version: 66.03
glider: 16
mission: 9
dive: 254
start: 7 29 108 11 22 33
data:
$ID,16
$MISSION,9
$DIVE,254
$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,-2098607.8
$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,21
$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
$GPS1,111437,6411.387,-1153.755,39,1.4,39,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-55.5
$GPS2,112214,6411.325,-1153.812,11,2.0,16,-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,312.3,24397,-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,-101.12,0.000,2,0.000,0.000,68,2241,2588
$GC,131,-0.85,-146.6,3.2,-1.9,5,175,11.40,2.60,-25.98,0.000,4,0.167,0.077,2105,3646,3378
$GC,311,-0.67,-146.6,22.2,-11.9,13,316,0.25,2.58,0.00,0.000,6,0.094,0.049,2154,2224,3379
$GC,639,-0.60,-146.6,54.5,-10.9,29,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2224,3379
$GC,948,-0.54,-146.6,80.9,-6.6,44,950,0.15,0.00,0.00,0.000,6,0.097,0.000,2183,2225,3379
$GC,1257,-0.54,-146.6,92.4,-2.7,59,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2224,3379
$GC,1567,-0.59,-146.6,105.0,-5.2,74,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2223,3379
$GC,1876,-0.63,-146.6,123.6,-6.3,89,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2224,3380
$GC,2186,-0.68,-146.6,144.9,-7.6,104,2188,0.15,0.00,0.00,0.000,6,0.041,0.000,2132,2225,3379
$GC,2495,-0.58,-146.6,177.1,-10.6,119,2497,0.20,0.00,0.00,0.000,6,0.084,0.000,2173,2224,3379
$GC,2802,-0.58,-146.6,205.2,-9.0,134,2807,0.00,2.65,0.00,0.000,4,0.000,0.069,2173,3641,3379
$GC,2843,-0.62,-146.6,209.0,-9.9,136,2848,0.00,2.55,0.00,0.000,6,0.000,0.048,2173,2228,3379
$GC,3170,-0.62,-146.6,236.1,-7.6,152,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3379
$GC,3479,-0.62,-146.6,256.5,-6.1,167,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2226,3379
$GC,3789,-0.62,-146.6,273.5,-4.9,182,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2227,3379
$GC,4098,-0.62,-146.6,288.8,-4.9,197,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2227,3379
$GC,4407,-0.62,-146.6,307.0,-6.8,212,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2227,3379
$GC,4717,-0.62,-146.6,329.5,-7.5,227,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2227,3378
$GC,5026,-0.62,-146.6,351.4,-6.7,242,5030,0.00,2.65,0.00,0.000,4,0.000,0.071,2173,3640,3378
$GC,5059,-0.67,-146.6,353.8,-7.2,243,5065,0.00,2.55,0.00,0.000,6,0.000,0.050,2173,2224,3378
$GC,5375,-0.71,-146.6,374.1,-6.0,259,5377,0.15,0.00,0.00,0.000,6,0.044,0.000,2125,2224,3378
$STATE,5454,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5454,begin apogee
$GC,5461,-0.31,0.0,380.9,8.3,263,5590,0.52,0.00,126.70,0.864,6,0.090,0.000,2231,2223,2780
$STATE,5591,end apogee,CONTROL_FINISHED_OK
$STATE,5591,begin climb
$GC,5594,0.85,146.6,386.9,0.0,269,5727,1.17,2.65,125.22,0.849,4,0.080,0.061,2479,824,2182
$GC,5759,0.92,217.4,384.0,4.1,277,5827,0.00,2.60,61.22,0.830,6,0.000,0.048,2479,2240,1893
$GC,6154,1.05,240.6,365.3,5.4,296,6183,0.20,2.70,21.02,0.798,4,0.049,0.073,2539,3646,1799
$GC,6251,0.99,240.6,356.7,9.7,300,6256,0.12,2.60,0.00,0.000,6,0.085,0.055,2514,2237,1799
$GC,6567,0.95,240.6,331.2,8.3,315,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2237,1798
$GC,6875,0.95,240.6,306.5,8.0,330,6880,0.00,2.67,0.00,0.000,4,0.000,0.073,2514,3646,1797
$GC,6948,0.90,240.6,300.2,8.2,333,6953,0.00,2.58,0.00,0.000,6,0.000,0.054,2515,2239,1797
$GC,7265,0.86,240.6,274.7,8.2,348,7267,0.15,0.00,0.00,0.000,6,0.091,0.000,2484,2239,1796
$GC,7573,0.91,240.6,254.5,6.1,363,7578,0.00,2.65,0.00,0.000,4,0.000,0.071,2484,3647,1796
$GC,7618,0.96,240.6,251.5,7.1,365,7623,0.10,2.58,0.00,0.000,6,0.053,0.053,2517,2234,1796
$GC,7941,0.91,240.6,229.5,7.0,381,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2233,1796
$GC,8249,0.91,240.6,204.9,8.2,396,8253,0.00,2.65,0.00,0.000,4,0.000,0.068,2517,3648,1796
$GC,8317,0.87,240.6,198.7,9.7,399,8322,0.15,2.55,0.00,0.000,6,0.085,0.052,2486,2240,1796
$GC,8639,0.91,240.6,175.9,7.0,415,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2240,1796
$GC,8947,0.91,240.6,154.1,6.8,430,8948,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2240,1795
$GC,9257,0.91,240.6,134.9,6.1,445,9261,0.00,2.62,0.00,0.000,4,0.000,0.068,2486,3649,1796
$GC,9320,0.96,240.6,130.9,6.5,448,9325,0.00,2.55,0.00,0.000,6,0.000,0.052,2486,2239,1796
$GC,9649,0.98,263.6,112.6,5.4,464,9672,0.12,0.00,19.75,0.664,6,0.048,0.000,2527,2239,1706
$GC,9979,0.93,263.6,87.2,8.3,480,9984,0.12,2.65,0.00,0.000,4,0.086,0.067,2501,3653,1706
$GC,10023,0.93,263.6,83.3,7.8,482,10028,0.00,2.58,0.00,0.000,6,0.000,0.051,2502,2237,1706
$GC,10345,0.93,263.6,61.6,6.4,498,10349,0.00,2.60,0.00,0.000,4,0.000,0.061,2501,820,1706
$GC,10385,0.93,263.6,58.9,7.2,500,10390,0.00,2.55,0.00,0.000,6,0.000,0.047,2501,2242,1704
$GC,10713,0.93,263.6,36.4,7.0,516,10714,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2242,1704
$GC,11022,0.97,263.6,15.5,6.9,531,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2242,1705
$STATE,11246,end climb,SURFACE_DEPTH_REACHED
$STATE,11246,begin surface coast
$FINISH,0.5,1.018357
$STATE,11269,end surface coast,CONTROL_FINISHED_OK
$STATE,11269,begin surface
$SM_CCo,11291,142.38,0.597,0,0,509,557.32
$SM_GC,1.41,0.00,0.00,142.38,0.000,0.000,0.597,69,2243,509,-10.26,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1891
$TCM_TEMP,17.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,326.5,62.7
$24V_AH,23.7,43.507
$10V_AH,10.2,22.067
$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,25.500,57.350,353.925,142.375,0.000,36.467,64.329,177.013,3.750,0.000,0.000,16.674,990.879,8659.764,606.588,1153.151,489.584,0.000,1184.366,0.000,1134.121,0.000,21.476
$DEVICE_MAMPS,167.206,76.700,863.642,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.854,369.228,483.736,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25451,543
$CAP_FILE_SIZE,81027,0
$CFSIZE,260165632,243175424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290708,143425,6410.636,-1157.690,38,1.4,38,-11.9