version: 66.03
glider: 16
mission: 9
dive: 257
start: 7 29 108 21 28 30
data:
$ID,16
$MISSION,9
$DIVE,257
$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,-2098668.8
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,212155,6413.777,-1154.770,25,1.7,43,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-54.4
$GPS2,212809,6413.772,-1154.644,10,1.9,10,-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,302.9,21818,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.68,0.000,2,0.000,0.000,72,2238,3047
$GC,150,-0.85,-146.6,4.3,-3.6,6,175,11.45,2.62,-7.10,0.000,4,0.169,0.077,2106,3629,3381
$GC,396,-0.66,-146.6,41.1,-14.2,17,401,0.25,2.53,0.00,0.000,6,0.091,0.048,2156,2233,3381
$GC,724,-0.62,-146.6,71.1,-8.0,33,729,0.00,2.60,0.00,0.000,4,0.000,0.060,2156,814,3381
$GC,765,-0.62,-146.6,74.5,-8.5,35,769,0.00,2.55,0.00,0.000,6,0.000,0.047,2155,2228,3381
$GC,1092,-0.57,-146.6,98.6,-7.0,51,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2228,3382
$GC,1401,-0.53,-146.6,121.6,-8.0,66,1403,0.15,0.00,0.00,0.000,6,0.098,0.000,2185,2228,3382
$GC,1710,-0.58,-146.6,143.5,-7.1,81,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2228,3382
$GC,2019,-0.62,-146.6,165.6,-6.8,96,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2228,3382
$GC,2330,-0.68,-146.6,186.4,-6.4,111,2331,0.15,0.00,0.00,0.000,6,0.041,0.000,2135,2228,3382
$GC,2638,-0.58,-146.6,210.9,-7.6,126,2640,0.20,0.00,0.00,0.000,6,0.084,0.000,2175,2227,3382
$GC,2947,-0.58,-146.6,229.9,-6.4,141,2951,0.00,2.62,0.00,0.000,4,0.000,0.060,2175,808,3382
$GC,2987,-0.67,-146.6,232.6,-6.8,143,2991,0.00,2.58,0.00,0.000,6,0.000,0.048,2175,2232,3382
$GC,3313,-0.67,-146.6,253.2,-6.2,159,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2233,3381
$GC,3623,-0.67,-146.6,272.4,-6.2,174,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2233,3381
$GC,3932,-0.67,-146.6,292.8,-6.8,189,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2233,3381
$GC,4241,-0.67,-146.6,314.5,-7.4,204,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2233,3381
$GC,4551,-0.71,-146.6,338.4,-7.7,219,4556,0.15,2.62,0.00,0.000,4,0.044,0.059,2122,810,3381
$GC,4585,-0.63,-146.6,341.6,-9.7,220,4592,0.20,2.55,0.00,0.000,6,0.087,0.049,2161,2230,3381
$GC,4901,-0.63,-146.6,364.5,-6.9,236,4905,0.00,2.62,0.00,0.000,4,0.000,0.071,2161,3640,3381
$GC,4963,-0.63,-146.6,369.3,-7.7,239,4968,0.00,2.55,0.00,0.000,6,0.000,0.051,2161,2228,3381
$STATE,5226,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5226,begin apogee
$GC,5232,-0.31,0.0,388.1,6.6,252,5361,0.35,0.00,126.38,0.865,6,0.087,0.000,2233,2228,2781
$STATE,5362,end apogee,CONTROL_FINISHED_OK
$STATE,5362,begin climb
$GC,5365,0.85,146.6,392.6,0.0,258,5497,1.15,2.65,124.70,0.856,4,0.074,0.061,2478,825,2181
$GC,5527,0.94,232.7,390.0,3.6,266,5610,0.12,2.62,73.30,0.841,6,0.051,0.049,2510,2245,1832
$GC,5920,0.94,232.7,363.7,7.9,285,5925,0.00,2.65,0.00,0.000,4,0.000,0.073,2510,3646,1831
$GC,5992,0.94,232.7,357.5,9.1,288,5997,0.00,2.60,0.00,0.000,6,0.000,0.057,2510,2234,1831
$GC,6308,1.01,297.2,337.2,4.2,303,6371,0.00,2.72,54.75,0.828,4,0.000,0.075,2510,3647,1568
$GC,6475,1.09,297.2,328.1,6.7,310,6480,0.12,2.60,0.00,0.000,6,0.057,0.057,2544,2240,1569
$GC,6790,1.09,297.2,304.8,7.4,325,6794,0.00,2.62,0.00,0.000,4,0.000,0.067,2545,823,1567
$GC,6862,1.09,297.2,299.8,6.8,328,6867,0.00,2.58,0.00,0.000,6,0.000,0.050,2545,2240,1567
$GC,7178,1.09,297.2,274.2,8.6,343,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2240,1567
$GC,7487,1.09,297.2,247.3,8.8,358,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2240,1567
$GC,7797,1.09,297.2,219.5,9.4,373,7801,0.00,2.62,0.00,0.000,4,0.000,0.063,2545,822,1567
$GC,7841,1.09,297.2,215.2,9.7,375,7845,0.00,2.55,0.00,0.000,6,0.000,0.048,2543,2241,1566
$GC,8162,1.09,297.2,184.9,9.2,391,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2241,1566
$GC,8471,1.09,297.2,157.1,8.7,406,8475,0.00,2.62,0.00,0.000,4,0.000,0.061,2545,823,1566
$GC,8533,1.09,297.2,151.5,9.4,409,8538,0.00,2.58,0.00,0.000,6,0.000,0.048,2544,2247,1566
$GC,8861,1.09,297.2,124.2,7.9,425,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2247,1566
$GC,9170,1.09,297.2,101.1,7.3,440,9174,0.00,2.62,0.00,0.000,4,0.000,0.061,2545,825,1566
$GC,9215,1.09,297.2,97.7,7.5,442,9219,0.00,2.55,0.00,0.000,6,0.000,0.048,2545,2241,1566
$GC,9536,1.09,297.2,75.2,6.8,458,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2241,1567
$GC,9847,1.09,297.2,53.2,7.3,473,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2241,1567
$GC,10155,1.09,297.2,31.6,6.3,488,10160,0.00,2.60,0.00,0.000,4,0.000,0.061,2545,824,1567
$GC,10250,1.10,305.1,26.2,5.8,492,10265,0.00,2.55,7.80,0.551,6,0.000,0.048,2545,2245,1536
$GC,10594,1.10,305.1,5.7,6.4,509,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2246,1537
$STATE,10653,end climb,SURFACE_DEPTH_REACHED
$STATE,10653,begin surface coast
$FINISH,0.7,1.027011
$STATE,10675,end surface coast,CONTROL_FINISHED_OK
$STATE,10675,begin surface
$SM_CCo,10696,122.93,0.601,0,0,508,557.32
$SM_GC,1.30,0.00,0.00,122.93,0.000,0.000,0.601,70,2246,508,-10.25,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1894
$TCM_TEMP,16.50
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,350.0,47.0
$24V_AH,23.7,43.885
$10V_AH,10.2,22.246
$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,25.000,67.600,386.925,122.925,0.000,17.946,27.016,221.536,4.500,0.000,0.000,10.840,943.589,8016.602,631.324,1142.134,469.443,0.000,1211.412,0.000,1124.393,0.000,20.128
$DEVICE_MAMPS,168.740,76.700,865.176,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.035,348.141,435.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25364,513
$CAP_FILE_SIZE,77288,0
$CFSIZE,260165632,243052544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300708,003008,6413.096,-1155.599,38,2.0,38,-11.9