version: 66.03
glider: 16
mission: 9
dive: 250
start: 7 28 108 22 0 46
data:
$ID,16
$MISSION,9
$DIVE,250
$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,-2098510.5
$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,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
$GPS1,215531,6410.026,-1201.199,41,1.4,41,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-59.8
$GPS2,220029,6410.024,-1201.235,12,7.4,31,-11.9
$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,27.8,32695,-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,-101.35,0.000,2,0.000,0.000,71,2231,2614
$GC,131,-0.85,-146.6,3.2,-2.1,5,171,11.50,0.00,-25.05,0.000,6,0.166,0.000,2112,2232,3379
$GC,479,-0.67,-146.6,41.7,-11.9,22,484,0.17,2.62,0.00,0.000,4,0.096,0.066,2150,3637,3380
$GC,568,-0.62,-146.6,51.3,-10.1,26,573,0.00,2.55,0.00,0.000,6,0.000,0.048,2150,2225,3380
$GC,890,-0.55,-146.6,80.7,-8.4,42,895,0.15,2.62,0.00,0.000,4,0.097,0.067,2183,3637,3381
$GC,954,-0.62,-146.6,85.2,-6.8,45,959,0.00,2.55,0.00,0.000,6,0.000,0.048,2183,2227,3381
$GC,1284,-0.66,-146.6,103.8,-5.6,61,1289,0.12,2.60,0.00,0.000,4,0.043,0.061,2136,809,3381
$GC,1352,-0.62,-146.6,109.1,-8.0,64,1357,0.15,2.58,0.00,0.000,6,0.088,0.049,2165,2229,3380
$GC,1675,-0.62,-146.6,133.8,-8.4,80,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3381
$GC,1982,-0.62,-146.6,158.3,-7.4,95,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2229,3381
$GC,2292,-0.62,-146.6,180.2,-7.3,110,2296,0.00,2.62,0.00,0.000,4,0.000,0.072,2166,3640,3381
$GC,2331,-0.62,-146.6,183.4,-8.4,112,2335,0.00,2.55,0.00,0.000,6,0.000,0.052,2166,2229,3381
$GC,2657,-0.62,-146.6,208.2,-7.7,128,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3381
$GC,2967,-0.62,-146.6,231.8,-7.8,143,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2229,3381
$GC,3276,-0.62,-146.6,255.7,-7.8,158,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3380
$GC,3585,-0.62,-146.6,279.3,-7.6,173,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3380
$GC,3897,-0.62,-146.6,301.8,-6.8,188,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3380
$GC,4204,-0.62,-146.6,321.6,-6.6,203,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3380
$GC,4513,-0.62,-146.6,344.6,-7.9,218,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3380
$GC,4823,-0.62,-146.6,369.0,-7.4,233,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3380
$GC,5131,-0.62,-146.6,391.2,-7.2,248,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2229,3380
$STATE,5314,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5315,begin apogee
$GC,5321,-0.31,0.0,403.5,6.5,257,5451,0.32,0.00,127.25,0.880,6,0.088,0.000,2232,2228,2782
$STATE,5452,end apogee,CONTROL_FINISHED_OK
$STATE,5452,begin climb
$GC,5455,0.85,146.6,408.9,0.0,263,5586,1.15,0.00,126.75,0.865,6,0.074,0.000,2478,2228,2183
$GC,5894,0.92,173.1,390.8,5.3,285,5924,0.10,2.70,23.80,0.823,4,0.056,0.067,2509,831,2074
$GC,6042,0.92,173.1,380.9,7.4,291,6048,0.00,2.60,0.00,0.000,6,0.000,0.054,2509,2240,2073
$GC,6358,0.94,186.1,361.6,5.6,307,6377,0.00,0.00,12.62,0.782,6,0.000,0.000,2509,2240,2021
$GC,6687,0.95,194.7,342.7,5.8,323,6697,0.00,0.00,8.65,0.736,6,0.000,0.000,2509,2240,1987
$GC,6997,0.95,201.6,324.8,5.8,338,7011,0.00,2.67,7.32,0.703,4,0.000,0.065,2509,832,1959
$GC,7079,0.95,201.6,319.6,6.1,341,7085,0.00,2.58,0.00,0.000,6,0.000,0.052,2508,2240,1958
$GC,7395,0.95,201.6,300.7,6.2,357,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,1957
$GC,7705,0.95,201.6,281.7,6.2,372,7709,0.00,2.65,0.00,0.000,4,0.000,0.074,2509,3652,1957
$GC,7771,0.95,201.6,277.2,7.1,375,7775,0.00,2.58,0.00,0.000,6,0.000,0.055,2509,2240,1957
$GC,8092,0.96,203.7,258.0,5.9,391,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,1957
$GC,8402,0.96,203.7,239.1,6.3,406,8406,0.00,2.65,0.00,0.000,4,0.000,0.072,2509,3648,1957
$GC,8457,0.96,203.7,235.3,6.8,408,8463,0.00,2.55,0.00,0.000,6,0.000,0.054,2509,2239,1957
$GC,8775,0.96,203.7,214.7,6.6,424,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2239,1957
$GC,9083,0.96,208.6,195.5,5.9,439,9097,0.00,2.67,7.38,0.637,4,0.000,0.071,2509,3644,1930
$GC,9172,0.96,208.6,189.6,7.2,443,9176,0.00,2.58,0.00,0.000,6,0.000,0.054,2509,2232,1930
$GC,9499,0.99,234.3,171.8,5.3,459,9524,0.00,0.00,23.08,0.716,6,0.000,0.000,2509,2233,1825
$GC,9827,0.99,234.3,150.9,6.6,475,9832,0.00,2.65,0.00,0.000,4,0.000,0.071,2509,3648,1825
$GC,9890,0.99,234.3,146.4,7.5,478,9894,0.00,2.55,0.00,0.000,6,0.000,0.054,2509,2240,1825
$GC,10217,0.99,234.3,123.9,6.9,494,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2241,1825
$GC,10526,1.00,242.7,104.3,5.8,509,10537,0.00,0.00,8.55,0.606,6,0.000,0.000,2509,2240,1791
$GC,10837,1.00,242.7,86.2,6.3,524,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,1790
$GC,11145,1.01,252.0,66.8,5.7,539,11160,0.00,2.67,9.25,0.595,4,0.000,0.071,2509,3654,1753
$GC,11208,1.05,252.0,62.9,6.2,541,11212,0.00,2.58,0.00,0.000,6,0.000,0.053,2508,2242,1753
$GC,11536,1.10,252.0,40.3,7.9,557,11538,0.15,0.00,0.00,0.000,6,0.049,0.000,2552,2241,1751
$GC,11844,1.02,252.0,15.6,7.0,572,11849,0.15,2.60,0.00,0.000,4,0.081,0.061,2518,823,1753
$GC,11922,1.02,252.0,10.4,6.6,575,11929,0.00,2.55,0.00,0.000,6,0.000,0.048,2518,2242,1752
$STATE,12070,end climb,SURFACE_DEPTH_REACHED
$STATE,12071,begin surface coast
$FINISH,0.7,1.013596
$STATE,12094,end surface coast,CONTROL_FINISHED_OK
$STATE,12094,begin surface
$SM_CCo,12116,147.73,0.602,0,0,509,557.32
$SM_GC,1.23,0.00,0.00,147.73,0.000,0.000,0.602,65,2242,509,-10.28,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1879
$TCM_TEMP,17.60
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,325.8,87.6
$24V_AH,23.7,43.029
$10V_AH,10.2,21.830
$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,24.550,62.525,354.650,147.725,0.000,18.257,26.792,125.647,4.500,0.000,0.000,32.332,1053.515,9253.402,666.158,1216.049,380.629,0.000,1246.184,0.000,1182.955,0.000,18.605
$DEVICE_MAMPS,166.439,73.632,879.749,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.808,396.889,475.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28557,584
$CAP_FILE_SIZE,80206,0
$CFSIZE,260165632,243343360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,290708,012651,6410.266,-1200.197,41,2.1,60,-11.9