version: 66.03
glider: 16
mission: 9
dive: 162
start: 7 8 108 15 50 13
data:
$ID,16
$MISSION,9
$DIVE,162
$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,-2096354.8
$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,19
$R_STBD_OVSHOOT,19
$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
$GPS1,154157,6226.295,-1101.051,39,3.2,58,-10.7
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-51.4
$GPS2,154959,6226.318,-1101.147,13,2.3,32,-10.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$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,292.3,33918,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.08,-146.6,0.0,0.0,0,147,0.00,0.00,-120.47,0.000,2,0.000,0.000,67,2311,3083
$GC,151,-1.08,-146.6,4.8,-4.1,6,174,11.15,2.67,-5.90,0.000,4,0.169,0.085,2057,3710,3380
$GC,401,-0.87,-146.6,50.4,-14.6,17,406,0.25,2.58,0.00,0.000,6,0.096,0.048,2105,2289,3380
$GC,729,-0.82,-146.6,88.8,-11.0,33,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2289,3381
$GC,1038,-0.77,-146.6,124.7,-11.8,48,1039,0.12,0.00,0.00,0.000,6,0.105,0.000,2129,2289,3381
$GC,1346,-0.77,-146.6,154.7,-9.8,63,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2289,3382
$GC,1655,-0.77,-146.6,184.0,-9.2,78,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2289,3382
$GC,1965,-0.77,-146.6,211.1,-8.7,93,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2289,3382
$GC,2274,-0.77,-146.6,239.4,-9.4,108,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2289,3382
$GC,2583,-0.77,-146.6,267.7,-9.0,123,2587,0.00,2.58,0.00,0.000,4,0.000,0.064,2129,886,3382
$GC,2650,-0.85,-146.6,273.6,-8.7,126,2654,0.00,2.58,0.00,0.000,6,0.000,0.054,2129,2301,3381
$GC,2973,-0.85,-146.6,301.4,-8.7,142,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2301,3382
$GC,3279,-0.85,-146.6,327.9,-8.4,157,3284,0.00,2.62,0.00,0.000,4,0.000,0.061,2130,881,3381
$GC,3330,-0.94,-146.6,332.2,-8.3,159,3335,0.15,2.60,0.00,0.000,6,0.044,0.055,2083,2303,3381
$GC,3646,-0.84,-146.6,367.9,-11.8,174,3648,0.15,0.00,0.00,0.000,6,0.094,0.000,2112,2303,3381
$GC,3955,-0.84,-146.6,400.4,-10.6,189,3960,0.00,2.62,0.00,0.000,4,0.000,0.061,2112,886,3381
$GC,3996,-0.89,-146.6,404.6,-10.9,191,4001,0.00,2.60,0.00,0.000,6,0.000,0.055,2112,2303,3381
$GC,4323,-0.89,-146.6,440.3,-11.2,207,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2303,3381
$GC,4632,-0.89,-146.6,473.0,-10.2,222,4637,0.00,2.62,0.00,0.000,4,0.000,0.063,2112,886,3380
$GC,4696,-0.94,-146.6,479.0,-9.6,225,4700,0.00,2.60,0.00,0.000,6,0.000,0.055,2112,2304,3381
$GC,5022,-0.94,-146.6,510.2,-9.4,241,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2304,3381
$GC,5331,-0.94,-146.6,540.3,-10.2,256,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2304,3380
$GC,5642,-0.94,-146.6,575.1,-11.6,271,5646,0.00,2.62,0.00,0.000,4,0.000,0.061,2112,887,3380
$GC,5704,-0.99,-146.6,582.7,-11.5,274,5709,0.12,2.58,0.00,0.000,6,0.048,0.055,2072,2302,3380
$GC,6031,-0.88,-146.6,623.5,-11.3,290,6033,0.17,0.00,0.00,0.000,6,0.093,0.000,2106,2303,3379
$GC,6340,-0.88,-146.6,648.2,-7.0,305,6344,0.00,2.62,0.00,0.000,4,0.000,0.063,2106,884,3379
$GC,6390,-0.93,-146.6,651.6,-6.9,307,6394,0.00,2.60,0.00,0.000,6,0.000,0.055,2106,2307,3380
$GC,6706,-0.93,-146.6,679.0,-10.0,322,6710,0.00,2.62,0.00,0.000,4,0.000,0.064,2106,887,3380
$GC,6772,-0.99,-146.6,686.5,-11.4,325,6778,0.10,2.58,0.00,0.000,6,0.052,0.055,2074,2304,3379
$GC,7095,-0.91,-146.6,723.4,-10.7,341,7100,0.15,2.67,0.00,0.000,4,0.097,0.082,2106,3706,3379
$GC,7195,-0.91,-146.6,732.0,-7.8,345,7202,0.00,2.58,0.00,0.000,6,0.000,0.057,2106,2299,3379
$GC,7512,-0.91,-146.6,755.0,-8.0,361,7516,0.00,2.65,0.00,0.000,4,0.000,0.072,2106,887,3378
$GC,7585,-0.96,-146.6,761.0,-8.3,364,7589,0.00,2.60,0.00,0.000,6,0.000,0.060,2106,2300,3378
$STATE,7712,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7712,begin apogee
$GC,7719,-0.31,0.0,772.8,8.7,370,7855,0.62,0.00,132.35,1.148,6,0.102,0.000,2231,2195,2781
$STATE,7856,end apogee,CONTROL_FINISHED_OK
$STATE,7856,begin climb
$GC,7859,1.08,146.6,779.6,0.0,377,7995,1.42,0.00,131.07,1.131,6,0.076,0.000,2532,2195,2183
$GC,8292,1.08,146.6,753.2,8.7,398,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2195,2182
$GC,8600,1.10,157.0,729.4,7.6,413,8613,0.00,0.00,11.00,0.983,6,0.000,0.000,2532,2194,2140
$GC,8910,1.14,193.4,708.4,6.7,428,8952,0.00,2.80,32.60,1.083,4,0.000,0.081,2531,3600,1993
$GC,8985,1.15,204.6,703.1,7.6,431,9004,0.00,2.62,11.62,0.983,6,0.000,0.059,2532,2204,1946
$GC,9329,1.25,250.3,681.3,6.3,448,9378,0.15,2.83,41.25,1.082,4,0.051,0.081,2578,3612,1760
$GC,9497,1.19,250.3,663.8,11.7,455,9503,0.00,2.65,0.00,0.000,6,0.000,0.059,2577,2194,1760
$GC,9814,1.14,250.3,630.6,10.5,471,9819,0.15,2.72,0.00,0.000,4,0.095,0.078,2545,3610,1758
$GC,9903,1.14,250.3,621.8,9.4,475,9907,0.00,2.62,0.00,0.000,6,0.000,0.056,2545,2198,1758
$GC,10225,1.21,265.1,597.4,7.5,491,10243,0.00,0.00,13.98,0.965,6,0.000,0.000,2544,2199,1700
$GC,10553,1.27,265.1,569.4,8.8,507,10555,0.15,0.00,0.00,0.000,6,0.048,0.000,2586,2199,1700
$GC,10862,1.22,265.1,532.6,12.5,522,10867,0.00,2.67,0.00,0.000,4,0.000,0.076,2586,3614,1700
$GC,10909,1.15,265.1,526.4,13.3,524,10914,0.17,2.60,0.00,0.000,6,0.089,0.055,2552,2202,1700
$GC,11230,1.15,265.1,489.0,11.6,540,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2202,1700
$GC,11539,1.15,265.1,454.4,10.9,555,11540,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2202,1700
$GC,11849,1.15,265.1,421.6,10.2,570,11853,0.00,2.67,0.00,0.000,4,0.000,0.076,2552,3607,1700
$GC,11921,1.15,265.1,413.5,10.4,573,11925,0.00,2.60,0.00,0.000,6,0.000,0.057,2552,2195,1700
$GC,12236,1.15,265.1,381.7,10.0,588,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2195,1700
$GC,12546,1.15,265.1,351.7,9.7,603,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2195,1701
$GC,12855,1.15,265.1,321.7,9.7,618,12859,0.00,2.70,0.00,0.000,4,0.000,0.077,2552,3613,1701
$GC,12921,1.15,265.1,314.6,10.8,621,12925,0.00,2.60,0.00,0.000,6,0.000,0.056,2552,2200,1701
$GC,13242,1.15,265.1,284.1,9.3,637,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2200,1702
$GC,13551,1.15,265.1,254.5,9.5,652,13555,0.00,2.67,0.00,0.000,4,0.000,0.077,2552,3609,1701
$GC,13594,1.15,265.1,249.8,10.4,654,13599,0.00,2.58,0.00,0.000,6,0.000,0.054,2552,2199,1702
$GC,13916,1.15,265.1,218.4,9.9,670,13917,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2199,1702
$GC,14225,1.15,265.1,188.0,9.9,685,14229,0.00,2.67,0.00,0.000,4,0.000,0.078,2552,3609,1702
$GC,14264,1.15,265.1,184.0,11.4,687,14269,0.00,2.58,0.00,0.000,6,0.000,0.054,2552,2198,1703
$GC,14591,1.15,265.1,149.6,10.4,703,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2198,1703
$GC,14901,1.15,265.1,116.7,10.7,718,14906,0.00,2.67,0.00,0.000,4,0.000,0.077,2552,3609,1703
$GC,14968,1.15,265.1,109.1,10.4,721,14973,0.00,2.58,0.00,0.000,6,0.000,0.053,2552,2192,1703
$GC,15290,1.15,265.1,80.5,8.6,737,15295,0.00,2.60,0.00,0.000,4,0.000,0.064,2552,782,1703
$GC,15330,1.15,265.1,76.7,9.5,739,15335,0.00,2.58,0.00,0.000,6,0.000,0.052,2553,2198,1703
$GC,15657,1.15,265.1,44.8,9.5,755,15659,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2198,1703
$GC,15966,1.15,265.1,16.5,8.3,770,15971,0.00,2.65,0.00,0.000,4,0.000,0.077,2552,3612,1703
$GC,16044,1.15,265.1,8.8,11.0,773,16051,0.00,2.58,0.00,0.000,6,0.000,0.054,2552,2194,1704
$STATE,16131,end climb,SURFACE_DEPTH_REACHED
$STATE,16131,begin surface coast
$FINISH,0.7,1.016046
$STATE,16153,end surface coast,CONTROL_FINISHED_OK
$STATE,16153,begin surface
$SM_CCo,16175,140.65,0.624,0,0,508,557.32
$SM_GC,1.42,0.00,0.00,140.65,0.000,0.000,0.624,67,2305,508,-10.27,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1866
$TCM_TEMP,17.90
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.5,18.9
$ALTIM_BOTTOM_PING,725.2,56.2
$24V_AH,23.6,28.799
$10V_AH,10.2,14.155
$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,25.775,110.825,373.875,140.650,0.000,36.076,53.069,188.619,12.500,0.000,0.000,33.611,1425.861,12457.397,675.520,1695.430,542.827,0.000,1513.370,0.000,1635.122,0.000,44.504
$DEVICE_MAMPS,168.740,85.137,1148.199,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,568.385,532.387,456.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38045,779
$CAP_FILE_SIZE,117027,0
$CFSIZE,260165632,248774656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,080708,202326,6226.865,-1109.705,37,2.0,37,-10.8