version: 66.03
glider: 16
mission: 9
dive: 154
start: 7 7 108 1 33 18
data:
$ID,16
$MISSION,9
$DIVE,154
$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,-1
$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,-2096197.8
$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,13
$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
$GPS1,012738,6212.796,-1014.552,34,1.4,34,-10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-49.6
$GPS2,013303,6212.766,-1014.576,15,1.7,15,-10.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$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,293.4,18091,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.08,-146.6,0.0,0.0,0,155,0.00,0.00,-125.57,0.000,2,0.000,0.000,70,2294,3157
$GC,158,-1.08,-146.6,4.8,-4.1,7,181,11.15,2.65,-4.43,0.000,4,0.169,0.078,2056,3712,3380
$GC,434,-0.89,-146.6,55.6,-14.4,19,439,0.25,2.60,0.00,0.000,6,0.097,0.053,2105,2294,3380
$GC,756,-0.85,-146.6,90.0,-11.3,35,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2293,3380
$GC,1066,-0.85,-146.6,126.5,-11.4,50,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2294,3381
$GC,1373,-0.85,-146.6,157.2,-9.1,65,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2294,3381
$GC,1683,-0.85,-146.6,186.8,-10.0,80,1687,0.00,2.62,0.00,0.000,4,0.000,0.066,2105,876,3381
$GC,1727,-0.85,-146.6,191.3,-9.3,82,1731,0.00,2.60,0.00,0.000,6,0.000,0.052,2105,2303,3381
$GC,2048,-0.85,-146.6,225.2,-11.2,98,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2303,3381
$GC,2357,-0.85,-146.6,259.0,-10.8,113,2361,0.00,2.65,0.00,0.000,4,0.000,0.065,2105,877,3380
$GC,2406,-0.85,-146.6,264.4,-10.2,115,2411,0.00,2.60,0.00,0.000,6,0.000,0.051,2105,2300,3381
$GC,2722,-0.85,-146.6,298.9,-11.3,130,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2300,3380
$GC,3031,-0.85,-146.6,334.0,-11.3,145,3036,0.00,2.67,0.00,0.000,4,0.000,0.067,2105,875,3380
$GC,3081,-0.85,-146.6,339.7,-11.1,147,3085,0.00,2.60,0.00,0.000,6,0.000,0.053,2105,2304,3380
$GC,3396,-0.85,-146.6,374.1,-10.9,162,3401,0.00,2.67,0.00,0.000,4,0.000,0.067,2105,881,3380
$GC,3452,-0.85,-146.6,380.3,-10.1,164,3458,0.00,2.60,0.00,0.000,6,0.000,0.053,2105,2300,3380
$GC,3768,-0.85,-146.6,413.9,-10.5,180,3772,0.00,2.65,0.00,0.000,4,0.000,0.066,2105,884,3380
$GC,3817,-0.85,-146.6,419.1,-10.3,182,3821,0.00,2.58,0.00,0.000,6,0.000,0.054,2105,2299,3380
$GC,4134,-0.85,-146.6,451.3,-10.3,197,4138,0.00,2.65,0.00,0.000,4,0.000,0.067,2105,883,3380
$GC,4189,-0.85,-146.6,457.2,-10.2,199,4195,0.00,2.60,0.00,0.000,6,0.000,0.054,2105,2305,3380
$GC,4504,-0.85,-146.6,490.1,-11.0,215,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2304,3380
$GC,4814,-0.85,-146.6,522.7,-10.2,230,4818,0.00,2.67,0.00,0.000,4,0.000,0.066,2105,877,3380
$GC,4864,-0.89,-146.6,528.1,-10.5,232,4869,0.00,2.60,0.00,0.000,6,0.000,0.053,2105,2303,3380
$GC,5180,-0.89,-146.6,562.3,-11.2,247,5185,0.00,2.65,0.00,0.000,4,0.000,0.066,2105,883,3378
$GC,5225,-0.89,-146.6,567.3,-10.8,249,5229,0.00,2.58,0.00,0.000,6,0.000,0.052,2105,2299,3380
$GC,5546,-0.89,-146.6,602.1,-10.4,265,5551,0.00,2.65,0.00,0.000,4,0.000,0.064,2105,880,3379
$GC,5586,-0.89,-146.6,606.1,-9.6,267,5590,0.00,2.60,0.00,0.000,6,0.000,0.052,2105,2302,3379
$GC,5913,-0.89,-146.6,639.1,-10.5,283,5917,0.00,2.65,0.00,0.000,4,0.000,0.064,2105,881,3379
$GC,5952,-0.93,-146.6,643.2,-10.8,285,5957,0.00,2.60,0.00,0.000,6,0.000,0.053,2105,2303,3379
$GC,6280,-0.93,-146.6,675.7,-10.0,301,6285,0.00,2.65,0.00,0.000,4,0.000,0.064,2105,884,3379
$GC,6337,-0.98,-146.6,681.6,-9.9,303,6343,0.00,2.58,0.00,0.000,6,0.000,0.053,2105,2299,3379
$GC,6652,-0.98,-146.6,714.6,-10.8,319,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2300,3378
$GC,6962,-0.98,-146.6,743.9,-8.7,334,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2299,3378
$GC,7271,-0.98,-146.6,770.6,-8.5,349,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2299,3378
$GC,7580,-0.98,-146.6,795.4,-8.3,364,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2300,3378
$STATE,7846,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7846,begin apogee
$GC,7853,-0.31,0.0,820.5,9.1,377,7990,0.62,0.00,133.32,1.176,6,0.097,0.000,2229,2195,2781
$STATE,7990,end apogee,CONTROL_FINISHED_OK
$STATE,7990,begin climb
$GC,7993,1.08,146.6,826.3,0.0,384,8137,1.42,2.83,131.52,1.158,4,0.075,0.081,2532,3598,2183
$GC,8254,1.12,222.5,815.4,5.2,396,8337,0.00,2.65,69.97,1.113,6,0.000,0.063,2532,2204,1874
$GC,8647,1.19,222.5,786.8,8.2,415,8649,0.12,0.00,0.00,0.000,6,0.053,0.000,2568,2204,1873
$GC,8955,1.19,222.5,756.6,9.9,430,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2204,1872
$GC,9264,1.15,222.5,726.7,9.0,445,9269,0.00,2.70,0.00,0.000,4,0.000,0.077,2568,3604,1871
$GC,9435,1.11,222.5,709.8,10.3,452,9441,0.15,2.62,0.00,0.000,6,0.100,0.061,2540,2201,1870
$GC,9751,1.16,228.6,685.4,7.8,468,9759,0.00,0.00,6.53,0.872,6,0.000,0.000,2540,2201,1849
$GC,10060,1.22,231.6,661.2,7.9,483,10070,0.12,2.70,4.30,0.713,4,0.054,0.073,2576,3607,1837
$GC,10185,1.14,231.6,648.7,10.5,488,10192,0.15,2.60,0.00,0.000,6,0.100,0.058,2548,2201,1837
$GC,10501,1.15,234.8,623.8,7.9,504,10511,0.00,2.67,4.82,0.747,4,0.000,0.074,2548,3606,1823
$GC,10545,1.15,234.8,619.8,9.6,506,10549,0.00,2.60,0.00,0.000,6,0.000,0.058,2548,2201,1823
$GC,10865,1.15,234.8,592.7,8.5,522,10866,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2201,1823
$GC,11175,1.15,234.8,565.6,9.0,537,11179,0.00,2.65,0.00,0.000,4,0.000,0.072,2548,3606,1823
$GC,11254,1.15,234.8,558.0,9.9,540,11260,0.00,2.58,0.00,0.000,6,0.000,0.058,2548,2202,1823
$GC,11570,1.15,234.8,530.7,8.7,556,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2197,1823
$GC,11879,1.15,234.8,505.1,8.2,571,11880,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2197,1823
$GC,12188,1.16,243.7,480.8,7.7,586,12203,0.00,2.67,9.32,0.833,4,0.000,0.074,2548,3606,1787
$GC,12253,1.16,243.7,475.3,8.7,588,12258,0.00,2.62,0.00,0.000,6,0.000,0.059,2548,2198,1787
$GC,12575,1.22,257.9,450.9,7.5,604,12594,0.00,0.00,14.05,0.869,6,0.000,0.000,2548,2197,1728
$GC,12904,1.28,264.9,425.7,7.7,620,12919,0.15,2.72,7.75,0.769,4,0.046,0.073,2592,3609,1700
$GC,12959,1.20,264.9,419.9,11.7,622,12964,0.17,2.65,0.00,0.000,6,0.092,0.061,2559,2192,1700
$GC,13274,1.20,264.9,386.7,11.4,637,13275,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2192,1700
$GC,13583,1.20,264.9,348.9,12.4,652,13588,0.00,2.67,0.00,0.000,4,0.000,0.074,2559,3606,1700
$GC,13639,1.20,264.9,341.3,13.2,654,13645,0.00,2.62,0.00,0.000,6,0.000,0.062,2559,2194,1700
$GC,13955,1.20,264.9,301.6,11.9,670,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2194,1701
$GC,14264,1.20,264.9,270.0,9.5,685,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2194,1700
$GC,14574,1.20,264.9,243.7,8.5,700,14578,0.00,2.67,0.00,0.000,4,0.000,0.072,2559,3612,1701
$GC,14613,1.20,264.9,239.8,10.1,702,14617,0.00,2.62,0.00,0.000,6,0.000,0.062,2559,2202,1701
$GC,14939,1.20,264.9,211.0,9.2,718,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2201,1701
$GC,15249,1.20,264.9,180.1,10.3,733,15253,0.00,2.65,0.00,0.000,4,0.000,0.072,2559,3607,1701
$GC,15288,1.20,264.9,175.7,11.5,735,15292,0.00,2.62,0.00,0.000,6,0.000,0.061,2559,2196,1701
$GC,15616,1.20,264.9,141.9,10.3,751,15617,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2196,1701
$GC,15924,1.20,264.9,111.4,9.6,766,15928,0.00,2.65,0.00,0.000,4,0.000,0.071,2559,3607,1701
$GC,15986,1.20,264.9,105.2,10.0,769,15991,0.00,2.60,0.00,0.000,6,0.000,0.061,2559,2200,1701
$GC,16315,1.20,264.9,73.9,10.0,785,16316,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2200,1701
$GC,16623,1.20,264.9,40.8,9.8,800,16628,0.00,2.62,0.00,0.000,4,0.000,0.067,2559,781,1701
$GC,16668,1.21,270.3,36.5,7.8,802,16684,0.00,2.58,6.30,0.549,6,0.000,0.049,2559,2204,1679
$GC,16993,1.21,270.3,6.1,9.1,818,16997,0.00,2.65,0.00,0.000,4,0.000,0.064,2559,781,1678
$GC,17033,1.23,284.4,2.8,7.5,820,17043,0.00,2.60,4.32,0.459,2,0.000,0.050,2559,2203,1657
$STATE,17043,end climb,SURFACE_DEPTH_REACHED
$STATE,17044,begin surface coast
$FINISH,0.6,1.027052
$STATE,17064,end surface coast,CONTROL_FINISHED_OK
$STATE,17064,begin surface
$SM_CCo,17086,135.20,0.621,0,0,508,557.32
$SM_GC,1.19,0.00,0.00,135.20,0.000,0.000,0.621,72,2304,508,-10.24,0.11,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1857
$TCM_TEMP,19.80
$XPDR_PINGS,16
$ALTIM_TOP_PING,18.4,999.0
$ALTIM_BOTTOM_PING,801.0,27.9
$24V_AH,23.6,27.499
$10V_AH,10.2,13.532
$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,25.125,132.175,392.225,135.200,0.000,18.013,25.739,153.435,11.500,0.000,0.000,15.860,1503.705,13060.239,696.722,1803.875,477.538,0.000,1612.582,0.000,1753.220,0.000,52.256
$DEVICE_MAMPS,168.740,80.535,1175.811,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,600.114,563.515,468.165,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41131,821
$CAP_FILE_SIZE,123216,0
$CFSIZE,260165632,249245696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,070708,062138,6211.817,-1022.133,39,1.2,39,-10.2