version: 66.03
glider: 16
mission: 9
dive: 239
start: 7 27 108 5 41 15
data:
$ID,16
$MISSION,9
$DIVE,239
$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,-2098202.2
$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,23
$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
$GPS1,053302,6348.013,-1226.844,41,1.2,41,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-57.6
$GPS2,054056,6348.012,-1226.662,12,1.3,12,-12.0
$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,34.1,77919,-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,-120.88,0.000,2,0.000,0.000,67,2244,3044
$GC,150,-0.85,-146.6,4.7,-4.0,6,175,11.50,2.62,-7.12,0.000,4,0.170,0.075,2108,3635,3380
$GC,239,-0.67,-146.6,20.6,-11.5,10,244,0.22,2.58,0.00,0.000,6,0.091,0.051,2153,2225,3381
$GC,567,-0.59,-146.6,49.3,-8.9,26,571,0.00,2.60,0.00,0.000,4,0.000,0.061,2153,814,3381
$GC,617,-0.59,-146.6,53.4,-7.7,28,621,0.00,2.58,0.00,0.000,6,0.000,0.048,2153,2235,3381
$GC,934,-0.53,-146.6,72.3,-6.4,43,939,0.15,2.62,0.00,0.000,4,0.092,0.058,2186,813,3381
$GC,967,-0.63,-146.6,74.2,-4.9,44,974,0.12,2.55,0.00,0.000,6,0.043,0.048,2141,2229,3381
$GC,1286,-0.54,-146.6,98.6,-8.8,60,1288,0.20,0.00,0.00,0.000,6,0.083,0.000,2181,2230,3381
$GC,1593,-0.54,-146.6,117.4,-5.9,75,1597,0.00,2.62,0.00,0.000,4,0.000,0.069,2181,3640,3381
$GC,1633,-0.60,-146.6,119.9,-6.6,77,1637,0.00,2.55,0.00,0.000,6,0.000,0.050,2181,2227,3382
$GC,1960,-0.60,-146.6,141.6,-7.0,93,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2227,3382
$GC,2269,-0.64,-146.6,160.6,-5.6,108,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2227,3382
$GC,2578,-0.69,-146.6,178.6,-6.1,123,2580,0.15,0.00,0.00,0.000,6,0.042,0.000,2133,2227,3382
$GC,2888,-0.58,-146.6,205.0,-9.4,138,2890,0.20,0.00,0.00,0.000,6,0.085,0.000,2172,2227,3382
$GC,3196,-0.58,-146.6,230.8,-8.7,153,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2227,3381
$GC,3505,-0.58,-146.6,256.7,-8.3,168,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2226,3381
$GC,3815,-0.58,-146.6,283.6,-8.6,183,3820,0.00,2.65,0.00,0.000,4,0.000,0.071,2173,3641,3381
$GC,3860,-0.58,-146.6,287.7,-9.3,185,3864,0.00,2.55,0.00,0.000,6,0.000,0.050,2172,2225,3381
$GC,4182,-0.58,-146.6,306.7,-4.1,201,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2225,3381
$GC,4491,-0.58,-146.6,318.2,-3.7,216,4496,0.00,2.65,0.00,0.000,4,0.000,0.071,2173,3640,3380
$GC,4532,-0.62,-146.6,320.1,-4.9,218,4536,0.00,2.55,0.00,0.000,6,0.000,0.051,2172,2227,3380
$GC,4859,-0.62,-146.6,340.7,-8.2,234,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2227,3380
$GC,5168,-0.67,-146.6,366.0,-6.9,249,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2227,3380
$GC,5477,-0.71,-146.6,380.2,-4.0,264,5482,0.12,2.62,0.00,0.000,4,0.048,0.072,2131,3638,3380
$GC,5528,-0.63,-146.6,383.3,-6.4,266,5533,0.15,2.55,0.00,0.000,6,0.090,0.053,2161,2229,3380
$GC,5845,-0.63,-146.6,398.1,-4.9,281,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2228,3380
$GC,6154,-0.63,-146.6,415.1,-5.6,296,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2228,3379
$GC,6463,-0.63,-146.6,434.2,-7.0,311,6467,0.00,2.60,0.00,0.000,4,0.000,0.066,2161,817,3379
$GC,6503,-0.70,-146.6,437.5,-7.9,313,6508,0.00,2.58,0.00,0.000,6,0.000,0.051,2161,2232,3379
$STATE,6642,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6642,begin apogee
$GC,6649,-0.31,0.0,448.4,7.5,320,6780,0.35,0.00,127.97,0.919,6,0.087,0.000,2232,2232,2781
$STATE,6780,end apogee,CONTROL_FINISHED_OK
$STATE,6780,begin climb
$GC,6784,0.85,146.6,453.7,0.0,326,6919,1.17,2.72,126.90,0.903,4,0.076,0.063,2481,824,2183
$GC,6966,0.92,215.8,448.6,4.1,334,7034,0.00,2.60,60.33,0.882,6,0.000,0.051,2483,2240,1901
$GC,7348,1.07,268.1,431.3,4.6,353,7396,0.22,0.00,46.03,0.877,6,0.056,0.000,2533,2240,1688
$GC,7692,1.07,268.1,405.8,7.5,370,7696,0.00,2.65,0.00,0.000,4,0.000,0.067,2533,828,1687
$GC,7764,1.07,268.1,400.2,7.5,373,7768,0.00,2.60,0.00,0.000,6,0.000,0.054,2533,2242,1686
$GC,8080,1.09,290.2,379.8,5.4,388,8105,0.00,2.72,20.17,0.840,4,0.000,0.076,2532,3649,1596
$GC,8150,1.09,295.1,375.9,5.9,391,8162,0.00,2.62,5.75,0.678,6,0.000,0.060,2533,2239,1578
$GC,8472,1.10,304.2,356.3,5.7,407,8483,0.00,0.00,9.50,0.762,6,0.000,0.000,2533,2239,1540
$GC,8780,1.10,304.2,338.4,6.4,422,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2239,1539
$GC,9089,1.10,304.2,311.6,9.3,437,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2239,1539
$GC,9399,1.10,304.2,283.1,9.1,452,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2239,1538
$GC,9708,1.11,306.8,260.2,5.9,467,9717,0.00,2.67,3.67,0.505,4,0.000,0.072,2533,3641,1530
$GC,9752,1.11,306.8,257.4,6.7,469,9757,0.00,2.58,0.00,0.000,6,0.000,0.056,2533,2237,1530
$GC,10080,1.11,306.8,238.4,6.2,485,10084,0.00,2.62,0.00,0.000,4,0.000,0.066,2533,820,1530
$GC,10119,1.11,306.8,235.8,7.0,487,10123,0.00,2.58,0.00,0.000,6,0.000,0.049,2533,2240,1530
$GC,10445,1.11,306.8,207.4,9.2,503,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2240,1530
$GC,10755,1.11,306.8,179.6,8.7,518,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2240,1530
$GC,11063,1.11,306.8,153.7,8.2,533,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2240,1529
$GC,11373,1.11,306.8,132.6,6.2,548,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2240,1531
$GC,11683,1.11,306.8,107.3,9.7,563,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2241,1531
$GC,11993,1.11,306.8,76.2,9.6,578,11997,0.00,2.62,0.00,0.000,4,0.000,0.064,2533,823,1531
$GC,12060,1.11,306.8,69.6,9.9,581,12064,0.00,2.55,0.00,0.000,6,0.000,0.048,2532,2241,1531
$GC,12381,1.11,306.8,42.7,7.6,597,12386,0.00,2.60,0.00,0.000,4,0.000,0.069,2532,3648,1531
$GC,12437,1.11,306.8,38.5,7.0,599,12443,0.00,2.55,0.00,0.000,6,0.000,0.054,2533,2240,1531
$GC,12753,1.13,328.3,21.0,5.4,615,12779,0.00,2.70,18.80,0.614,4,0.000,0.062,2532,824,1441
$GC,12848,1.19,331.9,15.5,5.9,619,12858,0.12,2.58,4.65,0.470,6,0.068,0.048,2559,2245,1427
$STATE,13022,end climb,SURFACE_DEPTH_REACHED
$STATE,13022,begin surface coast
$FINISH,0.6,1.001493
$STATE,13045,end surface coast,CONTROL_FINISHED_OK
$STATE,13046,begin surface
$SM_CCo,13068,110.95,0.604,0,0,508,557.32
$SM_GC,1.36,0.00,0.00,110.95,0.000,0.000,0.604,72,2245,508,-10.25,0.42,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1895
$TCM_TEMP,17.60
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,425.8,31.8
$24V_AH,23.7,41.614
$10V_AH,10.2,21.138
$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,25.425,83.450,423.775,110.950,0.000,36.406,136.775,131.238,7.000,0.000,0.000,11.980,1139.235,10015.879,672.123,1305.269,527.833,0.000,1331.658,0.000,1278.871,0.000,27.867
$DEVICE_MAMPS,169.507,75.933,918.866,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.765,427.102,482.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31778,628
$CAP_FILE_SIZE,91555,0
$CFSIZE,260165632,243814400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270708,092228,6349.850,-1224.974,34,3.1,53,-12.0