version: 66.03
glider: 16
mission: 9
dive: 253
start: 7 29 108 8 11 22
data:
$ID,16
$MISSION,9
$DIVE,253
$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,-2098590.2
$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,23
$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
$GPS1,080555,6412.441,-1152.840,40,1.2,40,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-56.0
$GPS2,081103,6412.405,-1152.766,8,1.7,8,-11.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SV
$TGT_LATLONG,6418.000,-1220.000
$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,307.2,24203,-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,24,-0.85,-146.6,0.0,0.0,0,127,0.00,0.00,-101.05,0.000,2,0.000,0.000,71,2238,2606
$GC,130,-0.85,-146.6,3.0,-1.9,5,174,11.48,2.60,-25.35,0.000,4,0.170,0.077,2114,3635,3378
$GC,310,-0.70,-146.6,21.7,-10.5,13,315,0.17,2.55,0.00,0.000,6,0.095,0.049,2148,2230,3378
$GC,637,-0.62,-146.6,48.7,-8.6,29,642,0.00,2.65,0.00,0.000,4,0.000,0.067,2148,3644,3378
$GC,682,-0.57,-146.6,53.0,-9.7,31,687,0.12,2.55,0.00,0.000,6,0.096,0.048,2172,2228,3379
$GC,1004,-0.57,-146.6,74.3,-6.0,47,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3379
$GC,1313,-0.57,-146.6,94.5,-6.4,62,1317,0.00,2.60,0.00,0.000,4,0.000,0.060,2171,811,3379
$GC,1354,-0.64,-146.6,96.9,-6.0,64,1358,0.00,2.55,0.00,0.000,6,0.000,0.048,2170,2232,3379
$GC,1681,-0.64,-146.6,117.7,-6.5,80,1685,0.00,2.62,0.00,0.000,4,0.000,0.068,2171,3646,3380
$GC,1720,-0.64,-146.6,120.6,-7.1,82,1725,0.00,2.55,0.00,0.000,6,0.000,0.049,2171,2225,3379
$GC,2048,-0.64,-146.6,142.7,-6.7,98,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2225,3379
$GC,2357,-0.64,-146.6,164.4,-7.0,113,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2225,3380
$GC,2666,-0.64,-146.6,187.4,-7.3,128,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2225,3379
$GC,2975,-0.64,-146.6,209.5,-6.9,143,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2226,3379
$GC,3285,-0.64,-146.6,229.4,-6.3,158,3289,0.00,2.65,0.00,0.000,4,0.000,0.070,2172,3640,3379
$GC,3324,-0.64,-146.6,232.0,-6.3,160,3328,0.00,2.53,0.00,0.000,6,0.000,0.048,2172,2230,3379
$GC,3651,-0.64,-146.6,252.0,-6.0,176,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3378
$GC,3961,-0.64,-146.6,270.6,-6.4,191,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3379
$GC,4269,-0.64,-146.6,289.8,-6.0,206,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3379
$GC,4579,-0.64,-146.6,309.2,-6.4,221,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3379
$GC,4888,-0.64,-146.6,329.6,-7.9,236,4893,0.00,2.65,0.00,0.000,4,0.000,0.071,2172,3643,3379
$GC,4939,-0.69,-146.6,334.1,-8.9,238,4944,0.12,2.55,0.00,0.000,6,0.048,0.049,2137,2222,3379
$GC,5255,-0.59,-146.6,363.0,-8.6,253,5260,0.17,2.65,0.00,0.000,4,0.086,0.073,2171,3638,3379
$GC,5318,-0.63,-146.6,367.7,-7.7,256,5323,0.00,2.55,0.00,0.000,6,0.000,0.051,2171,2227,3378
$STATE,5416,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5416,begin apogee
$GC,5423,-0.31,0.0,374.9,7.2,261,5552,0.30,0.00,126.00,0.842,6,0.087,0.000,2231,2228,2781
$STATE,5552,end apogee,CONTROL_FINISHED_OK
$STATE,5552,begin climb
$GC,5556,0.85,146.6,379.7,0.0,267,5685,1.17,0.00,125.80,0.829,6,0.074,0.000,2482,2227,2183
$GC,5994,0.91,167.3,363.7,5.4,289,6019,0.00,2.75,18.90,0.786,4,0.000,0.075,2482,3647,2098
$GC,6133,0.92,176.2,356.3,5.8,295,6150,0.00,2.60,9.38,0.729,6,0.000,0.055,2482,2235,2062
$GC,6460,0.98,176.2,337.8,6.1,311,6465,0.15,2.67,0.00,0.000,4,0.050,0.074,2530,3647,2060
$GC,6523,0.86,176.2,333.3,7.7,314,6528,0.22,2.60,0.00,0.000,6,0.085,0.057,2485,2241,2059
$GC,6849,0.93,242.3,315.5,4.2,330,6912,0.00,2.70,56.33,0.825,4,0.000,0.067,2485,827,1792
$GC,6946,1.02,322.5,312.2,3.8,334,7021,0.17,2.60,68.22,0.815,6,0.047,0.051,2527,2239,1466
$GC,7348,1.02,322.5,288.9,6.2,354,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2239,1464
$GC,7658,1.02,322.5,262.2,9.8,369,7662,0.00,2.65,0.00,0.000,4,0.000,0.065,2527,824,1464
$GC,7725,1.02,322.5,255.4,9.8,372,7729,0.00,2.58,0.00,0.000,6,0.000,0.049,2527,2240,1464
$GC,8046,1.02,322.5,224.3,9.5,388,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2240,1464
$GC,8355,1.02,322.5,197.2,8.4,403,8359,0.00,2.62,0.00,0.000,4,0.000,0.064,2527,823,1464
$GC,8427,1.02,322.5,190.7,9.1,406,8432,0.00,2.58,0.00,0.000,6,0.000,0.048,2527,2243,1464
$GC,8746,1.02,322.5,163.1,8.8,421,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2243,1464
$GC,9054,1.02,322.5,136.1,8.8,436,9059,0.00,2.62,0.00,0.000,4,0.000,0.062,2527,824,1464
$GC,9119,1.02,322.5,130.6,8.9,439,9123,0.00,2.58,0.00,0.000,6,0.000,0.048,2527,2245,1464
$GC,9446,1.02,322.5,103.4,8.1,455,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2245,1464
$GC,9756,1.02,322.5,80.3,7.0,470,9761,0.00,2.62,0.00,0.000,4,0.000,0.062,2527,825,1464
$GC,9830,1.02,322.5,75.3,7.0,473,9834,0.00,2.55,0.00,0.000,6,0.000,0.048,2527,2240,1464
$GC,10145,1.02,322.5,51.7,7.6,488,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2240,1464
$GC,10455,1.02,322.5,23.9,8.8,503,10459,0.00,2.60,0.00,0.000,4,0.000,0.061,2526,827,1464
$GC,10527,1.02,322.5,17.8,8.2,506,10531,0.00,2.53,0.00,0.000,6,0.000,0.048,2527,2240,1464
$STATE,10759,end climb,SURFACE_DEPTH_REACHED
$STATE,10759,begin surface coast
$FINISH,0.6,1.021794
$STATE,10780,end surface coast,CONTROL_FINISHED_OK
$STATE,10780,begin surface
$SM_CCo,10801,113.40,0.601,0,0,508,557.32
$SM_GC,1.26,0.00,0.00,113.40,0.000,0.000,0.601,69,2241,508,-10.26,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1910
$TCM_TEMP,17.60
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,326.3,57.5
$24V_AH,23.7,43.384
$10V_AH,10.1,22.007
$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,24.700,78.100,404.625,113.400,0.000,33.489,52.397,116.755,4.750,0.000,0.000,10.896,961.241,8054.696,640.980,1165.677,409.799,0.000,1235.181,0.000,1149.212,0.000,18.526
$DEVICE_MAMPS,169.507,77.467,842.166,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.511,351.736,444.197,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25355,518
$CAP_FILE_SIZE,78078,0
$CFSIZE,260165632,243216384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290708,111437,6411.387,-1153.755,39,1.4,39,-11.9