version: 66.03
glider: 16
mission: 9
dive: 238
start: 7 27 108 1 56 22
data:
$ID,16
$MISSION,9
$DIVE,238
$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,2
$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,-2098189.5
$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,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,22
$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,0
$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
$GPS1,014737,6345.077,-1233.995,38,1.6,38,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-57.9
$GPS2,015603,6345.192,-1233.800,13,1.7,13,-12.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WV
$TGT_LATLONG,6427.000,-1150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,36.4,84966,-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,-120.85,0.000,2,0.000,0.000,69,2248,3021
$GC,150,-0.85,-146.6,4.1,-3.4,6,175,11.45,2.62,-7.95,0.000,4,0.169,0.080,2106,3640,3380
$GC,322,-0.65,-146.6,31.2,-13.3,13,329,0.25,2.55,0.00,0.000,6,0.094,0.051,2155,2230,3380
$GC,639,-0.59,-146.6,61.0,-10.1,29,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2230,3381
$GC,948,-0.54,-146.6,95.2,-11.6,44,950,0.12,0.00,0.00,0.000,6,0.099,0.000,2179,2230,3380
$GC,1256,-0.54,-146.6,125.0,-8.7,59,1260,0.00,2.65,0.00,0.000,4,0.000,0.070,2179,3641,3380
$GC,1296,-0.59,-146.6,128.5,-9.1,61,1301,0.00,2.53,0.00,0.000,6,0.000,0.048,2179,2227,3380
$GC,1623,-0.59,-146.6,152.6,-6.6,77,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2227,3380
$GC,1932,-0.59,-146.6,174.0,-7.2,92,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2227,3381
$GC,2241,-0.59,-146.6,197.4,-7.7,107,2245,0.00,2.65,0.00,0.000,4,0.000,0.071,2179,3638,3381
$GC,2281,-0.65,-146.6,200.7,-8.3,109,2286,0.00,2.55,0.00,0.000,6,0.000,0.049,2179,2225,3380
$GC,2609,-0.69,-146.6,226.9,-8.1,125,2610,0.15,0.00,0.00,0.000,6,0.043,0.000,2130,2225,3380
$GC,2918,-0.58,-146.6,256.6,-9.6,140,2920,0.22,0.00,0.00,0.000,6,0.084,0.000,2175,2224,3380
$GC,3227,-0.58,-146.6,276.4,-6.1,155,3232,0.00,2.65,0.00,0.000,4,0.000,0.071,2175,3644,3380
$GC,3271,-0.63,-146.6,279.4,-6.9,157,3276,0.00,2.55,0.00,0.000,6,0.000,0.049,2175,2225,3381
$GC,3593,-0.63,-146.6,300.4,-6.5,173,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2225,3380
$GC,3902,-0.63,-146.6,319.9,-6.3,188,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2225,3380
$GC,4212,-0.67,-146.6,340.2,-6.7,203,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2225,3380
$GC,4521,-0.71,-146.6,360.7,-6.2,218,4523,0.15,0.00,0.00,0.000,6,0.043,0.000,2126,2225,3380
$GC,4830,-0.61,-146.6,383.8,-7.1,233,4832,0.20,0.00,0.00,0.000,6,0.087,0.000,2167,2225,3379
$GC,5144,-0.61,-146.6,401.0,-5.5,248,5149,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,816,3379
$GC,5185,-0.69,-146.6,403.7,-6.6,250,5190,0.00,2.55,0.00,0.000,6,0.000,0.049,2166,2229,3379
$GC,5512,-0.69,-146.6,424.4,-7.2,266,5516,0.00,2.62,0.00,0.000,4,0.000,0.074,2166,3643,3379
$GC,5567,-0.74,-146.6,428.6,-8.0,268,5573,0.12,2.55,0.00,0.000,6,0.048,0.051,2125,2230,3379
$GC,5883,-0.65,-146.6,454.3,-8.0,284,5888,0.17,2.58,0.00,0.000,4,0.087,0.063,2163,817,3379
$GC,5928,-0.73,-146.6,457.5,-7.2,286,5933,0.12,2.55,0.00,0.000,6,0.047,0.050,2123,2230,3379
$STATE,6122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6123,begin apogee
$GC,6130,-0.31,0.0,474.2,7.9,296,6265,0.52,0.00,128.65,0.929,6,0.086,0.000,2230,2230,2781
$STATE,6266,end apogee,CONTROL_FINISHED_OK
$STATE,6266,begin climb
$GC,6269,0.85,146.6,480.6,0.0,303,6400,1.15,0.00,127.05,0.916,6,0.071,0.000,2477,2233,2183
$GC,6703,0.97,261.7,468.2,2.9,324,6809,0.15,2.67,99.57,0.910,4,0.054,0.065,2518,830,1714
$GC,6871,0.97,261.7,454.9,9.2,332,6875,0.00,2.60,0.00,0.000,6,0.000,0.051,2518,2240,1712
$GC,7192,0.93,261.7,429.4,8.3,348,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2241,1712
$GC,7501,0.93,261.7,405.2,7.3,363,7505,0.00,2.65,0.00,0.000,4,0.000,0.076,2518,3648,1712
$GC,7546,0.93,261.7,401.8,8.1,365,7550,0.00,2.60,0.00,0.000,6,0.000,0.058,2518,2238,1713
$GC,7867,0.93,261.7,379.8,6.5,381,7872,0.00,2.62,0.00,0.000,4,0.000,0.067,2518,827,1711
$GC,7930,0.93,261.7,374.9,7.9,384,7934,0.00,2.58,0.00,0.000,6,0.000,0.051,2518,2242,1711
$GC,8256,0.93,261.7,349.3,7.7,400,8260,0.00,2.65,0.00,0.000,4,0.000,0.073,2518,3650,1711
$GC,8306,0.89,261.7,344.9,8.9,402,8311,0.12,2.60,0.00,0.000,6,0.097,0.057,2494,2237,1711
$GC,8622,0.89,261.7,320.3,8.5,417,8626,0.00,2.62,0.00,0.000,4,0.000,0.065,2494,823,1710
$GC,8661,0.89,261.7,316.9,9.3,419,8665,0.00,2.58,0.00,0.000,6,0.000,0.050,2494,2241,1710
$GC,8988,0.89,261.7,287.3,9.1,435,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2241,1710
$GC,9297,0.89,261.7,257.9,9.3,450,9301,0.00,2.62,0.00,0.000,4,0.000,0.072,2494,3653,1710
$GC,9346,0.89,261.7,253.4,9.8,452,9350,0.00,2.58,0.00,0.000,6,0.000,0.054,2494,2238,1710
$GC,9662,0.89,261.7,227.4,7.7,467,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2238,1710
$GC,9971,0.89,261.7,204.6,7.0,482,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2238,1710
$GC,10280,0.89,261.7,183.7,6.4,497,10284,0.00,2.62,0.00,0.000,4,0.000,0.071,2494,3648,1710
$GC,10325,0.89,261.7,180.7,7.0,499,10330,0.00,2.55,0.00,0.000,6,0.000,0.054,2494,2239,1710
$GC,10647,0.91,283.8,161.9,5.4,515,10668,0.00,0.00,19.15,0.706,6,0.000,0.000,2494,2240,1624
$GC,10976,0.95,283.8,138.2,8.7,531,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2239,1624
$GC,11286,1.01,283.8,113.5,7.2,546,11288,0.12,0.00,0.00,0.000,6,0.049,0.000,2526,2239,1623
$GC,11596,0.96,283.8,89.2,8.0,561,11601,0.00,2.65,0.00,0.000,4,0.000,0.069,2526,3653,1624
$GC,11660,0.96,283.8,83.0,10.5,564,11664,0.00,2.58,0.00,0.000,6,0.000,0.054,2526,2237,1624
$GC,11989,0.96,283.8,53.6,9.4,580,11993,0.00,2.60,0.00,0.000,4,0.000,0.064,2526,823,1623
$GC,12039,0.92,283.8,49.0,8.9,582,12044,0.12,2.55,0.00,0.000,6,0.087,0.048,2501,2243,1623
$GC,12357,0.97,289.4,28.8,5.8,597,12365,0.00,0.00,6.55,0.536,6,0.000,0.000,2501,2243,1601
$GC,12665,1.03,289.4,7.1,6.8,612,12667,0.10,0.00,0.00,0.000,6,0.051,0.000,2532,2243,1601
$STATE,12744,end climb,SURFACE_DEPTH_REACHED
$STATE,12744,begin surface coast
$FINISH,0.6,1.017022
$STATE,12767,end surface coast,CONTROL_FINISHED_OK
$STATE,12767,begin surface
$SM_CCo,12789,129.38,0.596,0,0,509,557.57
$SM_GC,1.41,0.00,0.00,129.38,0.000,0.000,0.596,67,2243,509,-10.27,0.37,557.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1869
$TCM_TEMP,17.70
$XPDR_PINGS,7
$ALTIM_TOP_PING,18.8,18.1
$ALTIM_BOTTOM_PING,425.2,57.8
$24V_AH,23.7,41.475
$10V_AH,10.2,21.072
$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,25.950,83.100,380.975,129.375,0.000,36.251,160.749,136.170,5.500,0.000,0.000,13.285,1130.805,9800.508,644.276,1293.093,561.837,0.000,1302.618,0.000,1267.885,0.000,27.948
$DEVICE_MAMPS,168.740,79.768,928.837,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.729,419.759,443.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31680,617
$CAP_FILE_SIZE,90894,0
$CFSIZE,260165632,243859456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270708,053302,6348.013,-1226.844,41,1.2,41,-12.0