version: 66.03
glider: 16
mission: 9
dive: 247
start: 7 28 108 11 56 22
data:
$ID,16
$MISSION,9
$DIVE,247
$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,-2098431
$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,22
$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
$GPS1,115108,6406.062,-1210.266,39,1.4,39,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-59.4
$GPS2,115603,6406.034,-1210.282,15,1.7,15,-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,34.6,42073,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,127,0.00,0.00,-101.28,0.000,2,0.000,0.000,71,2243,2614
$GC,130,-0.85,-146.6,3.2,-2.0,5,174,11.35,2.58,-24.58,0.000,4,0.165,0.077,2108,3637,3378
$GC,359,-0.64,-146.6,29.4,-12.7,15,364,0.25,2.55,0.00,0.000,6,0.090,0.050,2157,2230,3379
$GC,680,-0.64,-146.6,56.9,-8.3,31,685,0.00,2.60,0.00,0.000,4,0.000,0.060,2157,811,3379
$GC,770,-0.64,-146.6,64.4,-8.3,35,774,0.00,2.55,0.00,0.000,6,0.000,0.046,2157,2227,3379
$GC,1091,-0.64,-146.6,87.6,-6.9,51,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2227,3379
$GC,1400,-0.64,-146.6,110.4,-7.5,66,1404,0.00,2.62,0.00,0.000,4,0.000,0.068,2157,3643,3380
$GC,1462,-0.64,-146.6,115.5,-8.8,69,1467,0.00,2.55,0.00,0.000,6,0.000,0.051,2157,2231,3379
$GC,1790,-0.64,-146.6,140.6,-7.6,85,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2231,3379
$GC,2098,-0.64,-146.6,164.1,-7.5,100,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2231,3379
$GC,2408,-0.64,-146.6,184.1,-6.3,115,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2231,3379
$GC,2717,-0.64,-146.6,203.8,-6.4,130,2722,0.00,2.62,0.00,0.000,4,0.000,0.071,2157,3643,3380
$GC,2750,-0.64,-146.6,205.9,-6.5,131,2756,0.00,2.55,0.00,0.000,6,0.000,0.051,2157,2230,3379
$GC,3066,-0.64,-146.6,223.7,-5.6,147,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2230,3379
$GC,3376,-0.64,-146.6,241.6,-6.4,162,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2230,3379
$GC,3685,-0.64,-146.6,263.3,-7.3,177,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2230,3379
$GC,3994,-0.64,-146.6,288.5,-8.5,192,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2231,3379
$GC,4304,-0.64,-146.6,317.2,-9.6,207,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2230,3379
$GC,4612,-0.64,-146.6,349.0,-11.0,222,4617,0.00,2.65,0.00,0.000,4,0.000,0.072,2157,3644,3379
$GC,4652,-0.64,-146.6,353.3,-10.8,224,4656,0.00,2.55,0.00,0.000,6,0.000,0.052,2157,2230,3379
$GC,4978,-0.64,-146.6,385.7,-9.8,240,4983,0.00,2.58,0.00,0.000,4,0.000,0.062,2157,815,3379
$GC,5023,-0.69,-146.6,390.0,-9.1,242,5027,0.00,2.55,0.00,0.000,6,0.000,0.050,2157,2234,3379
$GC,5344,-0.69,-146.6,416.9,-6.6,258,5349,0.00,2.62,0.00,0.000,4,0.000,0.073,2157,3638,3379
$GC,5389,-0.69,-146.6,420.4,-8.5,260,5393,0.00,2.55,0.00,0.000,6,0.000,0.054,2157,2230,3379
$STATE,5501,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5501,begin apogee
$GC,5507,-0.31,0.0,428.6,7.4,266,5638,0.38,0.00,127.38,0.894,6,0.102,0.000,2230,2231,2781
$STATE,5638,end apogee,CONTROL_FINISHED_OK
$STATE,5639,begin climb
$GC,5641,0.85,146.6,433.9,0.0,272,5777,1.17,2.67,126.30,0.881,4,0.083,0.064,2477,833,2182
$GC,5816,0.88,181.2,429.1,5.1,280,5852,0.00,2.60,30.92,0.842,6,0.000,0.051,2477,2243,2042
$GC,6174,0.93,222.3,410.8,4.9,298,6214,0.12,0.00,36.33,0.851,6,0.054,0.000,2515,2243,1874
$GC,6523,0.93,222.3,386.2,7.0,315,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2244,1873
$GC,6832,0.93,222.3,368.0,6.3,330,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2243,1872
$GC,7142,0.93,222.3,346.4,6.9,345,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2243,1872
$GC,7451,0.93,222.3,327.9,6.1,360,7455,0.00,2.62,0.00,0.000,4,0.000,0.074,2515,3650,1871
$GC,7500,0.93,222.3,324.6,7.0,362,7504,0.00,2.58,0.00,0.000,6,0.000,0.056,2515,2241,1871
$GC,7816,0.93,222.3,301.7,7.5,377,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2240,1871
$GC,8125,0.93,222.3,278.5,7.3,392,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2240,1871
$GC,8434,0.93,222.3,257.9,6.4,407,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2240,1870
$GC,8744,0.93,222.7,238.9,6.0,422,8748,0.00,2.62,0.00,0.000,4,0.000,0.071,2515,3649,1870
$GC,8799,0.93,222.7,235.4,6.2,424,8805,0.00,2.58,0.00,0.000,6,0.000,0.054,2515,2233,1870
$GC,9115,0.94,235.7,217.4,5.6,440,9129,0.00,0.00,12.12,0.705,6,0.000,0.000,2515,2232,1820
$GC,9424,0.94,235.7,198.4,6.4,455,9425,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2232,1820
$GC,9734,0.94,235.7,177.6,6.9,470,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2232,1820
$GC,10043,0.94,235.7,156.0,7.0,485,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2232,1820
$GC,10352,0.94,235.7,133.7,7.2,500,10357,0.00,2.65,0.00,0.000,4,0.000,0.070,2515,3648,1820
$GC,10408,0.94,235.7,129.3,8.6,502,10415,0.00,2.55,0.00,0.000,6,0.000,0.054,2515,2240,1820
$GC,10724,0.94,235.7,105.8,7.5,518,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2239,1820
$GC,11035,0.94,235.7,84.1,6.8,533,11039,0.00,2.65,0.00,0.000,4,0.000,0.069,2515,3656,1820
$GC,11085,0.94,235.7,80.3,7.9,535,11089,0.00,2.58,0.00,0.000,6,0.000,0.054,2513,2237,1821
$GC,11402,0.94,235.7,59.3,6.6,550,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2238,1821
$GC,11710,0.96,249.0,41.1,5.6,565,11730,0.00,0.00,12.75,0.601,6,0.000,0.000,2515,2238,1765
$GC,12041,0.96,249.0,21.0,6.7,581,12046,0.00,2.60,0.00,0.000,4,0.000,0.064,2515,824,1765
$GC,12114,1.02,249.0,16.1,6.3,584,12119,0.00,2.55,0.00,0.000,6,0.000,0.047,2515,2243,1764
$STATE,12366,end climb,SURFACE_DEPTH_REACHED
$STATE,12366,begin surface coast
$FINISH,0.7,1.016577
$STATE,12389,end surface coast,CONTROL_FINISHED_OK
$STATE,12389,begin surface
$SM_CCo,12411,151.02,0.598,0,0,508,557.32
$SM_GC,1.45,0.00,0.00,151.02,0.000,0.000,0.598,71,2243,508,-10.25,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1889
$TCM_TEMP,17.70
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,400.6,37.0
$24V_AH,23.7,42.663
$10V_AH,10.2,21.653
$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,23.925,67.375,345.800,151.025,0.000,18.103,34.501,125.983,4.500,0.000,0.000,15.354,1066.118,9519.538,638.911,1247.073,393.174,0.000,1252.987,0.000,1221.754,0.000,29.171
$DEVICE_MAMPS,164.905,76.700,894.322,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.481,405.811,478.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28606,597
$CAP_FILE_SIZE,80082,0
$CFSIZE,260165632,243470336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280708,152722,6407.374,-1208.623,38,3.4,57,-12.0