version: 66.03
glider: 16
mission: 9
dive: 114
start: 6 30 108 21 25 7
data:
$ID,16
$MISSION,9
$DIVE,114
$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,-2095315.6
$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,20
$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
$GPS1,211937,6216.158,-902.354,42,1.0,53,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-53.8
$GPS2,212415,6216.201,-902.353,15,1.5,15,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.020,-0.220
$KALMAN_X,-170509.6,-211.6,-119.0,-32865.7,-10809.4
$KALMAN_Y,-2183.8,-2934.2,-2642.0,171862.4,46014.1
$MHEAD_RNG_PITCHd_Wd,191.0,55024,-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,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.72,0.000,2,0.000,0.000,70,2302,2914
$GC,150,-0.85,-146.6,3.5,-2.9,6,180,11.30,2.72,-11.55,0.000,4,0.165,0.084,2109,3707,3381
$GC,265,-0.67,-146.6,19.9,-10.9,11,270,0.22,2.60,0.00,0.000,6,0.089,0.054,2153,2296,3381
$GC,588,-0.62,-146.6,44.5,-7.5,27,593,0.00,2.65,0.00,0.000,4,0.000,0.066,2153,878,3381
$GC,661,-0.62,-146.6,50.0,-7.4,30,665,0.00,2.62,0.00,0.000,6,0.000,0.054,2153,2298,3382
$GC,977,-0.57,-146.6,71.4,-7.0,45,979,0.10,0.00,0.00,0.000,6,0.100,0.000,2172,2298,3381
$GC,1287,-0.57,-146.6,89.5,-5.7,60,1291,0.00,2.65,0.00,0.000,4,0.000,0.064,2172,881,3381
$GC,1350,-0.63,-146.6,93.3,-5.4,63,1354,0.00,2.62,0.00,0.000,6,0.000,0.054,2172,2306,3381
$GC,1677,-0.63,-146.6,111.9,-5.7,79,1681,0.00,2.67,0.00,0.000,4,0.000,0.064,2172,878,3381
$GC,1733,-0.67,-146.6,115.3,-6.0,81,1739,0.00,2.62,0.00,0.000,6,0.000,0.055,2172,2305,3381
$GC,2049,-0.67,-146.6,132.3,-5.2,97,2054,0.00,2.67,0.00,0.000,4,0.000,0.066,2172,880,3381
$GC,2090,-0.73,-146.6,134.4,-5.7,99,2095,0.15,2.62,0.00,0.000,6,0.042,0.056,2122,2305,3381
$GC,2417,-0.61,-146.6,157.9,-7.1,115,2422,0.17,2.65,0.00,0.000,4,0.086,0.067,2162,883,3381
$GC,2467,-0.61,-146.6,160.9,-5.3,117,2471,0.00,2.62,0.00,0.000,6,0.000,0.057,2162,2304,3381
$GC,2783,-0.61,-146.6,177.7,-5.3,132,2787,0.00,2.67,0.00,0.000,4,0.000,0.067,2162,876,3381
$GC,2827,-0.61,-146.6,180.1,-5.8,134,2831,0.00,2.62,0.00,0.000,6,0.000,0.057,2161,2299,3381
$GC,3148,-0.61,-146.6,198.0,-5.7,150,3153,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,883,3382
$GC,3194,-0.61,-146.6,200.5,-5.4,152,3198,0.00,2.62,0.00,0.000,6,0.000,0.057,2162,2303,3381
$GC,3515,-0.61,-146.6,218.4,-5.5,168,3519,0.00,2.67,0.00,0.000,4,0.000,0.067,2162,878,3381
$GC,3548,-0.61,-146.6,220.2,-5.3,169,3554,0.00,2.62,0.00,0.000,6,0.000,0.057,2162,2300,3381
$GC,3864,-0.61,-146.6,236.1,-5.1,185,3868,0.00,2.67,0.00,0.000,4,0.000,0.068,2162,878,3381
$GC,3904,-0.61,-146.6,238.4,-6.0,187,3908,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2299,3381
$GC,4231,-0.61,-146.6,255.4,-5.0,203,4235,0.00,2.65,0.00,0.000,4,0.000,0.068,2161,883,3381
$GC,4270,-0.61,-146.6,257.4,-4.7,205,4275,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2302,3381
$GC,4598,-0.61,-146.6,272.7,-4.6,221,4602,0.00,2.65,0.00,0.000,4,0.000,0.069,2161,882,3381
$GC,4638,-0.61,-146.6,274.7,-5.4,223,4642,0.00,2.62,0.00,0.000,6,0.000,0.058,2163,2300,3381
$GC,4964,-0.61,-146.6,289.8,-4.8,239,4969,0.00,2.67,0.00,0.000,4,0.000,0.068,2162,874,3381
$GC,4998,-0.61,-146.6,291.6,-5.3,240,5004,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2300,3381
$GC,5315,-0.61,-146.6,308.3,-5.2,256,5319,0.00,2.67,0.00,0.000,4,0.000,0.069,2162,876,3381
$GC,5364,-0.61,-146.6,310.9,-5.2,258,5369,0.00,2.62,0.00,0.000,6,0.000,0.057,2162,2300,3381
$GC,5680,-0.61,-146.6,328.4,-6.2,273,5684,0.00,2.65,0.00,0.000,4,0.000,0.070,2162,880,3380
$GC,5758,-0.61,-146.6,334.6,-8.3,276,5764,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2299,3381
$GC,6073,-0.61,-146.6,362.0,-9.0,292,6078,0.00,2.65,0.00,0.000,4,0.000,0.068,2162,881,3380
$GC,6129,-0.66,-146.6,367.3,-9.6,294,6135,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2301,3380
$GC,6445,-0.66,-146.6,393.9,-10.5,310,6449,0.00,2.70,0.00,0.000,4,0.000,0.081,2161,3712,3380
$GC,6484,-0.66,-146.6,398.6,-12.2,312,6489,0.00,2.62,0.00,0.000,6,0.000,0.059,2162,2294,3380
$GC,6811,-0.66,-146.6,430.4,-6.6,328,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2294,3380
$STATE,7015,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7015,begin apogee
$GC,7022,-0.31,0.0,443.2,6.6,338,7152,0.35,0.00,127.55,0.924,6,0.094,0.000,2232,2199,2781
$STATE,7153,end apogee,CONTROL_FINISHED_OK
$STATE,7153,begin climb
$GC,7156,0.85,146.6,449.2,0.0,344,7292,1.15,2.85,126.10,0.912,4,0.074,0.079,2478,3610,2183
$GC,7323,0.93,228.2,446.4,3.8,352,7400,0.12,2.65,70.40,0.894,6,0.049,0.060,2518,2202,1850
$GC,7709,0.93,228.2,419.0,8.1,370,7713,0.00,2.72,0.00,0.000,4,0.000,0.074,2518,776,1849
$GC,7728,0.93,228.2,418.0,7.8,371,7732,0.00,2.67,0.00,0.000,6,0.000,0.056,2518,2204,1848
$GC,8054,0.95,244.2,398.0,5.6,387,8076,0.00,2.78,14.93,0.825,4,0.000,0.078,2518,3617,1785
$GC,8099,1.01,300.6,396.0,4.5,389,8155,0.00,2.70,49.00,0.877,6,0.000,0.064,2518,2201,1554
$GC,8474,1.07,312.7,378.0,5.7,407,8495,0.00,2.80,11.40,0.791,4,0.000,0.079,2518,3617,1504
$GC,8519,1.12,312.7,375.4,6.0,409,8524,0.12,2.67,0.00,0.000,6,0.054,0.064,2555,2201,1506
$GC,8846,1.06,312.7,350.0,7.9,425,8851,0.12,2.70,0.00,0.000,4,0.084,0.072,2529,785,1505
$GC,8896,1.06,312.7,346.0,8.4,427,8900,0.00,2.62,0.00,0.000,6,0.000,0.055,2530,2202,1504
$GC,9211,1.06,312.7,323.6,6.9,442,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2201,1504
$GC,9521,1.06,312.7,301.2,7.5,457,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2201,1504
$GC,9830,1.06,312.7,274.6,9.2,472,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2201,1505
$GC,10139,1.06,312.7,244.5,10.3,487,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2200,1504
$GC,10448,1.06,312.7,211.2,10.8,502,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2201,1504
$GC,10758,1.06,312.7,178.9,10.0,517,10762,0.00,2.67,0.00,0.000,4,0.000,0.066,2529,779,1504
$GC,10779,1.06,312.7,176.8,10.0,518,10784,0.00,2.62,0.00,0.000,6,0.000,0.053,2530,2208,1503
$GC,11101,1.06,312.7,145.8,9.8,534,11105,0.00,2.67,0.00,0.000,4,0.000,0.074,2530,3620,1504
$GC,11141,1.06,312.7,141.9,10.1,536,11145,0.00,2.65,0.00,0.000,6,0.000,0.059,2530,2192,1504
$GC,11467,1.06,312.7,111.7,8.5,552,11472,0.00,2.65,0.00,0.000,4,0.000,0.067,2530,775,1504
$GC,11495,1.06,312.7,109.4,8.8,553,11499,0.00,2.62,0.00,0.000,6,0.000,0.053,2529,2203,1504
$GC,11812,1.06,312.7,83.1,8.2,568,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2203,1504
$GC,12120,1.06,312.7,54.7,9.2,583,12125,0.00,2.67,0.00,0.000,4,0.000,0.074,2529,3621,1505
$GC,12153,1.06,312.7,51.6,9.5,584,12159,0.00,2.62,0.00,0.000,6,0.000,0.059,2529,2199,1505
$GC,12470,1.06,312.7,24.7,8.2,600,12472,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2200,1505
$STATE,12755,end climb,SURFACE_DEPTH_REACHED
$STATE,12755,begin surface coast
$FINISH,0.4,1.013172
$STATE,12777,end surface coast,CONTROL_FINISHED_OK
$STATE,12777,begin surface
$SM_CCo,12799,117.38,0.625,0,0,509,557.32
$SM_GC,1.03,0.00,0.00,117.38,0.000,0.000,0.625,70,2306,509,-10.25,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1851
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,19.0
$ALTIM_BOTTOM_PING,400.7,51.9
$24V_AH,23.7,21.687
$10V_AH,10.2,10.924
$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,24.450,138.700,399.375,117.375,0.000,17.965,25.565,124.508,4.000,0.000,0.000,15.859,1161.924,9570.887,667.810,1398.540,402.623,33.360,1409.425,0.000,1365.924,0.000,26.300
$DEVICE_MAMPS,164.905,83.603,924.235,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.687,417.656,478.750,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31602,615
$CAP_FILE_SIZE,101357,0
$CFSIZE,260165632,251224064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,010708,010137,6214.918,-902.672,34,1.3,34,-9.5