version: 66.03
glider: 16
mission: 9
dive: 100
start: 6 28 108 19 0 34
data:
$ID,16
$MISSION,9
$DIVE,100
$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,-2095010.8
$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,22
$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
$GPS1,184737,6201.171,-907.772,38,1.3,38,-9.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-56.9
$GPS2,185940,6201.292,-908.047,16,1.9,16,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.059,-0.213
$KALMAN_X,-165068.3,-330.6,280.1,-43728.7,-19930.0
$KALMAN_Y,-29402.2,-2589.7,-2522.1,170985.9,57910.1
$MHEAD_RNG_PITCHd_Wd,182.1,27622,-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,-120.88,0.000,2,0.000,0.000,71,2315,2936
$GC,150,-0.85,-146.6,3.3,-2.7,6,180,11.27,2.72,-11.27,0.000,4,0.163,0.074,2109,881,3381
$GC,345,-0.72,-146.6,27.2,-10.6,14,352,0.17,2.62,0.00,0.000,6,0.093,0.058,2143,2294,3381
$GC,661,-0.64,-146.6,55.0,-8.5,30,666,0.00,2.65,0.00,0.000,4,0.000,0.064,2143,880,3381
$GC,717,-0.64,-146.6,59.8,-8.1,32,723,0.00,2.60,0.00,0.000,6,0.000,0.058,2143,2301,3381
$GC,1035,-0.56,-146.6,83.6,-7.0,48,1040,0.15,2.67,0.00,0.000,4,0.093,0.064,2176,877,3381
$GC,1080,-0.64,-146.6,86.6,-5.7,50,1085,0.00,2.65,0.00,0.000,6,0.000,0.057,2176,2303,3381
$GC,1401,-0.64,-146.6,103.9,-5.5,66,1406,0.00,2.67,0.00,0.000,4,0.000,0.064,2176,879,3382
$GC,1436,-0.71,-146.6,106.0,-5.7,67,1443,0.15,2.62,0.00,0.000,6,0.041,0.057,2126,2300,3381
$GC,1753,-0.59,-146.6,128.1,-6.8,83,1755,0.22,0.00,0.00,0.000,6,0.081,0.000,2172,2299,3382
$GC,2061,-0.59,-146.6,146.1,-6.0,98,2065,0.00,2.67,0.00,0.000,4,0.000,0.066,2172,877,3381
$GC,2111,-0.66,-146.6,149.4,-6.7,100,2115,0.00,2.62,0.00,0.000,6,0.000,0.056,2172,2300,3382
$GC,2426,-0.66,-146.6,172.6,-8.3,115,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2300,3382
$GC,2737,-0.66,-146.6,201.5,-9.2,130,2741,0.00,2.67,0.00,0.000,4,0.000,0.067,2172,874,3382
$GC,2799,-0.73,-146.6,207.4,-9.7,133,2804,0.15,2.65,0.00,0.000,6,0.041,0.057,2123,2298,3382
$GC,3126,-0.63,-146.6,243.6,-10.9,149,3128,0.20,0.00,0.00,0.000,6,0.081,0.000,2165,2298,3381
$GC,3435,-0.63,-146.6,267.2,-7.2,164,3440,0.00,2.67,0.00,0.000,4,0.000,0.067,2165,881,3382
$GC,3475,-0.67,-146.6,270.2,-7.6,166,3480,0.00,2.65,0.00,0.000,6,0.000,0.059,2165,2305,3382
$GC,3802,-0.67,-146.6,298.7,-9.1,182,3806,0.00,2.67,0.00,0.000,4,0.000,0.068,2165,881,3382
$GC,3864,-0.72,-146.6,304.4,-9.0,185,3868,0.00,2.65,0.00,0.000,6,0.000,0.059,2165,2305,3382
$GC,4191,-0.72,-146.6,336.8,-9.7,201,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2305,3382
$GC,4500,-0.72,-146.6,360.2,-6.3,216,4505,0.00,2.72,0.00,0.000,4,0.000,0.085,2165,3713,3381
$GC,4534,-0.72,-146.6,362.3,-6.1,217,4540,0.00,2.62,0.00,0.000,6,0.000,0.060,2166,2297,3381
$GC,4850,-0.72,-146.6,376.3,-3.7,233,4854,0.00,2.65,0.00,0.000,4,0.000,0.070,2165,885,3381
$GC,4939,-0.79,-146.6,379.6,-3.4,237,4945,0.17,2.65,0.00,0.000,6,0.042,0.061,2112,2301,3381
$GC,5261,-0.67,-146.6,395.2,-5.4,253,5263,0.20,0.00,0.00,0.000,6,0.083,0.000,2152,2301,3381
$GC,5570,-0.67,-146.6,409.3,-4.8,268,5575,0.00,2.70,0.00,0.000,4,0.000,0.071,2153,880,3380
$GC,5626,-0.67,-146.6,412.4,-5.5,270,5633,0.00,2.67,0.00,0.000,6,0.000,0.063,2152,2308,3380
$GC,5942,-0.67,-146.6,432.5,-6.2,286,5947,0.00,2.72,0.00,0.000,4,0.000,0.071,2152,877,3379
$GC,5982,-0.67,-146.6,434.9,-6.8,288,5987,0.00,2.67,0.00,0.000,6,0.000,0.064,2153,2305,3380
$GC,6309,-0.63,-146.6,457.2,-7.7,304,6314,0.00,2.72,0.00,0.000,4,0.000,0.073,2152,880,3379
$GC,6394,-0.69,-146.6,464.0,-7.2,308,6398,0.00,2.67,0.00,0.000,6,0.000,0.064,2152,2303,3379
$STATE,6697,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6697,begin apogee
$GC,6704,-0.31,0.0,487.0,8.0,323,6839,0.38,0.00,128.27,0.979,6,0.087,0.000,2229,2197,2782
$STATE,6840,end apogee,CONTROL_FINISHED_OK
$STATE,6840,begin climb
$GC,6843,0.85,146.6,492.3,0.0,330,6981,1.23,2.80,128.05,0.963,4,0.081,0.074,2483,782,2183
$GC,7009,0.89,186.4,487.6,4.9,338,7050,0.00,2.70,35.40,0.927,6,0.000,0.061,2483,2199,2021
$GC,7375,0.99,232.9,467.6,4.7,356,7424,0.15,2.85,41.47,0.933,4,0.052,0.088,2530,3616,1831
$GC,7469,0.89,232.9,460.7,8.1,360,7475,0.17,2.70,0.00,0.000,6,0.091,0.067,2495,2203,1831
$GC,7785,0.93,262.6,443.3,5.2,375,7819,0.00,2.80,26.90,0.923,4,0.000,0.076,2495,783,1709
$GC,7832,1.03,295.2,440.7,5.1,377,7869,0.12,2.70,28.92,0.918,6,0.054,0.062,2530,2198,1577
$GC,8181,1.03,295.2,419.5,6.1,394,8185,0.00,2.75,0.00,0.000,4,0.000,0.076,2530,782,1576
$GC,8243,1.03,295.2,415.3,7.0,397,8247,0.00,2.70,0.00,0.000,6,0.000,0.063,2530,2207,1575
$GC,8569,1.03,295.2,395.1,6.2,413,8574,0.00,2.78,0.00,0.000,4,0.000,0.092,2530,3617,1574
$GC,8613,1.03,295.2,392.0,7.5,415,8617,0.00,2.72,0.00,0.000,6,0.000,0.070,2530,2194,1574
$GC,8934,1.03,295.2,367.3,9.6,431,8939,0.00,2.72,0.00,0.000,4,0.000,0.077,2530,775,1573
$GC,8974,1.03,295.2,363.1,9.8,433,8978,0.00,2.67,0.00,0.000,6,0.000,0.060,2530,2200,1573
$GC,9300,1.03,295.2,331.3,9.4,449,9304,0.00,2.75,0.00,0.000,4,0.000,0.087,2530,3614,1573
$GC,9327,1.03,295.2,328.6,10.0,450,9331,0.00,2.70,0.00,0.000,6,0.000,0.068,2530,2197,1573
$GC,9643,1.03,295.2,300.8,8.6,465,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2197,1573
$GC,9952,1.03,295.2,273.8,9.3,480,9956,0.00,2.70,0.00,0.000,4,0.000,0.073,2530,777,1573
$GC,10007,1.03,295.2,268.3,10.0,482,10013,0.00,2.65,0.00,0.000,6,0.000,0.056,2530,2206,1573
$GC,10322,1.03,295.2,240.7,7.2,498,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2206,1573
$GC,10631,1.03,295.2,220.8,6.7,513,10636,0.00,2.70,0.00,0.000,4,0.000,0.082,2530,3618,1573
$GC,10653,1.03,295.2,219.2,7.0,514,10658,0.00,2.65,0.00,0.000,6,0.000,0.064,2530,2198,1573
$GC,10974,1.03,295.2,192.3,9.0,530,10979,0.00,2.72,0.00,0.000,4,0.000,0.080,2530,3617,1573
$GC,11002,1.03,295.2,189.5,9.8,531,11006,0.00,2.65,0.00,0.000,6,0.000,0.061,2530,2192,1573
$GC,11318,1.03,295.2,162.2,8.6,546,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2192,1573
$GC,11627,1.03,295.2,136.3,8.3,561,11628,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2192,1574
$GC,11938,1.03,295.2,110.6,8.6,576,11942,0.00,2.72,0.00,0.000,4,0.000,0.079,2530,3615,1574
$GC,11965,1.03,295.2,107.9,9.3,577,11969,0.00,2.62,0.00,0.000,6,0.000,0.060,2530,2200,1575
$GC,12281,1.03,295.2,82.2,8.2,592,12285,0.00,2.72,0.00,0.000,4,0.000,0.078,2528,3623,1575
$GC,12321,1.03,295.2,78.8,8.8,594,12325,0.00,2.62,0.00,0.000,6,0.000,0.060,2530,2200,1576
$GC,12647,1.03,295.2,50.2,9.2,610,12652,0.00,2.65,0.00,0.000,4,0.000,0.067,2530,779,1576
$GC,12710,1.03,295.2,44.3,9.1,613,12715,0.00,2.62,0.00,0.000,6,0.000,0.054,2530,2203,1575
$GC,13037,1.03,295.2,18.0,7.9,629,13041,0.00,2.67,0.00,0.000,4,0.000,0.079,2530,3613,1576
$GC,13081,1.03,295.2,13.9,9.5,631,13085,0.00,2.62,0.00,0.000,6,0.000,0.061,2530,2194,1577
$STATE,13235,end climb,SURFACE_DEPTH_REACHED
$STATE,13235,begin surface coast
$FINISH,0.5,1.024807
$STATE,13256,end surface coast,CONTROL_FINISHED_OK
$STATE,13256,begin surface
$SM_CCo,13279,126.97,0.624,0,0,508,557.32
$SM_GC,1.19,0.00,0.00,126.97,0.000,0.000,0.624,71,2303,508,-10.25,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1849
$TCM_TEMP,17.80
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,400.5,94.7
$24V_AH,23.7,19.665
$10V_AH,10.1,10.019
$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,25.375,145.425,389.025,126.975,0.000,103.325,127.486,189.117,10.000,0.000,0.000,16.866,1206.948,10100.379,699.112,1457.181,673.203,33.359,1456.814,0.000,1426.432,0.000,23.499
$DEVICE_MAMPS,163.371,92.040,978.692,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.665,433.935,479.618,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31661,640
$CAP_FILE_SIZE,108559,0
$CFSIZE,260165632,251899904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,280608,224508,6201.828,-910.452,28,1.8,28,-9.5