version: 66.03
glider: 16
mission: 9
dive: 108
start: 6 29 108 23 25 22
data:
$ID,16
$MISSION,9
$DIVE,108
$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,-2095168.2
$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,14
$R_STBD_OVSHOOT,17
$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
$GPS1,231257,6211.633,-908.924,33,2.6,52,-9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-55.1
$GPS2,232429,6211.753,-908.877,17,3.4,36,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.048,-0.216
$KALMAN_X,-169654.0,2452.9,329.8,-42770.4,-17673.3
$KALMAN_Y,-11308.9,-2621.0,-1553.9,171343.8,53553.0
$MHEAD_RNG_PITCHd_Wd,184.3,46963,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-121.30,0.000,2,0.000,0.000,70,2304,2889
$GC,150,-0.85,-146.6,3.2,-2.7,6,180,11.30,2.70,-13.00,0.000,4,0.165,0.086,2108,3715,3380
$GC,301,-0.66,-146.6,22.6,-11.8,12,308,0.22,2.60,0.00,0.000,6,0.091,0.054,2152,2291,3380
$GC,617,-0.60,-146.6,50.3,-8.7,28,621,0.00,2.62,0.00,0.000,4,0.000,0.065,2152,882,3380
$GC,661,-0.60,-146.6,54.2,-8.8,30,666,0.00,2.65,0.00,0.000,6,0.000,0.058,2152,2304,3380
$GC,983,-0.55,-146.6,81.7,-8.2,46,988,0.12,2.67,0.00,0.000,4,0.094,0.064,2176,877,3380
$GC,1017,-0.61,-146.6,84.1,-7.0,47,1023,0.00,2.62,0.00,0.000,6,0.000,0.057,2177,2301,3380
$GC,1334,-0.61,-146.6,105.0,-6.7,63,1339,0.00,2.67,0.00,0.000,4,0.000,0.064,2176,875,3380
$GC,1379,-0.68,-146.6,108.4,-6.7,65,1384,0.12,2.65,0.00,0.000,6,0.044,0.057,2133,2304,3380
$GC,1701,-0.59,-146.6,137.8,-9.1,81,1703,0.17,0.00,0.00,0.000,6,0.082,0.000,2168,2304,3380
$GC,2010,-0.59,-146.6,162.5,-8.1,96,2014,0.00,2.67,0.00,0.000,4,0.000,0.066,2168,877,3380
$GC,2060,-0.63,-146.6,167.0,-8.9,98,2064,0.00,2.65,0.00,0.000,6,0.000,0.057,2168,2306,3380
$GC,2375,-0.63,-146.6,193.2,-8.3,113,2380,0.00,2.67,0.00,0.000,4,0.000,0.066,2168,880,3381
$GC,2409,-0.68,-146.6,196.1,-8.5,114,2415,0.00,2.65,0.00,0.000,6,0.000,0.057,2169,2308,3380
$GC,2725,-0.68,-146.6,221.3,-7.9,130,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2308,3380
$GC,3034,-0.68,-146.6,244.5,-7.3,145,3039,0.00,2.67,0.00,0.000,4,0.000,0.067,2167,884,3380
$GC,3084,-0.73,-146.6,248.2,-7.3,147,3089,0.12,2.62,0.00,0.000,6,0.044,0.058,2126,2299,3380
$GC,3400,-0.62,-146.6,277.4,-9.4,162,3405,0.15,2.67,0.00,0.000,4,0.087,0.067,2160,881,3380
$GC,3450,-0.66,-146.6,281.7,-7.8,164,3455,0.00,2.62,0.00,0.000,6,0.000,0.057,2158,2300,3381
$GC,3766,-0.66,-146.6,305.5,-7.4,179,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2300,3380
$GC,4075,-0.66,-146.6,327.2,-6.7,194,4079,0.00,2.65,0.00,0.000,4,0.000,0.068,2160,883,3380
$GC,4125,-0.66,-146.6,330.5,-6.7,196,4129,0.00,2.62,0.00,0.000,6,0.000,0.058,2160,2299,3380
$GC,4441,-0.66,-146.6,348.8,-5.4,211,4445,0.00,2.65,0.00,0.000,4,0.000,0.069,2160,884,3380
$GC,4474,-0.70,-146.6,350.6,-5.1,212,4480,0.00,2.62,0.00,0.000,6,0.000,0.058,2160,2300,3380
$GC,4790,-0.70,-146.6,364.8,-3.9,228,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2300,3380
$GC,5099,-0.70,-146.6,374.1,-2.5,243,5104,0.00,2.67,0.00,0.000,4,0.000,0.069,2160,884,3380
$GC,5150,-0.76,-146.6,375.5,-2.9,245,5156,0.12,2.62,0.00,0.000,6,0.046,0.058,2119,2305,3379
$GC,5466,-0.64,-146.6,393.7,-6.8,260,5472,0.20,2.70,0.00,0.000,4,0.084,0.069,2161,878,3379
$GC,5511,-0.70,-146.6,396.2,-5.4,262,5516,0.00,2.65,0.00,0.000,6,0.000,0.058,2161,2305,3379
$GC,5833,-0.70,-146.6,412.6,-4.9,278,5838,0.00,2.70,0.00,0.000,4,0.000,0.070,2162,875,3379
$GC,5934,-0.78,-146.6,418.8,-6.9,282,5941,0.15,2.65,0.00,0.000,6,0.044,0.060,2113,2299,3380
$GC,6250,-0.66,-146.6,443.7,-8.5,298,6255,0.17,2.70,0.00,0.000,4,0.088,0.071,2152,881,3380
$GC,6318,-0.66,-146.6,448.8,-8.1,301,6323,0.00,2.65,0.00,0.000,6,0.000,0.061,2152,2301,3380
$GC,6639,-0.66,-146.6,469.5,-7.8,317,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2302,3379
$STATE,6699,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6699,begin apogee
$GC,6706,-0.31,0.0,473.3,6.1,320,6841,0.40,0.00,128.18,0.960,6,0.102,0.000,2230,2194,2781
$STATE,6842,end apogee,CONTROL_FINISHED_OK
$STATE,6842,begin climb
$GC,6845,0.85,146.6,479.4,0.0,327,6983,1.20,2.88,127.00,0.943,4,0.082,0.084,2478,3613,2183
$GC,7238,0.94,231.5,461.7,3.7,345,7319,0.12,2.67,73.32,0.927,6,0.063,0.064,2511,2203,1837
$GC,7646,0.98,267.8,439.4,5.0,365,7688,0.00,2.88,32.35,0.903,4,0.000,0.085,2509,3613,1689
$GC,7779,1.01,296.5,432.1,5.2,371,7811,0.00,2.70,25.88,0.893,6,0.000,0.066,2510,2200,1572
$GC,8127,1.05,336.1,416.3,4.9,388,8169,0.00,2.78,34.95,0.909,4,0.000,0.075,2511,782,1410
$GC,8209,1.15,347.8,412.3,5.7,391,8227,0.17,2.67,11.23,0.821,6,0.077,0.060,2546,2200,1363
$GC,8544,1.15,347.8,386.3,7.7,408,8548,0.00,2.72,0.00,0.000,4,0.000,0.073,2546,783,1362
$GC,8606,1.18,374.8,382.4,5.3,411,8635,0.00,2.67,23.80,0.877,6,0.000,0.059,2547,2204,1253
$GC,8958,1.18,382.8,364.7,5.8,428,8969,0.00,0.00,8.68,0.777,6,0.000,0.000,2547,2204,1220
$GC,9268,1.18,382.8,341.8,8.8,443,9272,0.00,2.72,0.00,0.000,4,0.000,0.072,2547,781,1220
$GC,9307,1.18,382.8,338.1,9.4,445,9311,0.00,2.65,0.00,0.000,6,0.000,0.056,2547,2204,1220
$GC,9633,1.18,382.8,305.7,10.3,461,9638,0.00,2.72,0.00,0.000,4,0.000,0.071,2547,776,1220
$GC,9650,1.18,382.8,303.9,10.2,462,9655,0.00,2.65,0.00,0.000,6,0.000,0.054,2547,2202,1220
$GC,9977,1.18,382.8,271.1,10.0,478,9981,0.00,2.70,0.00,0.000,4,0.000,0.070,2547,781,1220
$GC,9998,1.18,382.8,268.7,10.7,479,10002,0.00,2.62,0.00,0.000,6,0.000,0.054,2547,2200,1220
$GC,10319,1.18,382.8,237.1,9.1,495,10323,0.00,2.70,0.00,0.000,4,0.000,0.068,2547,775,1220
$GC,10346,1.18,382.8,234.5,8.8,496,10350,0.00,2.62,0.00,0.000,6,0.000,0.054,2547,2201,1220
$GC,10662,1.18,382.8,206.8,8.5,511,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2201,1220
$GC,10971,1.18,382.8,179.6,9.6,526,10976,0.00,2.67,0.00,0.000,4,0.000,0.068,2547,781,1220
$GC,11011,1.18,382.8,175.5,10.6,528,11016,0.00,2.60,0.00,0.000,6,0.000,0.054,2547,2201,1220
$GC,11340,1.18,382.8,141.5,11.0,544,11344,0.00,2.67,0.00,0.000,4,0.000,0.067,2547,779,1220
$GC,11373,1.23,382.8,137.3,11.5,545,11379,0.00,2.60,0.00,0.000,6,0.000,0.054,2547,2200,1220
$GC,11689,1.23,382.8,100.1,11.6,561,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2200,1221
$GC,12000,1.23,382.8,66.9,10.9,576,12004,0.00,2.67,0.00,0.000,4,0.000,0.067,2547,777,1221
$GC,12050,1.23,382.8,61.2,10.9,578,12054,0.00,2.60,0.00,0.000,6,0.000,0.053,2547,2201,1221
$GC,12367,1.23,382.8,30.9,9.1,593,12371,0.00,2.67,0.00,0.000,4,0.000,0.077,2547,3612,1222
$GC,12390,1.28,382.8,28.7,9.1,594,12395,0.15,2.60,0.00,0.000,6,0.053,0.060,2592,2197,1222
$STATE,12626,end climb,SURFACE_DEPTH_REACHED
$STATE,12627,begin surface coast
$FINISH,0.6,1.018197
$STATE,12652,end surface coast,CONTROL_FINISHED_OK
$STATE,12652,begin surface
$SM_CCo,12674,84.05,0.626,0,0,509,557.32
$SM_GC,1.08,0.00,0.00,84.05,0.000,0.000,0.626,72,2305,509,-10.25,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1854
$TCM_TEMP,17.50
$XPDR_PINGS,12
$ALTIM_TOP_PING,17.7,17.1
$ALTIM_BOTTOM_PING,425.4,57.6
$24V_AH,23.7,20.859
$10V_AH,10.1,10.531
$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,25.775,139.225,465.375,84.050,0.000,54.178,88.969,289.441,6.500,0.000,0.000,37.061,1159.913,9457.350,691.529,1469.241,680.409,33.388,1470.155,0.000,1414.493,0.000,25.019
$DEVICE_MAMPS,164.905,85.904,960.284,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.088,410.690,424.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31738,607
$CAP_FILE_SIZE,109263,0
$CFSIZE,260165632,251510784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,300608,025907,6212.576,-908.671,27,2.0,27,-9.6