version: 66.03
glider: 16
mission: 9
dive: 252
start: 7 29 108 4 58 1
data:
$ID,16
$MISSION,9
$DIVE,252
$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,-2098578.5
$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,20
$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
$GPS1,045225,6412.123,-1155.626,38,1.1,38,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-58.0
$GPS2,045744,6412.104,-1155.498,13,1.3,30,-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,310.9,22505,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-111.28,0.000,2,0.000,0.000,69,2236,2846
$GC,141,-0.85,-146.6,3.6,-2.8,6,172,11.45,2.62,-13.30,0.000,4,0.168,0.076,2108,3639,3380
$GC,342,-0.64,-146.6,30.1,-11.2,15,347,0.25,2.55,0.00,0.000,6,0.092,0.049,2158,2230,3380
$GC,669,-0.64,-146.6,52.6,-7.1,31,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2230,3380
$GC,979,-0.64,-146.6,77.5,-7.8,46,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2230,3380
$GC,1288,-0.64,-146.6,99.9,-6.9,61,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2230,3381
$GC,1597,-0.64,-146.6,121.3,-6.9,76,1601,0.00,2.65,0.00,0.000,4,0.000,0.069,2158,3647,3381
$GC,1637,-0.64,-146.6,124.3,-7.3,78,1641,0.00,2.55,0.00,0.000,6,0.000,0.050,2157,2230,3381
$GC,1964,-0.64,-146.6,147.5,-7.5,94,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3381
$GC,2272,-0.64,-146.6,172.4,-8.2,109,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2229,3381
$GC,2581,-0.64,-146.6,197.2,-7.9,124,2586,0.00,2.65,0.00,0.000,4,0.000,0.071,2158,3641,3380
$GC,2622,-0.64,-146.6,200.6,-8.6,126,2626,0.00,2.55,0.00,0.000,6,0.000,0.051,2158,2227,3381
$GC,2948,-0.64,-146.6,227.0,-8.3,142,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2227,3381
$GC,3257,-0.64,-146.6,248.9,-6.1,157,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2225,3380
$GC,3567,-0.64,-146.6,268.1,-6.3,172,3571,0.00,2.65,0.00,0.000,4,0.000,0.071,2158,3643,3380
$GC,3600,-0.64,-146.6,270.4,-6.8,173,3606,0.00,2.55,0.00,0.000,6,0.000,0.051,2158,2228,3380
$GC,3915,-0.64,-146.6,292.3,-7.3,189,3920,0.00,2.58,0.00,0.000,4,0.000,0.062,2158,816,3380
$GC,3957,-0.68,-146.6,295.2,-7.7,191,3961,0.00,2.58,0.00,0.000,6,0.000,0.049,2158,2234,3380
$GC,4283,-0.68,-146.6,321.6,-8.8,207,4287,0.00,2.62,0.00,0.000,4,0.000,0.071,2158,3644,3380
$GC,4326,-0.68,-146.6,325.3,-10.1,209,4331,0.00,2.55,0.00,0.000,6,0.000,0.051,2158,2230,3380
$GC,4655,-0.68,-146.6,354.0,-8.4,225,4659,0.00,2.65,0.00,0.000,4,0.000,0.074,2158,3638,3380
$GC,4721,-0.68,-146.6,360.4,-9.5,228,4726,0.00,2.55,0.00,0.000,6,0.000,0.052,2158,2228,3380
$STATE,5019,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5019,begin apogee
$GC,5027,-0.31,0.0,382.5,6.5,243,5156,0.35,0.00,126.32,0.858,6,0.093,0.000,2228,2228,2781
$STATE,5157,end apogee,CONTROL_FINISHED_OK
$STATE,5157,begin climb
$GC,5159,0.85,146.6,388.0,0.0,249,5292,1.17,2.78,124.50,0.833,4,0.076,0.075,2477,3653,2183
$GC,5352,0.85,146.6,382.3,6.4,259,5356,0.00,2.60,0.00,0.000,6,0.000,0.055,2478,2240,2183
$GC,5679,0.94,179.6,365.1,5.1,275,5714,0.12,2.72,29.08,0.804,4,0.051,0.067,2517,821,2047
$GC,5796,0.90,201.2,358.3,5.4,280,5822,0.12,2.62,19.55,0.789,6,0.088,0.052,2492,2244,1960
$GC,6140,0.96,221.2,339.4,5.5,297,6165,0.00,2.75,17.80,0.784,4,0.000,0.075,2492,3647,1880
$GC,6222,1.01,221.2,334.4,6.0,300,6229,0.12,2.60,0.00,0.000,6,0.051,0.058,2530,2242,1880
$GC,6539,0.97,221.2,311.2,8.0,316,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2242,1879
$GC,6848,0.92,221.2,287.6,7.4,331,6850,0.15,0.00,0.00,0.000,6,0.087,0.000,2500,2242,1878
$GC,7157,0.92,221.2,267.4,6.6,346,7162,0.00,2.65,0.00,0.000,4,0.000,0.074,2500,3648,1877
$GC,7213,0.92,221.2,263.2,7.4,348,7219,0.00,2.58,0.00,0.000,6,0.000,0.054,2500,2236,1877
$GC,7528,0.92,221.2,241.7,6.9,364,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2236,1877
$GC,7839,0.96,221.2,221.1,6.5,379,7843,0.00,2.65,0.00,0.000,4,0.000,0.071,2500,3649,1877
$GC,7905,0.96,221.2,216.2,7.3,382,7909,0.00,2.55,0.00,0.000,6,0.000,0.053,2500,2241,1877
$GC,8226,0.98,238.0,197.3,5.5,398,8245,0.00,0.00,15.23,0.699,6,0.000,0.000,2499,2241,1810
$GC,8556,1.04,238.0,177.8,6.1,414,8558,0.12,0.00,0.00,0.000,6,0.048,0.000,2540,2241,1810
$GC,8865,0.99,238.0,152.3,8.4,429,8870,0.12,2.62,0.00,0.000,4,0.086,0.069,2514,3648,1810
$GC,8915,0.99,238.0,148.1,7.8,431,8919,0.00,2.55,0.00,0.000,6,0.000,0.052,2515,2240,1810
$GC,9231,0.99,238.0,125.3,7.2,446,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2240,1810
$GC,9540,0.99,238.0,103.7,6.9,461,9544,0.00,2.62,0.00,0.000,4,0.000,0.069,2515,3649,1810
$GC,9603,0.99,238.0,98.8,8.0,464,9607,0.00,2.55,0.00,0.000,6,0.000,0.052,2515,2239,1811
$GC,9930,0.99,238.0,76.7,7.1,480,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2239,1810
$GC,10239,0.99,238.0,52.7,8.1,495,10243,0.00,2.60,0.00,0.000,4,0.000,0.062,2514,820,1811
$GC,10289,0.99,238.0,48.8,8.0,497,10293,0.00,2.58,0.00,0.000,6,0.000,0.047,2514,2251,1809
$GC,10605,0.99,238.0,24.5,7.4,512,10609,0.00,2.58,0.00,0.000,4,0.000,0.067,2514,3647,1811
$GC,10682,0.99,238.0,18.8,7.5,515,10688,0.00,2.53,0.00,0.000,6,0.000,0.052,2515,2240,1810
$STATE,10995,end climb,SURFACE_DEPTH_REACHED
$STATE,10996,begin surface coast
$FINISH,0.7,1.002883
$STATE,11017,end surface coast,CONTROL_FINISHED_OK
$STATE,11017,begin surface
$SM_CCo,11039,154.15,0.586,0,0,508,557.32
$SM_GC,1.35,0.00,0.00,154.15,0.000,0.000,0.586,72,2237,508,-10.26,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1879
$TCM_TEMP,17.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,375.4,15.8
$24V_AH,23.7,43.259
$10V_AH,10.2,21.949
$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,24.600,83.425,332.475,154.150,0.000,17.984,29.036,144.584,5.000,0.000,0.000,30.612,980.028,8299.332,611.594,1224.277,403.978,0.000,1223.230,0.000,1178.419,0.000,30.306
$DEVICE_MAMPS,167.973,75.933,857.506,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.359,361.673,454.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25407,532
$CAP_FILE_SIZE,80805,0
$CFSIZE,260165632,243257344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290708,080555,6412.441,-1152.840,40,1.2,40,-11.9