version: 66.03
glider: 16
mission: 9
dive: 245
start: 7 28 108 4 42 52
data:
$ID,16
$MISSION,9
$DIVE,245
$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,-2098382.2
$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,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
$GPS1,043437,6404.429,-1216.764,30,2.0,30,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-55.6
$GPS2,044235,6404.526,-1216.695,13,2.3,32,-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,39.1,46766,-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,-121.25,0.000,2,0.000,0.000,70,2235,3025
$GC,151,-0.85,-146.6,3.8,-3.0,6,176,11.43,2.62,-7.85,0.000,4,0.168,0.076,2108,3645,3381
$GC,406,-0.64,-146.6,39.3,-10.5,17,411,0.25,2.55,0.00,0.000,6,0.094,0.050,2156,2230,3381
$GC,723,-0.59,-146.6,61.4,-6.9,32,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2230,3381
$GC,1033,-0.55,-146.6,80.8,-6.3,47,1038,0.12,2.65,0.00,0.000,4,0.096,0.067,2181,3644,3381
$GC,1083,-0.59,-146.6,83.9,-5.4,49,1088,0.00,2.55,0.00,0.000,6,0.000,0.048,2181,2228,3382
$GC,1399,-0.59,-146.6,102.7,-6.9,64,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2228,3382
$GC,1709,-0.59,-146.6,124.4,-6.7,79,1713,0.00,2.65,0.00,0.000,4,0.000,0.070,2182,3641,3382
$GC,1749,-0.65,-146.6,127.3,-6.8,81,1754,0.12,2.55,0.00,0.000,6,0.044,0.050,2138,2228,3382
$GC,2076,-0.56,-146.6,156.1,-8.9,97,2078,0.20,0.00,0.00,0.000,6,0.082,0.000,2179,2228,3381
$GC,2385,-0.56,-146.6,179.2,-7.3,112,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2228,3381
$GC,2696,-0.56,-146.6,200.3,-6.9,127,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2228,3381
$GC,3004,-0.56,-146.6,221.3,-6.7,142,3008,0.00,2.65,0.00,0.000,4,0.000,0.071,2179,3640,3381
$GC,3048,-0.61,-146.6,224.6,-7.6,144,3052,0.00,2.55,0.00,0.000,6,0.000,0.051,2179,2225,3381
$GC,3369,-0.65,-146.6,248.2,-7.7,160,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2225,3381
$GC,3679,-0.69,-146.6,270.3,-7.1,175,3684,0.15,2.62,0.00,0.000,4,0.042,0.071,2126,3638,3381
$GC,3734,-0.58,-146.6,276.1,-11.2,177,3741,0.22,2.55,0.00,0.000,6,0.085,0.052,2171,2228,3381
$GC,4052,-0.58,-146.6,301.0,-7.8,193,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3381
$GC,4360,-0.58,-146.6,323.6,-6.7,208,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3381
$GC,4669,-0.58,-146.6,344.1,-6.2,223,4673,0.00,2.65,0.00,0.000,4,0.000,0.072,2171,3641,3380
$GC,4708,-0.58,-146.6,347.0,-7.6,225,4712,0.00,2.55,0.00,0.000,6,0.000,0.051,2171,2228,3381
$GC,5035,-0.58,-146.6,372.6,-8.5,241,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3380
$GC,5344,-0.58,-146.6,394.8,-5.7,256,5348,0.00,2.62,0.00,0.000,4,0.000,0.073,2171,3638,3380
$GC,5395,-0.62,-146.6,397.8,-5.8,258,5399,0.00,2.55,0.00,0.000,6,0.000,0.051,2171,2224,3380
$GC,5711,-0.66,-146.6,416.2,-6.3,273,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2225,3380
$GC,6020,-0.70,-146.6,437.8,-7.1,288,6025,0.12,2.58,0.00,0.000,4,0.049,0.063,2131,817,3380
$STATE,6045,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6045,begin apogee
$GC,6055,-0.31,0.0,440.0,8.2,289,6187,0.45,0.00,127.47,0.898,6,0.087,0.000,2226,2238,2781
$STATE,6188,end apogee,CONTROL_FINISHED_OK
$STATE,6188,begin climb
$GC,6191,0.85,146.6,445.8,0.0,296,6321,1.20,0.00,125.70,0.889,6,0.079,0.000,2478,2238,2182
$GC,6644,0.92,211.3,429.2,4.2,318,6703,0.00,0.00,56.17,0.870,6,0.000,0.000,2478,2238,1919
$GC,7014,1.02,225.0,408.4,5.6,336,7036,0.17,2.72,13.35,0.805,4,0.048,0.065,2527,828,1862
$GC,7070,0.98,225.0,404.3,8.2,338,7075,0.00,2.60,0.00,0.000,6,0.000,0.052,2527,2241,1861
$GC,7386,0.93,225.0,380.8,7.1,353,7391,0.12,2.67,0.00,0.000,4,0.087,0.075,2502,3653,1861
$GC,7432,0.93,225.0,377.6,7.2,355,7436,0.00,2.60,0.00,0.000,6,0.000,0.058,2502,2243,1861
$GC,7753,0.93,225.0,358.1,6.2,371,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2243,1861
$GC,8062,0.93,225.0,336.8,7.5,386,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2243,1861
$GC,8371,0.93,225.0,314.0,7.2,401,8376,0.00,2.65,0.00,0.000,4,0.000,0.073,2502,3653,1860
$GC,8434,0.93,225.0,309.1,8.0,404,8439,0.00,2.60,0.00,0.000,6,0.000,0.055,2502,2231,1860
$GC,8761,0.94,228.0,289.1,5.9,420,8770,0.00,2.62,3.85,0.524,4,0.000,0.064,2502,822,1850
$GC,8799,0.94,228.8,286.8,6.0,421,8805,0.00,2.58,0.00,0.000,6,0.000,0.049,2502,2242,1850
$GC,9115,0.94,228.8,266.9,6.5,437,9119,0.00,2.60,0.00,0.000,4,0.000,0.071,2502,3648,1850
$GC,9187,0.94,228.8,261.5,7.4,440,9191,0.00,2.58,0.00,0.000,6,0.000,0.054,2502,2237,1850
$GC,9502,0.94,228.8,238.2,7.6,455,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2237,1849
$GC,9812,0.94,228.8,215.9,7.1,470,9817,0.00,2.65,0.00,0.000,4,0.000,0.071,2502,3648,1850
$GC,9869,0.94,228.8,211.6,8.0,472,9875,0.00,2.55,0.00,0.000,6,0.000,0.054,2502,2241,1850
$GC,10185,0.94,228.8,190.3,6.2,488,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2241,1850
$GC,10495,0.95,242.3,173.0,5.6,503,10514,0.00,0.00,13.40,0.684,6,0.000,0.000,2502,2241,1792
$GC,10824,0.96,249.9,153.7,5.8,519,10834,0.00,0.00,8.10,0.621,6,0.000,0.000,2502,2241,1761
$GC,11133,1.04,320.0,139.2,4.1,534,11197,0.10,2.72,57.70,0.709,4,0.051,0.069,2533,3653,1476
$GC,11226,1.04,320.0,133.8,6.2,538,11230,0.00,2.60,0.00,0.000,6,0.000,0.054,2533,2243,1476
$GC,11547,0.99,320.0,111.1,7.9,554,11552,0.00,2.62,0.00,0.000,4,0.000,0.064,2533,822,1476
$GC,11626,0.99,320.0,104.3,8.5,557,11632,0.00,2.58,0.00,0.000,6,0.000,0.048,2534,2247,1475
$GC,11944,0.99,320.0,77.7,7.4,573,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2247,1475
$GC,12251,0.99,320.0,54.1,8.2,588,12256,0.00,2.65,0.00,0.000,4,0.000,0.063,2533,818,1475
$GC,12302,0.99,320.0,49.8,8.5,590,12306,0.00,2.58,0.00,0.000,6,0.000,0.048,2533,2243,1475
$GC,12618,0.99,320.0,23.3,7.9,605,12622,0.00,2.62,0.00,0.000,4,0.000,0.061,2533,820,1475
$GC,12690,0.99,320.0,17.7,7.3,608,12694,0.00,2.55,0.00,0.000,6,0.000,0.047,2533,2241,1475
$STATE,12900,end climb,SURFACE_DEPTH_REACHED
$STATE,12900,begin surface coast
$FINISH,0.7,1.024116
$STATE,12922,end surface coast,CONTROL_FINISHED_OK
$STATE,12922,begin surface
$SM_CCo,12944,116.60,0.601,0,0,508,557.32
$SM_GC,1.30,0.00,0.00,116.60,0.000,0.000,0.601,70,2242,508,-10.25,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1891
$TCM_TEMP,17.80
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,426.2,23.7
$24V_AH,23.7,42.420
$10V_AH,10.2,21.530
$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,25.350,93.850,405.750,116.600,0.000,36.183,132.235,118.459,5.250,0.000,0.000,32.985,1132.467,9858.129,660.356,1377.128,514.371,0.000,1352.248,0.000,1328.550,0.000,30.729
$DEVICE_MAMPS,167.973,75.933,898.157,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.452,425.564,475.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31699,619
$CAP_FILE_SIZE,92922,0
$CFSIZE,260165632,243539968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,280708,082138,6405.997,-1211.145,26,1.3,26,-12.0