version: 66.03
glider: 16
mission: 9
dive: 112
start: 6 30 108 14 7 56
data:
$ID,16
$MISSION,9
$DIVE,112
$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,-2095283.9
$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,21
$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
$GPS1,135058,6213.745,-904.705,33,2.2,52,-9.5
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-53.6
$GPS2,140705,6213.953,-904.745,14,2.2,33,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.022,-0.220
$KALMAN_X,-167751.9,1034.2,441.4,-39592.5,-8961.9
$KALMAN_Y,-6018.2,-2914.3,-1423.0,170290.8,44205.2
$MHEAD_RNG_PITCHd_Wd,188.8,50847,-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,-138.25,0.000,6,0.000,0.000,62,2307,3380
$GC,169,-0.85,-146.6,7.2,-6.7,7,190,11.40,2.67,0.00,0.000,4,0.166,0.071,2110,3713,3381
$GC,264,-0.66,-146.6,31.1,-13.1,11,269,0.22,2.62,0.00,0.000,6,0.090,0.056,2154,2297,3381
$GC,586,-0.61,-146.6,63.4,-9.9,27,590,0.00,2.65,0.00,0.000,4,0.000,0.067,2153,881,3381
$GC,671,-0.61,-146.6,71.2,-8.6,31,675,0.00,2.62,0.00,0.000,6,0.000,0.057,2154,2297,3381
$GC,998,-0.56,-146.6,105.1,-9.7,47,1003,0.12,2.67,0.00,0.000,4,0.096,0.064,2178,873,3381
$GC,1025,-0.56,-146.6,107.6,-8.9,48,1030,0.00,2.65,0.00,0.000,6,0.000,0.055,2178,2305,3381
$GC,1343,-0.56,-146.6,130.3,-6.7,63,1347,0.00,2.67,0.00,0.000,4,0.000,0.065,2178,878,3381
$GC,1370,-0.62,-146.6,132.3,-6.8,64,1375,0.00,2.62,0.00,0.000,6,0.000,0.057,2178,2301,3381
$GC,1688,-0.62,-146.6,150.7,-5.7,79,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2301,3381
$GC,1995,-0.62,-146.6,168.0,-5.7,94,2000,0.00,2.67,0.00,0.000,4,0.000,0.064,2178,874,3381
$GC,2046,-0.69,-146.6,171.2,-6.2,96,2051,0.15,2.62,0.00,0.000,6,0.042,0.057,2129,2300,3381
$GC,2362,-0.58,-146.6,198.2,-8.9,111,2364,0.20,0.00,0.00,0.000,6,0.081,0.000,2169,2300,3381
$GC,2671,-0.58,-146.6,219.3,-6.9,126,2675,0.00,2.67,0.00,0.000,4,0.000,0.066,2169,874,3381
$GC,2738,-0.63,-146.6,224.3,-7.0,129,2742,0.00,2.65,0.00,0.000,6,0.000,0.058,2170,2305,3381
$GC,3059,-0.63,-146.6,246.1,-6.5,145,3063,0.00,2.67,0.00,0.000,4,0.000,0.067,2169,880,3381
$GC,3092,-0.68,-146.6,248.2,-6.7,146,3098,0.00,2.62,0.00,0.000,6,0.000,0.058,2169,2298,3381
$GC,3408,-0.68,-146.6,266.8,-5.3,162,3412,0.00,2.67,0.00,0.000,4,0.000,0.067,2169,876,3381
$GC,3429,-0.68,-146.6,268.0,-5.3,163,3434,0.00,2.62,0.00,0.000,6,0.000,0.058,2169,2300,3381
$GC,3751,-0.68,-146.6,284.7,-5.2,179,3755,0.00,2.67,0.00,0.000,4,0.000,0.067,2169,878,3381
$GC,3784,-0.73,-146.6,286.6,-5.4,180,3791,0.15,2.62,0.00,0.000,6,0.043,0.058,2121,2302,3381
$GC,4101,-0.61,-146.6,311.5,-8.3,196,4106,0.17,2.67,0.00,0.000,4,0.084,0.068,2160,881,3380
$GC,4134,-0.61,-146.6,313.9,-6.7,197,4140,0.00,2.62,0.00,0.000,6,0.000,0.058,2160,2299,3380
$GC,4450,-0.61,-146.6,334.4,-6.7,213,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2299,3380
$GC,4759,-0.61,-146.6,354.6,-6.5,228,4763,0.00,2.65,0.00,0.000,4,0.000,0.068,2160,881,3380
$GC,4814,-0.61,-146.6,358.4,-6.6,230,4820,0.00,2.62,0.00,0.000,6,0.000,0.058,2160,2302,3380
$GC,5130,-0.61,-146.6,379.0,-6.3,246,5134,0.00,2.67,0.00,0.000,4,0.000,0.068,2160,874,3380
$GC,5169,-0.61,-146.6,381.5,-6.0,248,5174,0.00,2.65,0.00,0.000,6,0.000,0.058,2160,2307,3380
$GC,5495,-0.61,-146.6,402.2,-6.3,264,5500,0.00,2.67,0.00,0.000,4,0.000,0.068,2160,881,3379
$GC,5545,-0.61,-146.6,405.4,-6.6,266,5550,0.00,2.62,0.00,0.000,6,0.000,0.058,2160,2301,3380
$GC,5866,-0.61,-146.6,425.4,-6.6,281,5870,0.00,2.67,0.00,0.000,4,0.000,0.068,2160,881,3380
$GC,5928,-0.67,-146.6,430.1,-7.3,284,5932,0.00,2.60,0.00,0.000,6,0.000,0.058,2160,2300,3379
$GC,6254,-0.67,-146.6,454.7,-7.8,300,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2300,3380
$STATE,6334,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6334,begin apogee
$GC,6341,-0.31,0.0,461.4,8.2,304,6476,0.35,0.00,127.72,0.942,6,0.090,0.000,2231,2192,2781
$STATE,6477,end apogee,CONTROL_FINISHED_OK
$STATE,6477,begin climb
$GC,6480,0.85,146.6,467.8,0.0,311,6615,1.20,0.00,127.03,0.925,6,0.082,0.000,2480,2192,2182
$GC,6926,0.95,239.2,452.5,3.5,333,7013,0.12,2.83,80.00,0.913,4,0.051,0.081,2520,3615,1805
$GC,7030,0.95,239.2,446.2,7.7,338,7034,0.00,2.70,0.00,0.000,6,0.000,0.063,2520,2200,1805
$GC,7350,0.95,239.2,415.8,11.6,354,7355,0.00,2.70,0.00,0.000,4,0.000,0.073,2520,782,1804
$GC,7400,0.95,239.2,410.2,10.5,356,7404,0.00,2.65,0.00,0.000,6,0.000,0.058,2520,2203,1803
$GC,7716,0.95,239.2,383.6,7.6,371,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2203,1803
$GC,8025,0.95,239.2,361.5,7.1,386,8029,0.00,2.72,0.00,0.000,4,0.000,0.081,2520,3620,1803
$GC,8057,0.95,239.2,359.0,7.6,387,8063,0.00,2.67,0.00,0.000,6,0.000,0.064,2520,2200,1804
$GC,8373,0.95,239.2,336.7,7.2,403,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2200,1802
$GC,8682,0.95,239.2,314.1,7.2,418,8686,0.00,2.72,0.00,0.000,4,0.000,0.080,2520,3619,1802
$GC,8703,0.95,239.2,312.3,8.1,419,8708,0.00,2.65,0.00,0.000,6,0.000,0.061,2520,2190,1802
$GC,9024,0.95,239.2,290.5,6.6,435,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2190,1802
$GC,9334,0.95,239.2,268.7,7.2,450,9338,0.00,2.72,0.00,0.000,4,0.000,0.078,2520,3616,1802
$GC,9361,0.95,239.2,266.4,7.7,451,9365,0.00,2.62,0.00,0.000,6,0.000,0.061,2520,2200,1802
$GC,9677,0.95,239.2,243.5,6.7,466,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2200,1802
$GC,9987,0.95,239.2,221.2,7.1,481,9991,0.00,2.70,0.00,0.000,4,0.000,0.077,2520,3615,1802
$GC,10026,0.95,239.2,218.3,8.1,483,10030,0.00,2.62,0.00,0.000,6,0.000,0.060,2520,2200,1802
$GC,10352,0.95,239.2,196.9,6.1,499,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2200,1802
$GC,10662,0.95,239.2,178.1,6.2,514,10666,0.00,2.70,0.00,0.000,4,0.000,0.078,2520,3616,1802
$GC,10689,0.95,239.2,176.2,6.7,515,10693,0.00,2.60,0.00,0.000,6,0.000,0.058,2520,2201,1802
$GC,11004,0.98,273.5,158.7,5.1,530,11039,0.00,2.78,28.73,0.732,4,0.000,0.077,2520,3611,1666
$GC,11069,0.98,273.5,155.2,6.1,533,11073,0.00,2.65,0.00,0.000,6,0.000,0.059,2520,2193,1666
$GC,11396,0.99,278.0,136.7,5.9,549,11407,0.00,2.75,5.70,0.574,4,0.000,0.077,2520,3622,1646
$GC,11418,0.99,278.0,135.2,6.5,550,11422,0.00,2.65,0.00,0.000,6,0.000,0.059,2520,2198,1646
$GC,11739,0.99,278.0,112.9,7.7,566,11744,0.00,2.72,0.00,0.000,4,0.000,0.077,2520,3621,1646
$GC,11767,1.03,278.0,110.3,9.2,567,11772,0.00,2.62,0.00,0.000,6,0.000,0.060,2520,2203,1646
$GC,12083,1.03,278.0,82.8,8.9,582,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2203,1646
$GC,12393,1.03,278.0,54.9,9.3,597,12397,0.00,2.67,0.00,0.000,4,0.000,0.069,2520,776,1647
$GC,12420,1.08,278.0,52.1,9.7,598,12425,0.00,2.62,0.00,0.000,6,0.000,0.054,2520,2204,1646
$GC,12737,1.08,278.0,25.1,8.0,613,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2204,1646
$GC,13045,1.08,278.0,3.8,6.5,628,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2204,1647
$STATE,13084,end climb,SURFACE_DEPTH_REACHED
$STATE,13084,begin surface coast
$FINISH,0.4,1.003565
$STATE,13106,end surface coast,CONTROL_FINISHED_OK
$STATE,13106,begin surface
$SM_CCo,13128,134.80,0.624,0,0,509,557.32
$SM_GC,1.11,0.00,0.00,134.80,0.000,0.000,0.624,65,2313,509,-10.28,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1859
$TCM_TEMP,17.60
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.0,18.8
$ALTIM_BOTTOM_PING,451.3,20.0
$24V_AH,23.7,21.422
$10V_AH,10.2,10.795
$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,24.625,133.700,369.175,134.800,0.000,105.674,147.216,327.777,6.000,0.000,0.000,34.291,1166.984,10169.313,689.352,1377.408,832.917,33.360,1401.549,0.000,1326.667,0.000,32.311
$DEVICE_MAMPS,166.439,80.535,941.876,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.119,428.387,454.899,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31677,631
$CAP_FILE_SIZE,106817,0
$CFSIZE,260165632,251310080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,300608,175025,6215.355,-905.208,30,1.2,47,-9.5