version: 66.03
glider: 16
mission: 9
dive: 240
start: 7 27 108 9 27 45
data:
$ID,16
$MISSION,9
$DIVE,240
$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,-2098233.8
$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,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,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
$GPS1,092228,6349.850,-1224.974,34,3.1,53,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-57.3
$GPS2,092728,6349.836,-1225.096,11,3.7,30,-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,34.2,74316,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-121.18,0.000,2,0.000,0.000,72,2246,3022
$GC,151,-0.85,-146.6,4.3,-3.6,6,176,11.48,2.60,-7.85,0.000,4,0.169,0.078,2116,3638,3380
$GC,182,0.18,-146.6,13.1,-22.4,7,194,1.10,2.58,0.00,0.000,6,0.092,0.052,2340,2230,3380
$GC,505,-0.35,-146.6,36.3,-7.4,23,511,0.50,2.60,0.00,0.000,4,0.050,0.058,2221,813,3381
$GC,624,-0.87,-146.6,43.9,-6.0,28,629,0.52,2.55,0.00,0.000,6,0.058,0.046,2107,2232,3381
$GC,941,-0.74,-146.6,76.9,-12.2,43,946,0.15,2.62,0.00,0.000,4,0.088,0.058,2136,811,3381
$GC,1198,-0.74,-146.6,105.2,-11.0,54,1205,0.00,2.58,0.00,0.000,6,0.000,0.049,2136,2235,3382
$GC,1515,-0.65,-146.6,139.6,-9.9,70,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2235,3382
$GC,1823,-0.56,-146.6,162.8,-6.9,85,1825,0.20,0.00,0.00,0.000,6,0.086,0.000,2177,2234,3382
$GC,2133,-0.56,-146.6,179.1,-5.8,100,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2235,3382
$GC,2442,-0.56,-146.6,199.7,-7.2,115,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2235,3382
$GC,2751,-0.56,-146.6,223.4,-7.6,130,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2235,3382
$GC,3061,-0.60,-146.6,248.2,-8.0,145,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2235,3382
$GC,3370,-0.65,-146.6,272.3,-7.5,160,3374,0.00,2.62,0.00,0.000,4,0.000,0.072,2177,3641,3382
$GC,3410,-0.71,-146.6,275.2,-7.3,162,3415,0.15,2.55,0.00,0.000,6,0.043,0.051,2130,2227,3382
$GC,3738,-0.61,-146.6,307.0,-9.6,178,3740,0.17,0.00,0.00,0.000,6,0.085,0.000,2165,2227,3382
$GC,4046,-0.61,-146.6,327.9,-6.5,193,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2227,3381
$GC,4356,-0.61,-146.6,343.8,-4.4,208,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2227,3382
$GC,4665,-0.61,-146.6,358.4,-5.4,223,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2227,3382
$GC,4974,-0.61,-146.6,380.9,-8.6,238,4978,0.00,2.65,0.00,0.000,4,0.000,0.072,2164,3642,3381
$GC,5029,-0.61,-146.6,386.1,-9.4,240,5035,0.00,2.55,0.00,0.000,6,0.000,0.052,2165,2228,3381
$GC,5345,-0.61,-146.6,418.2,-10.4,256,5350,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,810,3381
$GC,5379,-0.67,-146.6,421.8,-10.5,257,5385,0.00,2.55,0.00,0.000,6,0.000,0.048,2164,2230,3381
$GC,5694,-0.67,-146.6,447.6,-6.6,273,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$STATE,5939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5939,begin apogee
$GC,5946,-0.31,0.0,463.6,6.7,285,6081,0.32,0.00,127.82,0.921,6,0.084,0.000,2231,2230,2780
$STATE,6082,end apogee,CONTROL_FINISHED_OK
$STATE,6082,begin climb
$GC,6085,0.85,146.6,471.3,0.0,292,6216,1.17,0.00,126.93,0.907,6,0.076,0.000,2478,2230,2182
$GC,6520,0.85,146.6,455.1,6.1,313,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2229,2181
$GC,6825,0.89,189.0,440.9,4.8,328,6865,0.00,0.00,37.55,0.888,6,0.000,0.000,2478,2229,2010
$GC,7175,0.97,189.0,419.2,6.1,345,7176,0.15,0.00,0.00,0.000,6,0.076,0.000,2510,2230,2009
$GC,7484,1.00,213.2,400.5,5.3,360,7508,0.00,0.00,21.52,0.860,6,0.000,0.000,2509,2229,1912
$GC,7813,1.00,213.2,382.3,6.1,376,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2229,1912
$GC,8123,1.06,267.6,365.5,4.5,391,8177,0.00,2.75,47.70,0.871,4,0.000,0.071,2509,3639,1689
$GC,8213,1.19,344.4,362.3,3.9,395,8285,0.22,2.60,65.62,0.860,6,0.058,0.058,2561,2240,1376
$GC,8594,1.13,344.4,331.6,11.4,413,8599,0.00,2.62,0.00,0.000,4,0.000,0.067,2561,825,1375
$GC,8628,1.08,344.4,327.3,11.8,414,8635,0.15,2.58,0.00,0.000,6,0.085,0.049,2531,2240,1375
$GC,8944,1.08,344.4,299.9,7.0,430,8948,0.00,2.65,0.00,0.000,4,0.000,0.066,2531,823,1375
$GC,8988,1.08,344.4,296.8,6.8,432,8992,0.00,2.58,0.00,0.000,6,0.000,0.048,2531,2239,1374
$GC,9309,1.08,344.4,274.2,7.2,448,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2239,1374
$GC,9617,1.08,344.4,247.3,9.4,463,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2240,1374
$GC,9927,1.08,344.4,218.5,9.0,478,9931,0.00,2.62,0.00,0.000,4,0.000,0.064,2531,823,1375
$GC,9971,1.08,344.4,214.5,8.3,480,9975,0.00,2.55,0.00,0.000,6,0.000,0.048,2531,2241,1375
$GC,10292,1.08,344.4,186.3,9.0,496,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2241,1375
$GC,10601,1.08,344.4,158.2,9.4,511,10606,0.00,2.62,0.00,0.000,4,0.000,0.064,2531,826,1376
$GC,10646,1.08,344.4,153.8,9.4,513,10651,0.00,2.55,0.00,0.000,6,0.000,0.048,2531,2240,1376
$GC,10969,1.08,344.4,128.0,7.7,529,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2240,1376
$GC,11277,1.08,344.4,101.6,8.4,544,11281,0.00,2.62,0.00,0.000,4,0.000,0.064,2531,824,1376
$GC,11333,1.08,344.4,96.8,8.8,546,11339,0.00,2.55,0.00,0.000,6,0.000,0.048,2531,2242,1376
$GC,11649,1.08,344.4,69.9,8.1,562,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2242,1376
$GC,11958,1.11,372.8,50.8,5.2,577,11988,0.00,2.67,24.12,0.639,4,0.000,0.063,2531,824,1260
$GC,12040,1.11,372.8,45.9,6.6,580,12046,0.00,2.55,0.00,0.000,6,0.000,0.047,2531,2241,1259
$GC,12357,1.11,372.8,20.2,9.0,596,12362,0.00,2.62,0.00,0.000,4,0.000,0.063,2531,824,1261
$GC,12408,1.17,372.8,15.6,8.3,598,12413,0.10,2.55,0.00,0.000,6,0.050,0.047,2561,2241,1260
$STATE,12561,end climb,SURFACE_DEPTH_REACHED
$STATE,12561,begin surface coast
$FINISH,0.6,1.013158
$STATE,12585,end surface coast,CONTROL_FINISHED_OK
$STATE,12585,begin surface
$SM_CCo,12607,90.72,0.601,0,0,509,557.32
$SM_GC,1.47,0.00,0.00,90.72,0.000,0.000,0.601,73,2242,509,-10.24,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1887
$TCM_TEMP,17.70
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,375.5,97.1
$24V_AH,23.7,41.752
$10V_AH,10.2,21.201
$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,27.175,72.750,451.275,90.725,0.000,18.357,30.074,121.081,5.500,0.000,0.000,30.869,1084.530,9568.984,677.468,1280.917,390.207,0.000,1323.706,0.000,1242.273,0.000,21.888
$DEVICE_MAMPS,168.740,78.234,921.167,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.761,413.152,439.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31677,607
$CAP_FILE_SIZE,85072,0
$CFSIZE,260165632,243773440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270708,130038,6352.288,-1226.349,36,1.1,36,-12.1