version: 66.03
glider: 16
mission: 9
dive: 248
start: 7 28 108 15 32 28
data:
$ID,16
$MISSION,9
$DIVE,248
$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,-2098444.2
$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,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
$GPS1,152722,6407.374,-1208.623,38,3.4,57,-12.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-57.7
$GPS2,153209,6407.381,-1208.575,12,1.7,12,-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,34.2,39247,-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,-101.20,0.000,2,0.000,0.000,71,2244,2634
$GC,130,-0.85,-146.6,3.2,-2.1,5,173,11.43,2.60,-23.90,0.000,4,0.167,0.077,2107,3640,3379
$GC,319,-0.60,-146.6,24.3,-11.2,13,324,0.30,2.55,0.00,0.000,6,0.091,0.050,2166,2231,3380
$GC,637,-0.60,-146.6,49.2,-7.7,28,641,0.00,2.60,0.00,0.000,4,0.000,0.060,2166,814,3380
$GC,744,-0.60,-146.6,57.6,-7.2,33,748,0.00,2.55,0.00,0.000,6,0.000,0.045,2166,2227,3380
$GC,1071,-0.60,-146.6,84.9,-8.7,49,1075,0.00,2.62,0.00,0.000,4,0.000,0.059,2166,810,3380
$GC,1306,-0.60,-146.6,106.3,-9.1,59,1312,0.00,2.58,0.00,0.000,6,0.000,0.048,2166,2235,3380
$GC,1624,-0.60,-146.6,135.0,-9.1,75,1628,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,3640,3381
$GC,1830,-0.60,-146.6,154.3,-8.8,84,1835,0.00,2.55,0.00,0.000,6,0.000,0.051,2166,2231,3380
$GC,2146,-0.60,-146.6,180.7,-8.2,99,2151,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,3641,3381
$GC,2202,-0.66,-146.6,185.4,-8.1,101,2208,0.00,2.55,0.00,0.000,6,0.000,0.051,2166,2230,3381
$GC,2518,-0.66,-146.6,208.6,-7.3,117,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2229,3380
$GC,2828,-0.66,-146.6,229.8,-6.8,132,2832,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,816,3381
$GC,2945,-0.73,-146.6,238.5,-7.0,137,2950,0.12,2.55,0.00,0.000,6,0.046,0.048,2123,2230,3381
$GC,3262,-0.60,-146.6,268.2,-9.6,152,3264,0.22,0.00,0.00,0.000,6,0.086,0.000,2168,2231,3380
$GC,3570,-0.60,-146.6,294.6,-8.6,167,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2231,3380
$GC,3880,-0.60,-146.6,319.1,-7.9,182,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2232,3380
$GC,4189,-0.60,-146.6,342.8,-7.0,197,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2232,3380
$GC,4498,-0.60,-146.6,364.5,-7.2,212,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3379
$GC,4807,-0.60,-146.6,385.6,-6.4,227,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2232,3380
$GC,5117,-0.60,-146.6,405.2,-7.4,242,5121,0.00,2.62,0.00,0.000,4,0.000,0.072,2168,3640,3379
$GC,5189,-0.65,-146.6,410.6,-6.6,245,5193,0.00,2.55,0.00,0.000,6,0.000,0.052,2168,2223,3379
$STATE,5337,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5337,begin apogee
$GC,5344,-0.31,0.0,420.7,6.3,252,5474,0.30,0.00,127.28,0.889,6,0.092,0.000,2228,2223,2781
$STATE,5474,end apogee,CONTROL_FINISHED_OK
$STATE,5475,begin climb
$GC,5478,0.85,146.6,424.6,0.0,258,5612,1.20,2.75,125.55,0.872,4,0.081,0.073,2479,3648,2183
$GC,5659,0.90,193.9,419.3,4.7,266,5706,0.00,2.60,41.30,0.848,6,0.000,0.053,2480,2236,1990
$GC,6018,1.05,269.1,401.3,3.9,284,6086,0.22,0.00,65.30,0.856,6,0.044,0.000,2543,2236,1683
$GC,6384,1.00,269.1,376.9,9.3,302,6389,0.12,2.67,0.00,0.000,4,0.087,0.075,2517,3648,1682
$GC,6481,1.00,269.1,367.6,9.7,306,6486,0.00,2.60,0.00,0.000,6,0.000,0.058,2517,2240,1682
$GC,6797,1.00,269.1,338.5,9.9,321,6801,0.00,2.62,0.00,0.000,4,0.000,0.067,2518,828,1681
$GC,6841,1.00,269.1,333.8,10.4,323,6845,0.00,2.58,0.00,0.000,6,0.000,0.050,2517,2241,1680
$GC,7162,1.00,269.1,302.1,9.6,339,7166,0.00,2.65,0.00,0.000,4,0.000,0.072,2517,3650,1680
$GC,7202,1.00,269.1,298.1,10.4,341,7206,0.00,2.58,0.00,0.000,6,0.000,0.056,2517,2240,1680
$GC,7530,1.00,269.1,270.3,8.2,357,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2240,1680
$GC,7838,1.00,269.1,246.7,7.0,372,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1680
$GC,8146,1.00,269.1,226.1,6.5,387,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2240,1680
$GC,8456,1.00,269.1,205.1,6.9,402,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2240,1680
$GC,8765,1.00,269.1,181.4,8.2,417,8770,0.00,2.65,0.00,0.000,4,0.000,0.070,2517,3654,1680
$GC,8810,1.00,269.1,177.3,9.2,419,8814,0.00,2.58,0.00,0.000,6,0.000,0.053,2517,2236,1680
$GC,9130,1.00,269.1,150.3,8.1,435,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2236,1680
$GC,9442,1.00,269.1,128.1,6.7,450,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2236,1680
$GC,9749,1.00,269.1,106.9,7.4,465,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2236,1680
$GC,10059,1.00,269.1,84.0,7.5,480,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2236,1680
$GC,10368,1.00,269.1,57.1,8.5,495,10373,0.00,2.58,0.00,0.000,4,0.000,0.062,2517,828,1680
$GC,10402,1.00,269.1,54.2,7.5,496,10408,0.00,2.55,0.00,0.000,6,0.000,0.048,2517,2251,1680
$GC,10719,1.00,269.1,31.7,6.5,512,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2251,1680
$GC,11027,1.00,269.1,9.1,7.2,527,11032,0.00,2.58,0.00,0.000,4,0.000,0.067,2518,3647,1681
$GC,11100,1.00,269.1,3.4,7.0,530,11104,0.00,2.55,0.00,0.000,6,0.000,0.052,2517,2240,1681
$STATE,11124,end climb,SURFACE_DEPTH_REACHED
$STATE,11124,begin surface coast
$FINISH,0.7,1.019441
$STATE,11146,end surface coast,CONTROL_FINISHED_OK
$STATE,11146,begin surface
$SM_CCo,11168,137.52,0.594,0,0,508,557.32
$SM_GC,1.46,0.00,0.00,137.52,0.000,0.000,0.594,68,2238,508,-10.26,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1871
$TCM_TEMP,17.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,375.9,54.0
$24V_AH,23.7,42.785
$10V_AH,10.2,21.712
$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,24.450,72.650,359.425,137.525,0.000,18.004,26.339,129.716,3.750,0.000,0.000,12.480,990.674,8354.510,624.015,1245.233,386.175,0.000,1246.298,0.000,1224.141,0.000,24.720
$DEVICE_MAMPS,167.206,77.467,888.953,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.103,361.047,430.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25311,532
$CAP_FILE_SIZE,78503,0
$CFSIZE,260165632,243425280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280708,184208,6409.338,-1204.379,34,1.3,34,-12.0