version: 66.03
glider: 16
mission: 9
dive: 105
start: 6 29 108 13 1 25
data:
$ID,16
$MISSION,9
$DIVE,105
$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,-2095102.2
$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,13
$R_STBD_OVSHOOT,24
$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
$GPS1,125227,6206.795,-911.161,35,3.4,54,-9.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-56.1
$GPS2,130033,6206.916,-911.262,15,2.0,15,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.074,-0.209
$KALMAN_X,-172655.2,172.0,818.5,-40095.9,-25837.6
$KALMAN_Y,-20649.3,-4635.3,-1769.9,173979.5,53457.7
$MHEAD_RNG_PITCHd_Wd,180.0,38340,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-120.68,0.000,2,0.000,0.000,71,2310,2854
$GC,152,-0.85,-146.6,3.2,-2.5,6,184,11.23,2.70,-14.38,0.000,4,0.162,0.076,2109,876,3380
$GC,439,-0.72,-146.6,35.3,-10.8,19,444,0.17,2.62,0.00,0.000,6,0.099,0.054,2143,2294,3380
$GC,766,-0.63,-146.6,66.1,-9.6,35,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2294,3380
$GC,1075,-0.55,-146.6,91.8,-8.0,50,1080,0.15,2.67,0.00,0.000,4,0.101,0.064,2175,868,3381
$GC,1161,-0.60,-146.6,98.2,-7.4,54,1166,0.00,2.65,0.00,0.000,6,0.000,0.052,2174,2303,3381
$GC,1490,-0.60,-146.6,123.9,-8.2,70,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2304,3381
$GC,1798,-0.60,-146.6,149.6,-8.6,85,1802,0.00,2.65,0.00,0.000,4,0.000,0.065,2175,878,3381
$GC,1843,-0.67,-146.6,153.4,-8.5,87,1848,0.00,2.60,0.00,0.000,6,0.000,0.054,2174,2299,3381
$GC,2170,-0.67,-146.6,181.1,-8.4,103,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2299,3381
$GC,2479,-0.67,-146.6,207.4,-8.2,118,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2299,3381
$GC,2788,-0.67,-146.6,230.8,-6.8,133,2793,0.00,2.67,0.00,0.000,4,0.000,0.067,2174,872,3381
$GC,2839,-0.74,-146.6,234.1,-6.1,135,2844,0.17,2.65,0.00,0.000,6,0.041,0.054,2119,2305,3381
$GC,3155,-0.60,-146.6,260.7,-8.4,150,3160,0.20,2.70,0.00,0.000,4,0.084,0.069,2164,879,3381
$GC,3189,-0.65,-146.6,263.3,-6.1,151,3195,0.00,2.62,0.00,0.000,6,0.000,0.055,2164,2302,3381
$GC,3504,-0.65,-146.6,284.6,-7.0,167,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2301,3381
$GC,3814,-0.65,-146.6,305.8,-6.8,182,3818,0.00,2.67,0.00,0.000,4,0.000,0.068,2164,878,3381
$GC,3858,-0.70,-146.6,309.3,-7.7,184,3862,0.00,2.62,0.00,0.000,6,0.000,0.056,2164,2300,3381
$GC,4178,-0.70,-146.6,337.4,-9.5,200,4183,0.00,2.67,0.00,0.000,4,0.000,0.068,2164,878,3381
$GC,4219,-0.74,-146.6,341.4,-9.8,202,4224,0.12,2.62,0.00,0.000,6,0.047,0.057,2122,2303,3381
$GC,4548,-0.63,-146.6,378.7,-10.3,218,4553,0.15,2.70,0.00,0.000,4,0.086,0.079,2156,3711,3381
$GC,4598,-0.63,-146.6,383.8,-9.3,220,4603,0.00,2.62,0.00,0.000,6,0.000,0.059,2156,2295,3381
$GC,4914,-0.63,-146.6,404.9,-5.2,235,4918,0.00,2.67,0.00,0.000,4,0.000,0.071,2156,878,3381
$GC,4981,-0.70,-146.6,408.3,-4.9,238,4985,0.00,2.65,0.00,0.000,6,0.000,0.058,2156,2302,3381
$GC,5302,-0.70,-146.6,424.9,-6.3,254,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3381
$GC,5611,-0.70,-146.6,444.3,-7.0,269,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3381
$GC,5920,-0.70,-146.6,463.7,-4.6,284,5925,0.00,2.72,0.00,0.000,4,0.000,0.074,2156,876,3380
$GC,5965,-0.70,-146.6,467.3,-7.9,286,5969,0.00,2.67,0.00,0.000,6,0.000,0.064,2156,2304,3379
$STATE,6015,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6015,begin apogee
$GC,6022,-0.31,0.0,470.4,5.8,289,6158,0.38,0.00,128.82,0.969,6,0.107,0.000,2229,2196,2781
$STATE,6159,end apogee,CONTROL_FINISHED_OK
$STATE,6159,begin climb
$GC,6162,0.85,146.6,476.0,0.0,296,6298,1.20,2.83,126.55,0.957,4,0.087,0.074,2480,788,2182
$GC,6465,0.92,180.6,464.3,5.1,310,6500,0.00,2.67,30.58,0.919,6,0.000,0.061,2480,2206,2044
$GC,6814,1.00,186.9,446.4,5.8,326,6828,0.15,2.83,6.72,0.770,4,0.052,0.086,2526,3614,2019
$GC,6868,0.88,186.9,441.6,9.0,328,6874,0.17,2.72,0.00,0.000,6,0.094,0.068,2492,2199,2019
$GC,7184,0.98,278.2,425.3,3.5,343,7269,0.00,2.83,78.70,0.950,4,0.000,0.076,2491,784,1647
$GC,7299,1.14,368.3,420.9,3.5,348,7385,0.25,2.70,77.80,0.933,6,0.048,0.061,2554,2203,1279
$GC,7701,1.14,368.3,396.0,6.4,368,7705,0.00,2.78,0.00,0.000,4,0.000,0.087,2554,3617,1277
$GC,7733,1.14,368.3,393.4,8.4,369,7739,0.00,2.72,0.00,0.000,6,0.000,0.071,2552,2200,1278
$GC,8049,1.14,368.3,366.4,10.0,385,8053,0.00,2.78,0.00,0.000,4,0.000,0.084,2554,3621,1275
$GC,8076,1.14,368.3,363.4,11.3,386,8080,0.00,2.70,0.00,0.000,6,0.000,0.069,2554,2200,1276
$GC,8392,1.14,368.3,328.5,11.7,401,8396,0.00,2.70,0.00,0.000,4,0.000,0.077,2554,782,1275
$GC,8469,1.14,368.3,318.7,12.3,404,8475,0.00,2.65,0.00,0.000,6,0.000,0.055,2556,2206,1275
$GC,8785,1.14,368.3,281.3,11.8,420,8789,0.00,2.72,0.00,0.000,4,0.000,0.071,2554,773,1275
$GC,8812,1.14,368.3,278.0,11.6,421,8816,0.00,2.65,0.00,0.000,6,0.000,0.054,2554,2203,1275
$GC,9128,1.14,368.3,243.5,10.8,436,9132,0.00,2.72,0.00,0.000,4,0.000,0.070,2554,774,1275
$GC,9155,1.14,368.3,240.5,11.0,437,9159,0.00,2.62,0.00,0.000,6,0.000,0.052,2554,2201,1275
$GC,9470,1.14,368.3,207.6,10.4,452,9475,0.00,2.70,0.00,0.000,4,0.000,0.069,2554,780,1276
$GC,9498,1.14,368.3,204.4,11.1,453,9502,0.00,2.62,0.00,0.000,6,0.000,0.051,2554,2204,1276
$GC,9813,1.14,368.3,170.6,11.1,468,9818,0.00,2.70,0.00,0.000,4,0.000,0.068,2554,780,1276
$GC,9840,1.14,368.3,167.5,11.1,469,9845,0.00,2.62,0.00,0.000,6,0.000,0.051,2554,2205,1276
$GC,10156,1.14,368.3,134.0,10.6,484,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2205,1277
$GC,10467,1.14,368.3,100.8,10.7,499,10472,0.00,2.70,0.00,0.000,4,0.000,0.068,2554,776,1277
$GC,10517,1.14,368.3,94.9,11.0,501,10521,0.00,2.62,0.00,0.000,6,0.000,0.051,2554,2209,1277
$GC,10834,1.14,368.3,60.8,11.3,516,10839,0.00,2.67,0.00,0.000,4,0.000,0.067,2554,781,1278
$GC,10879,1.14,368.3,56.0,9.8,518,10883,0.00,2.60,0.00,0.000,6,0.000,0.051,2554,2204,1278
$GC,11200,1.14,368.3,23.7,9.9,534,11204,0.00,2.67,0.00,0.000,4,0.000,0.066,2554,781,1278
$GC,11227,1.14,368.3,20.9,9.7,535,11231,0.00,2.60,0.00,0.000,6,0.000,0.051,2554,2204,1278
$STATE,11437,end climb,SURFACE_DEPTH_REACHED
$STATE,11437,begin surface coast
$FINISH,0.4,1.027179
$STATE,11459,end surface coast,CONTROL_FINISHED_OK
$STATE,11459,begin surface
$SM_CCo,11481,92.00,0.627,0,0,508,557.32
$SM_GC,1.12,0.00,0.00,92.00,0.000,0.000,0.627,70,2303,508,-10.26,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1861
$TCM_TEMP,17.60
$XPDR_PINGS,28
$ALTIM_TOP_PING,18.5,17.1
$ALTIM_BOTTOM_PING,426.3,53.6
$24V_AH,23.7,20.400
$10V_AH,10.1,10.336
$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,25.025,123.725,449.175,92.000,0.000,51.294,53.636,201.820,11.000,0.000,0.000,15.689,1044.946,8497.595,663.965,1325.651,534.818,33.360,1379.290,0.000,1287.763,0.000,30.896
$DEVICE_MAMPS,161.837,86.671,968.721,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.095,369.832,401.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28494,546
$CAP_FILE_SIZE,96375,0
$CFSIZE,260165632,251674624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,290608,161538,6208.941,-912.025,40,1.4,40,-9.6