version: 66.03
glider: 16
mission: 9
dive: 99
start: 6 28 108 15 11 44
data:
$ID,16
$MISSION,9
$DIVE,99
$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,-2094993.2
$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,17
$R_STBD_OVSHOOT,18
$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
$GPS1,150558,6158.315,-906.042,34,2.3,53,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-56.8
$GPS2,151053,6158.443,-906.083,15,2.3,34,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.171,-0.139
$KALMAN_X,-157516.9,-146.0,-343.8,-49091.1,-9721.1
$KALMAN_Y,-35761.2,-2427.0,-1133.1,170524.7,51990.6
$MHEAD_RNG_PITCHd_Wd,184.7,22194,-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,-121.00,0.000,2,0.000,0.000,66,2303,2957
$GC,150,-0.85,-146.6,3.7,-3.1,6,180,11.32,2.67,-10.30,0.000,4,0.165,0.074,2107,881,3380
$GC,299,-0.72,-146.6,23.5,-10.9,12,306,0.17,2.62,0.00,0.000,6,0.091,0.058,2141,2300,3380
$GC,616,-0.65,-146.6,53.5,-9.6,28,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2300,3380
$GC,926,-0.56,-146.6,82.4,-9.0,43,931,0.15,2.65,0.00,0.000,4,0.092,0.063,2174,881,3380
$GC,991,-0.62,-146.6,87.0,-6.6,46,995,0.00,2.65,0.00,0.000,6,0.000,0.057,2174,2303,3381
$GC,1319,-0.62,-146.6,108.2,-6.4,62,1323,0.00,2.72,0.00,0.000,4,0.000,0.079,2173,3720,3381
$GC,1351,-0.62,-146.6,110.7,-7.3,63,1358,0.00,2.60,0.00,0.000,6,0.000,0.052,2174,2295,3381
$GC,1668,-0.62,-146.6,129.3,-5.9,79,1672,0.00,2.62,0.00,0.000,4,0.000,0.064,2174,884,3381
$GC,1724,-0.69,-146.6,132.7,-5.7,81,1731,0.12,2.62,0.00,0.000,6,0.045,0.058,2129,2300,3381
$GC,2040,-0.59,-146.6,158.7,-8.5,97,2045,0.17,2.72,0.00,0.000,4,0.082,0.079,2170,3718,3381
$GC,2073,-0.59,-146.6,161.3,-7.0,98,2079,0.00,2.60,0.00,0.000,6,0.000,0.054,2170,2300,3381
$GC,2388,-0.59,-146.6,180.9,-6.7,114,2393,0.00,2.62,0.00,0.000,4,0.000,0.064,2170,884,3381
$GC,2433,-0.64,-146.6,183.8,-6.7,116,2438,0.00,2.62,0.00,0.000,6,0.000,0.058,2170,2300,3381
$GC,2755,-0.64,-146.6,206.6,-6.8,132,2759,0.00,2.65,0.00,0.000,4,0.000,0.065,2170,886,3381
$GC,2799,-0.71,-146.6,209.9,-7.5,134,2804,0.12,2.62,0.00,0.000,6,0.045,0.057,2127,2302,3381
$GC,3120,-0.61,-146.6,238.7,-9.6,150,3125,0.15,2.65,0.00,0.000,4,0.084,0.067,2162,886,3381
$GC,3170,-0.65,-146.6,242.8,-7.8,152,3175,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2301,3381
$GC,3486,-0.65,-146.6,264.9,-6.2,167,3491,0.00,2.65,0.00,0.000,4,0.000,0.066,2162,886,3381
$GC,3531,-0.65,-146.6,267.7,-6.2,169,3535,0.00,2.60,0.00,0.000,6,0.000,0.058,2162,2300,3381
$GC,3852,-0.65,-146.6,283.8,-4.5,185,3856,0.00,2.65,0.00,0.000,4,0.000,0.067,2162,886,3381
$GC,3914,-0.69,-146.6,286.7,-4.5,188,3919,0.00,2.60,0.00,0.000,6,0.000,0.058,2162,2303,3381
$GC,4241,-0.69,-146.6,301.8,-4.7,204,4246,0.00,2.67,0.00,0.000,4,0.000,0.068,2161,884,3381
$GC,4275,-0.69,-146.6,303.6,-4.8,205,4281,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2302,3381
$GC,4591,-0.69,-146.6,322.6,-6.7,221,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2302,3381
$GC,4900,-0.69,-146.6,343.5,-6.8,236,4905,0.00,2.67,0.00,0.000,4,0.000,0.069,2162,884,3381
$GC,4985,-0.69,-146.6,349.8,-7.7,240,4990,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2300,3381
$GC,5318,-0.69,-146.6,374.7,-7.5,256,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2300,3380
$GC,5627,-0.69,-146.6,399.3,-8.5,271,5631,0.00,2.65,0.00,0.000,4,0.000,0.070,2162,886,3380
$GC,5654,-0.69,-146.6,402.0,-9.7,272,5659,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2303,3380
$GC,5973,-0.69,-146.6,426.2,-8.3,287,5977,0.00,2.67,0.00,0.000,4,0.000,0.071,2162,883,3380
$GC,6023,-0.76,-146.6,430.9,-8.9,289,6028,0.12,2.65,0.00,0.000,6,0.048,0.059,2121,2307,3380
$GC,6339,-0.65,-146.6,462.2,-10.3,304,6344,0.17,2.72,0.00,0.000,4,0.081,0.085,2160,3713,3380
$GC,6361,-0.65,-146.6,464.4,-9.0,305,6365,0.00,2.60,0.00,0.000,6,0.000,0.058,2161,2300,3380
$STATE,6514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6514,begin apogee
$GC,6521,-0.31,0.0,477.4,9.5,313,6656,0.35,0.00,128.68,0.954,6,0.085,0.000,2232,2191,2781
$STATE,6657,end apogee,CONTROL_FINISHED_OK
$STATE,6657,begin climb
$GC,6660,0.85,146.6,489.0,0.0,320,6797,1.15,2.88,126.57,0.941,4,0.071,0.084,2479,3608,2184
$GC,6896,0.87,167.9,477.4,5.4,331,6921,0.00,2.65,19.92,0.874,6,0.000,0.061,2479,2198,2096
$GC,7245,0.91,167.9,458.6,6.6,348,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2198,2095
$GC,7552,0.94,190.0,445.7,5.4,363,7580,0.12,2.88,20.20,0.888,4,0.055,0.084,2516,3613,2005
$GC,7603,0.87,191.4,442.7,6.0,365,7608,0.15,2.67,0.00,0.000,6,0.094,0.062,2486,2201,2006
$GC,7919,0.97,235.7,430.1,4.8,380,7966,0.12,2.85,40.10,0.917,4,0.052,0.085,2520,3617,1820
$GC,8025,0.90,235.7,423.0,6.6,385,8031,0.12,2.70,0.00,0.000,6,0.097,0.064,2496,2196,1820
$GC,8353,0.99,265.0,406.6,5.2,401,8387,0.00,2.83,26.80,0.894,4,0.000,0.074,2496,783,1699
$GC,8427,1.07,265.0,400.5,9.5,404,8433,0.17,2.67,0.00,0.000,6,0.057,0.059,2534,2201,1697
$GC,8743,1.03,265.0,366.3,12.1,419,8748,0.00,2.75,0.00,0.000,4,0.000,0.087,2534,3620,1697
$GC,8821,0.98,265.0,356.8,12.2,422,8828,0.12,2.70,0.00,0.000,6,0.099,0.065,2510,2199,1698
$GC,9137,0.98,265.0,322.5,9.9,438,9141,0.00,2.67,0.00,0.000,4,0.000,0.071,2510,781,1697
$GC,9176,0.98,265.0,318.9,9.3,440,9181,0.00,2.65,0.00,0.000,6,0.000,0.058,2510,2206,1696
$GC,9502,0.98,265.0,289.6,8.7,456,9507,0.00,2.72,0.00,0.000,4,0.000,0.084,2510,3617,1696
$GC,9530,0.98,265.0,287.2,8.4,457,9534,0.00,2.67,0.00,0.000,6,0.000,0.064,2510,2197,1696
$GC,9845,0.98,265.0,261.9,7.8,472,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2198,1696
$GC,10154,0.98,265.0,234.9,8.6,487,10159,0.00,2.75,0.00,0.000,4,0.000,0.082,2510,3622,1696
$GC,10176,0.98,265.0,232.8,8.8,488,10181,0.00,2.65,0.00,0.000,6,0.000,0.061,2510,2199,1696
$GC,10498,0.98,265.0,202.8,9.9,504,10502,0.00,2.65,0.00,0.000,4,0.000,0.067,2510,782,1696
$GC,10519,0.98,265.0,200.5,10.5,505,10523,0.00,2.62,0.00,0.000,6,0.000,0.055,2510,2204,1696
$GC,10840,0.98,265.0,166.3,10.1,521,10844,0.00,2.70,0.00,0.000,4,0.000,0.080,2510,3616,1696
$GC,10862,0.98,265.0,164.1,10.2,522,10866,0.00,2.65,0.00,0.000,6,0.000,0.062,2510,2194,1697
$GC,11183,0.98,265.0,131.2,10.7,538,11187,0.00,2.75,0.00,0.000,4,0.000,0.080,2510,3623,1697
$GC,11215,0.98,265.0,127.2,12.5,539,11221,0.00,2.62,0.00,0.000,6,0.000,0.060,2510,2199,1697
$GC,11533,0.98,265.0,94.0,10.3,555,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2199,1697
$GC,11840,0.98,265.0,64.7,8.8,570,11845,0.00,2.72,0.00,0.000,4,0.000,0.078,2510,3619,1697
$GC,11858,0.98,265.0,63.0,8.7,571,11863,0.00,2.62,0.00,0.000,6,0.000,0.058,2510,2199,1697
$GC,12187,0.98,265.0,37.3,7.4,587,12188,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2199,1697
$GC,12495,0.98,265.0,15.5,6.9,602,12499,0.00,2.72,0.00,0.000,4,0.000,0.078,2510,3620,1698
$GC,12516,0.98,265.0,13.9,7.2,603,12520,0.00,2.65,0.00,0.000,6,0.000,0.059,2510,2191,1698
$STATE,12690,end climb,SURFACE_DEPTH_REACHED
$STATE,12690,begin surface coast
$FINISH,0.5,1.002717
$STATE,12712,end surface coast,CONTROL_FINISHED_OK
$STATE,12712,begin surface
$SM_CCo,12735,140.70,0.622,0,0,509,557.32
$SM_GC,1.16,0.00,0.00,140.70,0.000,0.000,0.622,73,2314,509,-10.24,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1847
$TCM_TEMP,16.60
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.7,18.6
$ALTIM_BOTTOM_PING,451.5,35.9
$24V_AH,23.7,19.514
$10V_AH,10.1,9.947
$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,25.375,150.175,362.275,140.700,0.000,18.033,24.866,121.249,9.000,0.000,0.000,35.077,1167.388,9500.298,675.491,1429.760,402.372,33.362,1424.326,0.000,1374.913,0.000,29.488
$DEVICE_MAMPS,164.905,86.671,954.148,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.205,415.618,453.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31698,613
$CAP_FILE_SIZE,105064,0
$CFSIZE,260165632,251957248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,280608,184737,6201.171,-907.772,38,1.3,38,-9.5