version: 66.03
glider: 16
mission: 9
dive: 251
start: 7 29 108 1 31 52
data:
$ID,16
$MISSION,9
$DIVE,251
$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,-2098547.2
$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,22
$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
$GPS1,012651,6410.266,-1200.197,41,2.1,60,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-54.6
$GPS2,013135,6410.250,-1200.136,14,2.1,33,-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,26.5,32060,-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,-101.38,0.000,2,0.000,0.000,65,2244,2625
$GC,131,-0.85,-146.6,3.0,-1.9,5,173,11.45,0.00,-24.92,0.000,6,0.166,0.000,2108,2244,3379
$GC,484,-0.68,-146.6,38.8,-10.4,22,486,0.20,0.00,0.00,0.000,6,0.093,0.000,2148,2244,3379
$GC,793,-0.61,-146.6,65.5,-9.3,37,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2244,3380
$GC,1101,-0.55,-146.6,94.1,-9.0,52,1106,0.15,2.60,0.00,0.000,4,0.095,0.067,2181,3641,3380
$GC,1152,-0.61,-146.6,98.3,-7.6,54,1157,0.00,2.55,0.00,0.000,6,0.000,0.048,2181,2226,3379
$GC,1469,-0.67,-146.6,117.7,-5.5,69,1471,0.12,0.00,0.00,0.000,6,0.044,0.000,2136,2226,3379
$GC,1778,-0.58,-146.6,140.1,-7.2,84,1780,0.17,0.00,0.00,0.000,6,0.084,0.000,2171,2226,3379
$GC,2087,-0.58,-146.6,157.7,-5.8,99,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2226,3379
$GC,2396,-0.58,-146.6,177.4,-6.6,114,2400,0.00,2.65,0.00,0.000,4,0.000,0.070,2171,3643,3379
$GC,2435,-0.58,-146.6,179.9,-6.5,116,2440,0.00,2.55,0.00,0.000,6,0.000,0.050,2172,2230,3380
$GC,2763,-0.58,-146.6,201.5,-6.8,132,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3379
$GC,3071,-0.58,-146.6,223.9,-7.3,147,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3379
$GC,3381,-0.58,-146.6,247.1,-7.2,162,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3379
$GC,3690,-0.58,-146.6,268.1,-6.8,177,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3379
$GC,3999,-0.58,-146.6,289.0,-6.8,192,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3379
$GC,4309,-0.58,-146.6,307.2,-5.5,207,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3379
$GC,4619,-0.58,-146.6,325.2,-5.9,222,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3379
$GC,4927,-0.58,-146.6,344.9,-6.2,237,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3379
$GC,5236,-0.58,-146.6,363.1,-6.6,252,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3378
$GC,5547,-0.62,-146.6,383.4,-6.4,267,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3378
$STATE,5790,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5790,begin apogee
$GC,5797,-0.31,0.0,398.9,5.9,279,5926,0.30,0.00,126.57,0.877,6,0.081,0.000,2234,2228,2780
$STATE,5927,end apogee,CONTROL_FINISHED_OK
$STATE,5927,begin climb
$GC,5930,0.85,146.6,403.7,0.0,285,6063,1.15,2.67,124.65,0.866,4,0.074,0.064,2479,826,2182
$GC,6178,0.94,237.2,398.5,3.5,296,6266,0.12,2.60,77.62,0.851,6,0.051,0.053,2518,2238,1813
$GC,6575,0.94,237.2,371.6,7.0,316,6579,0.00,2.67,0.00,0.000,4,0.000,0.077,2518,3647,1811
$GC,6682,0.94,237.2,362.5,8.6,321,6687,0.00,2.62,0.00,0.000,6,0.000,0.058,2518,2235,1811
$GC,7009,0.94,237.2,337.7,7.2,337,7013,0.00,2.62,0.00,0.000,4,0.000,0.067,2518,827,1811
$GC,7048,0.94,237.2,335.1,6.9,339,7052,0.00,2.60,0.00,0.000,6,0.000,0.052,2518,2240,1810
$GC,7374,0.94,237.2,314.7,6.4,355,7379,0.00,2.65,0.00,0.000,4,0.000,0.074,2518,3648,1810
$GC,7441,0.94,237.2,310.0,7.5,358,7445,0.00,2.60,0.00,0.000,6,0.000,0.057,2518,2235,1810
$GC,7762,0.94,237.2,287.9,7.2,374,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2235,1810
$GC,8071,0.94,237.2,265.1,7.4,389,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2235,1810
$GC,8380,0.94,237.2,241.1,8.0,404,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2235,1809
$GC,8690,0.94,237.2,216.3,8.0,419,8694,0.00,2.65,0.00,0.000,4,0.000,0.071,2518,3650,1809
$GC,8745,0.94,237.2,211.6,8.7,421,8751,0.00,2.58,0.00,0.000,6,0.000,0.053,2518,2235,1810
$GC,9060,0.94,237.2,187.6,7.5,437,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2235,1809
$GC,9370,0.94,237.2,164.6,7.2,452,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2235,1809
$GC,9679,0.94,237.2,142.8,6.7,467,9684,0.00,2.65,0.00,0.000,4,0.000,0.070,2518,3648,1809
$GC,9729,0.94,237.2,139.2,6.9,469,9734,0.00,2.55,0.00,0.000,6,0.000,0.053,2518,2239,1809
$GC,10046,0.94,237.2,119.0,6.3,484,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2238,1809
$GC,10355,0.94,237.2,98.7,6.9,499,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2239,1809
$GC,10664,0.94,237.2,75.4,7.8,514,10668,0.00,2.65,0.00,0.000,4,0.000,0.069,2518,3654,1809
$GC,10714,0.94,237.2,71.2,9.0,516,10718,0.00,2.58,0.00,0.000,6,0.000,0.052,2518,2233,1810
$GC,11030,0.94,237.2,49.1,6.9,531,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2233,1810
$GC,11339,0.94,237.2,27.7,6.5,546,11343,0.00,2.65,0.00,0.000,4,0.000,0.067,2518,3654,1810
$GC,11379,0.94,237.2,24.8,7.5,548,11384,0.00,2.55,0.00,0.000,6,0.000,0.051,2518,2239,1810
$GC,11706,0.94,237.2,4.7,6.4,564,11710,0.00,2.60,0.00,0.000,4,0.000,0.064,2518,821,1810
$STATE,11752,end climb,SURFACE_DEPTH_REACHED
$STATE,11753,begin surface coast
$FINISH,0.7,1.026897
$STATE,11776,end surface coast,CONTROL_FINISHED_OK
$STATE,11776,begin surface
$SM_CCo,11801,153.43,0.598,0,0,508,557.32
$SM_GC,1.38,0.00,0.00,153.43,0.000,0.000,0.598,69,2235,508,-10.26,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1885
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.6,18.4
$ALTIM_BOTTOM_PING,300.3,107.8
$24V_AH,23.7,43.144
$10V_AH,10.2,21.890
$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,24.275,57.450,328.850,153.425,0.000,13.184,27.524,110.297,3.750,0.000,0.000,36.120,1005.080,9083.472,601.479,1200.593,353.746,0.000,1190.541,0.000,1164.187,0.000,17.041
$DEVICE_MAMPS,166.439,76.700,877.448,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.256,385.951,468.361,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28545,567
$CAP_FILE_SIZE,75400,0
$CFSIZE,260165632,243302400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290708,045225,6412.123,-1155.626,38,1.1,38,-11.9