version: 66.03
glider: 16
mission: 9
dive: 149
start: 7 6 108 2 32 58
data:
$ID,16
$MISSION,9
$DIVE,149
$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,-2096088.2
$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,23
$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
$GPS1,022737,6215.382,-949.972,41,1.9,52,-9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-51.3
$GPS2,023244,6215.315,-949.969,15,1.9,32,-9.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6215.315,-954.996
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.08,-146.6,0.0,0.0,0,152,0.00,0.00,-120.65,0.000,2,0.000,0.000,74,2309,2988
$GC,156,-1.08,-146.6,3.8,-3.0,6,183,11.15,2.67,-9.35,0.000,4,0.170,0.080,2058,3709,3380
$GC,398,-0.90,-146.6,42.0,-13.4,17,403,0.22,2.62,0.00,0.000,6,0.095,0.054,2102,2294,3380
$GC,725,-0.90,-146.6,80.2,-12.2,33,729,0.00,2.65,0.00,0.000,4,0.000,0.065,2102,878,3381
$GC,788,-0.90,-146.6,87.7,-12.1,36,792,0.00,2.62,0.00,0.000,6,0.000,0.053,2102,2302,3381
$GC,1116,-0.85,-146.6,125.0,-10.9,52,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2301,3381
$GC,1423,-0.85,-146.6,154.9,-9.2,67,1428,0.00,2.67,0.00,0.000,4,0.000,0.064,2102,880,3381
$GC,1473,-0.85,-146.6,159.6,-9.0,69,1477,0.00,2.62,0.00,0.000,6,0.000,0.054,2102,2305,3381
$GC,1788,-0.85,-146.6,188.9,-10.1,84,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2305,3381
$GC,2098,-0.85,-146.6,222.9,-11.3,99,2102,0.00,2.67,0.00,0.000,4,0.000,0.066,2102,881,3381
$GC,2147,-0.85,-146.6,228.6,-12.0,101,2152,0.00,2.62,0.00,0.000,6,0.000,0.054,2102,2304,3381
$GC,2464,-0.85,-146.6,263.9,-11.3,116,2468,0.00,2.67,0.00,0.000,4,0.000,0.066,2102,881,3381
$GC,2513,-0.85,-146.6,269.6,-11.0,118,2518,0.00,2.62,0.00,0.000,6,0.000,0.053,2102,2307,3381
$GC,2829,-0.85,-146.6,306.0,-11.7,133,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2307,3381
$GC,3138,-0.85,-146.6,342.1,-11.6,148,3142,0.00,2.67,0.00,0.000,4,0.000,0.067,2102,881,3381
$GC,3212,-0.85,-146.6,350.5,-11.7,151,3216,0.00,2.60,0.00,0.000,6,0.000,0.054,2102,2299,3381
$GC,3528,-0.85,-146.6,386.3,-11.0,166,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2299,3381
$GC,3837,-0.85,-146.6,420.5,-11.1,181,3842,0.00,2.65,0.00,0.000,4,0.000,0.066,2102,881,3381
$GC,3904,-0.85,-146.6,428.2,-11.3,184,3908,0.00,2.60,0.00,0.000,6,0.000,0.054,2100,2300,3381
$GC,4224,-0.85,-146.6,466.2,-12.3,200,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2300,3381
$GC,4533,-0.85,-146.6,504.9,-13.0,215,4538,0.00,2.67,0.00,0.000,4,0.000,0.065,2102,873,3381
$GC,4579,-0.90,-146.6,510.7,-12.7,217,4583,0.00,2.62,0.00,0.000,6,0.000,0.054,2102,2307,3381
$GC,4900,-0.90,-146.6,551.7,-11.2,233,4904,0.00,2.65,0.00,0.000,4,0.000,0.074,2102,3710,3380
$GC,4955,-0.90,-146.6,558.1,-11.4,235,4961,0.00,2.58,0.00,0.000,6,0.000,0.053,2102,2294,3380
$GC,5271,-0.90,-146.6,591.3,-9.8,251,5276,0.00,2.62,0.00,0.000,4,0.000,0.067,2102,887,3381
$GC,5361,-0.90,-146.6,599.9,-8.6,255,5370,0.00,2.60,0.00,0.000,6,0.000,0.054,2102,2305,3380
$GC,5693,-0.90,-146.6,627.9,-7.9,271,5697,0.00,2.67,0.00,0.000,4,0.000,0.077,2102,3713,3380
$GC,5793,-0.90,-146.6,636.8,-9.0,275,5799,0.00,2.58,0.00,0.000,6,0.000,0.056,2102,2299,3380
$STATE,6003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6003,begin apogee
$GC,6010,-0.31,0.0,656.7,9.7,286,6146,0.62,0.00,131.52,1.069,6,0.094,0.000,2228,2200,2780
$STATE,6146,end apogee,CONTROL_FINISHED_OK
$STATE,6146,begin climb
$GC,6150,1.08,146.6,663.9,0.0,293,6285,1.42,0.00,129.50,1.051,6,0.072,0.000,2532,2201,2183
$GC,6602,1.13,187.3,638.2,6.5,315,6644,0.00,2.80,36.62,1.016,4,0.000,0.078,2532,3609,2017
$GC,6740,1.13,187.3,627.4,8.8,321,6745,0.00,2.65,0.00,0.000,6,0.000,0.061,2532,2203,2017
$GC,7061,1.26,271.8,606.4,4.9,337,7145,0.15,2.80,74.62,1.031,4,0.051,0.077,2579,3615,1672
$GC,7341,1.26,271.8,579.3,12.1,349,7347,0.00,2.67,0.00,0.000,6,0.000,0.062,2579,2194,1672
$GC,7656,1.26,271.8,544.4,10.3,365,7661,0.00,2.72,0.00,0.000,4,0.000,0.075,2579,3614,1670
$GC,7696,1.22,271.8,540.3,10.4,367,7701,0.00,2.65,0.00,0.000,6,0.000,0.061,2579,2200,1670
$GC,8023,1.22,271.8,509.5,9.5,383,8027,0.00,2.70,0.00,0.000,4,0.000,0.074,2579,3616,1669
$GC,8055,1.22,271.8,506.1,10.7,384,8061,0.00,2.65,0.00,0.000,6,0.000,0.060,2579,2194,1669
$GC,8371,1.22,271.8,475.9,10.0,400,8375,0.00,2.65,0.00,0.000,4,0.000,0.071,2579,784,1669
$GC,8415,1.22,271.8,471.0,10.7,402,8419,0.00,2.60,0.00,0.000,6,0.000,0.051,2579,2204,1668
$GC,8735,1.22,271.8,435.3,11.4,418,8740,0.00,2.65,0.00,0.000,4,0.000,0.075,2580,3610,1668
$GC,8802,1.22,271.8,427.2,12.2,421,8806,0.00,2.62,0.00,0.000,6,0.000,0.063,2579,2204,1669
$GC,9122,1.22,271.8,392.9,10.4,437,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2204,1669
$GC,9432,1.22,271.8,363.6,8.8,452,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2204,1669
$GC,9741,1.22,271.8,337.8,8.7,467,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2204,1669
$GC,10050,1.22,271.8,307.6,10.6,482,10055,0.00,2.65,0.00,0.000,4,0.000,0.074,2579,3610,1669
$GC,10095,1.22,271.8,302.4,11.6,484,10100,0.00,2.62,0.00,0.000,6,0.000,0.062,2579,2199,1669
$GC,10417,1.22,271.8,264.3,11.9,500,10418,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2199,1669
$GC,10726,1.22,271.8,229.9,10.0,515,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2199,1669
$GC,11035,1.28,322.2,207.6,6.2,530,11080,0.00,0.00,42.47,0.770,6,0.000,0.000,2579,2198,1467
$GC,11385,1.32,322.2,177.6,10.9,547,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2198,1467
$GC,11694,1.32,322.2,140.7,12.2,562,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2198,1467
$GC,12004,1.39,345.4,110.1,7.2,577,12026,0.00,0.00,20.15,0.688,6,0.000,0.000,2580,2198,1373
$GC,12335,1.45,345.4,78.2,12.9,593,12340,0.15,2.65,0.00,0.000,4,0.049,0.067,2629,780,1373
$GC,12391,1.39,345.4,68.5,16.9,595,12398,0.15,2.58,0.00,0.000,6,0.087,0.049,2600,2204,1372
$GC,12707,1.34,345.4,24.9,12.3,611,12709,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2204,1372
$STATE,12889,end climb,SURFACE_DEPTH_REACHED
$STATE,12890,begin surface coast
$FINISH,0.6,1.015868
$STATE,12913,end surface coast,CONTROL_FINISHED_OK
$STATE,12913,begin surface
$SM_CCo,12936,103.53,0.625,0,0,509,557.32
$SM_GC,1.26,0.00,0.00,103.53,0.000,0.000,0.625,70,2307,509,-10.26,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1869
$TCM_TEMP,17.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,600.2,66.0
$24V_AH,23.6,26.700
$10V_AH,10.2,13.137
$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,24.850,101.025,434.900,103.525,0.000,17.966,32.080,132.342,6.750,0.000,0.000,32.699,1156.086,9688.242,674.583,1431.973,399.409,0.000,1408.725,0.000,1381.621,0.000,36.427
$DEVICE_MAMPS,169.507,79.768,1069.198,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.981,421.835,389.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31756,621
$CAP_FILE_SIZE,94335,0
$CFSIZE,260165632,249577472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060708,061137,6212.834,-955.846,40,1.3,40,-10.0