version: 66.03
glider: 16
mission: 9
dive: 102
start: 6 29 108 2 28 57
data:
$ID,16
$MISSION,9
$DIVE,102
$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,-2095056.8
$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,13
$R_STBD_OVSHOOT,17
$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
$GPS1,022102,6203.527,-911.470,41,1.8,41,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-52.3
$GPS2,022803,6203.676,-911.627,13,1.8,13,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.078,-0.207
$KALMAN_X,-170826.7,2582.6,380.9,-44275.7,-28422.5
$KALMAN_Y,-22646.9,-4143.9,-2128.3,169833.2,62027.8
$MHEAD_RNG_PITCHd_Wd,177.6,32503,-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,-120.97,0.000,2,0.000,0.000,64,2307,2907
$GC,150,-0.85,-146.6,3.5,-2.9,6,180,11.40,2.75,-11.88,0.000,4,0.166,0.081,2109,881,3381
$GC,411,-0.70,-146.6,35.9,-10.2,17,418,0.17,2.62,0.00,0.000,6,0.094,0.057,2143,2300,3381
$GC,727,-0.62,-146.6,62.7,-8.2,33,732,0.10,2.67,0.00,0.000,4,0.100,0.063,2162,877,3381
$GC,800,-0.62,-146.6,67.9,-6.0,36,804,0.00,2.65,0.00,0.000,6,0.000,0.055,2162,2305,3381
$GC,1116,-0.62,-146.6,93.8,-8.8,51,1120,0.00,2.70,0.00,0.000,4,0.000,0.065,2162,868,3381
$GC,1155,-0.62,-146.6,97.4,-9.4,53,1160,0.00,2.65,0.00,0.000,6,0.000,0.056,2162,2300,3381
$GC,1482,-0.62,-146.6,126.6,-9.3,69,1486,0.00,2.67,0.00,0.000,4,0.000,0.066,2162,874,3382
$GC,1537,-0.62,-146.6,132.4,-10.2,71,1543,0.00,2.62,0.00,0.000,6,0.000,0.057,2162,2301,3382
$GC,1853,-0.62,-146.6,160.3,-7.4,87,1857,0.00,2.67,0.00,0.000,4,0.000,0.067,2162,877,3382
$GC,1897,-0.62,-146.6,163.5,-7.2,89,1901,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2306,3382
$GC,2217,-0.62,-146.6,186.3,-7.2,105,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2307,3382
$GC,2527,-0.62,-146.6,209.7,-7.3,120,2531,0.00,2.70,0.00,0.000,4,0.000,0.068,2162,869,3382
$GC,2559,-0.62,-146.6,212.1,-7.1,121,2565,0.00,2.65,0.00,0.000,6,0.000,0.058,2162,2300,3382
$GC,2875,-0.62,-146.6,233.7,-6.4,137,2879,0.00,2.67,0.00,0.000,4,0.000,0.068,2162,877,3382
$GC,2908,-0.62,-146.6,235.8,-6.5,138,2914,0.00,2.65,0.00,0.000,6,0.000,0.058,2162,2304,3382
$GC,3223,-0.62,-146.6,257.4,-7.3,154,3228,0.00,2.70,0.00,0.000,4,0.000,0.069,2162,872,3382
$GC,3290,-0.62,-146.6,262.6,-7.8,157,3294,0.00,2.65,0.00,0.000,6,0.000,0.058,2161,2298,3382
$GC,3611,-0.62,-146.6,287.4,-8.1,173,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2299,3382
$GC,3920,-0.62,-146.6,313.0,-7.9,188,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2299,3382
$GC,4229,-0.62,-146.6,337.7,-8.0,203,4233,0.00,2.67,0.00,0.000,4,0.000,0.070,2162,877,3382
$GC,4295,-0.62,-146.6,342.7,-8.0,206,4300,0.00,2.65,0.00,0.000,6,0.000,0.061,2162,2302,3382
$GC,4616,-0.62,-146.6,364.6,-6.4,222,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2302,3381
$GC,4926,-0.62,-146.6,384.3,-6.5,237,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2301,3381
$GC,5235,-0.62,-146.6,403.5,-6.2,252,5240,0.00,2.70,0.00,0.000,4,0.000,0.074,2162,878,3381
$GC,5263,-0.67,-146.6,405.3,-7.3,253,5268,0.00,2.65,0.00,0.000,6,0.000,0.064,2161,2299,3381
$GC,5583,-0.67,-146.6,426.0,-6.5,268,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2299,3381
$GC,5888,-0.67,-146.6,444.9,-6.6,283,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2299,3380
$GC,6198,-0.72,-146.6,463.8,-4.3,298,6202,0.00,2.70,0.00,0.000,4,0.000,0.079,2162,880,3379
$GC,6248,-0.77,-146.6,466.8,-4.5,300,6254,0.15,2.70,0.00,0.000,6,0.051,0.069,2120,2304,3378
$STATE,6273,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6273,begin apogee
$GC,6281,-0.31,0.0,468.6,6.0,301,6415,0.52,0.00,128.15,0.981,6,0.070,0.000,2232,2194,2782
$STATE,6416,end apogee,CONTROL_FINISHED_OK
$STATE,6416,begin climb
$GC,6419,0.85,146.6,469.5,0.0,308,6555,1.15,2.78,126.97,0.963,4,0.071,0.074,2479,784,2182
$GC,6722,0.98,266.5,459.2,2.7,322,6833,0.15,2.70,104.25,0.946,6,0.056,0.064,2517,2204,1692
$GC,7155,0.93,266.5,425.0,6.6,343,7159,0.00,2.80,0.00,0.000,4,0.000,0.095,2517,3615,1691
$GC,7194,0.88,266.5,421.9,9.1,345,7200,0.12,2.72,0.00,0.000,6,0.100,0.072,2493,2197,1691
$GC,7522,0.88,266.5,402.5,8.6,361,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2197,1691
$GC,7831,0.88,266.5,373.5,9.2,376,7835,0.00,2.83,0.00,0.000,4,0.000,0.094,2493,3618,1689
$GC,7870,0.88,266.5,369.8,10.1,378,7874,0.00,2.72,0.00,0.000,6,0.000,0.073,2493,2197,1689
$GC,8196,0.88,266.5,339.1,10.0,394,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2196,1688
$GC,8506,0.88,266.5,315.7,7.0,409,8510,0.00,2.70,0.00,0.000,4,0.000,0.077,2493,782,1686
$GC,8527,0.88,266.5,314.1,7.1,410,8532,0.00,2.67,0.00,0.000,6,0.000,0.061,2493,2204,1686
$GC,8848,0.95,328.1,294.8,4.3,426,8909,0.00,2.88,51.38,0.883,4,0.000,0.086,2493,3615,1443
$GC,8934,1.05,346.3,290.6,5.5,430,8956,0.15,2.72,16.62,0.826,6,0.050,0.067,2532,2194,1369
$GC,9265,1.05,346.3,261.2,9.4,446,9269,0.00,2.67,0.00,0.000,4,0.000,0.073,2533,781,1368
$GC,9315,1.05,346.3,256.3,9.7,448,9319,0.00,2.65,0.00,0.000,6,0.000,0.057,2532,2201,1369
$GC,9630,1.05,346.3,225.6,10.2,463,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2201,1369
$GC,9939,1.05,346.3,194.6,10.4,478,9944,0.00,2.70,0.00,0.000,4,0.000,0.069,2533,780,1369
$GC,9967,1.05,346.3,191.7,10.7,479,9972,0.00,2.65,0.00,0.000,6,0.000,0.055,2532,2206,1369
$GC,10282,1.05,346.3,158.3,11.1,494,10284,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2206,1370
$GC,10592,1.05,346.3,126.0,9.8,509,10597,0.00,2.70,0.00,0.000,4,0.000,0.068,2532,781,1370
$GC,10626,1.05,346.3,122.6,9.4,510,10632,0.00,2.62,0.00,0.000,6,0.000,0.054,2533,2205,1370
$GC,10943,1.05,346.3,90.8,9.6,526,10948,0.00,2.70,0.00,0.000,4,0.000,0.078,2532,3615,1370
$GC,10970,1.05,346.3,87.7,10.1,527,10974,0.00,2.65,0.00,0.000,6,0.000,0.062,2532,2200,1370
$GC,11286,1.05,346.3,59.2,9.0,542,11290,0.00,2.67,0.00,0.000,4,0.000,0.069,2532,776,1371
$GC,11319,1.05,346.3,55.9,9.7,543,11325,0.00,2.62,0.00,0.000,6,0.000,0.054,2533,2201,1371
$GC,11636,1.05,346.3,29.0,7.7,559,11641,0.00,2.67,0.00,0.000,4,0.000,0.066,2532,779,1371
$GC,11669,1.09,346.3,26.4,7.1,560,11675,0.00,2.60,0.00,0.000,6,0.000,0.054,2532,2202,1371
$STATE,11962,end climb,SURFACE_DEPTH_REACHED
$STATE,11962,begin surface coast
$FINISH,0.5,1.014657
$STATE,11985,end surface coast,CONTROL_FINISHED_OK
$STATE,11985,begin surface
$SM_CCo,12007,103.15,0.630,0,0,509,557.32
$SM_GC,1.10,0.00,0.00,103.15,0.000,0.000,0.630,71,2303,509,-10.25,0.11,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1867
$TCM_TEMP,17.50
$XPDR_PINGS,31
$ALTIM_TOP_PING,18.3,17.2
$ALTIM_BOTTOM_PING,426.0,51.5
$24V_AH,23.6,19.957
$10V_AH,10.1,10.146
$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,24.550,118.575,427.375,103.150,0.000,36.078,53.102,158.745,11.750,0.000,0.000,13.578,1076.099,8993.346,665.577,1337.840,467.997,33.360,1378.376,0.000,1304.497,0.000,30.879
$DEVICE_MAMPS,166.439,95.108,980.993,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.201,390.055,417.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28543,576
$CAP_FILE_SIZE,93438,0
$CFSIZE,260165632,251817984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,290608,055207,6205.971,-909.867,40,1.5,40,-9.5