version: 66.03
glider: 16
mission: 9
dive: 115
start: 7 1 108 1 7 6
data:
$ID,16
$MISSION,9
$DIVE,115
$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,-2095331.9
$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,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
$GPS1,010137,6214.918,-902.672,34,1.3,34,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-57.2
$GPS2,010614,6214.966,-902.718,10,1.4,15,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.030,-0.219
$KALMAN_X,-171582.5,717.0,357.1,-33541.9,-12998.3
$KALMAN_Y,-4407.8,-2875.8,-1153.4,170235.0,35116.4
$MHEAD_RNG_PITCHd_Wd,190.7,52731,-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,-120.90,0.000,2,0.000,0.000,70,2308,2900
$GC,150,-0.85,-146.6,3.1,-2.4,6,180,11.35,2.72,-12.85,0.000,4,0.166,0.074,2109,879,3380
$GC,265,-0.70,-146.6,17.5,-9.2,11,270,0.20,2.65,0.00,0.000,6,0.092,0.054,2148,2307,3381
$GC,588,-0.63,-146.6,45.7,-8.8,27,593,0.00,2.67,0.00,0.000,4,0.000,0.063,2148,880,3381
$GC,628,-0.63,-146.6,49.5,-8.7,29,633,0.00,2.62,0.00,0.000,6,0.000,0.054,2148,2302,3381
$GC,956,-0.57,-146.6,74.3,-6.1,45,958,0.12,0.00,0.00,0.000,6,0.094,0.000,2173,2302,3381
$GC,1265,-0.57,-146.6,89.3,-4.8,60,1270,0.00,2.67,0.00,0.000,4,0.000,0.064,2172,877,3381
$GC,1306,-0.63,-146.6,91.3,-5.3,62,1311,0.00,2.60,0.00,0.000,6,0.000,0.054,2173,2302,3381
$GC,1634,-0.63,-146.6,107.5,-5.3,78,1638,0.00,2.67,0.00,0.000,4,0.000,0.064,2173,876,3381
$GC,1667,-0.68,-146.6,109.4,-5.5,79,1673,0.00,2.62,0.00,0.000,6,0.000,0.056,2173,2303,3381
$GC,1984,-0.68,-146.6,127.5,-6.1,95,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2303,3381
$GC,2293,-0.68,-146.6,145.7,-5.9,110,2297,0.00,2.67,0.00,0.000,4,0.000,0.065,2173,874,3381
$GC,2356,-0.74,-146.6,149.4,-5.9,113,2361,0.15,2.62,0.00,0.000,6,0.042,0.055,2124,2300,3381
$GC,2685,-0.62,-146.6,177.0,-9.0,129,2687,0.20,0.00,0.00,0.000,6,0.084,0.000,2165,2301,3381
$GC,2992,-0.62,-146.6,199.1,-7.0,144,2996,0.00,2.65,0.00,0.000,4,0.000,0.067,2165,880,3381
$GC,3064,-0.62,-146.6,204.4,-7.2,147,3068,0.00,2.62,0.00,0.000,6,0.000,0.056,2165,2304,3381
$GC,3380,-0.62,-146.6,228.6,-8.1,162,3384,0.00,2.65,0.00,0.000,4,0.000,0.067,2165,879,3381
$GC,3435,-0.66,-146.6,233.1,-8.2,164,3441,0.00,2.62,0.00,0.000,6,0.000,0.056,2165,2305,3381
$GC,3751,-0.66,-146.6,258.6,-8.2,180,3755,0.00,2.67,0.00,0.000,4,0.000,0.067,2165,877,3381
$GC,3784,-0.71,-146.6,261.5,-8.8,181,3790,0.00,2.62,0.00,0.000,6,0.000,0.056,2165,2303,3381
$GC,4099,-0.71,-146.6,288.1,-8.3,197,4104,0.00,2.67,0.00,0.000,4,0.000,0.067,2165,878,3381
$GC,4139,-0.71,-146.6,291.5,-8.8,199,4143,0.00,2.62,0.00,0.000,6,0.000,0.056,2165,2305,3381
$GC,4465,-0.71,-146.6,320.4,-8.8,215,4470,0.00,2.67,0.00,0.000,4,0.000,0.069,2165,874,3381
$GC,4498,-0.76,-146.6,323.4,-8.6,216,4505,0.15,2.62,0.00,0.000,6,0.043,0.056,2117,2300,3381
$GC,4815,-0.63,-146.6,356.8,-11.0,232,4820,0.20,2.67,0.00,0.000,4,0.084,0.069,2160,877,3381
$GC,4855,-0.67,-146.6,361.0,-9.9,234,4859,0.00,2.62,0.00,0.000,6,0.000,0.056,2160,2301,3381
$GC,5181,-0.67,-146.6,393.7,-10.1,250,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2299,3381
$GC,5490,-0.67,-146.6,421.8,-8.7,265,5495,0.00,2.65,0.00,0.000,4,0.000,0.068,2160,880,3381
$GC,5591,-0.67,-146.6,430.2,-7.8,269,5597,0.00,2.62,0.00,0.000,6,0.000,0.058,2160,2305,3380
$STATE,5842,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5842,begin apogee
$GC,5850,-0.31,0.0,447.2,6.7,282,5984,0.35,0.00,127.70,0.929,6,0.091,0.000,2231,2196,2781
$STATE,5985,end apogee,CONTROL_FINISHED_OK
$STATE,5985,begin climb
$GC,5988,0.85,146.6,452.7,0.0,289,6124,1.12,2.80,126.43,0.910,4,0.059,0.077,2482,3608,2183
$GC,6237,0.90,194.4,443.4,4.7,300,6284,0.00,2.65,41.78,0.887,6,0.000,0.061,2482,2199,1988
$GC,6596,1.00,219.7,423.8,5.3,318,6621,0.17,0.00,22.95,0.863,6,0.045,0.000,2531,2199,1885
$GC,6923,0.93,219.7,397.5,8.2,334,6928,0.15,2.70,0.00,0.000,4,0.087,0.071,2496,777,1884
$GC,6956,0.93,219.7,394.9,7.5,335,6963,0.00,2.62,0.00,0.000,6,0.000,0.056,2496,2198,1883
$GC,7272,1.01,240.8,377.5,5.4,351,7297,0.10,2.78,19.02,0.845,4,0.054,0.078,2529,3613,1800
$GC,7326,0.96,240.8,373.7,8.1,353,7330,0.00,2.65,0.00,0.000,6,0.000,0.063,2529,2201,1799
$GC,7641,0.96,240.8,348.6,8.8,368,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2202,1799
$GC,7950,0.96,240.8,319.2,9.4,383,7955,0.00,2.70,0.00,0.000,4,0.000,0.077,2529,3622,1799
$GC,8001,0.92,240.8,314.0,10.5,385,8006,0.15,2.65,0.00,0.000,6,0.087,0.061,2499,2200,1799
$GC,8317,0.97,240.8,288.5,7.7,400,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2200,1798
$GC,8626,1.03,240.8,268.4,6.3,415,8631,0.12,2.70,0.00,0.000,4,0.048,0.075,2535,3616,1798
$GC,8654,0.98,240.8,266.2,8.7,416,8659,0.00,2.62,0.00,0.000,6,0.000,0.060,2535,2197,1799
$GC,8970,0.94,240.8,240.1,8.6,431,8972,0.15,0.00,0.00,0.000,6,0.086,0.000,2504,2197,1798
$GC,9280,0.98,240.8,219.4,6.2,446,9284,0.00,2.70,0.00,0.000,4,0.000,0.076,2504,3621,1798
$GC,9312,0.98,240.8,217.1,6.6,447,9318,0.00,2.62,0.00,0.000,6,0.000,0.059,2504,2199,1798
$GC,9629,1.08,292.3,200.7,4.6,463,9679,0.15,2.75,43.28,0.765,4,0.043,0.067,2548,791,1588
$GC,9692,1.02,292.3,197.0,6.6,466,9697,0.15,2.62,0.00,0.000,6,0.081,0.054,2517,2201,1587
$GC,10019,1.08,306.1,179.8,5.6,482,10040,0.00,2.75,12.85,0.700,4,0.000,0.074,2518,3607,1533
$GC,10064,1.13,306.1,177.0,6.7,484,10069,0.12,2.62,0.00,0.000,6,0.048,0.060,2557,2200,1533
$GC,10391,1.08,306.1,150.9,8.2,500,10396,0.12,2.65,0.00,0.000,4,0.084,0.067,2531,783,1533
$GC,10414,1.04,306.1,148.9,8.5,501,10418,0.00,2.60,0.00,0.000,6,0.000,0.052,2531,2204,1533
$GC,10735,1.04,306.1,124.4,7.4,517,10739,0.00,2.67,0.00,0.000,4,0.000,0.074,2531,3614,1533
$GC,10774,1.04,306.1,121.1,8.6,519,10779,0.00,2.62,0.00,0.000,6,0.000,0.060,2531,2198,1533
$GC,11102,1.04,306.1,96.2,7.9,535,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2199,1533
$GC,11411,1.04,306.1,70.6,8.7,550,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2198,1533
$GC,11720,1.04,306.1,42.7,8.6,565,11725,0.00,2.67,0.00,0.000,4,0.000,0.074,2531,3613,1533
$GC,11769,1.04,306.1,38.2,8.7,567,11774,0.00,2.62,0.00,0.000,6,0.000,0.058,2531,2197,1533
$GC,12086,1.04,306.1,12.5,7.6,582,12090,0.00,2.65,0.00,0.000,4,0.000,0.067,2531,779,1533
$GC,12130,1.04,306.1,8.6,8.5,584,12134,0.00,2.60,0.00,0.000,6,0.000,0.052,2531,2198,1533
$STATE,12221,end climb,SURFACE_DEPTH_REACHED
$STATE,12222,begin surface coast
$FINISH,0.5,1.023467
$STATE,12243,end surface coast,CONTROL_FINISHED_OK
$STATE,12243,begin surface
$SM_CCo,12265,121.55,0.622,0,0,509,557.32
$SM_GC,0.94,0.00,0.00,121.55,0.000,0.000,0.622,70,2313,509,-10.25,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1847
$TCM_TEMP,17.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.8,17.7
$ALTIM_BOTTOM_PING,375.0,81.2
$24V_AH,23.7,21.818
$10V_AH,10.2,10.988
$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,25.875,128.025,394.000,121.550,0.000,18.035,28.206,121.331,3.750,0.000,0.000,15.665,1112.238,9148.101,675.963,1344.176,389.912,33.358,1380.130,0.000,1311.060,0.000,24.793
$DEVICE_MAMPS,165.672,78.234,928.837,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.800,400.998,483.901,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28536,590
$CAP_FILE_SIZE,99523,0
$CFSIZE,260165632,251183104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,010708,043500,6215.794,-902.952,28,3.1,47,-9.5