version: 66.03
glider: 16
mission: 9
dive: 111
start: 6 30 108 10 28 8
data:
$ID,16
$MISSION,9
$DIVE,111
$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,-2095249
$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,16
$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
$GPS1,102226,6215.013,-902.224,40,2.0,40,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-53.2
$GPS2,102717,6215.048,-902.243,14,2.1,33,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.011,-0.221
$KALMAN_X,-166160.4,814.3,1108.0,-39382.1,-6857.9
$KALMAN_Y,-4942.6,-2808.1,-1530.7,171259.9,51506.2
$MHEAD_RNG_PITCHd_Wd,191.2,52893,-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,-121.25,0.000,2,0.000,0.000,65,2310,2903
$GC,150,-0.85,-146.6,3.4,-2.8,6,180,11.38,2.72,-12.32,0.000,4,0.166,0.085,2108,3709,3380
$GC,248,-0.65,-146.6,17.2,-11.3,10,254,0.25,2.60,0.00,0.000,6,0.093,0.055,2157,2298,3381
$GC,566,-0.65,-146.6,44.1,-8.2,25,570,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,883,3381
$GC,593,-0.65,-146.6,46.7,-8.5,26,597,0.00,2.65,0.00,0.000,6,0.000,0.057,2157,2305,3381
$GC,909,-0.65,-146.6,73.0,-8.3,41,913,0.00,2.70,0.00,0.000,4,0.000,0.077,2157,3715,3381
$GC,948,-0.65,-146.6,76.5,-8.6,43,953,0.00,2.60,0.00,0.000,6,0.000,0.055,2157,2292,3381
$GC,1276,-0.65,-146.6,101.9,-7.3,59,1280,0.00,2.72,0.00,0.000,4,0.000,0.079,2157,3712,3381
$GC,1315,-0.65,-146.6,105.1,-8.1,61,1320,0.00,2.58,0.00,0.000,6,0.000,0.056,2157,2297,3381
$GC,1642,-0.65,-146.6,127.9,-6.7,77,1647,0.00,2.65,0.00,0.000,4,0.000,0.068,2157,884,3381
$GC,1670,-0.65,-146.6,130.0,-7.4,78,1674,0.00,2.65,0.00,0.000,6,0.000,0.059,2157,2303,3381
$GC,1988,-0.65,-146.6,150.7,-6.6,93,1992,0.00,2.70,0.00,0.000,4,0.000,0.079,2157,3715,3381
$GC,2028,-0.65,-146.6,153.7,-7.3,95,2033,0.00,2.60,0.00,0.000,6,0.000,0.057,2157,2299,3381
$GC,2355,-0.65,-146.6,174.3,-6.1,111,2360,0.00,2.65,0.00,0.000,4,0.000,0.069,2157,881,3381
$GC,2474,-0.71,-146.6,181.5,-6.2,116,2478,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2300,3381
$GC,2792,-0.71,-146.6,200.2,-6.2,131,2796,0.00,2.70,0.00,0.000,4,0.000,0.080,2157,3712,3381
$GC,2831,-0.71,-146.6,203.1,-7.2,133,2835,0.00,2.60,0.00,0.000,6,0.000,0.058,2157,2300,3381
$GC,3158,-0.71,-146.6,225.2,-7.0,149,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2299,3381
$GC,3466,-0.71,-146.6,246.2,-6.8,164,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3381
$GC,3776,-0.71,-146.6,265.1,-5.9,179,3780,0.00,2.72,0.00,0.000,4,0.000,0.082,2157,3712,3381
$GC,3809,-0.71,-146.6,267.3,-6.4,180,3815,0.00,2.60,0.00,0.000,6,0.000,0.058,2157,2300,3381
$GC,4125,-0.71,-146.6,286.8,-6.2,196,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2299,3381
$GC,4434,-0.71,-146.6,307.3,-7.0,211,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2299,3381
$GC,4744,-0.71,-146.6,333.9,-10.4,226,4748,0.00,2.65,0.00,0.000,4,0.000,0.068,2157,882,3381
$GC,5001,-0.71,-146.6,364.2,-13.1,237,5007,0.00,2.65,0.00,0.000,6,0.000,0.060,2157,2304,3381
$GC,5317,-0.71,-146.6,407.8,-13.1,253,5321,0.00,2.67,0.00,0.000,4,0.000,0.067,2157,880,3381
$GC,5413,-0.71,-146.6,418.9,-10.4,257,5417,0.00,2.65,0.00,0.000,6,0.000,0.059,2157,2307,3381
$STATE,5706,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5706,begin apogee
$GC,5713,-0.31,0.0,444.8,8.3,271,5847,0.35,0.00,127.50,0.928,6,0.087,0.000,2228,2197,2781
$STATE,5848,end apogee,CONTROL_FINISHED_OK
$STATE,5848,begin climb
$GC,5851,0.85,146.6,450.5,0.0,278,5987,1.15,2.78,126.45,0.911,4,0.062,0.064,2480,785,2183
$GC,6176,0.86,162.7,443.1,5.6,293,6198,0.00,2.65,15.30,0.840,6,0.000,0.056,2480,2199,2117
$GC,6507,0.92,163.5,425.2,6.0,309,6512,0.00,2.75,0.00,0.000,4,0.000,0.084,2480,3616,2116
$GC,6593,0.97,163.5,420.1,6.5,313,6598,0.15,2.65,0.00,0.000,6,0.058,0.062,2516,2203,2116
$GC,6920,0.90,163.5,397.7,7.3,329,6924,0.00,2.70,0.00,0.000,4,0.000,0.072,2516,784,2116
$GC,6982,0.82,163.5,392.6,8.2,332,6988,0.17,2.65,0.00,0.000,6,0.082,0.058,2480,2200,2116
$GC,7310,0.88,174.1,371.0,5.7,348,7322,0.00,0.00,10.90,0.805,6,0.000,0.000,2481,2200,2072
$GC,7618,1.03,261.5,357.6,3.6,363,7702,0.17,2.83,75.07,0.884,4,0.047,0.082,2525,3616,1714
$GC,7736,1.03,261.5,351.0,6.6,368,7740,0.00,2.67,0.00,0.000,6,0.000,0.063,2525,2202,1715
$GC,8051,1.03,261.5,330.0,6.6,383,8055,0.00,2.70,0.00,0.000,4,0.000,0.071,2525,779,1714
$GC,8101,1.03,261.5,326.4,6.6,385,8105,0.00,2.65,0.00,0.000,6,0.000,0.055,2525,2203,1713
$GC,8417,1.09,322.6,309.3,4.3,400,8475,0.00,0.00,52.60,0.844,6,0.000,0.000,2525,2203,1465
$GC,8785,1.23,443.6,297.0,2.7,418,8894,0.17,2.78,101.62,0.836,4,0.068,0.070,2565,783,971
$GC,8929,1.25,464.7,289.4,5.4,425,8953,0.00,2.67,19.33,0.772,6,0.000,0.054,2565,2207,886
$GC,9281,1.25,464.7,267.0,7.0,442,9285,0.00,2.72,0.00,0.000,4,0.000,0.070,2565,781,885
$GC,9343,1.25,464.7,262.3,7.6,445,9347,0.00,2.65,0.00,0.000,6,0.000,0.054,2565,2202,886
$GC,9669,1.25,464.7,236.9,8.0,461,9674,0.00,2.70,0.00,0.000,4,0.000,0.069,2565,782,886
$GC,9719,1.25,464.7,232.4,9.2,463,9723,0.00,2.62,0.00,0.000,6,0.000,0.054,2566,2201,886
$GC,10035,1.25,464.7,203.9,9.4,478,10039,0.00,2.70,0.00,0.000,4,0.000,0.068,2565,773,886
$GC,10080,1.25,464.7,199.3,10.8,480,10085,0.00,2.62,0.00,0.000,6,0.000,0.054,2565,2201,886
$GC,10401,1.25,464.7,165.5,10.6,496,10405,0.00,2.70,0.00,0.000,4,0.000,0.068,2565,778,886
$GC,10451,1.25,464.7,160.3,10.0,498,10455,0.00,2.62,0.00,0.000,6,0.000,0.053,2565,2203,886
$GC,10767,1.25,464.7,129.7,9.4,513,10771,0.00,2.70,0.00,0.000,4,0.000,0.067,2565,775,887
$GC,10822,1.25,464.7,124.8,8.7,515,10828,0.00,2.62,0.00,0.000,6,0.000,0.054,2565,2204,886
$GC,11138,1.25,464.7,94.7,10.1,531,11142,0.00,2.70,0.00,0.000,4,0.000,0.068,2565,775,887
$GC,11182,1.29,464.7,90.0,10.6,533,11187,0.00,2.62,0.00,0.000,6,0.000,0.054,2565,2203,887
$GC,11504,1.29,464.7,57.0,10.4,549,11508,0.00,2.67,0.00,0.000,4,0.000,0.067,2565,782,887
$GC,11554,1.33,464.7,51.7,10.6,551,11559,0.12,2.60,0.00,0.000,6,0.073,0.054,2592,2201,887
$GC,11870,1.28,464.7,14.1,12.3,566,11875,0.00,2.67,0.00,0.000,4,0.000,0.067,2592,781,887
$GC,11882,1.21,464.7,12.5,12.3,566,11889,0.15,2.60,0.00,0.000,6,0.089,0.053,2562,2206,886
$STATE,11989,end climb,SURFACE_DEPTH_REACHED
$STATE,11989,begin surface coast
$FINISH,0.4,1.027219
$STATE,12011,end surface coast,CONTROL_FINISHED_OK
$STATE,12011,begin surface
$SM_CCo,12033,45.08,0.621,0,0,509,557.32
$SM_GC,1.16,0.00,0.00,45.08,0.000,0.000,0.621,64,2305,509,-10.28,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1871
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,18.2
$ALTIM_BOTTOM_PING,402.5,51.9
$24V_AH,23.7,21.272
$10V_AH,10.1,10.723
$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,24.775,133.750,528.775,45.075,0.000,17.994,27.994,116.923,4.250,0.000,0.000,34.188,1092.757,8753.862,695.311,1451.544,381.918,33.359,1466.263,0.000,1394.099,0.000,26.336
$DEVICE_MAMPS,165.672,85.137,928.070,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.016,387.743,421.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28620,573
$CAP_FILE_SIZE,97485,0
$CFSIZE,260165632,251375616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300608,135058,6213.745,-904.705,33,2.2,52,-9.5