version: 66.03
glider: 16
mission: 9
dive: 103
start: 6 29 108 5 57 49
data:
$ID,16
$MISSION,9
$DIVE,103
$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,-2095071.4
$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,14
$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
$GPS1,055207,6205.971,-909.867,40,1.5,40,-9.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-49.4
$GPS2,055657,6206.057,-909.872,14,1.5,14,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.062,-0.213
$KALMAN_X,-168040.4,2256.8,551.1,-45331.2,-23413.7
$KALMAN_Y,-19592.7,-2969.6,-1823.9,169716.7,63099.8
$MHEAD_RNG_PITCHd_Wd,181.4,36583,-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,-120.90,0.000,2,0.000,0.000,70,2306,2874
$GC,150,-0.85,-146.6,3.3,-2.7,6,181,11.38,2.67,-13.45,0.000,4,0.167,0.075,2110,874,3380
$GC,405,-0.69,-146.6,33.0,-8.8,17,412,0.20,2.65,0.00,0.000,6,0.094,0.058,2149,2299,3380
$GC,721,-0.62,-146.6,63.6,-8.8,33,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2300,3381
$GC,1031,-0.56,-146.6,90.0,-9.5,48,1036,0.15,2.67,0.00,0.000,4,0.094,0.064,2182,872,3380
$GC,1109,-0.66,-146.6,96.4,-7.8,51,1116,0.12,2.65,0.00,0.000,6,0.044,0.056,2139,2301,3381
$GC,1426,-0.57,-146.6,123.8,-8.5,67,1428,0.17,0.00,0.00,0.000,6,0.081,0.000,2174,2301,3381
$GC,1734,-0.57,-146.6,144.1,-6.0,82,1739,0.00,2.67,0.00,0.000,4,0.000,0.065,2174,871,3381
$GC,1756,-0.57,-146.6,145.5,-6.1,83,1760,0.00,2.62,0.00,0.000,6,0.000,0.057,2174,2300,3381
$GC,2077,-0.57,-146.6,165.1,-6.8,99,2081,0.00,2.67,0.00,0.000,4,0.000,0.066,2174,874,3381
$GC,2110,-0.63,-146.6,167.6,-7.6,100,2116,0.00,2.65,0.00,0.000,6,0.000,0.057,2174,2303,3381
$GC,2426,-0.63,-146.6,191.8,-8.1,116,2430,0.00,2.67,0.00,0.000,4,0.000,0.066,2174,876,3381
$GC,2466,-0.70,-146.6,195.2,-9.3,118,2471,0.12,2.65,0.00,0.000,6,0.046,0.058,2132,2305,3381
$GC,2795,-0.61,-146.6,228.9,-10.3,134,2800,0.15,2.70,0.00,0.000,4,0.083,0.068,2167,873,3381
$GC,2828,-0.66,-146.6,232.2,-8.3,135,2835,0.00,2.65,0.00,0.000,6,0.000,0.058,2167,2303,3381
$GC,3144,-0.66,-146.6,256.1,-7.5,151,3149,0.00,2.67,0.00,0.000,4,0.000,0.068,2167,876,3381
$GC,3200,-0.71,-146.6,260.7,-7.6,153,3206,0.00,2.65,0.00,0.000,6,0.000,0.059,2166,2302,3381
$GC,3516,-0.71,-146.6,283.1,-7.3,169,3520,0.00,2.67,0.00,0.000,4,0.000,0.069,2167,878,3381
$GC,3549,-0.76,-146.6,285.7,-7.9,170,3556,0.15,2.62,0.00,0.000,6,0.043,0.059,2120,2299,3381
$GC,3866,-0.65,-146.6,315.2,-9.4,186,3868,0.20,0.00,0.00,0.000,6,0.081,0.000,2161,2299,3381
$GC,4175,-0.65,-146.6,337.6,-7.5,201,4179,0.00,2.70,0.00,0.000,4,0.000,0.071,2161,874,3381
$GC,4214,-0.71,-146.6,340.5,-7.3,203,4219,0.00,2.65,0.00,0.000,6,0.000,0.061,2161,2301,3381
$GC,4541,-0.71,-146.6,360.7,-5.7,219,4546,0.00,2.72,0.00,0.000,4,0.000,0.087,2161,3712,3382
$GC,4592,-0.71,-146.6,364.1,-6.8,221,4596,0.00,2.65,0.00,0.000,6,0.000,0.062,2161,2291,3381
$GC,4908,-0.71,-146.6,385.7,-7.4,236,4912,0.00,2.67,0.00,0.000,4,0.000,0.075,2161,881,3381
$GC,4963,-0.79,-146.6,389.9,-7.2,238,4970,0.15,2.67,0.00,0.000,6,0.046,0.064,2115,2305,3381
$GC,5279,-0.65,-146.6,420.4,-10.1,254,5284,0.17,2.78,0.00,0.000,4,0.089,0.093,2153,3718,3381
$GC,5335,-0.65,-146.6,425.5,-8.1,256,5341,0.00,2.65,0.00,0.000,6,0.000,0.064,2153,2294,3380
$STATE,5627,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5628,begin apogee
$GC,5635,-0.31,0.0,447.8,7.5,271,5770,0.38,0.00,127.93,0.956,6,0.087,0.000,2230,2202,2781
$STATE,5770,end apogee,CONTROL_FINISHED_OK
$STATE,5770,begin climb
$GC,5773,0.85,146.6,455.5,0.0,278,5911,1.20,2.83,126.40,0.941,4,0.070,0.077,2485,791,2183
$GC,6007,0.90,197.5,449.1,4.6,289,6057,0.00,2.67,44.70,0.915,6,0.000,0.064,2486,2201,1976
$GC,6373,0.99,231.6,433.1,5.1,306,6410,0.12,2.85,30.75,0.915,4,0.058,0.092,2520,3615,1836
$GC,6438,0.93,231.6,428.0,7.4,308,6443,0.00,2.72,0.00,0.000,6,0.000,0.071,2520,2202,1836
$GC,6759,0.89,231.6,405.3,7.6,324,6764,0.12,2.83,0.00,0.000,4,0.095,0.093,2495,3615,1835
$GC,6787,0.89,231.6,402.9,8.7,325,6791,0.00,2.72,0.00,0.000,6,0.000,0.071,2495,2192,1834
$GC,7103,0.89,231.6,377.8,7.8,340,7107,0.00,2.83,0.00,0.000,4,0.000,0.094,2495,3613,1833
$GC,7124,0.89,231.6,375.9,8.2,341,7128,0.00,2.72,0.00,0.000,6,0.000,0.071,2495,2192,1833
$GC,7445,0.89,231.6,354.1,6.6,357,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2193,1831
$GC,7754,0.89,231.6,334.5,6.1,372,7759,0.00,2.83,0.00,0.000,4,0.000,0.092,2495,3616,1830
$GC,7816,0.89,231.6,330.4,6.9,375,7820,0.00,2.70,0.00,0.000,6,0.000,0.071,2495,2200,1831
$GC,8143,0.91,246.4,312.7,5.6,391,8161,0.00,0.00,12.90,0.839,6,0.000,0.000,2495,2200,1776
$GC,8471,0.91,246.4,291.2,6.4,407,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2200,1776
$GC,8780,0.91,246.4,269.7,7.1,422,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2200,1776
$GC,9090,0.91,246.4,245.7,7.7,437,9094,0.00,2.75,0.00,0.000,4,0.000,0.084,2495,3616,1776
$GC,9122,0.91,246.4,243.0,8.3,438,9128,0.00,2.65,0.00,0.000,6,0.000,0.063,2495,2197,1776
$GC,9438,0.91,246.4,218.1,8.1,454,9442,0.00,2.72,0.00,0.000,4,0.000,0.083,2495,3616,1776
$GC,9487,0.91,246.4,213.7,8.8,456,9492,0.00,2.65,0.00,0.000,6,0.000,0.061,2495,2194,1776
$GC,9803,0.91,246.4,188.7,7.7,471,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2194,1776
$GC,10112,0.91,246.4,164.0,8.3,486,10117,0.00,2.75,0.00,0.000,4,0.000,0.081,2495,3623,1776
$GC,10145,0.91,246.4,161.1,8.8,487,10151,0.00,2.65,0.00,0.000,6,0.000,0.061,2495,2194,1777
$GC,10462,0.91,246.4,136.3,7.7,503,10467,0.00,2.75,0.00,0.000,4,0.000,0.081,2495,3622,1777
$GC,10484,0.91,246.4,134.4,8.1,504,10489,0.00,2.62,0.00,0.000,6,0.000,0.061,2495,2201,1777
$GC,10806,0.91,246.4,113.7,6.2,520,10810,0.00,2.72,0.00,0.000,4,0.000,0.080,2495,3619,1777
$GC,10823,0.91,246.4,112.7,6.1,521,10828,0.00,2.62,0.00,0.000,6,0.000,0.060,2495,2202,1778
$GC,11150,0.91,246.4,92.6,6.3,537,11155,0.00,2.72,0.00,0.000,4,0.000,0.080,2495,3622,1778
$GC,11200,0.91,246.4,89.2,6.7,539,11205,0.00,2.65,0.00,0.000,6,0.000,0.060,2495,2192,1778
$GC,11518,0.91,246.4,69.5,7.9,554,11522,0.00,2.75,0.00,0.000,4,0.000,0.080,2495,3623,1778
$GC,11567,0.91,246.4,65.3,8.7,556,11572,0.00,2.62,0.00,0.000,6,0.000,0.060,2495,2200,1779
$GC,11885,0.96,246.4,45.9,6.3,571,11889,0.00,2.72,0.00,0.000,4,0.000,0.080,2495,3621,1779
$GC,11925,0.96,246.4,43.0,7.8,573,11929,0.00,2.62,0.00,0.000,6,0.000,0.060,2495,2200,1780
$GC,12252,1.03,310.3,24.1,4.2,589,12315,0.12,2.75,53.00,0.658,4,0.048,0.067,2536,787,1514
$GC,12332,1.03,310.3,16.7,10.8,592,12338,0.00,2.65,0.00,0.000,6,0.000,0.056,2536,2207,1513
$STATE,12523,end climb,SURFACE_DEPTH_REACHED
$STATE,12523,begin surface coast
$FINISH,0.5,1.018602
$STATE,12543,end surface coast,CONTROL_FINISHED_OK
$STATE,12543,begin surface
$SM_CCo,12565,120.72,0.616,0,0,509,557.32
$SM_GC,1.06,0.00,0.00,120.72,0.000,0.000,0.616,74,2314,509,-10.24,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1841
$TCM_TEMP,17.80
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,375.2,82.2
$24V_AH,23.7,20.091
$10V_AH,10.1,10.212
$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,25.625,140.550,395.675,120.725,0.000,18.053,28.870,137.034,10.000,0.000,0.000,14.056,1136.149,9350.079,695.203,1389.769,412.720,33.352,1429.975,0.000,1361.341,0.000,21.854
$DEVICE_MAMPS,167.206,93.574,956.449,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.300,408.207,477.837,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31803,603
$CAP_FILE_SIZE,100770,0
$CFSIZE,260165632,251760640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,290608,093037,6206.656,-909.242,42,1.1,42,-9.5