version: 66.03
glider: 16
mission: 9
dive: 104
start: 6 29 108 9 39 14
data:
$ID,16
$MISSION,9
$DIVE,104
$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,550
$T_MISSION,580
$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,1
$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,-2095085.9
$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,21
$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
$GPS1,093037,6206.656,-909.242,42,1.1,42,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-49.1
$GPS2,093820,6206.688,-909.307,13,1.1,13,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.205,-0.085
$KALMAN_X,-165093.0,1038.2,194.8,-46175.3,-13605.1
$KALMAN_Y,-18589.0,-3125.7,-1689.5,169906.5,55841.9
$MHEAD_RNG_PITCHd_Wd,182.4,37676,-11.0,-6.000
$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,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.65,0.000,2,0.000,0.000,72,2317,2899
$GC,150,-0.85,-146.6,3.4,-2.9,6,180,11.20,2.72,-12.52,0.000,4,0.162,0.074,2108,880,3381
$GC,405,-0.70,-146.6,36.1,-12.4,17,411,0.20,2.65,0.00,0.000,6,0.094,0.058,2147,2298,3381
$GC,723,-0.62,-146.6,69.0,-9.0,32,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2298,3381
$GC,1031,-0.55,-146.6,97.3,-8.8,47,1036,0.15,2.67,0.00,0.000,4,0.099,0.063,2180,872,3381
$GC,1072,-0.63,-146.6,100.4,-6.6,49,1076,0.00,2.65,0.00,0.000,6,0.000,0.057,2180,2301,3381
$GC,1398,-0.63,-146.6,122.9,-6.8,65,1403,0.00,2.70,0.00,0.000,4,0.000,0.079,2180,3712,3382
$GC,1442,-0.68,-146.6,126.4,-7.7,67,1448,0.12,2.60,0.00,0.000,6,0.051,0.054,2143,2289,3381
$GC,1764,-0.60,-146.6,154.5,-8.8,83,1769,0.12,2.62,0.00,0.000,4,0.088,0.066,2168,883,3382
$GC,1865,-0.66,-146.6,162.9,-7.7,87,1871,0.00,2.62,0.00,0.000,6,0.000,0.057,2168,2300,3382
$GC,2180,-0.66,-146.6,190.2,-8.8,103,2185,0.00,2.65,0.00,0.000,4,0.000,0.066,2168,883,3381
$GC,2208,-0.70,-146.6,192.6,-8.5,104,2213,0.00,2.62,0.00,0.000,6,0.000,0.058,2168,2304,3382
$GC,2524,-0.70,-146.6,216.3,-6.9,119,2528,0.00,2.67,0.00,0.000,4,0.000,0.066,2168,879,3382
$GC,2564,-0.75,-146.6,218.9,-6.2,121,2569,0.15,2.65,0.00,0.000,6,0.042,0.058,2121,2305,3382
$GC,2891,-0.62,-146.6,248.2,-9.0,137,2893,0.20,0.00,0.00,0.000,6,0.084,0.000,2162,2305,3382
$GC,3201,-0.62,-146.6,266.7,-5.4,152,3205,0.00,2.67,0.00,0.000,4,0.000,0.068,2162,883,3382
$GC,3256,-0.62,-146.6,269.5,-5.2,154,3262,0.00,2.62,0.00,0.000,6,0.000,0.059,2161,2298,3382
$GC,3572,-0.62,-146.6,283.3,-4.4,170,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2299,3382
$GC,3881,-0.62,-146.6,297.2,-4.3,185,3886,0.00,2.67,0.00,0.000,4,0.000,0.069,2162,878,3381
$GC,3932,-0.62,-146.6,299.5,-4.6,187,3936,0.00,2.65,0.00,0.000,6,0.000,0.061,2162,2307,3382
$GC,4247,-0.62,-146.6,316.5,-5.3,202,4252,0.00,2.70,0.00,0.000,4,0.000,0.069,2162,877,3381
$GC,4304,-0.66,-146.6,319.8,-6.1,204,4310,0.00,2.65,0.00,0.000,6,0.000,0.061,2162,2300,3381
$GC,4619,-0.66,-146.6,342.1,-7.8,220,4623,0.00,2.72,0.00,0.000,4,0.000,0.086,2162,3713,3381
$GC,4663,-0.66,-146.6,345.9,-9.1,222,4667,0.00,2.62,0.00,0.000,6,0.000,0.060,2162,2296,3381
$GC,4984,-0.66,-146.6,368.7,-6.1,238,4988,0.00,2.67,0.00,0.000,4,0.000,0.072,2162,877,3381
$GC,5051,-0.73,-146.6,372.5,-5.0,241,5055,0.00,2.65,0.00,0.000,6,0.000,0.061,2162,2304,3381
$GC,5372,-0.73,-146.6,391.8,-5.6,257,5376,0.00,2.67,0.00,0.000,4,0.000,0.071,2162,885,3381
$GC,5405,-0.80,-146.6,393.9,-6.5,258,5411,0.17,2.65,0.00,0.000,6,0.044,0.062,2110,2300,3381
$GC,5721,-0.66,-146.6,424.7,-10.5,274,5723,0.22,0.00,0.00,0.000,6,0.086,0.000,2155,2300,3381
$GC,6030,-0.66,-146.6,447.9,-7.6,289,6034,0.00,2.70,0.00,0.000,4,0.000,0.074,2154,882,3379
$GC,6063,-0.70,-146.6,451.1,-9.9,290,6069,0.00,2.65,0.00,0.000,6,0.000,0.067,2155,2302,3379
$STATE,6128,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6128,begin apogee
$GC,6135,-0.31,0.0,457.3,9.3,294,6271,0.38,0.00,127.72,0.964,6,0.091,0.000,2231,2194,2782
$STATE,6272,end apogee,CONTROL_FINISHED_OK
$STATE,6272,begin climb
$GC,6275,0.85,146.6,462.6,0.0,301,6410,1.15,2.83,127.18,0.943,4,0.071,0.076,2480,787,2183
$GC,6457,0.94,236.8,456.1,3.5,309,6546,0.12,2.67,78.53,0.929,6,0.057,0.062,2516,2197,1814
$GC,6854,0.94,236.8,427.0,6.7,329,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2197,1813
$GC,7163,0.94,236.8,405.1,7.3,344,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2197,1811
$GC,7473,0.99,279.4,388.0,4.8,359,7516,0.00,2.83,36.35,0.913,4,0.000,0.077,2516,789,1642
$GC,7536,1.07,348.1,385.1,4.1,362,7600,0.00,2.70,58.97,0.921,6,0.000,0.062,2516,2199,1361
$GC,7932,1.16,380.6,366.8,5.1,381,7967,0.15,2.80,28.58,0.899,4,0.057,0.079,2558,789,1228
$GC,8006,1.16,380.6,360.9,8.2,384,8011,0.00,2.67,0.00,0.000,6,0.000,0.061,2558,2200,1228
$GC,8322,1.16,380.6,334.2,8.7,399,8326,0.00,2.75,0.00,0.000,4,0.000,0.084,2558,3620,1227
$GC,8361,1.16,380.6,330.7,10.0,401,8366,0.00,2.72,0.00,0.000,6,0.000,0.071,2558,2206,1227
$GC,8688,1.16,380.6,299.6,10.1,417,8692,0.00,2.75,0.00,0.000,4,0.000,0.075,2558,774,1226
$GC,8765,1.16,380.6,290.8,11.8,420,8771,0.00,2.65,0.00,0.000,6,0.000,0.056,2558,2202,1226
$GC,9081,1.16,380.6,257.9,9.8,436,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2201,1226
$GC,9390,1.16,380.6,227.4,10.2,451,9395,0.00,2.70,0.00,0.000,4,0.000,0.071,2558,781,1226
$GC,9436,1.16,380.6,222.5,11.3,453,9441,0.00,2.62,0.00,0.000,6,0.000,0.054,2559,2203,1226
$GC,9757,1.16,380.6,183.9,12.3,469,9762,0.00,2.70,0.00,0.000,4,0.000,0.070,2558,780,1227
$GC,9797,1.16,380.6,179.0,12.7,471,9802,0.00,2.62,0.00,0.000,6,0.000,0.052,2558,2207,1227
$GC,10125,1.16,380.6,138.4,12.1,487,10129,0.00,2.70,0.00,0.000,4,0.000,0.069,2558,778,1228
$GC,10164,1.16,380.6,133.7,12.8,489,10169,0.00,2.62,0.00,0.000,6,0.000,0.052,2558,2206,1228
$GC,10491,1.16,380.6,94.0,12.3,505,10496,0.00,2.70,0.00,0.000,4,0.000,0.069,2558,779,1228
$GC,10540,1.16,380.6,87.4,13.3,507,10545,0.00,2.62,0.00,0.000,6,0.000,0.051,2558,2207,1228
$GC,10857,1.16,380.6,52.6,11.2,522,10861,0.00,2.70,0.00,0.000,4,0.000,0.068,2558,779,1229
$GC,10889,1.16,380.6,48.7,11.4,523,10896,0.00,2.60,0.00,0.000,6,0.000,0.051,2558,2207,1229
$GC,11206,1.16,380.6,16.3,9.4,539,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2207,1229
$STATE,11369,end climb,SURFACE_DEPTH_REACHED
$STATE,11369,begin surface coast
$FINISH,0.4,1.026068
$STATE,11389,end surface coast,CONTROL_FINISHED_OK
$STATE,11389,begin surface
$SM_CCo,11412,86.43,0.634,0,0,509,557.32
$SM_GC,1.08,0.00,0.00,86.43,0.000,0.000,0.634,72,2307,509,-10.24,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1882
$TCM_TEMP,17.60
$XPDR_PINGS,20
$ALTIM_TOP_PING,18.3,17.3
$ALTIM_BOTTOM_PING,426.4,39.9
$24V_AH,23.7,20.245
$10V_AH,10.1,10.273
$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,25.100,123.525,457.325,86.425,0.000,36.053,55.275,193.758,8.750,0.000,0.000,13.914,1040.903,8444.043,691.127,1282.876,511.179,33.357,1380.914,0.000,1252.149,0.000,27.871
$DEVICE_MAMPS,161.837,85.904,964.119,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.683,370.530,389.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28564,548
$CAP_FILE_SIZE,95831,0
$CFSIZE,260165632,251715584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,290608,125227,6206.795,-911.161,35,3.4,54,-9.5