version: 66.03
glider: 16
mission: 9
dive: 246
start: 7 28 108 8 27 7
data:
$ID,16
$MISSION,9
$DIVE,246
$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,-2098415
$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
$GPS1,082138,6405.997,-1211.145,26,1.3,26,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-56.6
$GPS2,082650,6405.989,-1211.072,15,1.4,32,-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,35.4,42396,-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,-101.38,0.000,2,0.000,0.000,70,2243,2608
$GC,131,-0.85,-146.6,3.0,-1.9,5,175,11.38,2.67,-26.50,0.000,4,0.166,0.077,2107,3645,3379
$GC,360,-0.66,-146.6,26.4,-11.2,15,365,0.22,2.58,0.00,0.000,6,0.093,0.051,2152,2227,3379
$GC,682,-0.61,-146.6,50.1,-7.9,31,686,0.00,2.60,0.00,0.000,4,0.000,0.060,2152,807,3379
$GC,744,-0.61,-146.6,55.9,-9.6,34,749,0.00,2.58,0.00,0.000,6,0.000,0.047,2152,2229,3380
$GC,1072,-0.56,-146.6,89.4,-10.2,50,1077,0.12,2.62,0.00,0.000,4,0.095,0.067,2175,3643,3379
$GC,1117,-0.56,-146.6,93.4,-7.6,52,1121,0.00,2.55,0.00,0.000,6,0.000,0.049,2176,2228,3380
$GC,1438,-0.56,-146.6,114.7,-6.8,68,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2228,3380
$GC,1749,-0.56,-146.6,139.7,-8.6,83,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2228,3380
$GC,2056,-0.56,-146.6,166.6,-8.6,98,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2228,3380
$GC,2365,-0.56,-146.6,192.4,-8.1,113,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2228,3380
$GC,2675,-0.56,-146.6,215.3,-6.9,128,2679,0.00,2.62,0.00,0.000,4,0.000,0.071,2176,3637,3380
$GC,2721,-0.61,-146.6,218.7,-7.3,130,2725,0.00,2.55,0.00,0.000,6,0.000,0.050,2176,2221,3380
$GC,3042,-0.61,-146.6,241.1,-7.1,146,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2220,3380
$GC,3351,-0.61,-146.6,261.8,-6.4,161,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2219,3380
$GC,3661,-0.61,-146.6,279.0,-5.1,176,3665,0.00,2.65,0.00,0.000,4,0.000,0.071,2176,3638,3379
$GC,3706,-0.66,-146.6,281.5,-5.7,178,3710,0.00,2.53,0.00,0.000,6,0.000,0.050,2176,2229,3379
$GC,4027,-0.70,-146.6,298.7,-5.8,194,4029,0.15,0.00,0.00,0.000,6,0.041,0.000,2126,2229,3378
$GC,4336,-0.59,-146.6,324.1,-8.3,209,4338,0.22,0.00,0.00,0.000,6,0.083,0.000,2172,2229,3379
$GC,4645,-0.59,-146.6,343.6,-6.5,224,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2229,3379
$GC,4954,-0.59,-146.6,366.2,-8.3,239,4959,0.00,2.65,0.00,0.000,4,0.000,0.072,2172,3640,3379
$GC,5012,-0.65,-146.6,371.7,-10.4,241,5018,0.00,2.55,0.00,0.000,6,0.000,0.051,2172,2225,3379
$GC,5328,-0.70,-146.6,399.8,-8.3,257,5337,0.12,2.58,0.00,0.000,4,0.046,0.062,2130,814,3379
$GC,5378,-0.70,-146.6,404.3,-9.5,259,5383,0.00,2.55,0.00,0.000,6,0.000,0.051,2129,2228,3379
$STATE,5661,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5661,begin apogee
$GC,5668,-0.31,0.0,429.7,8.9,273,5798,0.50,0.00,126.90,0.894,6,0.090,0.000,2230,2229,2781
$STATE,5799,end apogee,CONTROL_FINISHED_OK
$STATE,5799,begin climb
$GC,5802,0.85,146.6,435.4,0.0,279,5937,1.17,2.75,125.72,0.882,4,0.081,0.073,2477,3654,2182
$GC,6021,0.89,190.5,428.8,4.8,290,6066,0.00,2.62,38.42,0.854,6,0.000,0.056,2477,2234,2004
$GC,6391,1.06,266.0,413.2,3.9,308,6462,0.22,2.70,64.72,0.870,4,0.042,0.067,2542,826,1696
$GC,6552,1.01,266.0,402.5,7.0,315,6558,0.12,2.60,0.00,0.000,6,0.087,0.052,2518,2242,1695
$GC,6867,1.01,266.0,382.8,6.8,331,6872,0.00,2.65,0.00,0.000,4,0.000,0.067,2518,822,1695
$GC,6912,1.01,266.0,379.9,6.2,333,6916,0.00,2.58,0.00,0.000,6,0.000,0.051,2519,2242,1694
$GC,7233,1.01,266.0,360.6,6.7,349,7237,0.00,2.65,0.00,0.000,4,0.000,0.072,2518,3650,1693
$GC,7288,1.01,266.0,356.2,8.1,351,7294,0.00,2.60,0.00,0.000,6,0.000,0.058,2518,2239,1693
$GC,7603,1.01,266.0,333.1,7.1,367,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2239,1693
$GC,7913,1.01,266.0,311.6,7.0,382,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2239,1693
$GC,8222,1.01,266.0,290.2,7.1,397,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2239,1693
$GC,8531,1.01,266.0,267.5,7.3,412,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2239,1693
$GC,8840,1.01,266.0,244.7,7.3,427,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1693
$GC,9150,1.01,266.0,220.5,8.1,442,9154,0.00,2.62,0.00,0.000,4,0.000,0.070,2518,3648,1693
$GC,9199,1.01,266.0,216.1,9.0,444,9204,0.00,2.58,0.00,0.000,6,0.000,0.054,2518,2235,1693
$GC,9515,1.01,266.0,190.9,7.7,459,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2235,1692
$GC,9824,1.01,266.0,167.8,7.4,474,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2235,1692
$GC,10134,1.01,266.0,143.8,8.2,489,10138,0.00,2.65,0.00,0.000,4,0.000,0.068,2518,3652,1692
$GC,10175,1.05,266.0,140.3,9.3,491,10179,0.00,2.58,0.00,0.000,6,0.000,0.054,2517,2235,1692
$GC,10501,1.05,266.0,113.0,8.2,507,10503,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2235,1692
$GC,10811,1.05,266.0,90.1,6.7,522,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2235,1693
$GC,11121,1.05,266.0,69.3,6.9,537,11125,0.00,2.62,0.00,0.000,4,0.000,0.068,2518,3648,1693
$GC,11165,1.10,266.0,65.9,6.9,539,11170,0.10,2.55,0.00,0.000,6,0.051,0.053,2553,2238,1693
$GC,11487,1.03,266.0,41.3,8.1,555,11489,0.15,0.00,0.00,0.000,6,0.082,0.000,2521,2238,1693
$GC,11797,1.03,266.0,14.7,7.5,570,11801,0.00,2.60,0.00,0.000,4,0.000,0.063,2521,819,1693
$GC,11881,1.03,266.0,8.5,6.9,574,11886,0.00,2.55,0.00,0.000,6,0.000,0.046,2521,2242,1693
$STATE,11978,end climb,SURFACE_DEPTH_REACHED
$STATE,11979,begin surface coast
$FINISH,0.7,1.016216
$STATE,12001,end surface coast,CONTROL_FINISHED_OK
$STATE,12001,begin surface
$SM_CCo,12023,139.95,0.599,0,0,508,557.32
$SM_GC,1.33,0.00,0.00,139.95,0.000,0.000,0.599,71,2242,508,-10.25,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1867
$TCM_TEMP,16.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.2,18.1
$ALTIM_BOTTOM_PING,425.8,13.5
$24V_AH,23.7,42.543
$10V_AH,10.2,21.591
$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,25.100,78.175,355.775,139.950,0.000,23.075,42.525,116.750,5.000,0.000,0.000,31.975,1057.063,9109.296,628.389,1284.763,400.343,0.000,1264.651,0.000,1241.140,0.000,27.814
$DEVICE_MAMPS,165.672,77.467,894.322,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.976,394.344,452.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28572,580
$CAP_FILE_SIZE,84005,0
$CFSIZE,260165632,243507200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280708,115108,6406.062,-1210.266,39,1.4,39,-12.0