version: 66.03
glider: 16
mission: 9
dive: 241
start: 7 27 108 13 5 28
data:
$ID,16
$MISSION,9
$DIVE,241
$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,-2098245.8
$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,20
$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
$GPS1,130038,6352.288,-1226.349,36,1.1,36,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-60.8
$GPS2,130509,6352.333,-1226.438,11,1.3,11,-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,36.5,70493,-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,-120.82,0.000,2,0.000,0.000,73,2243,3025
$GC,150,-0.85,-146.6,4.5,-3.8,6,175,11.45,2.65,-7.70,0.000,4,0.170,0.076,2106,3641,3381
$GC,338,-0.67,-146.6,30.3,-10.1,14,343,0.22,2.55,0.00,0.000,6,0.094,0.051,2150,2230,3381
$GC,654,-0.59,-146.6,57.1,-9.2,29,656,0.10,0.00,0.00,0.000,6,0.103,0.000,2168,2230,3381
$GC,963,-0.59,-146.6,84.2,-8.6,44,967,0.00,2.65,0.00,0.000,4,0.000,0.068,2168,3644,3381
$GC,1035,-0.59,-146.6,91.0,-9.1,47,1040,0.00,2.55,0.00,0.000,6,0.000,0.049,2168,2229,3381
$GC,1353,-0.59,-146.6,116.0,-7.7,62,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2229,3382
$GC,1661,-0.59,-146.6,136.9,-6.2,77,1665,0.00,2.65,0.00,0.000,4,0.000,0.070,2168,3641,3382
$GC,1701,-0.59,-146.6,139.4,-6.5,79,1705,0.00,2.55,0.00,0.000,6,0.000,0.051,2168,2229,3382
$GC,2027,-0.59,-146.6,159.7,-6.7,95,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2229,3382
$GC,2336,-0.59,-146.6,182.9,-7.7,110,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2229,3382
$GC,2646,-0.59,-146.6,204.1,-6.3,125,2651,0.00,2.65,0.00,0.000,4,0.000,0.071,2168,3643,3382
$GC,2696,-0.59,-146.6,207.3,-6.3,127,2701,0.00,2.55,0.00,0.000,6,0.000,0.051,2169,2228,3382
$GC,3014,-0.59,-146.6,225.1,-5.3,142,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3382
$GC,3321,-0.59,-146.6,245.1,-7.0,157,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3382
$GC,3630,-0.59,-146.6,268.0,-7.5,172,3634,0.00,2.65,0.00,0.000,4,0.000,0.071,2168,3640,3382
$GC,3674,-0.59,-146.6,271.5,-7.8,174,3678,0.00,2.55,0.00,0.000,6,0.000,0.051,2169,2228,3382
$GC,3995,-0.59,-146.6,294.3,-6.9,190,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3382
$GC,4304,-0.59,-146.6,316.9,-7.2,205,4308,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3641,3382
$GC,4353,-0.59,-146.6,320.8,-8.0,207,4358,0.00,2.55,0.00,0.000,6,0.000,0.052,2168,2221,3382
$GC,4669,-0.59,-146.6,344.0,-7.2,222,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3381
$GC,4978,-0.59,-146.6,364.6,-6.7,237,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3381
$GC,5287,-0.59,-146.6,384.6,-6.0,252,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3381
$GC,5600,-0.59,-146.6,400.8,-4.9,267,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2221,3381
$GC,5906,-0.59,-146.6,415.8,-6.4,282,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3381
$GC,6215,-0.63,-146.6,442.4,-8.6,297,6220,0.00,2.67,0.00,0.000,4,0.000,0.074,2169,3641,3381
$GC,6272,-0.69,-146.6,447.3,-9.0,299,6278,0.00,2.55,0.00,0.000,6,0.000,0.054,2169,2233,3380
$GC,6587,-0.69,-146.6,472.7,-7.5,315,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2233,3380
$STATE,6626,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6626,begin apogee
$GC,6633,-0.31,0.0,475.3,6.8,317,6769,0.30,0.00,128.73,0.930,6,0.091,0.000,2229,2233,2781
$STATE,6769,end apogee,CONTROL_FINISHED_OK
$STATE,6770,begin climb
$GC,6772,0.85,146.6,479.6,0.0,324,6903,1.23,0.00,127.18,0.921,6,0.081,0.000,2482,2232,2183
$GC,7199,0.94,232.5,464.9,3.6,345,7279,0.10,0.00,74.55,0.908,6,0.070,0.000,2505,2232,1833
$GC,7589,0.94,232.5,439.7,7.1,364,7593,0.00,2.70,0.00,0.000,4,0.000,0.077,2505,3649,1832
$GC,7651,0.94,232.5,434.5,8.1,367,7655,0.00,2.60,0.00,0.000,6,0.000,0.057,2505,2239,1832
$GC,7977,0.94,232.5,409.7,7.1,383,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2239,1830
$GC,8287,0.95,240.6,390.5,5.8,398,8301,0.00,2.70,8.15,0.762,4,0.000,0.067,2506,830,1799
$GC,8369,0.95,240.6,385.2,6.5,401,8375,0.00,2.60,0.00,0.000,6,0.000,0.052,2506,2242,1799
$GC,8684,0.95,240.6,363.6,6.8,417,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2242,1799
$GC,8994,0.95,240.6,341.8,6.9,432,8998,0.00,2.65,0.00,0.000,4,0.000,0.073,2505,3654,1798
$GC,9039,0.95,240.6,338.4,7.8,434,9044,0.00,2.60,0.00,0.000,6,0.000,0.057,2506,2240,1798
$GC,9361,0.99,280.0,319.9,4.9,450,9400,0.00,0.00,34.33,0.834,6,0.000,0.000,2505,2240,1638
$GC,9711,1.10,329.0,303.3,4.7,467,9756,0.15,0.00,42.42,0.818,6,0.067,0.000,2542,2240,1439
$GC,10059,1.10,329.0,274.6,8.9,484,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2240,1438
$GC,10369,1.10,329.0,248.7,7.9,499,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2240,1438
$GC,10678,1.10,329.0,224.4,7.9,514,10682,0.00,2.60,0.00,0.000,4,0.000,0.065,2542,828,1438
$GC,10710,1.10,329.0,221.8,7.9,515,10717,0.00,2.55,0.00,0.000,6,0.000,0.050,2542,2242,1438
$GC,11027,1.10,329.0,198.0,7.5,531,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2242,1438
$GC,11335,1.10,329.0,177.1,6.7,546,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2242,1439
$GC,11645,1.10,329.0,154.3,7.3,561,11649,0.00,2.62,0.00,0.000,4,0.000,0.064,2542,827,1439
$GC,11689,1.10,329.0,150.9,7.1,563,11693,0.00,2.58,0.00,0.000,6,0.000,0.048,2542,2251,1439
$GC,12012,1.10,329.0,122.6,9.9,579,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2251,1439
$GC,12319,1.10,329.0,95.0,8.3,594,12323,0.00,2.65,0.00,0.000,4,0.000,0.064,2541,821,1439
$GC,12368,1.10,329.0,90.6,8.3,596,12373,0.00,2.55,0.00,0.000,6,0.000,0.048,2541,2239,1439
$GC,12685,1.10,329.0,58.3,10.5,611,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2240,1440
$GC,12994,1.10,329.0,32.3,7.2,626,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2239,1440
$GC,13303,1.10,329.0,13.4,7.0,641,13307,0.00,2.60,0.00,0.000,4,0.000,0.061,2542,826,1440
$GC,13375,1.10,329.0,8.0,7.5,644,13380,0.00,2.55,0.00,0.000,6,0.000,0.048,2542,2244,1440
$STATE,13462,end climb,SURFACE_DEPTH_REACHED
$STATE,13462,begin surface coast
$FINISH,0.6,1.005865
$STATE,13484,end surface coast,CONTROL_FINISHED_OK
$STATE,13484,begin surface
$SM_CCo,13505,111.35,0.607,0,0,508,557.32
$SM_GC,1.50,0.00,0.00,111.35,0.000,0.000,0.607,71,2243,508,-10.25,0.42,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1876
$TCM_TEMP,17.70
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.1,18.1
$ALTIM_BOTTOM_PING,450.7,34.2
$24V_AH,23.6,41.886
$10V_AH,10.2,21.265
$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,24.250,72.975,415.350,111.350,0.000,18.307,28.106,115.757,6.250,0.000,0.000,11.233,1148.218,10363.980,696.781,1298.527,389.018,0.000,1333.140,0.000,1276.973,0.000,35.368
$DEVICE_MAMPS,169.507,76.700,930.371,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.234,441.174,460.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31714,649
$CAP_FILE_SIZE,86336,0
$CFSIZE,260165632,243724288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270708,165358,6356.309,-1223.434,33,2.1,52,-12.1