version: 66.03
glider: 16
mission: 9
dive: 243
start: 7 27 108 20 40 28
data:
$ID,16
$MISSION,9
$DIVE,243
$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,-2098315
$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,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
$GPS1,203508,6359.132,-1220.754,39,1.9,39,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-57.6
$GPS2,204011,6359.129,-1220.824,15,2.7,34,-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,37.5,57188,-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,-146.6,0.0,0.0,0,128,0.00,0.00,-101.47,0.000,2,0.000,0.000,72,2241,2568
$GC,131,-0.85,-146.6,3.2,-1.9,5,178,11.40,2.67,-27.02,0.000,4,0.167,0.077,2109,3649,3379
$GC,358,-0.66,-146.6,27.7,-12.3,15,363,0.22,2.58,0.00,0.000,6,0.094,0.050,2153,2231,3379
$GC,679,-0.58,-146.6,55.3,-7.9,31,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2231,3380
$GC,988,-0.51,-146.6,80.7,-8.6,46,990,0.17,0.00,0.00,0.000,6,0.097,0.000,2186,2231,3380
$GC,1298,-0.57,-146.6,107.3,-8.5,61,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2231,3380
$GC,1607,-0.62,-146.6,126.7,-5.3,76,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2231,3381
$GC,1919,-0.68,-146.6,142.7,-5.2,91,1921,0.17,0.00,0.00,0.000,6,0.040,0.000,2129,2231,3381
$GC,2226,-0.57,-146.6,170.0,-9.2,106,2231,0.20,2.65,0.00,0.000,4,0.084,0.069,2173,3645,3381
$GC,2270,-0.61,-146.6,173.7,-7.3,108,2275,0.00,2.55,0.00,0.000,6,0.000,0.050,2174,2230,3381
$GC,2592,-0.61,-146.6,194.3,-5.7,124,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3381
$GC,2901,-0.61,-146.6,210.4,-5.2,139,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3381
$GC,3210,-0.61,-146.6,228.4,-6.5,154,3214,0.00,2.65,0.00,0.000,4,0.000,0.071,2173,3644,3381
$GC,3250,-0.61,-146.6,231.0,-7.0,156,3255,0.00,2.55,0.00,0.000,6,0.000,0.051,2174,2228,3381
$GC,3577,-0.61,-146.6,249.8,-5.7,172,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2227,3381
$GC,3887,-0.61,-146.6,268.2,-6.4,187,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2227,3381
$GC,4196,-0.61,-146.6,289.3,-6.7,202,4201,0.00,2.65,0.00,0.000,4,0.000,0.071,2173,3640,3381
$GC,4236,-0.61,-146.6,292.2,-7.2,204,4240,0.00,2.55,0.00,0.000,6,0.000,0.051,2173,2228,3381
$GC,4562,-0.61,-146.6,315.3,-7.0,220,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3381
$GC,4872,-0.61,-146.6,341.6,-9.3,235,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3380
$GC,5183,-0.61,-146.6,370.5,-8.8,250,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3380
$GC,5490,-0.61,-146.6,395.6,-7.8,265,5494,0.00,2.65,0.00,0.000,4,0.000,0.072,2174,3644,3380
$GC,5540,-0.66,-146.6,399.9,-8.7,267,5545,0.00,2.55,0.00,0.000,6,0.000,0.051,2174,2225,3380
$GC,5856,-0.70,-146.6,424.8,-7.6,282,5861,0.12,2.58,0.00,0.000,4,0.047,0.063,2131,818,3380
$GC,5897,-0.65,-146.6,428.4,-9.5,284,5902,0.12,2.55,0.00,0.000,6,0.095,0.050,2155,2228,3380
$GC,6223,-0.65,-146.6,452.8,-7.1,300,6228,0.00,2.62,0.00,0.000,4,0.000,0.074,2155,3641,3380
$GC,6263,-0.65,-146.6,455.5,-6.9,302,6267,0.00,2.55,0.00,0.000,6,0.000,0.054,2155,2231,3380
$STATE,6401,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6401,begin apogee
$GC,6408,-0.31,0.0,466.7,8.9,309,6544,0.38,0.00,128.48,0.921,6,0.102,0.000,2228,2231,2780
$STATE,6545,end apogee,CONTROL_FINISHED_OK
$STATE,6545,begin climb
$GC,6548,0.85,146.6,473.5,0.0,316,6678,1.23,0.00,126.78,0.912,6,0.081,0.000,2483,2231,2183
$GC,6973,0.85,146.6,454.8,6.1,337,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2232,2182
$GC,7284,0.87,168.4,439.8,5.4,352,7305,0.00,0.00,20.02,0.854,6,0.000,0.000,2482,2231,2094
$GC,7613,0.95,199.4,421.7,5.2,368,7648,0.10,2.80,27.35,0.867,4,0.055,0.074,2517,3650,1967
$GC,7763,0.95,199.4,412.2,6.9,374,7769,0.00,2.60,0.00,0.000,6,0.000,0.056,2517,2239,1969
$GC,8079,0.91,199.4,392.0,6.9,390,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2239,1967
$GC,8388,0.94,227.2,373.4,5.2,405,8418,0.00,2.72,24.62,0.843,4,0.000,0.074,2517,3648,1854
$GC,8481,0.94,227.9,368.2,6.0,409,8485,0.00,2.60,0.00,0.000,6,0.000,0.057,2517,2240,1854
$GC,8796,0.94,227.9,349.1,6.3,424,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2240,1854
$GC,9106,0.94,227.9,331.1,6.1,439,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2240,1854
$GC,9415,0.94,227.9,310.9,7.1,454,9419,0.00,2.65,0.00,0.000,4,0.000,0.072,2517,3650,1854
$GC,9459,0.94,227.9,307.3,8.2,456,9463,0.00,2.58,0.00,0.000,6,0.000,0.054,2517,2233,1854
$GC,9779,0.94,227.9,285.9,6.4,472,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2234,1854
$GC,10088,0.94,227.9,266.3,6.4,487,10093,0.00,2.67,0.00,0.000,4,0.000,0.071,2517,3656,1854
$GC,10144,0.94,227.9,262.3,7.2,489,10150,0.00,2.58,0.00,0.000,6,0.000,0.054,2517,2242,1854
$GC,10460,0.95,238.1,243.7,5.7,505,10472,0.00,0.00,10.80,0.710,6,0.000,0.000,2517,2242,1810
$GC,10769,0.95,238.1,223.1,6.5,520,10774,0.00,2.62,0.00,0.000,4,0.000,0.071,2517,3650,1809
$GC,10819,0.95,238.1,219.5,7.4,522,10824,0.00,2.58,0.00,0.000,6,0.000,0.053,2517,2233,1809
$GC,11135,0.95,238.1,198.4,6.8,537,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2233,1810
$GC,11444,0.95,238.1,177.6,6.4,552,11448,0.00,2.65,0.00,0.000,4,0.000,0.070,2517,3650,1810
$GC,11499,0.95,238.1,173.6,7.2,554,11505,0.00,2.55,0.00,0.000,6,0.000,0.053,2517,2240,1810
$GC,11815,0.95,238.1,152.1,7.0,570,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2240,1811
$GC,12125,0.95,238.1,128.0,7.8,585,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2240,1810
$GC,12434,0.95,238.1,104.2,7.4,600,12435,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2240,1810
$GC,12743,0.96,249.6,85.3,5.7,615,12759,0.00,2.67,11.15,0.622,4,0.000,0.069,2517,3653,1761
$GC,12799,0.96,249.6,81.9,6.2,616,12806,0.00,2.58,0.00,0.000,6,0.000,0.054,2517,2235,1761
$GC,13115,1.02,305.1,67.6,4.5,632,13163,0.00,0.00,45.65,0.660,6,0.000,0.000,2517,2235,1537
$GC,13467,1.10,340.5,50.8,5.0,649,13502,0.10,2.67,29.30,0.635,4,0.054,0.064,2552,823,1392
$GC,13536,1.10,340.5,46.2,6.3,652,13541,0.00,2.60,0.00,0.000,6,0.000,0.048,2553,2251,1391
$GC,13857,1.10,340.5,24.3,7.1,668,13858,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2251,1392
$STATE,14165,end climb,SURFACE_DEPTH_REACHED
$STATE,14165,begin surface coast
$FINISH,0.7,1.017629
$STATE,14186,end surface coast,CONTROL_FINISHED_OK
$STATE,14186,begin surface
$SM_CCo,14208,106.62,0.599,0,0,508,557.32
$SM_GC,1.47,0.00,0.00,106.62,0.000,0.000,0.599,73,2251,508,-10.24,0.59,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1876
$TCM_TEMP,17.50
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,375.9,99.5
$24V_AH,23.7,42.163
$10V_AH,10.2,21.397
$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,25.025,78.475,424.150,106.625,0.000,18.276,35.696,114.073,5.000,0.000,0.000,35.041,1222.694,10894.677,677.562,1422.152,405.519,0.000,1372.636,0.000,1380.293,0.000,21.888
$DEVICE_MAMPS,167.206,77.467,921.167,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.956,466.590,521.815,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34773,684
$CAP_FILE_SIZE,93353,0
$CFSIZE,260165632,243625984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,280708,004028,6401.288,-1221.160,26,2.2,45,-12.1