version: 66.03
glider: 16
mission: 9
dive: 107
start: 6 29 108 19 49 25
data:
$ID,16
$MISSION,9
$DIVE,107
$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,-2095130.6
$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,15
$R_STBD_OVSHOOT,20
$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
$GPS1,194407,6210.979,-909.874,36,1.1,41,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-59.3
$GPS2,194833,6211.052,-909.860,12,1.8,12,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.057,-0.214
$KALMAN_X,-171559.7,2375.5,588.9,-41950.6,-21832.3
$KALMAN_Y,-13727.2,-1982.6,-1859.9,172123.5,57090.9
$MHEAD_RNG_PITCHd_Wd,183.2,45758,-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,-120.82,0.000,2,0.000,0.000,74,2310,2851
$GC,150,-0.85,-146.6,3.3,-2.6,6,182,11.27,2.67,-14.52,0.000,4,0.166,0.085,2107,3715,3379
$GC,235,-0.66,-146.6,14.4,-11.4,10,240,0.22,2.62,0.00,0.000,6,0.090,0.055,2151,2296,3379
$GC,562,-0.59,-146.6,42.2,-8.3,26,567,0.00,2.65,0.00,0.000,4,0.000,0.067,2152,883,3379
$GC,647,-0.59,-146.6,49.5,-8.4,30,652,0.00,2.62,0.00,0.000,6,0.000,0.056,2152,2298,3379
$GC,975,-0.53,-146.6,78.7,-9.1,46,977,0.17,0.00,0.00,0.000,6,0.093,0.000,2186,2298,3379
$GC,1283,-0.53,-146.6,103.2,-8.0,61,1288,0.00,2.65,0.00,0.000,4,0.000,0.064,2186,883,3379
$GC,1339,-0.65,-146.6,107.8,-7.6,63,1346,0.12,2.62,0.00,0.000,6,0.044,0.056,2143,2304,3379
$GC,1657,-0.56,-146.6,139.3,-10.3,79,1662,0.15,2.70,0.00,0.000,4,0.084,0.077,2176,3715,3379
$GC,1690,-0.56,-146.6,142.8,-9.2,80,1696,0.00,2.62,0.00,0.000,6,0.000,0.056,2176,2292,3380
$GC,2006,-0.56,-146.6,169.1,-8.4,96,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2292,3379
$GC,2315,-0.56,-146.6,195.1,-8.4,111,2320,0.00,2.75,0.00,0.000,4,0.000,0.079,2176,3718,3380
$GC,2348,-0.56,-146.6,198.2,-9.6,112,2354,0.00,2.62,0.00,0.000,6,0.000,0.054,2177,2290,3380
$GC,2664,-0.56,-146.6,225.2,-8.8,128,2669,0.00,2.75,0.00,0.000,4,0.000,0.080,2176,3715,3380
$GC,2697,-0.56,-146.6,228.3,-9.3,129,2703,0.00,2.62,0.00,0.000,6,0.000,0.054,2177,2293,3380
$GC,3012,-0.56,-146.6,256.0,-8.9,145,3017,0.00,2.62,0.00,0.000,4,0.000,0.067,2177,885,3380
$GC,3046,-0.64,-146.6,259.1,-9.2,146,3052,0.00,2.62,0.00,0.000,6,0.000,0.058,2177,2300,3380
$GC,3362,-0.64,-146.6,285.1,-7.6,162,3366,0.00,2.70,0.00,0.000,4,0.000,0.081,2176,3712,3380
$GC,3406,-0.69,-146.6,289.0,-8.5,164,3411,0.12,2.60,0.00,0.000,6,0.046,0.057,2135,2300,3379
$GC,3727,-0.59,-146.6,318.5,-9.1,180,3729,0.17,0.00,0.00,0.000,6,0.082,0.000,2170,2300,3380
$GC,4036,-0.59,-146.6,338.2,-6.1,195,4040,0.00,2.72,0.00,0.000,4,0.000,0.083,2170,3711,3380
$GC,4080,-0.59,-146.6,341.2,-6.6,197,4084,0.00,2.60,0.00,0.000,6,0.000,0.057,2170,2298,3380
$GC,4401,-0.59,-146.6,357.2,-4.5,213,4405,0.00,2.75,0.00,0.000,4,0.000,0.082,2170,3718,3380
$GC,4428,-0.59,-146.6,358.6,-5.0,214,4433,0.00,2.62,0.00,0.000,6,0.000,0.057,2170,2296,3380
$GC,4744,-0.59,-146.6,372.8,-4.4,229,4749,0.00,2.75,0.00,0.000,4,0.000,0.083,2170,3715,3380
$GC,4777,-0.59,-146.6,374.5,-5.3,230,4784,0.00,2.60,0.00,0.000,6,0.000,0.058,2170,2299,3380
$GC,5094,-0.59,-146.6,389.4,-4.6,246,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2298,3380
$GC,5403,-0.59,-146.6,404.7,-5.4,261,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2300,3379
$GC,5712,-0.59,-146.6,422.2,-5.2,276,5717,0.00,2.75,0.00,0.000,4,0.000,0.085,2170,3710,3379
$GC,5740,-0.59,-146.6,423.7,-5.4,277,5744,0.00,2.60,0.00,0.000,6,0.000,0.058,2170,2299,3379
$GC,6056,-0.63,-146.6,441.0,-6.2,292,6060,0.00,2.75,0.00,0.000,4,0.000,0.087,2170,3711,3380
$GC,6105,-0.63,-146.6,444.0,-6.2,294,6110,0.00,2.62,0.00,0.000,6,0.000,0.060,2170,2294,3379
$GC,6421,-0.63,-146.6,460.0,-4.6,309,6425,0.00,2.75,0.00,0.000,4,0.000,0.087,2170,3710,3379
$GC,6454,-0.70,-146.6,460.5,-1.0,310,6461,0.12,2.60,0.00,0.000,6,0.054,0.058,2136,2297,3379
$STATE,6499,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6499,begin apogee
$GC,6507,-0.31,0.0,463.6,6.2,313,6642,0.45,0.00,128.27,0.962,6,0.090,0.000,2227,2204,2781
$STATE,6643,end apogee,CONTROL_FINISHED_OK
$STATE,6643,begin climb
$GC,6645,0.85,146.6,470.7,0.0,320,6782,1.20,2.80,126.93,0.942,4,0.084,0.072,2477,792,2183
$GC,6838,0.86,155.4,465.7,5.8,329,6855,0.00,2.67,9.20,0.802,6,0.000,0.061,2477,2200,2147
$GC,7164,1.04,257.4,450.7,3.2,345,7260,0.20,2.88,88.43,0.936,4,0.072,0.086,2524,3607,1731
$GC,7309,1.04,257.4,443.2,6.6,351,7315,0.00,2.70,0.00,0.000,6,0.000,0.066,2525,2201,1731
$GC,7624,1.09,305.4,425.2,4.7,367,7673,0.00,2.90,41.83,0.917,4,0.000,0.087,2525,3613,1536
$GC,7697,1.09,305.4,421.2,6.6,370,7702,0.00,2.70,0.00,0.000,6,0.000,0.066,2525,2197,1536
$GC,8013,1.13,335.3,402.2,5.2,385,8047,0.00,2.83,26.75,0.900,4,0.000,0.075,2525,784,1412
$GC,8064,1.13,335.3,399.2,6.3,387,8069,0.00,2.70,0.00,0.000,6,0.000,0.060,2525,2203,1412
$GC,8380,1.13,335.3,378.8,6.6,402,8385,0.00,2.72,0.00,0.000,4,0.000,0.072,2525,783,1412
$GC,8407,1.18,335.3,377.0,6.7,403,8413,0.15,2.65,0.00,0.000,6,0.078,0.058,2554,2201,1412
$GC,8723,1.18,335.3,347.0,10.7,418,8727,0.00,2.75,0.00,0.000,4,0.000,0.083,2554,3616,1412
$GC,8767,1.18,335.3,341.6,12.6,420,8771,0.00,2.67,0.00,0.000,6,0.000,0.065,2554,2196,1411
$GC,9088,1.18,335.3,302.2,12.8,436,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2196,1412
$GC,9397,1.18,335.3,262.1,12.2,451,9402,0.00,2.75,0.00,0.000,4,0.000,0.080,2554,3622,1412
$GC,9460,1.18,335.3,254.2,12.4,454,9464,0.00,2.65,0.00,0.000,6,0.000,0.062,2554,2197,1412
$GC,9786,1.18,335.3,215.3,11.7,470,9790,0.00,2.67,0.00,0.000,4,0.000,0.070,2555,775,1412
$GC,9870,1.18,335.3,205.7,11.8,474,9875,0.00,2.62,0.00,0.000,6,0.000,0.054,2554,2203,1412
$GC,10197,1.18,335.3,168.4,11.4,490,10201,0.00,2.70,0.00,0.000,4,0.000,0.078,2555,3615,1412
$GC,10258,1.18,335.3,161.2,12.2,493,10263,0.00,2.65,0.00,0.000,6,0.000,0.061,2555,2193,1412
$GC,10585,1.18,335.3,125.8,10.6,509,10590,0.00,2.72,0.00,0.000,4,0.000,0.077,2555,3616,1412
$GC,10635,1.18,335.3,120.4,11.3,511,10640,0.00,2.62,0.00,0.000,6,0.000,0.061,2555,2199,1412
$GC,10951,1.18,335.3,90.5,9.3,526,10955,0.00,2.70,0.00,0.000,4,0.000,0.077,2555,3613,1412
$GC,11013,1.18,335.3,84.4,10.0,529,11018,0.00,2.62,0.00,0.000,6,0.000,0.061,2555,2196,1412
$GC,11341,1.18,335.3,56.5,8.5,545,11345,0.00,2.72,0.00,0.000,4,0.000,0.077,2555,3620,1412
$GC,11380,1.18,335.3,52.8,9.4,547,11385,0.00,2.65,0.00,0.000,6,0.000,0.061,2555,2192,1412
$GC,11707,1.18,335.3,24.3,8.2,563,11711,0.00,2.72,0.00,0.000,4,0.000,0.077,2555,3616,1412
$GC,11757,1.18,335.3,19.6,9.3,565,11762,0.00,2.62,0.00,0.000,6,0.000,0.061,2555,2203,1413
$STATE,11968,end climb,SURFACE_DEPTH_REACHED
$STATE,11968,begin surface coast
$FINISH,0.5,1.024300
$STATE,11989,end surface coast,CONTROL_FINISHED_OK
$STATE,11990,begin surface
$SM_CCo,12011,107.40,0.628,0,0,509,557.32
$SM_GC,1.20,0.00,0.00,107.40,0.000,0.000,0.628,71,2303,509,-10.25,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1856
$TCM_TEMP,17.60
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.6,18.3
$ALTIM_BOTTOM_PING,425.2,48.2
$24V_AH,23.7,20.697
$10V_AH,10.1,10.462
$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,25.100,145.375,421.400,107.400,0.000,18.327,27.320,113.167,8.250,0.000,0.000,12.319,1092.732,8881.211,687.281,1344.633,386.496,33.358,1417.501,0.000,1311.659,0.000,30.862
$DEVICE_MAMPS,165.672,87.438,961.818,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.421,389.860,423.956,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28563,576
$CAP_FILE_SIZE,99129,0
$CFSIZE,260165632,251572224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,290608,231257,6211.633,-908.924,33,2.6,52,-9.5