version: 66.03
glider: 16
mission: 9
dive: 262
start: 7 30 108 13 11 7
data:
$ID,16
$MISSION,9
$DIVE,262
$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,-2098855.5
$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,23
$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
$GPS1,130608,6413.146,-1147.876,31,1.1,31,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-51.3
$GPS2,131050,6413.131,-1147.894,14,1.1,31,-11.8
$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,301.1,27317,-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,-121.03,0.000,2,0.000,0.000,72,2234,3068
$GC,151,-0.85,-146.6,4.4,-3.6,6,176,11.45,2.62,-6.43,0.000,4,0.168,0.076,2109,3631,3381
$GC,423,-0.68,-146.6,39.7,-9.5,18,428,0.22,2.53,0.00,0.000,6,0.092,0.046,2153,2227,3381
$GC,747,-0.62,-146.6,67.6,-9.4,34,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2227,3381
$GC,1055,-0.56,-146.6,96.3,-9.5,49,1060,0.12,2.58,0.00,0.000,4,0.102,0.058,2176,817,3382
$GC,1088,-0.62,-146.6,99.6,-8.7,50,1094,0.00,2.55,0.00,0.000,6,0.000,0.046,2177,2236,3382
$GC,1405,-0.62,-146.6,124.6,-7.6,66,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2236,3382
$GC,1714,-0.62,-146.6,146.3,-6.8,81,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2236,3382
$GC,2023,-0.62,-146.6,166.2,-6.4,96,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2237,3382
$GC,2332,-0.62,-146.6,186.1,-6.5,111,2336,0.00,2.62,0.00,0.000,4,0.000,0.059,2176,813,3382
$GC,2365,-0.69,-146.6,188.6,-6.9,112,2371,0.12,2.55,0.00,0.000,6,0.045,0.047,2134,2233,3381
$GC,2681,-0.58,-146.6,216.1,-8.9,128,2683,0.20,0.00,0.00,0.000,6,0.085,0.000,2173,2233,3382
$GC,2990,-0.58,-146.6,238.7,-7.4,143,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2234,3381
$GC,3299,-0.58,-146.6,260.7,-6.8,158,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2234,3382
$GC,3608,-0.58,-146.6,280.7,-6.4,173,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2234,3380
$GC,3917,-0.58,-146.6,302.0,-7.2,188,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2234,3381
$GC,4227,-0.58,-146.6,323.1,-6.3,203,4232,0.00,2.60,0.00,0.000,4,0.000,0.069,2173,3638,3381
$GC,4261,-0.63,-146.6,325.2,-6.4,204,4267,0.00,2.53,0.00,0.000,6,0.000,0.049,2173,2229,3381
$GC,4577,-0.63,-146.6,343.3,-5.8,220,4581,0.00,2.62,0.00,0.000,4,0.000,0.071,2173,3635,3381
$GC,4634,-0.69,-146.6,347.4,-7.5,222,4641,0.12,2.53,0.00,0.000,6,0.048,0.050,2134,2230,3381
$STATE,4865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4865,begin apogee
$GC,4871,-0.31,0.0,367.8,9.1,234,5000,0.47,0.00,125.78,0.849,6,0.084,0.000,2230,2230,2780
$STATE,5001,end apogee,CONTROL_FINISHED_OK
$STATE,5001,begin climb
$GC,5004,0.85,146.6,374.1,0.0,240,5136,1.17,2.75,123.43,0.834,4,0.079,0.070,2478,3641,2182
$GC,5222,0.91,209.4,369.4,4.3,250,5282,0.00,2.58,53.55,0.811,6,0.000,0.053,2478,2239,1926
$GC,5614,1.04,243.0,350.8,5.1,269,5651,0.22,0.00,29.67,0.797,6,0.060,0.000,2529,2239,1789
$GC,5960,1.04,243.0,327.5,6.3,286,5964,0.00,2.65,0.00,0.000,4,0.000,0.074,2529,3645,1788
$GC,6015,1.04,243.0,323.5,7.3,288,6021,0.00,2.58,0.00,0.000,6,0.000,0.055,2530,2240,1788
$GC,6331,1.05,252.8,304.9,5.7,304,6346,0.00,2.67,9.38,0.716,4,0.000,0.071,2530,3650,1750
$GC,6408,1.05,252.8,299.9,7.3,307,6412,0.00,2.60,0.00,0.000,6,0.000,0.054,2530,2234,1750
$GC,6724,1.05,252.8,279.1,7.0,322,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2234,1749
$GC,7033,1.05,252.8,256.4,7.6,337,7037,0.00,2.65,0.00,0.000,4,0.000,0.068,2530,3646,1749
$GC,7065,1.05,252.8,253.6,8.5,338,7071,0.00,2.55,0.00,0.000,6,0.000,0.051,2530,2240,1749
$GC,7381,1.05,252.8,228.5,8.0,354,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2240,1749
$GC,7691,1.05,252.8,204.5,7.6,369,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2241,1749
$GC,7999,1.05,252.8,181.5,7.5,384,8003,0.00,2.62,0.00,0.000,4,0.000,0.067,2530,3652,1749
$GC,8055,1.05,252.8,176.7,9.0,386,8061,0.00,2.55,0.00,0.000,6,0.000,0.050,2530,2239,1749
$GC,8371,1.05,252.8,152.8,7.9,402,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2239,1749
$GC,8680,1.05,252.8,127.5,8.2,417,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2239,1749
$GC,8989,1.05,252.8,102.3,8.3,432,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2239,1749
$GC,9301,1.05,252.8,76.6,8.0,447,9305,0.00,2.62,0.00,0.000,4,0.000,0.066,2530,3651,1749
$GC,9340,1.05,252.8,73.2,8.2,449,9345,0.00,2.55,0.00,0.000,6,0.000,0.050,2530,2235,1749
$GC,9668,1.05,252.8,49.5,7.2,465,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2235,1749
$GC,9978,1.05,252.8,26.7,6.8,480,9982,0.00,2.62,0.00,0.000,4,0.000,0.066,2530,3647,1749
$GC,10044,1.05,252.8,21.8,7.1,483,10048,0.00,2.55,0.00,0.000,6,0.000,0.050,2530,2232,1749
$STATE,10362,end climb,SURFACE_DEPTH_REACHED
$STATE,10362,begin surface coast
$FINISH,0.7,1.026981
$STATE,10386,end surface coast,CONTROL_FINISHED_OK
$STATE,10386,begin surface
$SM_CCo,10408,146.00,0.580,0,0,508,557.57
$SM_GC,1.21,0.00,0.00,146.00,0.000,0.000,0.580,74,2229,508,-10.24,-0.06,557.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1892
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.6
$ALTIM_BOTTOM_PING,300.4,76.7
$24V_AH,23.7,44.469
$10V_AH,10.2,22.526
$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,24.825,62.275,341.800,146.000,0.000,18.315,27.996,108.232,2.750,0.000,0.000,33.783,910.626,7855.883,616.832,1109.912,350.353,0.000,1171.454,0.000,1071.386,0.000,19.906
$DEVICE_MAMPS,167.973,75.933,849.069,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,367.132,339.006,420.040,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25358,500
$CAP_FILE_SIZE,71445,0
$CFSIZE,260165632,242864128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,300708,160808,6412.927,-1149.572,26,1.3,26,-11.8