version: 66.03
glider: 16
mission: 9
dive: 156
start: 7 7 108 11 9 27
data:
$ID,16
$MISSION,9
$DIVE,156
$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,-2096248.2
$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,16
$R_STBD_OVSHOOT,25
$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
$GPS1,110058,6212.585,-1029.716,26,2.9,45,-10.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-48.7
$GPS2,110911,6212.587,-1029.705,16,2.1,35,-10.3
$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,324.7,6388,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.08,-146.6,0.0,0.0,0,147,0.00,0.00,-120.85,0.000,2,0.000,0.000,72,2311,3009
$GC,151,-1.08,-146.6,4.2,-3.5,6,176,11.07,2.65,-8.43,0.000,4,0.166,0.080,2056,3710,3380
$GC,339,-0.88,-146.6,35.2,-15.0,14,345,0.25,2.58,0.00,0.000,6,0.100,0.052,2104,2292,3381
$GC,656,-0.83,-146.6,71.0,-10.5,29,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2292,3381
$GC,965,-0.79,-146.6,108.7,-12.2,44,970,0.12,2.62,0.00,0.000,4,0.105,0.064,2127,877,3381
$GC,1060,-0.86,-146.6,118.2,-9.0,48,1065,0.00,2.60,0.00,0.000,6,0.000,0.051,2127,2295,3381
$GC,1377,-0.86,-146.6,143.9,-7.8,63,1381,0.00,2.65,0.00,0.000,4,0.000,0.063,2127,880,3381
$GC,1418,-0.93,-146.6,147.1,-7.8,65,1423,0.15,2.60,0.00,0.000,6,0.043,0.052,2080,2305,3381
$GC,1747,-0.83,-146.6,185.3,-12.5,81,1749,0.20,0.00,0.00,0.000,6,0.091,0.000,2120,2305,3381
$GC,2054,-0.83,-146.6,215.8,-9.1,96,2059,0.00,2.67,0.00,0.000,4,0.000,0.064,2120,878,3381
$GC,2116,-0.89,-146.6,221.2,-8.8,99,2121,0.00,2.60,0.00,0.000,6,0.000,0.054,2120,2302,3381
$GC,2443,-0.89,-146.6,249.0,-8.6,115,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2302,3381
$GC,2755,-0.89,-146.6,276.4,-9.2,130,2759,0.00,2.65,0.00,0.000,4,0.000,0.064,2120,886,3381
$GC,2833,-0.95,-146.6,283.9,-9.3,133,2839,0.12,2.60,0.00,0.000,6,0.048,0.052,2081,2306,3381
$GC,3149,-0.85,-146.6,320.2,-11.6,149,3151,0.17,0.00,0.00,0.000,6,0.093,0.000,2114,2306,3381
$GC,3458,-0.85,-146.6,350.4,-10.0,164,3462,0.00,2.65,0.00,0.000,4,0.000,0.065,2114,879,3381
$GC,3525,-0.90,-146.6,357.0,-9.5,167,3530,0.00,2.60,0.00,0.000,6,0.000,0.051,2114,2303,3380
$GC,3846,-0.90,-146.6,387.9,-9.8,183,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2303,3380
$GC,4155,-0.90,-146.6,418.4,-9.9,198,4159,0.00,2.65,0.00,0.000,4,0.000,0.064,2114,886,3380
$GC,4211,-0.96,-146.6,424.0,-9.8,200,4217,0.00,2.60,0.00,0.000,6,0.000,0.053,2114,2308,3381
$GC,4527,-0.96,-146.6,453.9,-9.5,216,4528,0.12,0.00,0.00,0.000,6,0.047,0.000,2076,2308,3380
$GC,4837,-0.85,-146.6,490.7,-11.8,231,4842,0.15,2.67,0.00,0.000,4,0.094,0.064,2109,881,3380
$GC,4900,-0.90,-146.6,496.7,-9.1,234,4904,0.00,2.60,0.00,0.000,6,0.000,0.052,2109,2302,3380
$GC,5226,-0.90,-146.6,523.7,-7.8,250,5230,0.00,2.65,0.00,0.000,4,0.000,0.064,2109,883,3380
$GC,5276,-0.95,-146.6,527.5,-6.4,252,5280,0.00,2.58,0.00,0.000,6,0.000,0.051,2110,2305,3380
$GC,5592,-0.95,-146.6,549.5,-7.1,267,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2305,3380
$GC,5901,-0.95,-146.6,577.5,-9.2,282,5905,0.00,2.62,0.00,0.000,4,0.000,0.061,2109,886,3380
$GC,5968,-0.99,-146.6,583.2,-8.5,285,5973,0.12,2.58,0.00,0.000,6,0.049,0.052,2071,2299,3380
$GC,6290,-0.88,-146.6,621.4,-12.9,301,6292,0.17,0.00,0.00,0.000,6,0.094,0.000,2104,2300,3379
$GC,6600,-0.88,-146.6,643.6,-5.8,316,6604,0.00,2.60,0.00,0.000,4,0.000,0.060,2104,886,3380
$GC,6662,-0.94,-146.6,647.5,-6.0,319,6667,0.00,2.60,0.00,0.000,6,0.000,0.053,2104,2306,3379
$GC,6989,-0.94,-146.6,683.0,-13.0,335,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2304,3379
$GC,7299,-0.94,-146.6,713.1,-7.3,350,7303,0.00,2.62,0.00,0.000,4,0.000,0.061,2104,883,3379
$GC,7361,-0.94,-146.6,717.3,-6.5,353,7366,0.00,2.60,0.00,0.000,6,0.000,0.054,2104,2303,3379
$GC,7689,-0.94,-146.6,739.8,-7.1,369,7693,0.00,2.65,0.00,0.000,4,0.000,0.063,2104,883,3379
$GC,7818,-0.99,-146.6,757.6,-15.9,375,7823,0.00,2.60,0.00,0.000,6,0.000,0.054,2104,2300,3379
$STATE,7874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7875,begin apogee
$GC,7882,-0.31,0.0,764.7,12.0,378,8018,0.62,0.00,132.55,1.132,6,0.100,0.000,2229,2192,2781
$STATE,8018,end apogee,CONTROL_FINISHED_OK
$STATE,8018,begin climb
$GC,8022,1.08,146.6,780.8,0.0,385,8161,1.45,2.72,131.57,1.119,4,0.074,0.065,2534,789,2183
$GC,8184,1.08,146.6,774.3,11.1,393,8188,0.00,2.65,0.00,0.000,6,0.000,0.053,2533,2203,2183
$GC,8505,0.99,146.6,747.9,9.0,409,8510,0.00,2.67,0.00,0.000,4,0.000,0.066,2534,791,2183
$GC,8561,0.99,146.6,742.1,11.0,411,8567,0.00,2.62,0.00,0.000,6,0.000,0.054,2534,2205,2182
$GC,8877,1.07,216.0,721.4,5.5,427,8941,0.00,0.00,62.00,1.095,6,0.000,0.000,2534,2205,1900
$GC,9246,1.07,216.0,695.0,8.6,445,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2205,1899
$GC,9555,1.12,216.0,651.9,11.6,460,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2205,1899
$GC,9865,1.20,231.6,631.9,7.4,475,9888,0.12,2.72,14.77,0.978,4,0.053,0.073,2571,3610,1837
$GC,9952,1.13,231.6,623.9,9.9,478,9958,0.12,2.60,0.00,0.000,6,0.097,0.056,2548,2205,1837
$GC,10267,1.24,332.0,608.3,4.4,494,10358,0.00,0.00,88.53,1.041,6,0.000,0.000,2548,2205,1427
$GC,10657,1.35,332.0,570.9,9.4,513,10659,0.22,0.00,0.00,0.000,6,0.042,0.000,2608,2205,1426
$GC,10966,1.31,332.0,531.6,13.4,528,10968,0.12,0.00,0.00,0.000,6,0.089,0.000,2584,2205,1426
$GC,11275,1.31,332.0,492.4,12.6,543,11280,0.00,2.65,0.00,0.000,4,0.000,0.072,2585,3611,1426
$GC,11316,1.31,332.0,486.9,13.4,545,11320,0.00,2.62,0.00,0.000,6,0.000,0.058,2584,2197,1426
$GC,11642,1.31,332.0,447.6,11.3,561,11647,0.00,2.67,0.00,0.000,4,0.000,0.070,2584,3617,1426
$GC,11705,1.31,332.0,440.3,10.8,564,11709,0.00,2.62,0.00,0.000,6,0.000,0.058,2584,2195,1426
$GC,12031,1.31,332.0,404.9,10.7,580,12036,0.00,2.67,0.00,0.000,4,0.000,0.071,2584,3614,1426
$GC,12115,1.31,332.0,394.9,12.2,584,12120,0.00,2.62,0.00,0.000,6,0.000,0.059,2584,2198,1427
$GC,12442,1.31,332.0,357.9,11.5,600,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2198,1428
$GC,12751,1.31,332.0,323.0,11.1,615,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2199,1427
$GC,13061,1.31,332.0,289.5,11.1,630,13065,0.00,2.65,0.00,0.000,4,0.000,0.070,2584,3612,1427
$GC,13100,1.31,332.0,284.8,12.5,632,13104,0.00,2.60,0.00,0.000,6,0.000,0.059,2584,2200,1428
$GC,13426,1.31,332.0,245.8,12.3,648,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2200,1428
$GC,13736,1.31,332.0,208.6,11.8,663,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2200,1427
$GC,14045,1.31,332.0,173.1,11.1,678,14046,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2200,1428
$GC,14355,1.31,332.0,137.3,12.2,693,14359,0.00,2.62,0.00,0.000,4,0.000,0.067,2584,782,1428
$GC,14388,1.31,332.0,133.0,12.3,694,14394,0.00,2.55,0.00,0.000,6,0.000,0.047,2585,2204,1428
$GC,14703,1.31,332.0,94.4,11.5,710,14708,0.00,2.60,0.00,0.000,4,0.000,0.068,2584,3609,1428
$GC,14744,1.31,332.0,89.5,12.1,712,14748,0.00,2.58,0.00,0.000,6,0.000,0.056,2584,2198,1428
$GC,15071,1.31,332.0,54.6,10.8,728,15072,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2198,1428
$GC,15380,1.31,332.0,23.4,9.3,743,15381,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2198,1428
$STATE,15604,end climb,SURFACE_DEPTH_REACHED
$STATE,15604,begin surface coast
$FINISH,0.6,1.014009
$STATE,15626,end surface coast,CONTROL_FINISHED_OK
$STATE,15626,begin surface
$SM_CCo,15649,107.88,0.621,0,0,509,557.32
$SM_GC,1.28,0.00,0.00,107.88,0.000,0.000,0.621,72,2303,509,-10.24,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1854
$TCM_TEMP,16.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.1,17.7
$ALTIM_BOTTOM_PING,725.1,49.3
$24V_AH,23.6,27.834
$10V_AH,10.2,13.681
$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,26.275,115.925,429.425,107.875,0.000,36.385,116.566,140.889,8.500,0.000,0.000,36.157,1380.890,11974.016,729.887,1616.630,550.598,0.000,1516.843,0.000,1556.533,0.000,50.346
$DEVICE_MAMPS,166.439,79.768,1132.092,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,554.642,514.783,444.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38007,755
$CAP_FILE_SIZE,114000,0
$CFSIZE,260165632,249143296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070708,153337,6214.624,-1034.331,42,1.5,53,-10.3