version: 66.03
glider: 16
mission: 9
dive: 97
start: 6 28 108 7 19 1
data:
$ID,16
$MISSION,9
$DIVE,97
$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,-2094921.2
$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,16
$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
$GPS1,070737,6154.858,-900.071,30,1.4,30,-9.4
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-58.8
$GPS2,071809,6154.965,-900.099,13,1.8,13,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.008,-0.221
$KALMAN_X,-152529.5,628.9,-850.7,-48942.0,-1584.9
$KALMAN_Y,-48858.6,-1225.0,-900.7,175680.6,36357.0
$MHEAD_RNG_PITCHd_Wd,201.7,16045,-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,23,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,-120.60,0.000,2,0.000,0.000,67,2309,2922
$GC,152,-0.85,-146.6,3.2,-2.5,6,182,11.38,2.70,-12.00,0.000,4,0.165,0.074,2109,888,3381
$GC,402,-0.72,-146.6,32.5,-10.9,17,407,0.17,2.62,0.00,0.000,6,0.091,0.057,2143,2298,3381
$GC,724,-0.64,-146.6,62.3,-9.5,33,728,0.00,2.65,0.00,0.000,4,0.000,0.062,2143,880,3381
$GC,764,-0.60,-146.6,66.0,-10.2,35,769,0.12,2.62,0.00,0.000,6,0.093,0.054,2167,2302,3381
$GC,1091,-0.60,-146.6,94.9,-8.8,51,1095,0.00,2.65,0.00,0.000,4,0.000,0.063,2167,880,3381
$GC,1153,-0.60,-146.6,100.4,-8.3,54,1158,0.00,2.62,0.00,0.000,6,0.000,0.054,2167,2303,3381
$GC,1480,-0.60,-146.6,125.9,-7.9,70,1484,0.00,2.67,0.00,0.000,4,0.000,0.065,2168,877,3382
$GC,1513,-0.64,-146.6,128.6,-8.6,71,1519,0.00,2.62,0.00,0.000,6,0.000,0.055,2167,2303,3381
$GC,1828,-0.64,-146.6,155.5,-9.0,87,1833,0.00,2.67,0.00,0.000,4,0.000,0.065,2167,875,3382
$GC,1856,-0.64,-146.6,158.2,-9.1,88,1860,0.00,2.62,0.00,0.000,6,0.000,0.054,2167,2299,3382
$GC,2171,-0.64,-146.6,186.3,-8.8,103,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2300,3382
$GC,2481,-0.64,-146.6,212.4,-7.9,118,2485,0.00,2.67,0.00,0.000,4,0.000,0.067,2167,875,3382
$GC,2525,-0.69,-146.6,215.9,-7.7,120,2529,0.00,2.62,0.00,0.000,6,0.000,0.054,2167,2299,3382
$GC,2847,-0.69,-146.6,236.8,-5.8,136,2851,0.00,2.67,0.00,0.000,4,0.000,0.067,2168,878,3382
$GC,2880,-0.74,-146.6,238.8,-6.0,137,2886,0.12,2.62,0.00,0.000,6,0.045,0.054,2125,2299,3382
$GC,3196,-0.63,-146.6,261.3,-7.0,153,3201,0.15,2.67,0.00,0.000,4,0.085,0.067,2159,880,3382
$GC,3240,-0.63,-146.6,263.9,-5.0,155,3245,0.00,2.62,0.00,0.000,6,0.000,0.054,2161,2303,3382
$GC,3562,-0.63,-146.6,280.3,-5.2,171,3567,0.00,2.67,0.00,0.000,4,0.000,0.067,2160,880,3382
$GC,3612,-0.63,-146.6,282.8,-5.3,173,3617,0.00,2.62,0.00,0.000,6,0.000,0.055,2159,2304,3382
$GC,3928,-0.63,-146.6,299.7,-5.9,188,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2304,3382
$GC,4237,-0.63,-146.6,319.7,-7.1,203,4241,0.00,2.67,0.00,0.000,4,0.000,0.068,2160,880,3382
$GC,4300,-0.67,-146.6,324.3,-7.5,206,4304,0.00,2.62,0.00,0.000,6,0.000,0.056,2160,2299,3381
$GC,4627,-0.67,-146.6,350.7,-8.7,222,4631,0.00,2.67,0.00,0.000,4,0.000,0.068,2159,878,3381
$GC,4648,-0.67,-146.6,352.7,-8.7,223,4652,0.00,2.60,0.00,0.000,6,0.000,0.056,2160,2300,3381
$GC,4969,-0.67,-146.6,381.8,-9.3,239,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2301,3381
$GC,5278,-0.67,-146.6,413.1,-10.3,254,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2301,3381
$GC,5587,-0.67,-146.6,444.5,-9.2,269,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2302,3381
$GC,5897,-0.67,-146.6,468.6,-6.4,284,5901,0.00,2.70,0.00,0.000,4,0.000,0.070,2160,877,3381
$GC,5937,-0.73,-146.6,470.1,-4.5,286,5941,0.00,2.65,0.00,0.000,6,0.000,0.058,2160,2303,3380
$GC,6263,-0.73,-146.6,488.4,-6.4,302,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2303,3380
$GC,6573,-0.73,-146.6,505.7,-4.6,317,6577,0.00,2.70,0.00,0.000,4,0.000,0.072,2160,881,3380
$GC,6613,-0.81,-146.6,507.6,-4.4,319,6618,0.17,2.65,0.00,0.000,6,0.044,0.061,2109,2299,3379
$STATE,6916,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6916,begin apogee
$GC,6924,-0.31,0.0,536.5,8.9,334,7059,0.60,0.00,129.82,1.003,6,0.090,0.000,2230,2189,2781
$STATE,7060,end apogee,CONTROL_FINISHED_OK
$STATE,7060,begin climb
$GC,7063,0.85,146.6,543.2,0.0,341,7199,1.17,2.88,127.45,0.991,4,0.077,0.083,2480,3607,2183
$GC,7230,0.88,181.0,540.2,5.1,349,7272,0.00,2.67,31.15,0.950,6,0.000,0.061,2480,2204,2043
$GC,7581,0.92,216.5,521.9,5.0,366,7622,0.00,2.88,32.00,0.952,4,0.000,0.077,2480,772,1897
$GC,7674,1.04,269.2,516.7,4.6,370,7731,0.20,2.67,46.90,0.963,6,0.054,0.058,2532,2198,1683
$GC,8041,1.04,269.2,483.9,9.4,388,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2198,1682
$GC,8349,1.04,269.2,455.4,8.8,403,8354,0.00,2.80,0.00,0.000,4,0.000,0.087,2532,3621,1681
$GC,8376,1.04,269.2,452.6,9.3,404,8381,0.00,2.70,0.00,0.000,6,0.000,0.066,2532,2193,1681
$GC,8692,1.04,269.2,423.1,9.9,419,8696,0.00,2.70,0.00,0.000,4,0.000,0.076,2532,785,1680
$GC,8724,1.04,269.2,419.5,10.2,420,8731,0.00,2.65,0.00,0.000,6,0.000,0.059,2532,2200,1680
$GC,9041,1.04,269.2,393.7,6.7,436,9045,0.00,2.75,0.00,0.000,4,0.000,0.087,2532,3613,1679
$GC,9135,0.99,269.2,387.3,6.8,440,9140,0.00,2.67,0.00,0.000,6,0.000,0.067,2532,2203,1679
$GC,9451,1.06,333.8,372.9,4.2,455,9514,0.00,2.83,54.97,0.907,4,0.000,0.084,2532,3614,1420
$GC,9542,1.08,348.0,368.2,5.6,459,9561,0.00,2.70,13.85,0.834,6,0.000,0.065,2532,2197,1362
$GC,9890,1.08,348.0,347.7,6.4,476,9894,0.00,2.70,0.00,0.000,4,0.000,0.072,2532,782,1361
$GC,9923,1.08,353.3,345.5,5.9,477,9934,0.00,2.65,6.03,0.699,6,0.000,0.056,2532,2204,1340
$GC,10255,1.08,353.3,321.9,7.7,494,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2204,1340
$GC,10565,1.12,353.3,297.4,7.9,509,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2204,1340
$GC,10874,1.12,353.3,272.7,8.1,524,10878,0.00,2.70,0.00,0.000,4,0.000,0.069,2532,782,1339
$GC,10936,1.12,353.3,267.4,8.8,527,10940,0.00,2.62,0.00,0.000,6,0.000,0.054,2532,2202,1340
$GC,11262,1.12,353.3,236.8,9.8,543,11267,0.00,2.72,0.00,0.000,4,0.000,0.080,2532,3619,1341
$GC,11284,1.17,353.3,234.5,10.1,544,11289,0.12,2.65,0.00,0.000,6,0.051,0.061,2569,2196,1341
$GC,11605,1.13,353.3,196.0,12.1,560,11610,0.12,2.65,0.00,0.000,4,0.086,0.067,2544,783,1341
$GC,11668,1.13,353.3,189.4,9.9,563,11672,0.00,2.62,0.00,0.000,6,0.000,0.054,2544,2204,1341
$GC,11994,1.13,353.3,155.3,10.5,579,11995,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2204,1341
$GC,12304,1.13,353.3,123.1,10.5,594,12308,0.00,2.67,0.00,0.000,4,0.000,0.066,2544,782,1341
$GC,12344,1.13,353.3,119.0,9.9,596,12348,0.00,2.60,0.00,0.000,6,0.000,0.053,2544,2203,1342
$GC,12670,1.13,353.3,85.4,9.9,612,12675,0.00,2.67,0.00,0.000,4,0.000,0.067,2545,780,1342
$GC,12703,1.13,353.3,82.0,9.3,613,12710,0.00,2.60,0.00,0.000,6,0.000,0.052,2544,2202,1342
$GC,13021,1.13,353.3,52.2,9.2,629,13025,0.00,2.70,0.00,0.000,4,0.000,0.077,2544,3619,1342
$GC,13054,1.13,353.3,48.7,9.3,630,13060,0.00,2.62,0.00,0.000,6,0.000,0.061,2544,2198,1343
$GC,13372,1.13,353.3,19.1,9.2,646,13376,0.00,2.65,0.00,0.000,4,0.000,0.067,2544,780,1343
$GC,13395,1.13,353.3,16.8,9.3,647,13399,0.00,2.60,0.00,0.000,6,0.000,0.053,2544,2200,1343
$STATE,13569,end climb,SURFACE_DEPTH_REACHED
$STATE,13569,begin surface coast
$FINISH,0.5,1.001871
$STATE,13591,end surface coast,CONTROL_FINISHED_OK
$STATE,13591,begin surface
$SM_CCo,13612,99.18,0.624,0,0,508,557.32
$SM_GC,1.31,0.00,0.00,99.18,0.000,0.000,0.624,65,2307,508,-10.28,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.020709
$HUMID,1852
$TCM_TEMP,17.70
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.1,18.2
$ALTIM_BOTTOM_PING,475.8,69.2
$24V_AH,23.6,19.242
$10V_AH,10.1,9.810
$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,25.000,144.700,442.175,99.175,0.000,36.316,52.675,364.138,10.250,0.000,0.000,13.715,1226.036,10238.131,689.826,1496.499,698.099,33.361,1492.539,0.000,1460.719,0.000,28.303
$DEVICE_MAMPS,164.905,86.671,1003.236,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.738,445.364,446.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34844,657
$CAP_FILE_SIZE,114289,0
$CFSIZE,260165632,252051456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,280608,110907,6155.433,-902.867,43,2.0,54,-9.4