version: 66.03
glider: 16
mission: 9
dive: 155
start: 7 7 108 6 30 36
data:
$ID,16
$MISSION,9
$DIVE,155
$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,-2096211.5
$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,17
$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
$GPS1,062138,6211.817,-1022.133,39,1.2,39,-10.2
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-50.3
$GPS2,063021,6211.831,-1022.341,13,1.8,13,-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,308.5,12394,-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,-146.6,0.0,0.0,0,141,0.00,0.00,-111.55,0.000,2,0.000,0.000,71,2306,2786
$GC,144,-1.08,-146.6,3.7,-2.8,6,180,11.05,2.70,-16.02,0.000,4,0.164,0.080,2057,3707,3381
$GC,414,-0.92,-146.6,41.7,-13.0,18,419,0.20,2.58,0.00,0.000,6,0.100,0.054,2096,2299,3381
$GC,742,-0.84,-146.6,80.0,-11.9,34,747,0.00,2.65,0.00,0.000,4,0.000,0.066,2096,872,3381
$GC,865,-0.84,-146.6,95.1,-12.5,39,872,0.00,2.62,0.00,0.000,6,0.000,0.051,2096,2303,3381
$GC,1184,-0.78,-146.6,137.1,-13.4,55,1185,0.15,0.00,0.00,0.000,6,0.100,0.000,2124,2303,3381
$GC,1490,-0.78,-146.6,171.1,-9.9,70,1495,0.00,2.67,0.00,0.000,4,0.000,0.064,2124,874,3381
$GC,1540,-0.86,-146.6,176.0,-9.3,72,1545,0.00,2.60,0.00,0.000,6,0.000,0.051,2124,2298,3380
$GC,1856,-0.86,-146.6,204.9,-9.0,87,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2298,3381
$GC,2165,-0.86,-146.6,230.6,-8.3,102,2170,0.00,2.65,0.00,0.000,4,0.000,0.065,2124,880,3381
$GC,2234,-0.93,-146.6,236.3,-8.3,105,2240,0.12,2.60,0.00,0.000,6,0.047,0.053,2085,2298,3381
$GC,2556,-0.85,-146.6,270.9,-11.3,121,2561,0.15,2.67,0.00,0.000,4,0.092,0.066,2118,874,3381
$GC,2599,-0.92,-146.6,275.1,-9.6,123,2603,0.00,2.62,0.00,0.000,6,0.000,0.053,2118,2301,3382
$GC,2925,-0.92,-146.6,308.1,-10.2,139,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2302,3381
$GC,3234,-0.92,-146.6,339.6,-10.4,154,3238,0.00,2.67,0.00,0.000,4,0.000,0.066,2118,875,3382
$GC,3314,-0.98,-146.6,348.0,-11.1,157,3320,0.15,2.62,0.00,0.000,6,0.045,0.054,2074,2303,3381
$GC,3630,-0.87,-146.6,390.1,-13.7,173,3631,0.17,0.00,0.00,0.000,6,0.093,0.000,2108,2303,3381
$GC,3939,-0.87,-146.6,426.8,-11.4,188,3944,0.00,2.67,0.00,0.000,4,0.000,0.065,2108,876,3381
$GC,4018,-0.87,-146.6,435.6,-10.5,191,4024,0.00,2.62,0.00,0.000,6,0.000,0.054,2108,2307,3381
$GC,4333,-0.87,-146.6,469.4,-10.8,207,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2307,3381
$GC,4644,-0.87,-146.6,501.7,-10.1,222,4648,0.00,2.67,0.00,0.000,4,0.000,0.066,2108,881,3381
$GC,4705,-0.87,-146.6,507.8,-9.5,225,4710,0.00,2.60,0.00,0.000,6,0.000,0.054,2108,2301,3380
$GC,5033,-0.87,-146.6,540.5,-10.0,241,5037,0.00,2.65,0.00,0.000,4,0.000,0.065,2108,881,3381
$GC,5073,-0.92,-146.6,544.5,-10.0,243,5077,0.00,2.60,0.00,0.000,6,0.000,0.054,2108,2302,3379
$GC,5399,-0.92,-146.6,574.9,-9.2,259,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2302,3380
$GC,5708,-0.92,-146.6,604.9,-10.1,274,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2302,3380
$GC,6018,-0.92,-146.6,636.8,-10.3,289,6022,0.00,2.67,0.00,0.000,4,0.000,0.064,2108,874,3380
$GC,6097,-0.92,-146.6,643.4,-7.7,292,6103,0.00,2.60,0.00,0.000,6,0.000,0.053,2109,2302,3380
$GC,6413,-0.92,-146.6,669.2,-8.6,308,6417,0.00,2.65,0.00,0.000,4,0.000,0.064,2109,881,3380
$GC,6498,-0.97,-146.6,677.0,-9.6,312,6502,0.00,2.60,0.00,0.000,6,0.000,0.054,2108,2304,3380
$GC,6824,-0.97,-146.6,708.0,-9.6,328,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2304,3379
$GC,7133,-0.97,-146.6,739.2,-9.3,343,7138,0.00,2.67,0.00,0.000,4,0.000,0.065,2108,877,3379
$GC,7206,-1.03,-146.6,745.3,-8.8,346,7211,0.15,2.60,0.00,0.000,6,0.047,0.054,2064,2302,3379
$GC,7523,-0.92,-146.6,779.9,-11.4,361,7528,0.15,2.67,0.00,0.000,4,0.097,0.067,2097,876,3379
$GC,7601,-0.97,-146.6,789.5,-12.5,364,7607,0.00,2.62,0.00,0.000,6,0.000,0.056,2097,2304,3379
$STATE,7708,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7708,begin apogee
$GC,7715,-0.31,0.0,805.4,15.1,370,7851,0.65,0.00,132.98,1.161,6,0.097,0.000,2228,2192,2782
$STATE,7852,end apogee,CONTROL_FINISHED_OK
$STATE,7852,begin climb
$GC,7855,1.08,146.6,816.0,0.0,377,7995,1.45,2.75,132.15,1.146,4,0.072,0.067,2534,783,2183
$GC,8023,1.08,146.6,812.4,8.4,385,8027,0.00,2.65,0.00,0.000,6,0.000,0.053,2534,2201,2184
$GC,8338,1.15,211.7,788.2,5.6,400,8399,0.00,0.00,58.92,1.122,6,0.000,0.000,2534,2201,1918
$GC,8708,1.21,211.7,757.1,10.1,418,8713,0.12,2.70,0.00,0.000,4,0.052,0.071,2571,785,1916
$GC,8781,1.14,211.7,749.7,9.4,421,8786,0.12,2.62,0.00,0.000,6,0.101,0.054,2548,2204,1916
$GC,9097,1.21,275.5,732.9,5.7,436,9157,0.00,0.00,57.65,1.118,6,0.000,0.000,2548,2203,1657
$GC,9466,1.27,275.5,699.7,8.6,454,9468,0.12,0.00,0.00,0.000,6,0.055,0.000,2583,2204,1656
$GC,9775,1.27,275.5,668.0,11.8,469,9779,0.00,2.67,0.00,0.000,4,0.000,0.068,2583,789,1655
$GC,9819,1.27,275.5,662.1,13.1,471,9824,0.00,2.58,0.00,0.000,6,0.000,0.049,2583,2203,1654
$GC,10140,1.27,275.5,626.6,9.7,487,10145,0.00,2.65,0.00,0.000,4,0.000,0.071,2583,3607,1654
$GC,10213,1.27,275.5,619.2,10.6,490,10217,0.00,2.60,0.00,0.000,6,0.000,0.058,2583,2205,1654
$GC,10529,1.27,275.5,587.5,10.7,505,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2205,1654
$GC,10837,1.27,275.5,555.3,10.7,520,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2205,1654
$GC,11147,1.27,275.5,521.3,10.8,535,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2205,1654
$GC,11456,1.27,275.5,488.3,10.6,550,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2205,1654
$GC,11765,1.27,275.5,453.4,11.4,565,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2205,1655
$GC,12075,1.27,275.5,417.5,12.0,580,12079,0.00,2.65,0.00,0.000,4,0.000,0.071,2583,3613,1655
$GC,12130,1.27,275.5,410.4,12.9,582,12136,0.00,2.62,0.00,0.000,6,0.000,0.061,2583,2193,1655
$GC,12445,1.27,275.5,376.1,10.7,598,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2194,1655
$GC,12755,1.27,275.5,344.4,10.3,613,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2193,1655
$GC,13064,1.27,275.5,312.7,10.7,628,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2194,1655
$GC,13373,1.27,275.5,279.6,10.2,643,13378,0.00,2.65,0.00,0.000,4,0.000,0.069,2583,3614,1656
$GC,13423,1.27,275.5,273.9,11.5,645,13428,0.00,2.62,0.00,0.000,6,0.000,0.061,2583,2196,1656
$GC,13739,1.27,275.5,244.4,9.1,660,13740,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2196,1656
$GC,14048,1.27,275.5,213.6,11.4,675,14053,0.00,2.65,0.00,0.000,4,0.000,0.068,2583,3611,1656
$GC,14098,1.27,275.5,207.3,12.5,677,14103,0.00,2.60,0.00,0.000,6,0.000,0.060,2583,2199,1656
$GC,14414,1.27,275.5,172.3,11.5,692,14415,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2199,1656
$GC,14724,1.27,275.5,136.8,12.3,707,14725,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2199,1656
$GC,15033,1.27,275.5,99.9,11.7,722,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2199,1657
$GC,15342,1.27,275.5,66.8,10.9,737,15343,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2199,1657
$GC,15651,1.27,275.5,33.4,9.4,752,15655,0.00,2.62,0.00,0.000,4,0.000,0.067,2583,3610,1657
$GC,15706,1.27,275.5,27.8,9.9,754,15712,0.00,2.60,0.00,0.000,6,0.000,0.060,2583,2192,1657
$STATE,15958,end climb,SURFACE_DEPTH_REACHED
$STATE,15958,begin surface coast
$FINISH,0.6,1.027081
$STATE,15979,end surface coast,CONTROL_FINISHED_OK
$STATE,15980,begin surface
$SM_CCo,16002,134.38,0.618,0,0,509,557.32
$SM_GC,1.34,0.00,0.00,134.38,0.000,0.000,0.618,73,2308,509,-10.24,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1852
$TCM_TEMP,17.60
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.3,17.8
$ALTIM_BOTTOM_PING,751.9,62.5
$24V_AH,23.6,27.666
$10V_AH,10.2,13.607
$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,25.675,111.250,381.700,134.375,0.000,36.006,59.236,241.308,10.500,0.000,0.000,13.128,1397.692,12334.934,709.713,1614.844,601.406,0.000,1502.402,0.000,1580.935,0.000,46.141
$DEVICE_MAMPS,164.138,79.768,1161.238,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,561.446,523.933,438.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38005,768
$CAP_FILE_SIZE,113480,0
$CFSIZE,260165632,249200640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070708,110058,6212.585,-1029.716,26,2.9,45,-10.3