version: 66.03
glider: 16
mission: 9
dive: 255
start: 7 29 108 14 39 15
data:
$ID,16
$MISSION,9
$DIVE,255
$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,-2098624.5
$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
$GPS1,143425,6410.636,-1157.690,38,1.4,38,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-55.8
$GPS2,143856,6410.644,-1157.681,9,1.4,14,-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,319.1,22516,-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,-101.12,0.000,2,0.000,0.000,68,2244,2606
$GC,130,-0.85,-146.6,3.0,-1.9,5,174,11.40,2.58,-25.15,0.000,4,0.166,0.076,2108,3637,3378
$GC,319,-0.67,-146.6,24.7,-11.6,13,324,0.22,2.55,0.00,0.000,6,0.088,0.049,2152,2231,3379
$GC,637,-0.61,-146.6,55.6,-9.8,28,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2231,3379
$GC,945,-0.56,-146.6,84.9,-9.1,43,947,0.12,0.00,0.00,0.000,6,0.101,0.000,2175,2231,3379
$GC,1254,-0.56,-146.6,109.4,-7.7,58,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3379
$GC,1563,-0.56,-146.6,131.6,-6.9,73,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3379
$GC,1872,-0.56,-146.6,152.7,-6.8,88,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3379
$GC,2182,-0.56,-146.6,172.5,-6.3,103,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3379
$GC,2490,-0.56,-146.6,193.1,-6.9,118,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3379
$GC,2800,-0.56,-146.6,214.9,-7.2,133,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3379
$GC,3110,-0.56,-146.6,236.7,-6.9,148,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3379
$GC,3418,-0.56,-146.6,258.1,-6.8,163,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3379
$GC,3728,-0.56,-146.6,276.8,-5.7,178,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3379
$GC,4037,-0.56,-146.6,295.8,-6.4,193,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3379
$GC,4346,-0.56,-146.6,316.2,-6.9,208,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3378
$GC,4655,-0.56,-146.6,337.0,-6.5,223,4660,0.00,2.62,0.00,0.000,4,0.000,0.071,2175,3637,3379
$GC,4707,-0.62,-146.6,340.6,-7.0,225,4711,0.00,2.53,0.00,0.000,6,0.000,0.049,2176,2230,3379
$GC,5023,-0.67,-146.6,360.9,-6.2,240,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3379
$GC,5332,-0.72,-146.6,377.8,-5.0,255,5337,0.15,2.65,0.00,0.000,4,0.044,0.071,2128,3642,3379
$GC,5377,-0.62,-146.6,381.1,-7.5,257,5383,0.17,2.55,0.00,0.000,6,0.087,0.051,2162,2227,3378
$STATE,5613,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5613,begin apogee
$GC,5620,-0.31,0.0,399.0,8.1,269,5749,0.35,0.00,126.55,0.872,6,0.107,0.000,2229,2227,2781
$STATE,5750,end apogee,CONTROL_FINISHED_OK
$STATE,5750,begin climb
$GC,5754,0.85,146.6,404.5,0.0,275,5888,1.20,2.72,125.95,0.858,4,0.087,0.061,2479,819,2182
$GC,6075,0.85,146.6,397.2,6.4,290,6079,0.00,2.60,0.00,0.000,6,0.000,0.050,2479,2238,2181
$GC,6402,0.92,211.0,382.3,4.2,306,6461,0.00,0.00,55.45,0.848,6,0.000,0.000,2479,2238,1921
$GC,6771,1.13,223.0,360.4,5.7,324,6793,0.28,2.72,11.80,0.769,4,0.048,0.063,2550,821,1870
$GC,6929,1.01,223.0,348.2,9.3,331,6934,0.15,2.60,0.00,0.000,6,0.085,0.051,2521,2240,1870
$GC,7256,0.94,223.0,319.9,8.6,347,7260,0.00,2.65,0.00,0.000,4,0.000,0.073,2522,3647,1869
$GC,7329,0.85,223.0,313.2,9.3,350,7334,0.17,2.58,0.00,0.000,6,0.089,0.055,2486,2239,1870
$GC,7644,0.85,223.0,292.6,6.6,365,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2238,1869
$GC,7954,0.85,223.0,272.2,6.4,380,7958,0.00,2.65,0.00,0.000,4,0.000,0.073,2486,3647,1869
$GC,7998,0.85,223.0,269.1,7.0,382,8002,0.00,2.58,0.00,0.000,6,0.000,0.053,2486,2234,1869
$GC,8319,0.88,248.5,250.8,5.3,398,8343,0.00,0.00,22.27,0.764,6,0.000,0.000,2486,2233,1767
$GC,8665,0.96,282.6,233.7,5.1,415,8700,0.10,2.70,29.60,0.758,4,0.053,0.070,2519,3647,1629
$GC,8746,0.96,282.6,227.9,7.6,418,8752,0.00,2.58,0.00,0.000,6,0.000,0.053,2519,2242,1629
$GC,9061,0.96,282.6,203.6,8.1,434,9066,0.00,2.60,0.00,0.000,4,0.000,0.062,2519,828,1629
$GC,9118,0.96,282.6,198.7,8.5,436,9124,0.00,2.58,0.00,0.000,6,0.000,0.048,2519,2247,1628
$GC,9433,0.96,282.6,169.4,9.6,452,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2247,1628
$GC,9743,0.96,282.6,138.6,10.1,467,9747,0.00,2.62,0.00,0.000,4,0.000,0.061,2519,827,1628
$GC,9793,0.96,282.6,133.5,10.3,469,9797,0.00,2.55,0.00,0.000,6,0.000,0.047,2519,2241,1628
$GC,10110,0.96,282.6,103.6,9.2,484,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2241,1628
$GC,10418,0.96,282.6,76.1,8.3,499,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2241,1628
$GC,10728,0.96,282.6,54.6,6.5,514,10733,0.00,2.62,0.00,0.000,4,0.000,0.061,2519,817,1628
$GC,10784,0.96,282.6,50.1,8.3,516,10790,0.00,2.55,0.00,0.000,6,0.000,0.048,2519,2241,1629
$GC,11100,0.96,282.6,26.0,7.4,532,11104,0.00,2.60,0.00,0.000,4,0.000,0.067,2519,3648,1629
$GC,11144,0.96,282.6,22.6,7.3,534,11148,0.00,2.55,0.00,0.000,6,0.000,0.052,2519,2239,1630
$STATE,11442,end climb,SURFACE_DEPTH_REACHED
$STATE,11442,begin surface coast
$FINISH,0.6,1.026375
$STATE,11465,end surface coast,CONTROL_FINISHED_OK
$STATE,11468,begin surface
$SM_CCo,11489,133.43,0.600,0,0,508,557.32
$SM_GC,1.45,0.00,0.00,133.43,0.000,0.000,0.600,71,2236,508,-10.25,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1882
$TCM_TEMP,17.60
$XPDR_PINGS,5
$ALTIM_TOP_PING,18.9,18.0
$ALTIM_BOTTOM_PING,350.6,57.5
$24V_AH,23.7,43.628
$10V_AH,10.2,22.125
$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,24.950,62.525,371.625,133.425,0.000,18.274,28.003,113.923,4.000,0.000,0.000,16.067,997.880,8709.954,649.938,1177.602,366.678,0.000,1229.664,0.000,1159.241,0.000,20.149
$DEVICE_MAMPS,165.672,75.933,872.079,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.045,375.531,430.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28567,550
$CAP_FILE_SIZE,77495,0
$CFSIZE,260165632,243138560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290708,175408,6412.547,-1157.476,30,1.5,30,-11.9