version: 66.03
glider: 16
mission: 9
dive: 249
start: 7 28 108 18 47 34
data:
$ID,16
$MISSION,9
$DIVE,249
$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,-2098477.5
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,184208,6409.338,-1204.379,34,1.3,34,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.2
$GPS2,184717,6409.336,-1204.365,10,3.6,29,-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,31.3,34667,-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,-101.53,0.000,2,0.000,0.000,69,2237,2628
$GC,131,-0.85,-146.6,3.3,-2.1,5,174,11.43,2.60,-23.33,0.000,4,0.167,0.077,2108,3641,3379
$GC,231,-0.63,-146.6,14.3,-12.4,9,236,0.28,2.58,0.00,0.000,6,0.091,0.050,2162,2225,3380
$GC,548,-0.58,-146.6,39.8,-6.0,24,552,0.00,2.65,0.00,0.000,4,0.000,0.067,2160,3643,3380
$GC,592,-0.58,-146.6,42.5,-6.0,26,596,0.00,2.55,0.00,0.000,6,0.000,0.048,2162,2228,3380
$GC,913,-0.58,-146.6,60.4,-6.1,42,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2228,3381
$GC,1223,-0.58,-146.6,85.0,-8.5,57,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3381
$GC,1531,-0.58,-146.6,110.9,-7.8,72,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3381
$GC,1840,-0.58,-146.6,131.2,-6.2,87,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3381
$GC,2150,-0.58,-146.6,152.2,-7.1,102,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3381
$GC,2459,-0.58,-146.6,176.3,-8.1,117,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3381
$GC,2768,-0.58,-146.6,202.2,-8.3,132,2772,0.00,2.62,0.00,0.000,4,0.000,0.071,2162,3635,3381
$GC,2808,-0.58,-146.6,205.6,-8.6,134,2812,0.00,2.55,0.00,0.000,6,0.000,0.051,2163,2225,3381
$GC,3134,-0.58,-146.6,232.4,-8.0,150,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2225,3381
$GC,3443,-0.58,-146.6,255.4,-7.0,165,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2224,3381
$GC,3754,-0.58,-146.6,275.4,-6.4,180,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2224,3381
$GC,4062,-0.58,-146.6,294.9,-6.2,195,4066,0.00,2.65,0.00,0.000,4,0.000,0.071,2163,3643,3380
$GC,4101,-0.58,-146.6,297.5,-6.5,197,4106,0.00,2.55,0.00,0.000,6,0.000,0.051,2163,2229,3380
$GC,4429,-0.58,-146.6,320.9,-8.1,213,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2229,3381
$GC,4737,-0.58,-146.6,345.2,-7.2,228,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3381
$GC,5047,-0.58,-146.6,365.3,-7.2,243,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3380
$GC,5356,-0.58,-146.6,390.6,-7.4,258,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3380
$STATE,5642,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5642,begin apogee
$GC,5648,-0.31,0.0,410.2,5.7,272,5778,0.32,0.00,127.12,0.886,6,0.087,0.000,2229,2230,2780
$STATE,5779,end apogee,CONTROL_FINISHED_OK
$STATE,5779,begin climb
$GC,5782,0.85,146.6,415.9,0.0,278,5917,1.17,2.75,125.70,0.871,4,0.076,0.074,2479,3644,2182
$GC,5950,0.91,201.0,413.8,4.5,286,6004,0.00,2.60,47.50,0.844,6,0.000,0.055,2479,2241,1960
$GC,6325,1.07,294.8,394.5,3.4,304,6411,0.20,2.72,80.35,0.856,4,0.045,0.068,2539,824,1578
$GC,6496,1.07,294.8,380.5,8.3,312,6500,0.00,2.62,0.00,0.000,6,0.000,0.054,2539,2241,1577
$GC,6817,1.07,294.8,354.8,9.1,328,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2240,1577
$GC,7126,1.07,294.8,322.9,10.5,343,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2241,1575
$GC,7435,1.07,294.8,294.9,7.9,358,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2240,1575
$GC,7745,1.07,294.8,270.3,8.2,373,7749,0.00,2.65,0.00,0.000,4,0.000,0.065,2539,820,1575
$GC,7777,1.07,294.8,267.5,8.7,374,7783,0.00,2.60,0.00,0.000,6,0.000,0.051,2539,2248,1574
$GC,8093,1.07,294.8,239.3,9.4,390,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2248,1574
$GC,8402,1.07,294.8,207.8,10.3,405,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2248,1574
$GC,8712,1.07,294.8,179.3,8.6,420,8716,0.00,2.65,0.00,0.000,4,0.000,0.064,2539,818,1574
$GC,8751,1.07,294.8,176.1,8.6,422,8755,0.00,2.58,0.00,0.000,6,0.000,0.049,2539,2241,1574
$GC,9077,1.07,294.8,150.4,7.7,438,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2241,1574
$GC,9387,1.07,294.8,125.0,8.7,453,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2241,1574
$GC,9696,1.07,294.8,96.0,9.3,468,9700,0.00,2.62,0.00,0.000,4,0.000,0.063,2539,822,1575
$GC,9736,1.07,294.8,92.2,9.7,470,9740,0.00,2.55,0.00,0.000,6,0.000,0.048,2539,2242,1575
$GC,10063,1.07,294.8,66.1,6.9,486,10067,0.00,2.62,0.00,0.000,4,0.000,0.062,2539,821,1575
$GC,10118,1.07,294.8,62.5,6.7,488,10124,0.00,2.55,0.00,0.000,6,0.000,0.048,2539,2240,1575
$GC,10434,1.08,306.9,44.0,5.7,504,10450,0.00,2.65,10.93,0.593,4,0.000,0.067,2539,3652,1529
$GC,10497,1.08,306.9,40.0,6.6,506,10502,0.00,2.60,0.00,0.000,6,0.000,0.054,2539,2234,1529
$GC,10825,1.08,306.9,17.3,7.8,522,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2234,1528
$STATE,11028,end climb,SURFACE_DEPTH_REACHED
$STATE,11028,begin surface coast
$FINISH,0.7,1.025376
$STATE,11051,end surface coast,CONTROL_FINISHED_OK
$STATE,11051,begin surface
$SM_CCo,11073,122.53,0.601,0,0,509,557.32
$SM_GC,1.35,0.00,0.00,122.53,0.000,0.000,0.601,71,2233,509,-10.25,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1908
$TCM_TEMP,17.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,18.9,17.8
$ALTIM_BOTTOM_PING,325.8,93.3
$24V_AH,23.7,42.911
$10V_AH,10.2,21.769
$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,24.050,57.525,391.600,122.525,0.000,18.201,52.119,112.344,4.000,0.000,0.000,32.457,938.361,8449.050,607.052,1137.858,379.285,0.000,1182.660,0.000,1101.536,0.000,18.618
$DEVICE_MAMPS,167.206,77.467,885.885,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.453,361.765,451.322,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25399,533
$CAP_FILE_SIZE,71281,0
$CFSIZE,260165632,243392512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280708,215531,6410.026,-1201.199,41,1.4,41,-11.9