC,434,-0.91,-146.6,50.3,-15.8,18,441,0.22,2.60,0.00,0.000,6,0.095,0.054,2101,2294,3380
$GC,751,-0.91,-146.6,89.8,-12.4,34,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2294,3380
$GC,1059,-0.91,-146.6,125.4,-11.3,49,1063,0.00,2.62,0.00,0.000,4,0.000,0.067,2100,877,3380
$GC,1109,-0.91,-146.6,131.1,-11.2,51,1113,0.00,2.62,0.00,0.000,6,0.000,0.054,2100,2302,3380
$GC,1425,-0.91,-146.6,165.5,-10.8,66,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2302,3380
$GC,1734,-0.91,-146.6,199.5,-11.0,81,1739,0.00,2.67,0.00,0.000,4,0.000,0.066,2100,874,3380
$GC,1789,-0.91,-146.6,205.7,-11.0,83,1794,0.00,2.62,0.00,0.000,6,0.000,0.054,2100,2301,3380
$GC,2105,-0.91,-146.6,241.7,-11.7,98,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2301,3381
$GC,2415,-0.91,-146.6,277.3,-11.3,113,2419,0.00,2.67,0.00,0.000,4,0.000,0.067,2100,880,3380
$GC,2482,-0.91,-146.6,284.8,-11.1,116,2486,0.00,2.62,0.00,0.000,6,0.000,0.054,2100,2304,3381
$GC,2802,-0.91,-146.6,320.1,-10.8,132,2807,0.00,2.65,0.00,0.000,4,0.000,0.067,2100,881,3380
$GC,2835,-0.91,-146.6,323.8,-11.1,133,2841,0.00,2.62,0.00,0.000,6,0.000,0.054,2100,2305,3380
$GC,3150,-0.91,-146.6,358.2,-11.2,149,3155,0.00,2.67,0.00,0.000,4,0.000,0.066,2099,880,3380
$GC,3200,-0.91,-146.6,363.8,-11.5,151,3204,0.00,2.60,0.00,0.000,6,0.000,0.054,2100,2302,3380
$GC,3517,-0.91,-146.6,401.1,-12.4,166,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2302,3380
$GC,3825,-0.91,-146.6,436.3,-10.6,181,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2301,3379
$GC,4134,-0.91,-146.6,464.1,-8.6,196,4139,0.00,2.65,0.00,0.000,4,0.000,0.067,2100,877,3380
$GC,4197,-0.91,-146.6,469.5,-8.4,199,4201,0.00,2.60,0.00,0.000,6,0.000,0.055,2100,2302,3380
$GC,4523,-0.91,-146.6,503.1,-11.5,215,4527,0.00,2.67,0.00,0.000,4,0.000,0.067,2100,876,3379
$GC,4618,-0.95,-146.6,513.8,-10.9,219,4622,0.00,2.62,0.00,0.000,6,0.000,0.054,2100,2303,3379
$GC,4934,-0.95,-146.6,547.0,-10.9,234,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2303,3379
$GC,5243,-0.95,-146.6,580.7,-10.3,249,5247,0.00,2.67,0.00,0.000,4,0.000,0.077,2100,3710,3379
$GC,5304,-0.95,-146.6,587.5,-11.0,252,5309,0.00,2.60,0.00,0.000,6,0.000,0.055,2100,2292,3379
$GC,5631,-0.95,-146.6,620.8,-10.2,268,5636,0.00,2.72,0.00,0.000,4,0.000,0.080,2100,3709,3378
$GC,5694,-0.95,-146.6,627.0,-9.7,271,5698,0.00,2.60,0.00,0.000,6,0.000,0.058,2100,2297,3379
$STATE,5729,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5729,begin apogee
$GC,5736,-0.31,0.0,630.6,9.2,273,5872,0.65,0.00,131.02,1.053,6,0.099,0.000,2231,2202,2781
$STATE,5873,end apogee,CONTROL_FINISHED_OK
$STATE,5873,begin climb
$GC,5876,1.08,146.6,637.5,0.0,280,6013,1.40,2.78,128.70,1.037,4,0.066,0.077,2534,3609,2183
$GC,6039,1.12,231.9,631.6,4.9,287,6122,0.00,2.67,75.45,1.022,6,0.000,0.059,2533,2197,1835
$GC,6432,1.19,231.9,601.5,9.3,306,6437,0.12,2.75,0.00,0.000,4,0.053,0.079,2570,3613,1834
$GC,6544,1.19,231.9,587.7,12.4,311,6548,0.00,2.67,0.00,0.000,6,0.000,0.061,2570,2193,1834
$GC,6865,1.15,231.9,550.4,11.8,327,6870,0.00,2.75,0.00,0.000,4,0.000,0.079,2570,3610,1832
$GC,6960,1.15,231.9,538.3,11.9,331,6965,0.00,2.65,0.00,0.000,6,0.000,0.061,2570,2200,1832
$GC,7277,1.15,231.9,506.6,9.6,346,7281,0.00,2.72,0.00,0.000,4,0.000,0.077,2570,3610,1831
$GC,7343,1.09,231.9,499.7,10.4,349,7349,0.17,2.65,0.00,0.000,6,0.098,0.061,2537,2198,1831
$GC,7665,1.17,231.9,474.5,8.1,365,7669,0.00,2.70,0.00,0.000,4,0.000,0.071,2537,778,1830
$GC,7722,1.26,243.3,470.1,7.6,367,7739,0.17,2.62,10.32,0.858,6,0.051,0.053,2578,2199,1789
$GC,8054,1.26,243.3,438.6,9.5,384,8059,0.00,2.72,0.00,0.000,4,0.000,0.076,2578,3619,1789
$GC,8156,1.21,243.3,428.3,10.1,388,8162,0.00,2.67,0.00,0.000,6,0.000,0.062,2578,2199,1789
$GC,8471,1.21,243.3,398.8,9.7,404,8476,0.00,2.70,0.00,0.000,4,0.000,0.075,2579,3612,1789
$GC,8556,1.16,243.3,389.6,11.2,408,8561,0.15,2.65,0.00,0.000,6,0.114,0.062,2552,2198,1789
$GC,8883,1.21,243.3,358.4,9.6,424,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2199,1789
$GC,9192,1.26,243.3,328.8,9.5,439,9197,0.10,2.70,0.00,0.000,4,0.056,0.073,2582,3612,1789
$GC,9250,1.20,243.3,322.2,12.3,441,9256,0.12,2.62,0.00,0.000,6,0.106,0.062,2560,2200,1789
$GC,9565,1.20,243.3,291.7,9.0,457,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2200,1789
$GC,9874,1.20,243.3,263.8,8.6,472,9879,0.00,2.67,0.00,0.000,4,0.000,0.074,2560,3612,1789
$GC,9919,1.20,243.3,259.3,10.1,474,9923,0.00,2.62,0.00,0.000,6,0.000,0.061,2560,2200,1790
$GC,10240,1.20,243.3,231.1,8.5,490,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2200,1790
$GC,10549,1.20,243.3,205.2,8.3,505,10553,0.00,2.67,0.00,0.000,4,0.000,0.073,2560,3613,1790
$GC,10599,1.20,243.3,200.6,9.9,507,10603,0.00,2.62,0.00,0.000,6,0.000,0.061,2560,2197,1790
$GC,10914,1.20,243.3,173.1,9.0,522,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2197,1790
$GC,11224,1.20,243.3,144.5,9.8,537,11228,0.00,2.67,0.00,0.000,4,0.000,0.071,2560,3616,1790
$GC,11309,1.20,243.3,135.5,10.7,541,11313,0.00,2.62,0.00,0.000,6,0.000,0.061,2560,2200,1791
$GC,11636,1.20,249.9,107.0,7.8,557,11645,0.00,0.00,7.57,0.615,6,0.000,0.000,2560,2200,1761
$GC,11947,1.25,291.0,85.1,6.5,572,11988,0.00,0.00,34.42,0.690,6,0.000,0.000,2560,2200,1594
$GC,12300,1.39,346.5,63.8,6.0,589,12352,0.15,2.72,45.42,0.679,4,0.049,0.067,2610,781,1368
$GC,12385,1.39,346.5,56.0,9.3,593,12390,0.00,2.62,0.00,0.000,6,0.000,0.050,2610,2208,1367
$GC,12708,1.34,346.5,17.3,13.1,609,12712,0.00,2.67,0.00,0.000,4,0.000,0.066,2610,779,1367
$GC,12748,1.29,346.5,11.8,13.8,611,12753,0.15,2.60,0.00,0.000,6,0.087,0.050,2581,2205,1367
$STATE,12845,end climb,SURFACE_DEPTH_REACHED
$STATE,12845,begin surface coast
$FINISH,0.6,1.001990
$STATE,12867,end surface coast,CONTROL_FINISHED_OK
$STATE,12867,begin surface
$SM_CCo,12889,102.72,0.617,0,0,508,557.32
$SM_GC,1.35,0.00,0.00,102.72,0.000,0.000,0.617,68,2308,508,-10.26,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1868
$TCM_TEMP,17.80
$XPDR_PINGS,12
$ALTIM_TOP_PING,20.0,19.2
$ALTIM_BOTTOM_PING,551.5,87.7
$24V_AH,23.6,26.228
$10V_AH,10.1,12.939
$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,25.425,122.725,432.925,102.725,0.000,36.545,54.421,267.101,7.750,0.000,0.000,12.884,1176.957,9619.570,660.423,1478.879,589.965,0.000,1439.974,0.000,1444.091,0.000,33.226
$DEVICE_MAMPS,167.206,82.069,1053.091,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.168,418.921,408.413,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31736,617
$CAP_FILE_SIZE,104574,0
$CFSIZE,260165632,249720832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,050708,183302,6215.753,-948.304,43,1.4,43,-9.9