version: 66.03
glider: 16
mission: 9
dive: 98
start: 6 28 108 11 18 14
data:
$ID,16
$MISSION,9
$DIVE,98
$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,-2094957.5
$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,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
$GPS1,110907,6155.433,-902.867,43,2.0,54,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-56.4
$GPS2,111723,6155.590,-903.008,15,2.5,34,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.045,-0.217
$KALMAN_X,-157524.1,1420.8,918.6,-49101.0,-14724.4
$KALMAN_Y,-41412.7,-3569.3,-1547.2,172450.8,48889.7
$MHEAD_RNG_PITCHd_Wd,192.4,16858,-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,-121.20,0.000,2,0.000,0.000,64,2308,2953
$GC,150,-0.85,-146.6,4.0,-3.5,6,180,11.35,2.70,-10.15,0.000,4,0.164,0.075,2107,881,3379
$GC,305,-0.72,-146.6,24.1,-10.8,13,310,0.17,2.62,0.00,0.000,6,0.094,0.056,2141,2297,3379
$GC,633,-0.64,-146.6,52.9,-9.2,29,637,0.00,2.65,0.00,0.000,4,0.000,0.063,2141,880,3379
$GC,677,-0.64,-146.6,56.6,-7.8,31,681,0.00,2.65,0.00,0.000,6,0.000,0.055,2141,2305,3379
$GC,998,-0.55,-146.6,82.0,-7.9,47,1003,0.15,2.70,0.00,0.000,4,0.093,0.077,2175,3716,3379
$GC,1026,-0.55,-146.6,84.2,-7.6,48,1030,0.00,2.60,0.00,0.000,6,0.000,0.054,2175,2295,3379
$GC,1342,-0.55,-146.6,107.2,-7.9,63,1346,0.00,2.62,0.00,0.000,4,0.000,0.065,2175,885,3379
$GC,1414,-0.62,-146.6,113.4,-8.7,66,1418,0.00,2.62,0.00,0.000,6,0.000,0.057,2175,2299,3379
$GC,1732,-0.62,-146.6,139.3,-8.4,81,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2299,3379
$GC,2039,-0.62,-146.6,164.3,-7.6,96,2044,0.00,2.65,0.00,0.000,4,0.000,0.064,2175,885,3379
$GC,2107,-0.68,-146.6,169.6,-8.2,99,2112,0.12,2.62,0.00,0.000,6,0.045,0.056,2132,2302,3379
$GC,2430,-0.58,-146.6,200.6,-9.9,115,2432,0.20,0.00,0.00,0.000,6,0.080,0.000,2172,2302,3380
$GC,2740,-0.58,-146.6,225.4,-8.1,130,2744,0.00,2.65,0.00,0.000,4,0.000,0.065,2173,886,3379
$GC,2795,-0.64,-146.6,230.3,-8.4,132,2801,0.00,2.62,0.00,0.000,6,0.000,0.058,2172,2300,3379
$GC,3111,-0.64,-146.6,256.7,-8.2,148,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2300,3379
$GC,3420,-0.64,-146.6,281.5,-8.0,163,3424,0.00,2.67,0.00,0.000,4,0.000,0.067,2172,879,3379
$GC,3464,-0.71,-146.6,285.1,-8.5,165,3469,0.12,2.62,0.00,0.000,6,0.045,0.058,2131,2299,3379
$GC,3786,-0.62,-146.6,315.7,-9.2,181,3788,0.15,0.00,0.00,0.000,6,0.083,0.000,2161,2300,3379
$GC,4095,-0.62,-146.6,339.6,-7.6,196,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2300,3379
$GC,4405,-0.62,-146.6,362.4,-7.5,211,4409,0.00,2.67,0.00,0.000,4,0.000,0.068,2161,880,3379
$GC,4466,-0.62,-146.6,367.2,-7.5,214,4471,0.00,2.62,0.00,0.000,6,0.000,0.058,2161,2299,3379
$GC,4793,-0.62,-146.6,391.4,-7.5,230,4798,0.00,2.67,0.00,0.000,4,0.000,0.067,2161,879,3379
$GC,4827,-0.67,-146.6,394.1,-8.1,231,4833,0.00,2.65,0.00,0.000,6,0.000,0.058,2161,2305,3379
$GC,5142,-0.67,-146.6,418.9,-8.1,247,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2304,3379
$GC,5452,-0.67,-146.6,446.0,-9.0,262,5456,0.00,2.72,0.00,0.000,4,0.000,0.086,2161,3710,3379
$GC,5479,-0.67,-146.6,449.0,-11.2,263,5483,0.00,2.60,0.00,0.000,6,0.000,0.057,2161,2300,3379
$GC,5794,-0.67,-146.6,476.9,-9.3,278,5799,0.00,2.65,0.00,0.000,4,0.000,0.071,2161,883,3379
$GC,5858,-0.77,-146.6,483.0,-9.8,281,5863,0.12,2.62,0.00,0.000,6,0.048,0.061,2121,2298,3379
$STATE,6182,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6182,begin apogee
$GC,6189,-0.31,0.0,514.1,9.1,297,6325,0.52,0.00,129.18,0.982,6,0.086,0.000,2228,2200,2780
$STATE,6325,end apogee,CONTROL_FINISHED_OK
$STATE,6325,begin climb
$GC,6328,0.85,146.6,521.1,0.0,304,6464,1.15,2.85,127.40,0.966,4,0.064,0.084,2481,3606,2184
$GC,6698,0.85,146.6,502.7,6.6,321,6703,0.00,2.65,0.00,0.000,6,0.000,0.061,2481,2204,2183
$GC,7024,0.85,146.6,484.2,6.3,337,7029,0.00,2.80,0.00,0.000,4,0.000,0.087,2481,3618,2182
$GC,7074,0.85,146.6,480.4,7.2,339,7078,0.00,2.67,0.00,0.000,6,0.000,0.061,2480,2200,2182
$GC,7390,0.90,199.2,466.9,4.6,354,7442,0.00,2.78,46.33,0.946,4,0.000,0.073,2482,785,1967
$GC,7481,0.96,199.2,462.8,6.4,358,7486,0.12,2.67,0.00,0.000,6,0.066,0.058,2507,2200,1967
$GC,7797,0.96,199.2,439.0,7.8,373,7801,0.00,2.78,0.00,0.000,4,0.000,0.088,2507,3613,1965
$GC,7931,0.90,199.2,428.4,7.6,379,7935,0.00,2.67,0.00,0.000,6,0.000,0.064,2508,2199,1965
$GC,8252,0.90,199.2,403.2,7.9,395,8256,0.00,2.80,0.00,0.000,4,0.000,0.087,2508,3619,1964
$GC,8307,0.90,199.2,398.4,8.9,397,8313,0.00,2.67,0.00,0.000,6,0.000,0.064,2508,2194,1964
$GC,8622,0.90,199.2,374.2,6.9,413,8627,0.00,2.67,0.00,0.000,4,0.000,0.072,2508,785,1963
$GC,8662,0.90,199.2,371.5,7.4,415,8666,0.00,2.65,0.00,0.000,6,0.000,0.058,2508,2203,1963
$GC,8989,0.90,199.2,349.0,6.5,431,8993,0.00,2.75,0.00,0.000,4,0.000,0.085,2508,3619,1963
$GC,9061,0.90,199.2,344.1,6.7,434,9065,0.00,2.67,0.00,0.000,6,0.000,0.064,2508,2200,1963
$GC,9376,0.95,247.6,327.7,4.7,449,9423,0.00,2.80,41.33,0.871,4,0.000,0.084,2508,3613,1771
$GC,9463,0.96,259.9,323.3,5.7,453,9482,0.00,2.67,12.43,0.795,6,0.000,0.062,2508,2195,1721
$GC,9812,1.01,269.1,305.2,5.7,470,9823,0.00,0.00,9.40,0.755,6,0.000,0.000,2508,2194,1683
$GC,10119,1.06,269.1,281.8,8.4,485,10121,0.10,0.00,0.00,0.000,6,0.071,0.000,2533,2194,1682
$GC,10428,1.06,269.1,250.4,10.2,500,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2194,1682
$GC,10737,1.06,269.1,218.2,9.9,515,10742,0.00,2.72,0.00,0.000,4,0.000,0.081,2533,3615,1683
$GC,10804,1.06,269.1,211.3,10.2,518,10808,0.00,2.62,0.00,0.000,6,0.000,0.060,2533,2199,1683
$GC,11124,1.06,269.1,182.8,7.9,534,11128,0.00,2.67,0.00,0.000,4,0.000,0.068,2533,773,1683
$GC,11141,1.06,269.1,181.5,8.1,535,11145,0.00,2.62,0.00,0.000,6,0.000,0.054,2534,2201,1683
$GC,11468,1.06,269.1,155.6,7.9,551,11472,0.00,2.72,0.00,0.000,4,0.000,0.081,2533,3621,1683
$GC,11517,1.06,269.1,151.1,9.2,553,11521,0.00,2.65,0.00,0.000,6,0.000,0.060,2533,2197,1684
$GC,11833,1.06,269.1,126.2,7.7,568,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2197,1683
$GC,12144,1.06,269.1,100.4,8.4,583,12148,0.00,2.72,0.00,0.000,4,0.000,0.080,2533,3614,1684
$GC,12193,1.06,269.1,95.9,8.4,585,12198,0.00,2.62,0.00,0.000,6,0.000,0.058,2533,2193,1684
$GC,12511,1.06,269.1,71.0,8.0,600,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2193,1684
$GC,12819,1.06,269.1,45.6,7.9,615,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2193,1684
$GC,13128,1.06,269.1,21.4,7.9,630,13132,0.00,2.72,0.00,0.000,4,0.000,0.079,2533,3614,1684
$GC,13177,1.06,269.1,17.1,9.1,632,13182,0.00,2.62,0.00,0.000,6,0.000,0.058,2533,2197,1685
$STATE,13389,end climb,SURFACE_DEPTH_REACHED
$STATE,13389,begin surface coast
$FINISH,0.5,1.002613
$STATE,13409,end surface coast,CONTROL_FINISHED_OK
$STATE,13409,begin surface
$SM_CCo,13431,138.77,0.621,0,0,509,557.32
$SM_GC,1.23,0.00,0.00,138.77,0.000,0.000,0.621,67,2302,509,-10.27,0.06,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1824
$TCM_TEMP,17.70
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,451.1,72.2
$24V_AH,23.7,19.383
$10V_AH,10.1,9.881
$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,24.925,128.925,366.050,138.775,0.000,36.414,60.226,196.876,8.000,0.000,0.000,35.624,1213.192,10146.837,658.991,1522.322,529.314,33.356,1430.062,0.000,1466.113,0.000,29.639
$DEVICE_MAMPS,164.138,88.205,981.760,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.987,437.260,465.641,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31697,643
$CAP_FILE_SIZE,104955,0
$CFSIZE,260165632,252006400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,280608,150558,6158.315,-906.042,34,2.3,53,-9.4