version: 66.03
glider: 16
mission: 9
dive: 258
start: 7 30 108 0 35 12
data:
$ID,16
$MISSION,9
$DIVE,258
$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,-2098702
$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,20
$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
$GPS1,003008,6413.096,-1155.599,38,2.0,38,-11.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-55.9
$GPS2,003453,6413.061,-1155.645,12,2.1,31,-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,307.0,21594,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-121.00,0.000,2,0.000,0.000,70,2248,3055
$GC,151,-0.85,-146.6,4.6,-3.8,6,176,11.45,2.62,-6.85,0.000,4,0.170,0.074,2112,3638,3381
$GC,430,-0.68,-146.6,37.0,-9.0,18,435,0.17,2.55,0.00,0.000,6,0.091,0.050,2147,2230,3381
$GC,746,-0.61,-146.6,60.1,-6.8,33,751,0.00,2.60,0.00,0.000,4,0.000,0.058,2147,811,3382
$GC,796,-0.61,-146.6,63.6,-6.6,35,801,0.00,2.58,0.00,0.000,6,0.000,0.048,2147,2235,3382
$GC,1113,-0.54,-146.6,85.4,-7.0,50,1118,0.15,2.60,0.00,0.000,4,0.093,0.067,2180,3638,3382
$GC,1154,-0.60,-146.6,88.0,-6.2,52,1158,0.00,2.53,0.00,0.000,6,0.000,0.050,2180,2228,3382
$GC,1481,-0.60,-146.6,106.4,-5.9,68,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3382
$GC,1790,-0.60,-146.6,125.1,-6.1,83,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2227,3383
$GC,2100,-0.60,-146.6,145.0,-6.6,98,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2227,3382
$GC,2408,-0.60,-146.6,165.6,-6.7,113,2413,0.00,2.58,0.00,0.000,4,0.000,0.061,2180,810,3382
$GC,2449,-0.70,-146.6,168.5,-7.6,115,2454,0.15,2.55,0.00,0.000,6,0.044,0.048,2131,2232,3382
$GC,2776,-0.59,-146.6,198.5,-9.2,131,2781,0.15,2.62,0.00,0.000,4,0.086,0.068,2165,3645,3382
$GC,2809,-0.59,-146.6,201.4,-7.9,132,2815,0.00,2.55,0.00,0.000,6,0.000,0.050,2165,2229,3382
$GC,3127,-0.59,-146.6,226.0,-8.0,148,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2228,3382
$GC,3434,-0.59,-146.6,249.6,-7.4,163,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2228,3382
$GC,3744,-0.59,-146.6,272.8,-7.2,178,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2228,3382
$GC,4053,-0.59,-146.6,294.5,-7.0,193,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2228,3382
$GC,4362,-0.59,-146.6,319.0,-8.4,208,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2229,3382
$GC,4672,-0.59,-146.6,343.2,-7.7,223,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2228,3382
$GC,4981,-0.59,-146.6,367.4,-8.1,238,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2228,3381
$GC,5290,-0.59,-146.6,390.6,-5.9,253,5295,0.00,2.62,0.00,0.000,4,0.000,0.074,2165,3637,3381
$STATE,5315,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5315,begin apogee
$GC,5325,-0.31,0.0,392.4,6.5,254,5457,0.30,0.00,127.12,0.871,6,0.087,0.000,2229,2239,2781
$STATE,5458,end apogee,CONTROL_FINISHED_OK
$STATE,5458,begin climb
$GC,5461,0.85,146.6,398.0,0.0,261,5594,1.17,2.67,125.05,0.854,4,0.075,0.060,2479,825,2182
$GC,5658,0.98,268.1,394.1,2.7,270,5772,0.15,2.60,103.60,0.848,6,0.066,0.049,2511,2242,1686
$GC,6081,1.03,268.1,367.5,6.6,291,6085,0.00,2.65,0.00,0.000,4,0.000,0.073,2511,3650,1686
$GC,6137,1.09,268.1,363.2,7.8,293,6143,0.12,2.60,0.00,0.000,6,0.058,0.055,2543,2237,1685
$GC,6452,1.09,268.1,337.1,8.3,309,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2237,1685
$GC,6763,1.05,268.1,309.2,9.4,324,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2237,1684
$GC,7071,1.00,268.1,278.2,10.4,339,7073,0.12,0.00,0.00,0.000,6,0.086,0.000,2517,2237,1683
$GC,7380,1.00,268.1,249.5,8.6,354,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2236,1683
$GC,7690,1.00,268.1,223.7,8.3,369,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2237,1683
$GC,7999,1.00,268.1,198.7,7.8,384,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2237,1683
$GC,8308,1.00,268.1,175.6,7.6,399,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2237,1683
$GC,8617,1.00,268.1,152.3,7.7,414,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2237,1683
$GC,8928,1.00,268.1,124.9,9.6,429,8932,0.00,2.65,0.00,0.000,4,0.000,0.068,2518,3653,1683
$GC,8967,1.00,268.1,120.5,11.5,431,8972,0.00,2.55,0.00,0.000,6,0.000,0.051,2517,2234,1683
$GC,9294,1.00,268.1,88.8,8.7,447,9299,0.00,2.58,0.00,0.000,4,0.000,0.063,2518,830,1683
$GC,9335,1.00,268.1,85.3,8.5,449,9340,0.00,2.55,0.00,0.000,6,0.000,0.047,2518,2247,1682
$GC,9662,1.00,268.1,64.7,6.2,465,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2247,1683
$GC,9972,1.00,268.1,41.1,7.5,480,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2247,1682
$GC,10284,1.00,268.1,19.3,6.7,495,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2248,1683
$STATE,10526,end climb,SURFACE_DEPTH_REACHED
$STATE,10526,begin surface coast
$FINISH,0.6,1.015507
$STATE,10548,end surface coast,CONTROL_FINISHED_OK
$STATE,10548,begin surface
$SM_CCo,10569,138.18,0.595,0,0,508,557.32
$SM_GC,1.31,0.00,0.00,138.18,0.000,0.000,0.595,70,2249,508,-10.26,0.54,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1895
$TCM_TEMP,17.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,325.9,76.1
$24V_AH,23.7,44.003
$10V_AH,10.2,22.301
$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,24.525,51.825,355.775,138.175,0.000,18.265,31.172,115.208,3.000,0.000,0.000,32.618,907.450,8043.190,597.802,1104.333,349.880,0.000,1149.223,0.000,1064.874,0.000,18.574
$DEVICE_MAMPS,169.507,74.399,870.545,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.581,345.822,442.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25359,508
$CAP_FILE_SIZE,69932,0
$CFSIZE,260165632,243019776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300708,033455,6413.089,-1156.611,35,1.5,35,-11.9