version: 66.03
glider: 16
mission: 9
dive: 244
start: 7 28 108 0 46 4
data:
$ID,16
$MISSION,9
$DIVE,244
$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,-2098348.5
$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,23
$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
$GPS1,004028,6401.288,-1221.160,26,2.2,45,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-57.5
$GPS2,004547,6401.324,-1221.152,12,2.4,31,-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,39.7,53668,-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,-146.6,0.0,0.0,0,148,0.00,0.00,-121.30,0.000,2,0.000,0.000,72,2253,3084
$GC,151,-0.85,-146.6,4.8,-4.1,6,174,11.45,2.65,-6.05,0.000,4,0.170,0.077,2107,3638,3381
$GC,401,-0.68,-146.6,38.4,-10.5,17,406,0.22,2.55,0.00,0.000,6,0.089,0.051,2152,2233,3382
$GC,728,-0.62,-146.6,65.5,-9.3,33,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2233,3382
$GC,1038,-0.55,-146.6,96.0,-10.4,48,1040,0.15,0.00,0.00,0.000,6,0.099,0.000,2181,2233,3382
$GC,1346,-0.55,-146.6,126.2,-8.1,63,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2233,3382
$GC,1656,-0.55,-146.6,142.6,-5.1,78,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2233,3382
$GC,1965,-0.59,-146.6,163.0,-7.6,93,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2233,3382
$GC,2273,-0.59,-146.6,186.1,-7.6,108,2278,0.00,2.65,0.00,0.000,4,0.000,0.071,2181,3641,3382
$GC,2307,-0.65,-146.6,189.0,-8.0,109,2314,0.12,2.55,0.00,0.000,6,0.044,0.051,2141,2227,3382
$GC,2623,-0.56,-146.6,220.8,-10.6,125,2625,0.17,0.00,0.00,0.000,6,0.082,0.000,2176,2227,3382
$GC,2932,-0.56,-146.6,244.7,-6.8,140,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2226,3382
$GC,3241,-0.56,-146.6,262.7,-6.0,155,3246,0.00,2.65,0.00,0.000,4,0.000,0.071,2176,3641,3382
$GC,3276,-0.60,-146.6,264.8,-6.8,156,3281,0.00,2.55,0.00,0.000,6,0.000,0.050,2176,2225,3382
$GC,3591,-0.60,-146.6,281.1,-4.7,172,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2224,3382
$GC,3901,-0.60,-146.6,296.7,-4.9,187,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3381
$GC,4211,-0.65,-146.6,312.9,-5.1,202,4215,0.00,2.65,0.00,0.000,4,0.000,0.071,2176,3637,3382
$GC,4261,-0.70,-146.6,315.8,-5.5,204,4266,0.15,2.53,0.00,0.000,6,0.054,0.051,2140,2229,3381
$GC,4578,-0.62,-146.6,336.9,-6.0,219,4579,0.12,0.00,0.00,0.000,6,0.093,0.000,2164,2228,3381
$GC,4886,-0.62,-146.6,354.2,-4.6,234,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2228,3381
$GC,5195,-0.62,-146.6,371.2,-5.5,249,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3381
$GC,5505,-0.62,-146.6,393.3,-8.2,264,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3381
$GC,5814,-0.62,-146.6,417.1,-8.0,279,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3380
$GC,6123,-0.62,-146.6,435.6,-5.8,294,6128,0.00,2.65,0.00,0.000,4,0.000,0.074,2164,3643,3381
$GC,6174,-0.62,-146.6,438.9,-6.4,296,6178,0.00,2.55,0.00,0.000,6,0.000,0.052,2164,2230,3381
$GC,6490,-0.62,-146.6,457.8,-5.9,311,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3380
$STATE,6693,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6694,begin apogee
$GC,6700,-0.31,0.0,469.2,5.8,321,6830,0.32,0.00,126.97,0.927,6,0.071,0.000,2234,2230,2781
$STATE,6830,end apogee,CONTROL_FINISHED_OK
$STATE,6831,begin climb
$GC,6834,0.85,146.6,469.1,0.0,327,6969,1.15,2.80,125.70,0.912,4,0.071,0.074,2480,3645,2183
$GC,7207,0.92,173.7,466.8,5.3,345,7237,0.00,2.60,24.30,0.871,6,0.000,0.053,2480,2230,2072
$GC,7562,1.06,209.9,449.8,5.0,362,7604,0.20,2.78,31.88,0.885,4,0.054,0.074,2531,3644,1925
$GC,7852,0.97,209.9,430.6,7.3,375,7857,0.00,2.58,0.00,0.000,6,0.000,0.056,2531,2243,1925
$GC,8180,0.89,209.9,409.5,6.3,391,8182,0.17,0.00,0.00,0.000,6,0.090,0.000,2496,2243,1924
$GC,8490,0.90,216.0,393.5,5.8,406,8498,0.00,0.00,6.88,0.730,6,0.000,0.000,2496,2243,1900
$GC,8798,0.94,251.4,377.8,5.0,421,8832,0.00,0.00,31.40,0.864,6,0.000,0.000,2497,2243,1755
$GC,9128,1.00,252.5,358.4,6.0,437,9132,0.00,2.65,0.00,0.000,4,0.000,0.073,2496,3644,1754
$GC,9174,1.07,252.5,355.1,7.4,439,9179,0.17,2.58,0.00,0.000,6,0.043,0.055,2547,2239,1755
$GC,9495,0.98,252.5,323.5,10.6,455,9500,0.15,2.62,0.00,0.000,4,0.084,0.064,2513,824,1754
$GC,9535,0.98,252.5,319.5,9.6,457,9539,0.00,2.58,0.00,0.000,6,0.000,0.049,2513,2238,1753
$GC,9861,0.98,255.5,296.3,5.9,473,9871,0.00,2.67,4.85,0.604,4,0.000,0.071,2513,3653,1739
$GC,9933,0.98,255.5,291.1,7.7,476,9937,0.00,2.60,0.00,0.000,6,0.000,0.054,2513,2232,1739
$GC,10249,0.98,255.5,268.5,8.1,491,10251,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2232,1739
$GC,10558,0.98,255.5,241.5,9.1,506,10562,0.00,2.67,0.00,0.000,4,0.000,0.071,2513,3654,1739
$GC,10597,0.98,255.5,237.5,11.1,508,10602,0.00,2.58,0.00,0.000,6,0.000,0.053,2513,2240,1740
$GC,10925,0.98,255.5,209.7,7.9,524,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2240,1739
$GC,11234,0.98,256.3,189.5,6.0,539,11235,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2239,1739
$GC,11543,0.98,256.3,168.5,7.6,554,11547,0.00,2.65,0.00,0.000,4,0.000,0.070,2513,3652,1740
$GC,11593,0.98,256.3,164.0,9.0,556,11597,0.00,2.55,0.00,0.000,6,0.000,0.054,2513,2239,1740
$GC,11910,0.98,256.3,133.9,10.1,571,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2239,1740
$GC,12218,0.98,256.3,106.6,8.3,586,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2239,1740
$GC,12528,0.98,256.3,77.8,9.8,601,12532,0.00,2.65,0.00,0.000,4,0.000,0.069,2512,3654,1740
$GC,12583,0.98,256.3,71.6,10.9,603,12589,0.00,2.55,0.00,0.000,6,0.000,0.053,2513,2239,1741
$GC,12898,0.98,256.3,40.1,9.1,619,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2239,1740
$GC,13209,0.98,256.3,17.2,6.7,634,13213,0.00,2.62,0.00,0.000,4,0.000,0.068,2513,3649,1741
$GC,13264,0.98,256.3,13.0,7.1,636,13270,0.00,2.55,0.00,0.000,6,0.000,0.053,2512,2238,1741
$STATE,13453,end climb,SURFACE_DEPTH_REACHED
$STATE,13453,begin surface coast
$FINISH,0.7,1.014886
$STATE,13475,end surface coast,CONTROL_FINISHED_OK
$STATE,13475,begin surface
$SM_CCo,13496,146.00,0.604,0,0,508,557.32
$SM_GC,1.38,0.00,0.00,146.00,0.000,0.000,0.604,71,2236,508,-10.25,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1893
$TCM_TEMP,17.60
$XPDR_PINGS,5
$ALTIM_TOP_PING,20.0,18.8
$ALTIM_BOTTOM_PING,400.9,78.3
$24V_AH,23.7,42.288
$10V_AH,10.2,21.463
$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,25.225,73.250,351.975,146.000,0.000,33.273,33.588,120.540,4.750,0.000,0.000,32.675,1174.697,10316.977,653.403,1409.657,411.774,0.000,1331.238,0.000,1365.105,0.000,26.407
$DEVICE_MAMPS,169.507,77.467,926.536,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.171,440.827,454.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31712,647
$CAP_FILE_SIZE,91591,0
$CFSIZE,260165632,243585024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,280708,043437,6404.429,-1216.764,30,2.0,30,-12.0