version: 66.03
glider: 16
mission: 9
dive: 263
start: 7 30 108 16 19 27
data:
$ID,16
$MISSION,9
$DIVE,263
$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,-2098872.5
$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,23
$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
$GPS1,160808,6412.927,-1149.572,26,1.3,26,-11.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-53.4
$GPS2,161908,6413.016,-1149.431,11,1.7,16,-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,302.4,26229,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,129,0.00,0.00,-101.10,0.000,2,0.000,0.000,72,2227,2586
$GC,132,-0.85,-146.6,3.0,-2.0,5,175,11.40,2.60,-24.20,0.000,4,0.167,0.075,2106,3635,3379
$GC,429,-0.64,-146.6,37.7,-10.3,18,434,0.28,2.53,0.00,0.000,6,0.094,0.045,2161,2230,3379
$GC,752,-0.64,-146.6,62.5,-7.4,34,756,0.00,2.62,0.00,0.000,4,0.000,0.065,2161,3637,3380
$GC,837,-0.64,-146.6,69.6,-8.7,38,841,0.00,2.55,0.00,0.000,6,0.000,0.046,2161,2222,3380
$GC,1164,-0.64,-146.6,98.6,-9.7,54,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2222,3380
$GC,1473,-0.64,-146.6,127.7,-9.1,69,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2222,3380
$GC,1782,-0.64,-146.6,153.9,-8.2,84,1786,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,3641,3380
$GC,1822,-0.64,-146.6,157.2,-9.0,86,1827,0.00,2.55,0.00,0.000,6,0.000,0.048,2161,2227,3380
$GC,2149,-0.64,-146.6,181.6,-7.2,102,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3380
$GC,2458,-0.64,-146.6,203.1,-6.6,117,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3380
$GC,2768,-0.64,-146.6,223.2,-6.1,132,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3380
$GC,3077,-0.64,-146.6,243.9,-7.4,147,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3380
$GC,3386,-0.64,-146.6,270.9,-9.2,162,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2226,3379
$GC,3696,-0.64,-146.6,296.1,-7.7,177,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2226,3379
$GC,4005,-0.64,-146.6,321.0,-8.3,192,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2226,3379
$GC,4314,-0.64,-146.6,346.2,-7.2,207,4318,0.00,2.65,0.00,0.000,4,0.000,0.071,2161,3641,3379
$GC,4392,-0.64,-146.6,352.5,-9.0,210,4398,0.00,2.53,0.00,0.000,6,0.000,0.049,2161,2228,3379
$GC,4708,-0.64,-146.6,373.3,-4.4,226,4713,0.00,2.58,0.00,0.000,4,0.000,0.059,2162,810,3379
$GC,4754,-0.94,-146.6,375.2,-0.5,228,4759,0.30,2.58,0.00,0.000,6,0.043,0.051,2088,2233,3379
$STATE,4886,end dive,NO_VERTICAL_VELOCITY
$STATE,4887,begin apogee
$GC,4894,-0.31,0.0,375.3,0.0,235,5022,0.68,0.00,125.20,0.835,6,0.064,0.000,2234,2237,2781
$STATE,5023,end apogee,CONTROL_FINISHED_OK
$STATE,5023,begin climb
$GC,5026,0.85,146.6,375.4,0.0,241,5157,1.15,2.70,123.50,0.829,4,0.069,0.074,2482,3644,2183
$GC,5217,0.85,146.6,366.9,6.1,251,5221,0.00,2.60,0.00,0.000,6,0.000,0.057,2482,2241,2183
$GC,5543,0.88,177.7,349.6,5.1,267,5578,0.00,2.70,27.38,0.795,4,0.000,0.064,2482,837,2055
$GC,5613,0.95,193.1,345.6,5.6,270,5633,0.12,2.58,14.38,0.748,6,0.053,0.052,2515,2238,1992
$GC,5963,0.98,219.0,324.7,5.3,287,5992,0.00,2.75,22.70,0.781,4,0.000,0.073,2515,3646,1888
$GC,6044,0.98,219.0,319.1,7.4,290,6050,0.00,2.60,0.00,0.000,6,0.000,0.057,2514,2238,1888
$GC,6361,0.98,219.0,300.8,6.2,306,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2238,1887
$GC,6669,0.98,219.0,282.1,6.0,321,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2237,1886
$GC,6979,0.98,219.0,261.9,6.8,336,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2237,1886
$GC,7288,0.98,219.0,240.2,6.7,351,7293,0.00,2.65,0.00,0.000,4,0.000,0.071,2515,3653,1886
$GC,7367,0.98,219.0,234.6,7.0,354,7372,0.00,2.58,0.00,0.000,6,0.000,0.052,2515,2236,1886
$GC,7682,0.98,219.0,214.9,6.2,370,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2236,1886
$GC,7992,0.98,219.0,195.5,6.3,385,7996,0.00,2.65,0.00,0.000,4,0.000,0.070,2515,3654,1886
$GC,8054,0.98,219.0,191.1,6.8,388,8058,0.00,2.58,0.00,0.000,6,0.000,0.051,2515,2236,1886
$GC,8380,0.99,227.6,171.6,5.8,404,8390,0.00,0.00,8.50,0.630,6,0.000,0.000,2515,2236,1853
$GC,8692,1.04,277.5,155.9,4.6,419,8741,0.00,2.75,41.72,0.700,4,0.000,0.067,2515,3653,1649
$GC,8771,1.11,300.4,152.0,5.4,422,8798,0.12,2.60,20.30,0.668,6,0.055,0.051,2551,2234,1555
$GC,9110,1.06,300.4,130.1,7.4,439,9115,0.00,2.60,0.00,0.000,4,0.000,0.062,2552,823,1554
$GC,9155,1.06,300.4,126.1,9.2,441,9159,0.00,2.58,0.00,0.000,6,0.000,0.048,2552,2245,1553
$GC,9476,1.00,300.4,96.4,8.8,457,9478,0.17,0.00,0.00,0.000,6,0.079,0.000,2516,2245,1553
$GC,9787,1.00,300.4,74.6,6.8,472,9791,0.00,2.62,0.00,0.000,4,0.000,0.061,2516,827,1554
$GC,9827,1.00,300.4,72.0,6.5,474,9831,0.00,2.55,0.00,0.000,6,0.000,0.047,2516,2242,1553
$GC,10153,1.00,300.4,52.7,6.0,490,10158,0.00,2.60,0.00,0.000,4,0.000,0.065,2516,3650,1554
$GC,10187,1.00,300.4,50.4,6.9,491,10193,0.00,2.55,0.00,0.000,6,0.000,0.051,2516,2240,1554
$GC,10505,1.02,325.5,30.7,5.3,507,10531,0.00,2.65,21.40,0.601,4,0.000,0.061,2516,825,1452
$GC,10612,1.11,325.5,25.2,6.4,512,10617,0.12,2.55,0.00,0.000,6,0.049,0.046,2548,2240,1451
$STATE,10895,end climb,SURFACE_DEPTH_REACHED
$STATE,10895,begin surface coast
$FINISH,0.5,1.026622
$STATE,10919,end surface coast,CONTROL_FINISHED_OK
$STATE,10920,begin surface
$SM_CCo,10941,112.43,0.578,0,0,508,557.32
$SM_GC,1.27,0.00,0.00,112.43,0.000,0.000,0.578,69,2241,508,-10.26,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1894
$TCM_TEMP,17.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.0,18.2
$24V_AH,23.7,44.600
$10V_AH,10.2,22.587
$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,25.075,78.250,405.075,112.425,0.000,76.811,107.246,239.636,4.500,0.000,0.000,16.322,971.147,8276.059,639.272,1197.013,639.508,0.000,1251.645,0.000,1171.503,0.000,21.550
$DEVICE_MAMPS,167.206,75.166,835.263,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.693,358.556,434.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25401,527
$CAP_FILE_SIZE,81835,0
$CFSIZE,260165632,242823168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,300708,192507,6414.792,-1146.138,41,1.3,47,-11.8