version: 66.03
glider: 16
mission: 9
dive: 264
start: 7 30 108 19 33 16
data:
$ID,16
$MISSION,9
$DIVE,264
$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,-2098886.2
$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,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
$GPS1,192507,6414.792,-1146.138,41,1.3,47,-11.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-53.2
$GPS2,193257,6414.874,-1145.833,12,1.3,12,-11.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WV
$TGT_LATLONG,6427.000,-1150.000
$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,3.4,22703,-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,-120.82,0.000,2,0.000,0.000,68,2244,3065
$GC,151,-0.85,-146.6,4.5,-3.9,6,176,11.50,2.60,-6.57,0.000,4,0.170,0.075,2112,3628,3381
$GC,322,-0.69,-146.6,30.0,-10.2,13,329,0.17,2.53,0.00,0.000,6,0.092,0.049,2146,2230,3381
$GC,641,-0.62,-146.6,56.0,-8.6,29,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2228,3381
$GC,948,-0.54,-146.6,85.0,-9.9,44,950,0.17,0.00,0.00,0.000,6,0.095,0.000,2180,2228,3381
$GC,1257,-0.54,-146.6,102.2,-4.4,59,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3381
$GC,1567,-0.54,-146.6,119.5,-6.2,74,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3382
$GC,1875,-0.54,-146.6,141.2,-7.2,89,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3382
$GC,2184,-0.54,-146.6,161.7,-6.3,104,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3381
$GC,2494,-0.54,-146.6,179.9,-5.8,119,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3381
$GC,2803,-0.54,-146.6,197.5,-5.6,134,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2229,3381
$GC,3112,-0.54,-146.6,215.8,-6.5,149,3116,0.00,2.58,0.00,0.000,4,0.000,0.060,2180,814,3381
$GC,3153,-0.63,-146.6,218.6,-7.0,151,3157,0.00,2.55,0.00,0.000,6,0.000,0.048,2180,2228,3381
$GC,3479,-0.63,-146.6,243.1,-8.2,167,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2229,3381
$GC,3789,-0.68,-146.6,269.5,-8.2,182,3790,0.12,0.00,0.00,0.000,6,0.047,0.000,2138,2229,3381
$GC,4098,-0.60,-146.6,298.7,-8.7,197,4103,0.15,2.60,0.00,0.000,4,0.086,0.059,2172,814,3380
$GC,4133,-0.68,-146.6,301.4,-6.9,198,4139,0.00,2.55,0.00,0.000,6,0.000,0.048,2172,2230,3380
$GC,4450,-0.68,-146.6,320.3,-5.9,214,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2230,3381
$GC,4758,-0.68,-146.6,341.5,-6.8,229,4762,0.00,2.60,0.00,0.000,4,0.000,0.061,2172,816,3380
$GC,4786,-0.74,-146.6,342.8,-3.6,230,4791,0.15,2.55,0.00,0.000,6,0.046,0.050,2126,2230,3380
$STATE,4831,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4831,begin apogee
$GC,4838,-0.31,0.0,347.2,8.8,232,4967,0.50,0.00,125.53,0.820,6,0.086,0.000,2228,2229,2780
$STATE,4967,end apogee,CONTROL_FINISHED_OK
$STATE,4967,begin climb
$GC,4970,0.85,146.6,352.8,0.0,238,5102,1.20,2.72,123.82,0.814,4,0.084,0.072,2480,3647,2182
$GC,5161,0.90,200.2,348.7,4.5,247,5213,0.00,2.60,45.80,0.792,6,0.000,0.054,2479,2237,1964
$GC,5532,1.05,233.7,328.5,5.1,265,5570,0.22,2.72,29.20,0.786,4,0.054,0.067,2531,831,1828
$GC,5604,0.99,233.7,322.3,11.0,268,5608,0.00,2.60,0.00,0.000,6,0.000,0.051,2531,2243,1828
$GC,5920,0.95,233.7,297.1,6.9,283,5925,0.12,2.65,0.00,0.000,4,0.092,0.064,2506,827,1827
$GC,5970,0.95,233.7,292.9,7.9,285,5975,0.00,2.58,0.00,0.000,6,0.000,0.051,2506,2242,1826
$GC,6286,0.98,269.3,272.7,5.0,300,6319,0.00,0.00,30.98,0.772,6,0.000,0.000,2506,2242,1682
$GC,6615,0.98,269.3,254.5,7.0,316,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2242,1681
$GC,6924,0.98,269.3,228.1,8.8,331,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2242,1680
$GC,7233,0.98,269.3,203.6,7.6,346,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2242,1680
$GC,7546,0.98,269.3,183.4,6.4,361,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2242,1680
$GC,7852,0.98,269.3,161.7,7.5,376,7856,0.00,2.62,0.00,0.000,4,0.000,0.061,2506,823,1680
$GC,7891,0.98,269.3,158.5,7.8,378,7896,0.00,2.58,0.00,0.000,6,0.000,0.048,2506,2245,1679
$GC,8219,0.98,269.3,132.3,8.2,394,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2245,1679
$GC,8528,0.98,269.3,105.9,8.6,409,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2246,1680
$GC,8837,1.03,308.7,86.0,4.9,424,8877,0.00,0.00,32.83,0.663,6,0.000,0.000,2506,2245,1521
$GC,9189,1.07,308.7,63.9,9.3,441,9194,0.12,2.62,0.00,0.000,4,0.048,0.061,2539,829,1520
$GC,9284,1.07,308.7,53.4,10.2,445,9288,0.00,2.55,0.00,0.000,6,0.000,0.047,2539,2242,1521
$GC,9601,1.07,308.7,26.1,8.9,460,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2242,1521
$STATE,9906,end climb,SURFACE_DEPTH_REACHED
$STATE,9906,begin surface coast
$FINISH,0.6,1.026875
$STATE,9928,end surface coast,CONTROL_FINISHED_OK
$STATE,9928,begin surface
$SM_CCo,9950,121.82,0.599,0,0,508,557.32
$SM_GC,1.26,0.00,0.00,121.82,0.000,0.000,0.599,65,2244,508,-10.28,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1903
$TCM_TEMP,17.70
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,300.1,56.3
$24V_AH,23.7,44.724
$10V_AH,10.2,22.641
$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,25.125,46.800,388.150,121.825,0.000,36.017,52.873,201.168,4.000,0.000,0.000,12.902,859.560,7579.263,641.282,979.993,490.043,0.000,1132.306,0.000,966.459,0.000,22.784
$DEVICE_MAMPS,170.274,75.166,819.923,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.501,322.614,421.902,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22226,476
$CAP_FILE_SIZE,69040,0
$CFSIZE,260165632,242790400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300708,222231,6416.604,-1138.258,37,1.8,42,-11.8