version: 66.03
glider: 16
mission: 9
dive: 109
start: 6 30 108 3 5 10
data:
$ID,16
$MISSION,9
$DIVE,109
$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,-2095186
$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,17
$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
$GPS1,025907,6212.576,-908.671,27,2.0,27,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-55.5
$GPS2,030418,6212.656,-908.555,14,1.4,17,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.174,-0.137
$KALMAN_X,-166963.4,493.8,504.1,-43376.9,-10239.4
$KALMAN_Y,-6888.3,-4338.9,-1398.3,170154.2,57147.6
$MHEAD_RNG_PITCHd_Wd,184.9,48604,-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,-146.6,0.0,0.0,0,166,0.00,0.00,-140.02,0.000,6,0.000,0.000,71,2307,3381
$GC,169,-0.85,-146.6,6.4,-5.8,7,191,11.38,2.65,0.00,0.000,4,0.167,0.071,2109,3713,3381
$GC,334,-0.67,-146.6,36.8,-10.9,14,339,0.22,2.60,0.00,0.000,6,0.127,0.054,2149,2298,3382
$GC,657,-0.60,-146.6,64.8,-8.2,30,662,0.00,2.65,0.00,0.000,4,0.000,0.067,2149,883,3381
$GC,685,-0.60,-146.6,67.4,-8.8,31,690,0.00,2.62,0.00,0.000,6,0.000,0.057,2149,2298,3381
$GC,1002,-0.54,-146.6,91.5,-7.6,46,1007,0.15,2.65,0.00,0.000,4,0.140,0.064,2177,884,3381
$GC,1052,-0.60,-146.6,95.1,-6.7,48,1057,0.00,2.62,0.00,0.000,6,0.000,0.056,2176,2302,3381
$GC,1368,-0.60,-146.6,119.1,-8.3,63,1373,0.00,2.65,0.00,0.000,4,0.000,0.064,2177,883,3381
$GC,1412,-0.67,-146.6,123.0,-8.4,65,1417,0.00,2.62,0.00,0.000,6,0.000,0.058,2177,2302,3381
$GC,1734,-0.67,-146.6,147.7,-7.4,81,1736,0.12,0.00,0.00,0.000,6,0.055,0.000,2134,2302,3381
$GC,2044,-0.57,-146.6,177.8,-9.9,96,2049,0.17,2.67,0.00,0.000,4,0.082,0.066,2173,880,3381
$GC,2100,-0.63,-146.6,182.8,-8.3,98,2106,0.00,2.62,0.00,0.000,6,0.000,0.058,2173,2299,3381
$GC,2415,-0.63,-146.6,209.1,-8.3,114,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2300,3381
$GC,2725,-0.63,-146.6,231.1,-6.7,129,2729,0.00,2.67,0.00,0.000,4,0.000,0.066,2173,874,3381
$GC,2780,-0.69,-146.6,234.8,-6.6,131,2787,0.12,2.65,0.00,0.000,6,0.047,0.058,2130,2304,3381
$GC,3096,-0.59,-146.6,259.5,-7.5,147,3102,0.17,2.67,0.00,0.000,4,0.086,0.067,2168,884,3381
$GC,3137,-0.65,-146.6,262.0,-5.6,149,3141,0.00,2.62,0.00,0.000,6,0.000,0.058,2168,2302,3381
$GC,3463,-0.65,-146.6,277.9,-4.4,165,3468,0.00,2.67,0.00,0.000,4,0.000,0.067,2168,880,3381
$GC,3498,-0.71,-146.6,279.4,-4.0,166,3504,0.10,2.62,0.00,0.000,6,0.051,0.058,2133,2298,3381
$GC,3814,-0.62,-146.6,295.0,-4.8,182,3816,0.15,0.00,0.00,0.000,6,0.085,0.000,2162,2298,3381
$GC,4123,-0.62,-146.6,308.0,-5.4,197,4127,0.00,2.67,0.00,0.000,4,0.000,0.068,2162,882,3381
$GC,4190,-0.66,-146.6,312.4,-7.1,200,4194,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2302,3381
$GC,4511,-0.66,-146.6,338.6,-9.2,216,4515,0.00,2.67,0.00,0.000,4,0.000,0.068,2162,884,3381
$GC,4561,-0.70,-146.6,343.7,-10.1,218,4565,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2299,3381
$GC,4876,-0.70,-146.6,374.1,-8.5,233,4881,0.00,2.67,0.00,0.000,4,0.000,0.069,2162,881,3381
$GC,4921,-0.75,-146.6,377.5,-6.7,235,4926,0.12,2.62,0.00,0.000,6,0.046,0.058,2120,2302,3381
$GC,5243,-0.64,-146.6,405.8,-9.0,251,5248,0.17,2.70,0.00,0.000,4,0.085,0.081,2158,3710,3381
$GC,5293,-0.64,-146.6,410.1,-7.5,253,5297,0.00,2.60,0.00,0.000,6,0.000,0.058,2158,2300,3381
$GC,5609,-0.64,-146.6,424.7,-4.6,268,5614,0.00,2.65,0.00,0.000,4,0.000,0.071,2158,879,3381
$GC,5665,-0.71,-146.6,427.6,-4.6,270,5670,0.00,2.65,0.00,0.000,6,0.000,0.060,2158,2305,3382
$GC,5981,-0.71,-146.6,442.0,-4.5,285,5985,0.00,2.67,0.00,0.000,4,0.000,0.071,2158,885,3381
$GC,6014,-0.75,-146.6,444.8,-8.5,286,6020,0.00,2.65,0.00,0.000,6,0.000,0.062,2158,2305,3381
$GC,6330,-0.75,-146.6,459.5,-5.9,302,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2305,3381
$GC,6639,-0.75,-146.6,481.0,-3.4,317,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2305,3379
$STATE,6720,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6720,begin apogee
$GC,6727,-0.31,0.0,485.3,5.0,321,6862,0.38,0.00,128.05,0.973,6,0.120,0.000,2228,2196,2781
$STATE,6862,end apogee,CONTROL_FINISHED_OK
$STATE,6863,begin climb
$GC,6865,0.85,146.6,489.9,0.0,328,7004,1.23,2.80,126.72,0.950,4,0.081,0.072,2483,786,2182
$GC,7021,0.85,146.6,486.2,7.4,335,7027,0.00,2.67,0.00,0.000,6,0.000,0.058,2483,2201,2182
$GC,7337,0.88,173.3,468.1,5.3,351,7366,0.00,2.83,23.85,0.906,4,0.000,0.085,2483,3612,2074
$GC,7531,0.96,248.4,459.2,3.9,359,7603,0.12,2.65,65.25,0.937,6,0.052,0.063,2521,2198,1768
$GC,7930,0.96,248.4,433.9,7.9,379,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2199,1767
$GC,8240,0.98,265.4,412.1,5.5,394,8261,0.00,2.83,16.12,0.869,4,0.000,0.084,2521,3618,1698
$GC,8323,0.98,265.4,406.5,6.9,397,8329,0.00,2.67,0.00,0.000,6,0.000,0.065,2521,2203,1698
$GC,8639,1.00,285.7,387.4,5.4,413,8663,0.00,2.83,18.35,0.870,4,0.000,0.084,2521,3609,1616
$GC,8716,1.00,285.7,382.9,6.5,416,8721,0.00,2.67,0.00,0.000,6,0.000,0.064,2521,2197,1616
$GC,9033,1.00,291.7,364.6,5.8,431,9041,0.00,0.00,6.80,0.739,6,0.000,0.000,2521,2197,1591
$GC,9342,1.02,307.9,347.3,5.6,446,9361,0.00,0.00,15.27,0.838,6,0.000,0.000,2521,2197,1525
$GC,9671,1.02,307.9,327.8,6.2,462,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2197,1524
$GC,9980,1.02,307.9,305.1,7.6,477,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2197,1524
$GC,10289,1.02,307.9,280.1,8.3,492,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2197,1524
$GC,10599,1.06,307.9,252.9,9.0,507,10603,0.00,2.72,0.00,0.000,4,0.000,0.079,2521,3619,1524
$GC,10632,1.12,307.9,249.6,9.7,508,10639,0.10,2.65,0.00,0.000,6,0.055,0.060,2553,2194,1525
$GC,10948,1.08,307.9,215.4,11.1,524,10952,0.00,2.65,0.00,0.000,4,0.000,0.071,2554,783,1524
$GC,10981,1.04,307.9,211.6,11.3,525,10988,0.15,2.60,0.00,0.000,6,0.084,0.054,2523,2202,1525
$GC,11297,1.04,307.9,180.9,9.6,541,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2201,1526
$GC,11606,1.04,307.9,151.6,9.4,556,11607,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2201,1526
$GC,11916,1.04,307.9,123.5,8.9,571,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2201,1526
$GC,12225,1.04,307.9,97.0,8.6,586,12226,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2201,1527
$GC,12534,1.04,307.9,72.1,7.9,601,12538,0.00,2.67,0.00,0.000,4,0.000,0.067,2523,781,1527
$GC,12556,1.08,307.9,70.4,7.7,602,12560,0.00,2.60,0.00,0.000,6,0.000,0.053,2523,2201,1527
$GC,12878,1.13,307.9,45.5,7.3,618,12883,0.10,2.67,0.00,0.000,4,0.051,0.066,2555,779,1527
$GC,12895,1.13,307.9,44.0,7.4,619,12899,0.00,2.60,0.00,0.000,6,0.000,0.053,2555,2201,1527
$GC,13222,1.13,307.9,15.6,9.0,635,13223,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2201,1528
$STATE,13384,end climb,SURFACE_DEPTH_REACHED
$STATE,13384,begin surface coast
$FINISH,0.5,1.027166
$STATE,13407,end surface coast,CONTROL_FINISHED_OK
$STATE,13407,begin surface
$SM_CCo,13429,120.20,0.628,0,0,508,557.32
$SM_GC,1.05,0.00,0.00,120.20,0.000,0.000,0.628,70,2309,508,-10.26,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1857
$TCM_TEMP,17.60
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.2,18.1
$ALTIM_BOTTOM_PING,450.8,43.9
$24V_AH,23.7,20.998
$10V_AH,10.1,10.598
$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,25.600,117.650,400.425,120.200,0.000,33.101,40.226,120.487,7.250,0.000,0.000,17.118,1194.633,10133.209,690.332,1417.410,431.271,33.360,1429.002,0.000,1387.975,0.000,26.614
$DEVICE_MAMPS,167.206,85.137,973.323,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.426,436.452,456.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31694,644
$CAP_FILE_SIZE,102814,0
$CFSIZE,260165632,251461632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,300608,065208,6214.914,-904.709,29,1.4,29,-9.5