version: 66.03
glider: 16
mission: 9
dive: 259
start: 7 30 108 3 40 17
data:
$ID,16
$MISSION,9
$DIVE,259
$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,-2098739.2
$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,24
$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
$GPS1,033455,6413.089,-1156.611,35,1.5,35,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-53.8
$GPS2,033957,6413.114,-1156.500,36,1.4,36,-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,307.5,20931,-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,-146.6,0.0,0.0,0,146,0.00,0.00,-120.78,0.000,2,0.000,0.000,69,2251,3060
$GC,150,-0.85,-146.6,4.7,-4.1,6,175,11.48,2.60,-6.65,0.000,4,0.170,0.074,2113,3641,3381
$GC,421,-0.68,-146.6,39.5,-10.1,18,426,0.20,2.55,0.00,0.000,6,0.094,0.048,2152,2228,3381
$GC,750,-0.62,-146.6,71.6,-10.5,34,754,0.00,2.62,0.00,0.000,4,0.000,0.063,2152,3646,3381
$GC,777,-0.57,-146.6,74.9,-11.1,35,782,0.12,2.55,0.00,0.000,6,0.097,0.047,2176,2230,3381
$GC,1094,-0.57,-146.6,106.0,-9.8,50,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3381
$GC,1403,-0.57,-146.6,130.2,-6.7,65,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3382
$GC,1713,-0.57,-146.6,151.1,-6.9,80,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3382
$GC,2021,-0.57,-146.6,172.6,-7.0,95,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3382
$GC,2330,-0.57,-146.6,195.8,-7.7,110,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3382
$GC,2639,-0.57,-146.6,218.9,-7.2,125,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3382
$GC,2949,-0.57,-146.6,241.9,-7.8,140,2953,0.00,2.58,0.00,0.000,4,0.000,0.060,2176,817,3381
$GC,2989,-0.65,-146.6,244.8,-7.5,142,2993,0.00,2.55,0.00,0.000,6,0.000,0.045,2176,2233,3381
$GC,3315,-0.65,-146.6,268.0,-6.8,158,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2233,3381
$GC,3625,-0.65,-146.6,289.8,-7.2,173,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2233,3381
$GC,3933,-0.65,-146.6,312.0,-6.8,188,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2233,3381
$GC,4243,-0.65,-146.6,331.6,-6.4,203,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2233,3381
$GC,4553,-0.65,-146.6,348.2,-5.0,218,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2233,3381
$GC,4862,-0.70,-146.6,360.6,-3.6,233,4864,0.15,0.00,0.00,0.000,6,0.044,0.000,2128,2233,3380
$GC,5171,-0.60,-146.6,382.8,-7.3,248,5176,0.17,2.60,0.00,0.000,4,0.085,0.067,2167,3641,3380
$GC,5211,-0.60,-146.6,385.1,-4.6,250,5216,0.00,2.55,0.00,0.000,6,0.000,0.052,2167,2229,3381
$STATE,5329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5329,begin apogee
$GC,5336,-0.31,0.0,392.5,7.6,256,5466,0.30,0.00,126.95,0.869,6,0.087,0.000,2228,2228,2781
$STATE,5466,end apogee,CONTROL_FINISHED_OK
$STATE,5467,begin climb
$GC,5470,0.85,146.6,397.9,0.0,262,5603,1.20,2.72,124.93,0.858,4,0.083,0.067,2479,3648,2182
$GC,5802,0.91,146.6,385.6,6.6,277,5807,0.00,2.58,0.00,0.000,6,0.000,0.051,2479,2239,2182
$GC,6118,0.91,146.6,370.2,6.6,292,6122,0.00,2.62,0.00,0.000,4,0.000,0.063,2479,820,2180
$GC,6229,0.92,155.6,363.2,5.8,297,6246,0.00,2.58,8.80,0.729,6,0.000,0.048,2479,2242,2146
$GC,6556,1.06,246.2,348.5,3.5,313,6640,0.20,2.75,77.05,0.843,4,0.063,0.067,2529,3650,1777
$GC,6703,1.01,251.0,341.1,5.9,319,6714,0.00,2.60,6.18,0.657,6,0.000,0.055,2530,2240,1756
$GC,7036,1.01,251.0,323.0,6.0,336,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2240,1755
$GC,7345,1.01,251.0,301.1,7.8,351,7349,0.00,2.65,0.00,0.000,4,0.000,0.067,2530,3650,1755
$GC,7401,1.01,251.0,296.1,9.3,353,7406,0.00,2.58,0.00,0.000,6,0.000,0.052,2530,2237,1755
$GC,7716,1.01,251.0,268.6,8.9,369,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2237,1755
$GC,8025,1.01,251.0,242.8,7.9,384,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2237,1754
$GC,8335,1.01,251.0,220.6,6.9,399,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2237,1754
$GC,8644,1.01,251.0,198.5,7.3,414,8648,0.00,2.60,0.00,0.000,4,0.000,0.066,2530,3645,1754
$GC,8684,1.01,251.0,195.4,8.0,416,8688,0.00,2.55,0.00,0.000,6,0.000,0.051,2530,2236,1754
$GC,9010,1.01,251.0,171.1,7.6,432,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2235,1754
$GC,9320,1.01,251.0,149.7,6.7,447,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2235,1754
$GC,9630,1.01,251.0,129.2,6.5,462,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2235,1754
$GC,9938,1.01,251.0,107.8,7.1,477,9943,0.00,2.62,0.00,0.000,4,0.000,0.064,2530,3652,1754
$GC,9979,1.01,251.0,104.6,8.2,479,9983,0.00,2.55,0.00,0.000,6,0.000,0.050,2529,2237,1755
$GC,10306,1.01,251.0,81.5,7.4,495,10310,0.00,2.58,0.00,0.000,4,0.000,0.061,2530,827,1754
$GC,10361,1.01,251.0,76.9,8.3,497,10367,0.00,2.53,0.00,0.000,6,0.000,0.044,2530,2244,1754
$GC,10677,1.01,251.0,54.4,6.2,513,10682,0.00,2.58,0.00,0.000,4,0.000,0.064,2530,3647,1754
$GC,10750,1.01,251.0,48.4,8.8,516,10754,0.00,2.55,0.00,0.000,6,0.000,0.050,2530,2233,1755
$GC,11067,1.01,251.0,26.5,7.8,531,11068,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2233,1755
$GC,11376,1.01,251.0,5.3,6.3,546,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2233,1755
$STATE,11434,end climb,SURFACE_DEPTH_REACHED
$STATE,11434,begin surface coast
$FINISH,0.7,1.020056
$STATE,11457,end surface coast,CONTROL_FINISHED_OK
$STATE,11458,begin surface
$SM_CCo,11479,146.35,0.596,0,0,509,557.32
$SM_GC,1.27,0.00,0.00,146.35,0.000,0.000,0.596,73,2230,509,-10.24,0.00,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1887
$TCM_TEMP,17.60
$XPDR_PINGS,4
$ALTIM_TOP_PING,18.8,17.2
$ALTIM_BOTTOM_PING,350.3,51.7
$24V_AH,23.7,44.120
$10V_AH,10.2,22.360
$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,24.525,62.225,343.900,146.350,0.000,33.122,43.430,101.082,4.250,0.000,0.000,36.564,1007.040,8698.654,606.550,1245.970,380.631,0.000,1217.117,0.000,1198.135,0.000,26.013
$DEVICE_MAMPS,169.507,74.399,869.011,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.270,374.424,442.514,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28580,550
$CAP_FILE_SIZE,77978,0
$CFSIZE,260165632,242974720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300708,065525,6414.762,-1152.464,24,1.8,42,-11.9