version: 66.03
glider: 16
mission: 9
dive: 148
start: 7 5 108 22 54 37
data:
$ID,16
$MISSION,9
$DIVE,148
$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,-2096054.9
$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,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
$GPS1,224838,6216.184,-949.318,38,1.2,38,-9.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-52.9
$GPS2,225421,6216.194,-949.253,12,1.5,12,-9.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6216.194,-954.277
$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,-146.6,0.0,0.0,0,154,0.00,0.00,-121.35,0.000,2,0.000,0.000,70,2315,3065
$GC,158,-1.08,-146.6,4.7,-3.8,6,183,11.10,2.67,-6.57,0.000,4,0.167,0.080,2057,3707,3381
$GC,436,-0.91,-146.6,57.5,-18.4,18,442,0.22,2.58,0.00,0.000,6,0.096,0.054,2100,2297,3382
$GC,753,-0.91,-146.6,105.1,-14.9,33,757,0.00,2.67,0.00,0.000,4,0.000,0.072,2100,3707,3382
$GC,815,-0.91,-146.6,114.1,-14.2,36,819,0.00,2.58,0.00,0.000,6,0.000,0.055,2100,2300,3382
$GC,1141,-0.91,-146.6,147.8,-8.5,52,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2299,3382
$GC,1451,-0.91,-146.6,175.8,-9.7,67,1456,0.00,2.62,0.00,0.000,4,0.000,0.067,2100,880,3382
$GC,1495,-0.91,-146.6,180.4,-9.5,69,1499,0.00,2.62,0.00,0.000,6,0.000,0.054,2100,2302,3382
$GC,1815,-0.91,-146.6,214.7,-11.4,85,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2302,3382
$GC,2126,-0.91,-146.6,250.9,-11.7,100,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2302,3382
$GC,2434,-0.91,-146.6,284.2,-10.4,115,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2302,3382
$GC,2743,-0.91,-146.6,314.7,-10.0,130,2748,0.00,2.67,0.00,0.000,4,0.000,0.066,2100,880,3382
$GC,2806,-0.91,-146.6,320.9,-9.6,133,2810,0.00,2.62,0.00,0.000,6,0.000,0.054,2100,2304,3382
$GC,3132,-0.91,-146.6,356.8,-11.8,149,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2304,3382
$GC,3441,-0.91,-146.6,393.6,-11.9,164,3446,0.00,2.67,0.00,0.000,4,0.000,0.067,2100,883,3382
$GC,3504,-0.91,-146.6,401.0,-11.3,167,3508,0.00,2.62,0.00,0.000,6,0.000,0.054,2100,2307,3382
$GC,3830,-0.91,-146.6,437.6,-10.7,183,3834,0.00,2.67,0.00,0.000,4,0.000,0.066,2100,873,3382
$GC,3880,-0.91,-146.6,442.7,-10.0,185,3884,0.00,2.62,0.00,0.000,6,0.000,0.054,2100,2303,3382
$GC,4195,-0.91,-146.6,471.1,-8.4,200,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2303,3381
$GC,4504,-0.91,-146.6,498.0,-8.3,215,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2303,3382
$GC,4814,-0.91,-146.6,525.6,-9.8,230,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2303,3381
$GC,5123,-0.91,-146.6,554.0,-10.7,245,5128,0.00,2.67,0.00,0.000,4,0.000,0.067,2100,878,3381
$GC,5190,-0.91,-146.6,562.2,-12.4,248,5195,0.00,2.62,0.00,0.000,6,0.000,0.055,2100,2302,3381
$GC,5511,-0.91,-146.6,595.8,-9.0,264,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2302,3380
$GC,5820,-0.91,-146.6,625.2,-9.4,279,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2301,3380
$STATE,6106,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6106,begin apogee
$GC,6113,-0.31,0.0,655.3,10.8,293,6249,0.65,0.00,131.12,1.074,6,0.097,0.000,2231,2186,2781
$STATE,6250,end apogee,CONTROL_FINISHED_OK
$STATE,6250,begin climb
$GC,6253,1.08,146.6,661.5,0.0,300,6387,1.40,0.00,129.93,1.058,6,0.074,0.000,2530,2186,2183
$GC,6686,1.08,146.6,637.5,8.6,321,6691,0.00,2.78,0.00,0.000,4,0.000,0.078,2530,3612,2183
$GC,6730,1.08,146.6,633.0,9.8,323,6734,0.00,2.65,0.00,0.000,6,0.000,0.058,2530,2200,2183
$GC,7051,1.08,146.6,603.7,8.9,339,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2200,2182
$GC,7360,1.17,225.1,585.3,5.2,354,7435,0.12,2.80,68.65,1.029,4,0.054,0.077,2565,3603,1863
$GC,7538,1.11,233.7,572.1,7.7,362,7556,0.12,2.65,9.25,0.887,6,0.109,0.060,2543,2200,1828
$GC,7866,1.27,339.9,556.9,4.1,378,7965,0.15,2.85,92.85,1.021,4,0.052,0.072,2583,779,1395
$GC,8005,1.33,340.8,547.3,8.0,384,8011,0.00,2.65,0.00,0.000,6,0.000,0.053,2582,2198,1394
$GC,8321,1.33,340.8,512.6,12.3,400,8325,0.00,2.70,0.00,0.000,4,0.000,0.076,2583,3610,1393
$GC,8438,1.38,340.8,495.7,14.7,405,8443,0.00,2.65,0.00,0.000,6,0.000,0.061,2583,2203,1393
$GC,8754,1.38,340.8,449.3,14.3,420,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2202,1392
$GC,9063,1.38,340.8,407.3,12.8,435,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2203,1393
$GC,9373,1.38,340.8,370.2,11.7,450,9377,0.00,2.70,0.00,0.000,4,0.000,0.070,2583,776,1393
$GC,9412,1.38,340.8,365.4,11.9,452,9416,0.00,2.62,0.00,0.000,6,0.000,0.051,2583,2199,1393
$GC,9738,1.38,340.8,325.8,12.0,468,9742,0.00,2.70,0.00,0.000,4,0.000,0.074,2583,3617,1393
$GC,9771,1.38,340.8,321.6,12.6,469,9777,0.00,2.70,0.00,0.000,6,0.000,0.064,2583,2192,1393
$GC,10086,1.38,340.8,285.8,10.9,485,10088,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2192,1393
$GC,10395,1.38,340.8,253.8,10.4,500,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2192,1394
$GC,10705,1.38,340.8,222.6,10.3,515,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2192,1394
$GC,11014,1.38,340.8,187.0,12.4,530,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2192,1395
$GC,11324,1.38,340.8,146.0,13.4,545,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2192,1395
$GC,11633,1.38,340.8,107.9,11.5,560,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2192,1395
$GC,11942,1.38,340.8,74.0,11.3,575,11944,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2192,1395
$GC,12251,1.38,340.8,34.8,12.5,590,12252,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2192,1396
$STATE,12537,end climb,SURFACE_DEPTH_REACHED
$STATE,12537,begin surface coast
$FINISH,0.6,1.026955
$STATE,12561,end surface coast,CONTROL_FINISHED_OK
$STATE,12561,begin surface
$SM_CCo,12583,105.12,0.626,0,0,508,557.32
$SM_GC,1.33,0.00,0.00,105.12,0.000,0.000,0.626,76,2307,508,-10.23,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1887
$TCM_TEMP,17.60
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,551.9,112.2
$24V_AH,23.6,26.547
$10V_AH,10.2,13.073
$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,24.625,69.800,431.800,105.125,0.000,18.315,33.765,162.972,9.000,0.000,0.000,12.450,1087.749,9578.671,670.415,1258.980,437.274,0.000,1307.016,0.000,1234.033,0.000,33.290
$DEVICE_MAMPS,167.206,79.768,1073.800,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.594,412.323,367.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31792,605
$CAP_FILE_SIZE,83926,0
$CFSIZE,260165632,249634816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,060708,022737,6215.382,-949.972,41,1.9,52,-9.9