version: 66.03
glider: 16
mission: 9
dive: 260
start: 7 30 108 7 1 1
data:
$ID,16
$MISSION,9
$DIVE,260
$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,-2098774.5
$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,25
$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
$GPS1,065525,6414.762,-1152.464,24,1.8,42,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-51.9
$GPS2,070044,6414.790,-1152.267,15,1.1,32,-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,296.8,23053,-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,-120.93,0.000,2,0.000,0.000,72,2230,3080
$GC,151,-0.85,-146.6,4.7,-4.1,6,174,11.48,2.65,-6.18,0.000,4,0.170,0.074,2107,3635,3382
$GC,410,-0.65,-146.6,39.6,-12.3,17,415,0.25,2.53,0.00,0.000,6,0.091,0.048,2156,2230,3382
$GC,727,-0.60,-146.6,73.4,-11.2,32,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2230,3383
$GC,1036,-0.55,-146.6,102.1,-8.6,47,1041,0.12,2.62,0.00,0.000,4,0.102,0.065,2179,3638,3382
$GC,1063,-0.55,-146.6,104.5,-8.1,48,1067,0.00,2.55,0.00,0.000,6,0.000,0.048,2179,2223,3383
$GC,1379,-0.55,-146.6,128.3,-7.5,63,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2223,3383
$GC,1689,-0.55,-146.6,151.4,-7.4,78,1693,0.00,2.55,0.00,0.000,4,0.000,0.061,2179,816,3382
$GC,1730,-0.64,-146.6,154.3,-7.3,80,1735,0.00,2.53,0.00,0.000,6,0.000,0.046,2179,2227,3382
$GC,2057,-0.64,-146.6,174.9,-5.9,96,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2227,3382
$GC,2367,-0.64,-146.6,192.3,-5.6,111,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2228,3382
$GC,2676,-0.64,-146.6,209.9,-5.5,126,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2227,3382
$GC,2985,-0.64,-146.6,229.4,-6.7,141,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2227,3382
$GC,3294,-0.64,-146.6,249.8,-6.2,156,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2228,3382
$GC,3603,-0.64,-146.6,266.9,-5.3,171,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2228,3382
$GC,3913,-0.69,-146.6,285.8,-7.4,186,3915,0.15,0.00,0.00,0.000,6,0.044,0.000,2131,2228,3382
$GC,4223,-0.59,-146.6,320.3,-11.9,201,4225,0.20,0.00,0.00,0.000,6,0.082,0.000,2172,2228,3382
$GC,4531,-0.59,-146.6,346.0,-7.3,216,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3382
$STATE,4796,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4796,begin apogee
$GC,4803,-0.31,0.0,365.3,6.4,229,4933,0.28,0.00,127.05,0.854,6,0.085,0.000,2228,2228,2783
$STATE,4934,end apogee,CONTROL_FINISHED_OK
$STATE,4934,begin climb
$GC,4937,0.85,146.6,369.6,0.0,235,5066,1.17,0.00,125.22,0.840,6,0.076,0.000,2478,2228,2183
$GC,5375,0.90,196.7,352.5,4.6,257,5424,0.00,2.75,43.00,0.816,4,0.000,0.070,2479,3641,1979
$GC,5461,1.01,232.2,349.0,5.0,261,5503,0.20,2.60,31.83,0.805,6,0.047,0.053,2531,2233,1834
$GC,5814,0.95,232.2,324.1,6.7,278,5819,0.12,2.67,0.00,0.000,4,0.088,0.071,2505,3648,1833
$GC,5848,0.95,232.2,321.6,7.2,279,5854,0.00,2.60,0.00,0.000,6,0.000,0.054,2505,2236,1833
$GC,6163,0.97,248.9,303.6,5.5,295,6183,0.00,0.00,15.43,0.764,6,0.000,0.000,2505,2236,1765
$GC,6493,1.00,277.7,285.4,5.2,311,6520,0.00,0.00,25.27,0.785,6,0.000,0.000,2505,2236,1648
$GC,6822,1.00,277.7,260.6,8.7,327,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2236,1647
$GC,7131,1.00,277.7,232.9,9.0,342,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2235,1647
$GC,7440,1.00,277.7,206.5,8.5,357,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2235,1647
$GC,7750,1.00,277.7,181.5,7.9,372,7754,0.00,2.60,0.00,0.000,4,0.000,0.061,2505,820,1647
$GC,7794,1.00,277.7,178.0,7.7,374,7798,0.00,2.55,0.00,0.000,6,0.000,0.045,2505,2243,1646
$GC,8114,1.00,277.7,154.4,7.2,390,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2243,1646
$GC,8425,1.00,277.7,131.7,7.1,405,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2243,1646
$GC,8733,1.00,277.7,110.7,6.8,420,8738,0.00,2.62,0.00,0.000,4,0.000,0.060,2505,827,1646
$GC,8766,1.00,277.7,108.4,6.7,421,8774,0.00,2.53,0.00,0.000,6,0.000,0.045,2505,2241,1646
$GC,9085,1.00,277.7,88.1,6.7,437,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2241,1647
$GC,9392,1.00,277.7,67.1,7.0,452,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2241,1647
$GC,9701,1.00,277.7,45.4,6.6,467,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2241,1648
$GC,10011,1.05,318.1,28.4,4.9,482,10054,0.10,2.70,33.12,0.630,4,0.052,0.058,2537,825,1484
$GC,10082,1.05,318.1,23.7,6.7,485,10087,0.00,2.58,0.00,0.000,6,0.000,0.044,2537,2247,1483
$STATE,10401,end climb,SURFACE_DEPTH_REACHED
$STATE,10401,begin surface coast
$FINISH,0.6,1.014185
$STATE,10425,end surface coast,CONTROL_FINISHED_OK
$STATE,10425,begin surface
$SM_CCo,10447,117.05,0.601,0,0,510,557.32
$SM_GC,1.26,0.00,0.00,117.05,0.000,0.000,0.601,70,2249,510,-10.25,0.51,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1881
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,301.2,73.6
$24V_AH,23.7,44.242
$10V_AH,10.2,22.415
$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,24.850,41.625,400.925,117.050,0.000,33.439,40.632,113.534,3.000,0.000,0.000,34.559,891.737,7949.214,632.255,1037.755,378.501,0.000,1149.165,0.000,1006.661,0.000,16.945
$DEVICE_MAMPS,169.507,74.399,854.438,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.234,340.690,430.442,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25345,502
$CAP_FILE_SIZE,67265,0
$CFSIZE,260165632,242946048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,300708,095815,6414.912,-1148.013,30,2.0,30,-11.8