version: 66.03
glider: 16
mission: 9
dive: 106
start: 6 29 108 16 21 49
data:
$ID,16
$MISSION,9
$DIVE,106
$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,-2095117.6
$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,24
$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
$GPS1,161538,6208.941,-912.025,40,1.4,40,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-58.5
$GPS2,162057,6209.050,-912.012,14,1.4,14,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.076,-0.208
$KALMAN_X,-174281.3,843.0,1657.8,-40698.2,-28873.4
$KALMAN_Y,-17169.5,-3524.5,-1286.2,172820.2,56887.2
$MHEAD_RNG_PITCHd_Wd,180.1,42347,-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,-120.97,0.000,2,0.000,0.000,69,2306,2868
$GC,150,-0.85,-146.6,3.3,-2.8,6,178,11.27,0.00,-13.80,0.000,6,0.163,0.000,2108,2306,3381
$GC,483,-0.67,-146.6,43.9,-11.7,22,488,0.20,2.70,0.00,0.000,4,0.095,0.065,2151,874,3381
$GC,550,-0.67,-146.6,50.1,-8.2,25,554,0.00,2.62,0.00,0.000,6,0.000,0.054,2151,2294,3382
$GC,873,-0.60,-146.6,81.8,-10.4,41,877,0.00,2.65,0.00,0.000,4,0.000,0.064,2151,878,3381
$GC,962,-0.60,-146.6,91.0,-9.6,45,966,0.00,2.62,0.00,0.000,6,0.000,0.054,2149,2302,3381
$GC,1283,-0.54,-146.6,119.3,-8.6,61,1288,0.15,2.67,0.00,0.000,4,0.095,0.064,2184,878,3381
$GC,1317,-0.63,-146.6,121.8,-6.9,62,1323,0.00,2.62,0.00,0.000,6,0.000,0.054,2184,2305,3381
$GC,1635,-0.67,-146.6,140.4,-5.4,78,1640,0.15,2.67,0.00,0.000,4,0.041,0.064,2129,878,3382
$GC,1663,-0.61,-146.6,142.4,-7.0,79,1668,0.17,2.62,0.00,0.000,6,0.082,0.054,2165,2301,3382
$GC,1979,-0.61,-146.6,159.4,-4.9,94,1983,0.00,2.67,0.00,0.000,4,0.000,0.065,2165,876,3382
$GC,2029,-0.61,-146.6,162.3,-5.9,96,2033,0.00,2.62,0.00,0.000,6,0.000,0.054,2165,2304,3382
$GC,2345,-0.61,-146.6,180.2,-5.5,111,2349,0.00,2.67,0.00,0.000,4,0.000,0.067,2165,879,3382
$GC,2400,-0.61,-146.6,183.4,-5.5,113,2406,0.00,2.62,0.00,0.000,6,0.000,0.054,2165,2303,3382
$GC,2716,-0.61,-146.6,202.0,-6.2,129,2720,0.00,2.67,0.00,0.000,4,0.000,0.067,2165,878,3382
$GC,2771,-0.66,-146.6,205.6,-6.3,131,2777,0.00,2.62,0.00,0.000,6,0.000,0.054,2165,2304,3382
$GC,3087,-0.66,-146.6,227.5,-7.4,147,3091,0.00,2.70,0.00,0.000,4,0.000,0.067,2165,873,3382
$GC,3115,-0.66,-146.6,229.7,-7.6,148,3120,0.00,2.62,0.00,0.000,6,0.000,0.054,2165,2300,3382
$GC,3431,-0.66,-146.6,256.7,-9.2,163,3435,0.00,2.67,0.00,0.000,4,0.000,0.068,2165,878,3382
$GC,3471,-0.71,-146.6,260.4,-9.7,165,3475,0.00,2.62,0.00,0.000,6,0.000,0.056,2165,2299,3382
$GC,3798,-0.71,-146.6,294.5,-11.1,181,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2299,3382
$GC,4107,-0.71,-146.6,328.0,-10.5,196,4111,0.00,2.67,0.00,0.000,4,0.000,0.068,2165,873,3383
$GC,4162,-0.76,-146.6,333.7,-10.0,198,4169,0.15,2.62,0.00,0.000,6,0.044,0.056,2117,2300,3382
$GC,4478,-0.63,-146.6,367.5,-10.1,214,4483,0.20,2.67,0.00,0.000,4,0.084,0.068,2161,878,3382
$GC,4535,-0.67,-146.6,372.2,-7.7,216,4541,0.00,2.62,0.00,0.000,6,0.000,0.056,2161,2301,3382
$GC,4852,-0.67,-146.6,392.9,-5.7,232,4856,0.00,2.70,0.00,0.000,4,0.000,0.079,2161,3716,3382
$GC,4896,-0.67,-146.6,395.7,-6.0,234,4900,0.00,2.65,0.00,0.000,6,0.000,0.060,2161,2289,3382
$GC,5217,-0.67,-146.6,408.4,-3.1,250,5221,0.00,2.72,0.00,0.000,4,0.000,0.080,2159,3710,3382
$GC,5238,-0.67,-146.6,409.2,-3.6,251,5243,0.00,2.62,0.00,0.000,6,0.000,0.059,2161,2295,3382
$GC,5559,-0.67,-146.6,420.0,-3.5,267,5564,0.00,2.67,0.00,0.000,4,0.000,0.074,2161,880,3382
$GC,5655,-0.74,-146.6,423.8,-4.4,271,5661,0.10,2.65,0.00,0.000,6,0.054,0.059,2126,2304,3382
$GC,5972,-0.65,-146.6,444.5,-7.4,286,5974,0.15,0.00,0.00,0.000,6,0.088,0.000,2156,2305,3381
$GC,6281,-0.65,-146.6,460.7,-5.0,301,6286,0.00,2.67,0.00,0.000,4,0.000,0.070,2155,878,3381
$GC,6322,-0.72,-146.6,462.7,-5.1,303,6326,0.00,2.65,0.00,0.000,6,0.000,0.064,2156,2305,3381
$STATE,6522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6522,begin apogee
$GC,6529,-0.31,0.0,476.8,6.8,313,6665,0.38,0.00,128.95,0.973,6,0.094,0.000,2231,2203,2781
$STATE,6665,end apogee,CONTROL_FINISHED_OK
$STATE,6666,begin climb
$GC,6669,0.85,146.6,483.3,0.0,320,6805,1.15,2.85,126.43,0.958,4,0.070,0.086,2479,3604,2183
$GC,6940,0.86,159.1,471.7,5.7,332,6959,0.00,2.67,12.20,0.854,6,0.000,0.067,2479,2199,2132
$GC,7276,0.86,159.1,452.1,7.2,349,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2198,2131
$GC,7585,0.95,242.3,434.3,3.7,364,7668,0.12,2.85,71.57,0.950,4,0.074,0.087,2508,3615,1793
$GC,7791,1.05,333.6,426.2,3.5,373,7875,0.00,2.70,78.97,0.943,6,0.000,0.068,2508,2200,1420
$GC,8194,1.20,407.8,411.8,4.0,393,8261,0.25,0.00,64.40,0.934,6,0.064,0.000,2561,2200,1118
$GC,8562,1.20,407.8,381.9,8.9,411,8567,0.00,2.70,0.00,0.000,4,0.000,0.077,2562,784,1117
$GC,8584,1.20,407.8,379.7,9.6,412,8588,0.00,2.67,0.00,0.000,6,0.000,0.059,2562,2201,1117
$GC,8905,1.20,407.8,348.8,9.3,428,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2201,1117
$GC,9214,1.20,407.8,319.3,9.9,443,9218,0.00,2.72,0.00,0.000,4,0.000,0.072,2562,782,1116
$GC,9269,1.20,407.8,313.6,10.1,445,9275,0.00,2.65,0.00,0.000,6,0.000,0.055,2562,2204,1117
$GC,9585,1.20,407.8,279.1,11.7,461,9589,0.00,2.70,0.00,0.000,4,0.000,0.071,2562,782,1117
$GC,9606,1.20,407.8,276.6,11.2,462,9611,0.00,2.65,0.00,0.000,6,0.000,0.054,2562,2206,1117
$GC,9927,1.20,407.8,240.3,11.6,478,9932,0.00,2.72,0.00,0.000,4,0.000,0.071,2562,776,1117
$GC,9972,1.20,407.8,235.0,12.2,480,9976,0.00,2.62,0.00,0.000,6,0.000,0.054,2562,2201,1117
$GC,10293,1.20,407.8,197.0,12.5,496,10297,0.00,2.70,0.00,0.000,4,0.000,0.070,2562,782,1117
$GC,10320,1.20,407.8,193.3,12.8,497,10324,0.00,2.62,0.00,0.000,6,0.000,0.053,2562,2203,1117
$GC,10635,1.20,407.8,152.0,13.0,512,10640,0.00,2.70,0.00,0.000,4,0.000,0.070,2562,779,1118
$GC,10663,1.20,407.8,148.3,13.4,513,10668,0.00,2.62,0.00,0.000,6,0.000,0.052,2562,2204,1117
$GC,10981,1.20,407.8,110.1,12.3,528,10985,0.00,2.67,0.00,0.000,4,0.000,0.069,2562,782,1118
$GC,11030,1.20,407.8,103.6,12.8,530,11034,0.00,2.60,0.00,0.000,6,0.000,0.052,2562,2201,1118
$GC,11348,1.20,407.8,64.9,12.0,545,11352,0.00,2.67,0.00,0.000,4,0.000,0.068,2562,781,1118
$GC,11391,1.20,407.8,59.5,11.6,547,11396,0.00,2.60,0.00,0.000,6,0.000,0.052,2562,2201,1118
$GC,11713,1.20,407.8,23.3,11.1,563,11717,0.00,2.70,0.00,0.000,4,0.000,0.067,2562,773,1119
$GC,11791,1.20,407.8,14.9,10.7,566,11797,0.00,2.60,0.00,0.000,6,0.000,0.052,2562,2201,1120
$STATE,11939,end climb,SURFACE_DEPTH_REACHED
$STATE,11939,begin surface coast
$FINISH,0.4,1.013594
$STATE,11962,end surface coast,CONTROL_FINISHED_OK
$STATE,11963,begin surface
$SM_CCo,11984,72.55,0.629,0,0,509,557.32
$SM_GC,1.19,0.00,0.00,72.55,0.000,0.000,0.629,74,2309,509,-10.24,0.25,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1879
$TCM_TEMP,17.40
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,400.5,84.7
$24V_AH,23.7,20.555
$10V_AH,10.1,10.399
$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,25.225,139.100,482.525,72.550,0.000,33.318,43.794,129.690,9.250,0.000,0.000,14.763,1100.347,8787.262,705.329,1358.675,432.461,33.360,1441.569,0.000,1323.960,0.000,26.435
$DEVICE_MAMPS,163.371,86.671,972.556,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.667,388.795,401.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28513,575
$CAP_FILE_SIZE,98693,0
$CFSIZE,260165632,251625472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,290608,194407,6210.979,-909.874,36,1.1,41,-9.6