version: 66.03
glider: 16
mission: 9
dive: 242
start: 7 27 108 16 59 22
data:
$ID,16
$MISSION,9
$DIVE,242
$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,-2098279.2
$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,21
$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
$GPS1,165358,6356.309,-1223.434,33,2.1,52,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-58.9
$GPS2,165905,6356.367,-1223.314,12,3.7,31,-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,37.1,62662,-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,-121.30,0.000,2,0.000,0.000,71,2245,3065
$GC,151,-0.85,-146.6,4.7,-4.0,6,176,11.48,2.62,-6.60,0.000,4,0.170,0.077,2115,3635,3381
$GC,362,-0.67,-146.6,39.2,-14.1,15,367,0.17,2.55,0.00,0.000,6,0.095,0.051,2149,2231,3381
$GC,680,-0.60,-146.6,70.3,-8.5,30,682,0.10,0.00,0.00,0.000,6,0.104,0.000,2167,2231,3381
$GC,987,-0.60,-146.6,102.8,-11.8,45,991,0.00,2.60,0.00,0.000,4,0.000,0.060,2167,810,3381
$GC,1051,-0.65,-146.6,110.1,-12.1,48,1055,0.00,2.58,0.00,0.000,6,0.000,0.048,2167,2234,3381
$GC,1379,-0.65,-146.6,147.1,-10.2,64,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2233,3381
$GC,1688,-0.65,-146.6,167.3,-4.7,79,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2233,3381
$GC,1996,-0.65,-146.6,179.8,-4.6,94,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2234,3381
$GC,2305,-0.65,-146.6,197.5,-6.0,109,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2233,3381
$GC,2615,-0.65,-146.6,218.5,-6.8,124,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2233,3381
$GC,2924,-0.65,-146.6,242.2,-7.9,139,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2234,3381
$GC,3233,-0.65,-146.6,266.9,-7.4,154,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2234,3381
$GC,3543,-0.65,-146.6,285.0,-5.0,169,3547,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,3635,3381
$GC,3583,-0.65,-146.6,287.1,-5.5,171,3587,0.00,2.55,0.00,0.000,6,0.000,0.052,2167,2229,3381
$GC,3910,-0.65,-146.6,304.3,-6.2,187,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2229,3381
$GC,4219,-0.65,-146.6,330.5,-9.1,202,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2229,3381
$GC,4528,-0.65,-146.6,355.4,-7.6,217,4532,0.00,2.65,0.00,0.000,4,0.000,0.072,2167,3643,3381
$GC,4583,-0.65,-146.6,359.7,-8.0,219,4589,0.00,2.55,0.00,0.000,6,0.000,0.051,2167,2230,3381
$GC,4899,-0.65,-146.6,378.0,-4.5,235,4904,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,811,3380
$GC,4940,-0.72,-146.6,379.4,-3.1,237,4945,0.12,2.58,0.00,0.000,6,0.046,0.048,2126,2235,3380
$GC,5267,-0.60,-146.6,390.0,-2.2,253,5272,0.17,2.62,0.00,0.000,4,0.091,0.071,2164,3644,3380
$GC,5312,-0.60,-146.6,390.5,-0.6,255,5317,0.00,2.55,0.00,0.000,6,0.000,0.053,2163,2230,3380
$GC,5634,-0.60,-146.6,400.0,-5.4,271,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3380
$GC,5943,-0.60,-146.6,424.9,-6.1,286,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3380
$GC,6253,-0.60,-146.6,443.6,-7.7,301,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3380
$GC,6562,-0.60,-146.6,465.8,-8.1,316,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3379
$STATE,6579,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6579,begin apogee
$GC,6586,-0.31,0.0,467.2,8.3,317,6717,0.32,0.00,127.93,0.936,6,0.094,0.000,2228,2230,2781
$STATE,6717,end apogee,CONTROL_FINISHED_OK
$STATE,6717,begin climb
$GC,6721,0.85,146.6,472.5,0.0,323,6856,1.20,2.78,127.00,0.919,4,0.081,0.074,2480,3644,2183
$GC,6926,0.89,183.3,468.0,5.0,333,6965,0.00,2.60,32.75,0.882,6,0.000,0.058,2480,2240,2033
$GC,7292,1.05,280.7,445.2,3.3,351,7379,0.22,0.00,84.68,0.901,6,0.044,0.000,2542,2240,1636
$GC,7678,0.99,280.7,415.8,6.5,370,7680,0.12,0.00,0.00,0.000,6,0.092,0.000,2517,2239,1635
$GC,7987,0.99,280.7,391.5,10.0,385,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2240,1633
$GC,8296,1.07,346.9,372.2,4.2,400,8359,0.00,2.75,56.45,0.873,4,0.000,0.076,2517,3652,1366
$GC,8399,1.11,346.9,366.6,6.9,404,8405,0.12,2.62,0.00,0.000,6,0.052,0.060,2554,2241,1366
$GC,8715,1.00,346.9,341.8,7.1,420,8720,0.15,2.65,0.00,0.000,4,0.087,0.070,2520,827,1365
$GC,8800,1.03,379.9,336.8,5.1,424,8835,0.00,2.58,28.90,0.834,6,0.000,0.052,2520,2238,1231
$GC,9153,1.04,390.8,315.9,5.7,441,9169,0.00,2.70,10.85,0.759,4,0.000,0.067,2520,824,1186
$GC,9215,1.12,419.9,312.5,5.2,443,9246,0.12,2.60,25.48,0.813,6,0.051,0.049,2556,2241,1069
$GC,9565,1.05,419.9,285.7,7.9,460,9570,0.15,2.67,0.00,0.000,4,0.085,0.067,2522,820,1069
$GC,9633,1.10,423.6,281.1,5.9,463,9643,0.00,2.58,5.30,0.617,6,0.000,0.049,2522,2242,1053
$GC,9953,1.10,423.6,260.6,6.8,478,9958,0.00,2.62,0.00,0.000,4,0.000,0.066,2522,828,1052
$GC,10017,1.16,423.6,256.4,6.5,481,10022,0.15,2.58,0.00,0.000,6,0.046,0.049,2558,2247,1052
$GC,10344,1.09,423.6,224.9,10.3,497,10349,0.12,2.65,0.00,0.000,4,0.093,0.066,2535,828,1053
$GC,10411,1.09,423.6,218.9,8.5,500,10415,0.00,2.58,0.00,0.000,6,0.000,0.049,2535,2245,1053
$GC,10732,1.09,423.6,191.6,8.3,516,10736,0.00,2.65,0.00,0.000,4,0.000,0.066,2535,828,1053
$GC,10804,1.09,423.6,185.6,8.4,519,10808,0.00,2.55,0.00,0.000,6,0.000,0.049,2535,2243,1053
$GC,11120,1.09,423.6,157.2,9.4,534,11124,0.00,2.65,0.00,0.000,4,0.000,0.066,2535,821,1053
$GC,11188,1.09,423.6,150.7,9.8,537,11192,0.00,2.58,0.00,0.000,6,0.000,0.049,2535,2243,1053
$GC,11509,1.09,423.6,123.6,7.2,553,11513,0.00,2.65,0.00,0.000,4,0.000,0.064,2535,819,1054
$GC,11581,1.09,423.6,118.7,6.6,556,11586,0.00,2.58,0.00,0.000,6,0.000,0.049,2534,2242,1054
$GC,11899,1.09,423.6,85.8,11.5,571,11903,0.00,2.62,0.00,0.000,4,0.000,0.065,2535,827,1054
$GC,11963,1.13,423.6,78.5,10.5,574,11967,0.00,2.55,0.00,0.000,6,0.000,0.049,2535,2241,1054
$GC,12290,1.13,423.6,47.4,8.5,590,12294,0.00,2.62,0.00,0.000,4,0.000,0.064,2535,827,1054
$GC,12368,1.20,423.6,40.8,7.8,593,12375,0.12,2.55,0.00,0.000,6,0.051,0.049,2564,2247,1055
$GC,12685,1.16,423.6,8.8,10.4,609,12689,0.00,2.65,0.00,0.000,4,0.000,0.064,2564,818,1054
$GC,12729,1.16,423.6,4.3,10.2,611,12733,0.00,2.55,0.00,0.000,6,0.000,0.048,2564,2241,1054
$STATE,12758,end climb,SURFACE_DEPTH_REACHED
$STATE,12758,begin surface coast
$FINISH,0.7,1.013292
$STATE,12780,end surface coast,CONTROL_FINISHED_OK
$STATE,12780,begin surface
$SM_CCo,12802,64.55,0.601,0,0,509,557.32
$SM_GC,1.41,0.00,0.00,64.55,0.000,0.000,0.601,72,2241,509,-10.25,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1908
$TCM_TEMP,17.40
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.6,18.6
$ALTIM_BOTTOM_PING,425.9,50.6
$24V_AH,23.6,42.034
$10V_AH,10.2,21.328
$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,25.675,99.200,499.325,64.550,0.000,18.134,26.481,129.564,6.250,0.000,0.000,32.720,1136.892,9549.203,696.119,1385.584,411.071,0.000,1401.575,0.000,1335.510,0.000,27.953
$DEVICE_MAMPS,170.274,76.700,935.740,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.149,417.354,406.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31648,614
$CAP_FILE_SIZE,94967,0
$CFSIZE,260165632,243675136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270708,203508,6359.132,-1220.754,39,1.9,39,-12.0