version: 66.03
glider: 16
mission: 9
dive: 270
start: 7 31 108 13 44 6
data:
$ID,16
$MISSION,9
$DIVE,270
$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,-2099005.5
$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,25
$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
$GPS1,133932,6414.471,-1120.220,41,1.7,41,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-56.1
$GPS2,134345,6414.368,-1120.232,14,1.0,14,-11.6
$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,326.1,33357,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,127,0.00,0.00,-100.93,0.000,2,0.000,0.000,71,2227,2582
$GC,130,-0.85,-146.6,3.1,-1.9,5,174,11.43,2.67,-26.02,0.000,4,0.167,0.075,2108,3644,3379
$GC,349,-0.65,-146.6,26.1,-10.5,14,356,0.25,2.53,0.00,0.000,6,0.093,0.045,2157,2231,3379
$GC,665,-0.60,-146.6,50.5,-7.9,30,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2231,3379
$GC,976,-0.56,-146.6,75.1,-7.4,45,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2231,3380
$GC,1285,-0.51,-146.6,99.2,-7.7,60,1290,0.15,2.60,0.00,0.000,4,0.099,0.067,2188,3638,3380
$GC,1318,-0.58,-146.6,101.7,-6.4,61,1324,0.00,2.53,0.00,0.000,6,0.000,0.045,2189,2225,3380
$GC,1636,-0.63,-146.6,119.5,-5.2,77,1638,0.12,0.00,0.00,0.000,6,0.049,0.000,2146,2224,3380
$GC,1944,-0.56,-146.6,141.2,-7.2,92,1946,0.15,0.00,0.00,0.000,6,0.084,0.000,2176,2225,3380
$GC,2252,-0.56,-146.6,160.2,-6.3,107,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3381
$GC,2561,-0.56,-146.6,180.5,-6.8,122,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2224,3380
$GC,2871,-0.56,-146.6,203.4,-7.8,137,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3380
$GC,3180,-0.56,-146.6,229.0,-8.3,152,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2224,3380
$GC,3490,-0.56,-146.6,253.2,-7.4,167,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2224,3380
$GC,3799,-0.61,-146.6,274.5,-6.5,182,3808,0.00,2.65,0.00,0.000,4,0.000,0.070,2177,3641,3380
$GC,3859,-0.65,-146.6,279.3,-7.8,184,3864,0.00,2.53,0.00,0.000,6,0.000,0.048,2177,2229,3380
$GC,4175,-0.65,-146.6,299.7,-6.4,199,4180,0.00,2.65,0.00,0.000,4,0.000,0.071,2177,3644,3380
$GC,4220,-0.74,-146.6,303.2,-6.8,201,4225,0.17,2.53,0.00,0.000,6,0.042,0.049,2129,2229,3380
$STATE,4373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4374,begin apogee
$GC,4380,-0.31,0.0,317.1,8.6,209,4509,0.50,0.00,125.50,0.824,6,0.093,0.000,2228,2228,2781
$STATE,4509,end apogee,CONTROL_FINISHED_OK
$STATE,4509,begin climb
$GC,4513,0.85,146.6,322.0,0.0,215,4644,1.20,2.65,123.62,0.814,4,0.083,0.059,2478,827,2183
$GC,4703,0.90,197.6,318.5,4.6,224,4753,0.00,2.60,43.90,0.792,6,0.000,0.048,2478,2247,1975
$GC,5084,1.04,247.2,301.0,4.6,243,5135,0.17,2.75,42.35,0.784,4,0.047,0.071,2534,3649,1772
$GC,5180,1.00,247.2,293.8,8.3,247,5185,0.00,2.58,0.00,0.000,6,0.000,0.054,2534,2241,1772
$GC,5497,0.95,247.2,268.3,8.3,262,5502,0.15,2.67,0.00,0.000,4,0.085,0.072,2500,3649,1772
$GC,5569,1.01,247.2,262.5,7.7,265,5574,0.00,2.58,0.00,0.000,6,0.000,0.054,2500,2241,1772
$GC,5885,1.08,247.2,241.4,6.9,280,5887,0.15,0.00,0.00,0.000,6,0.047,0.000,2544,2241,1771
$GC,6195,1.02,247.2,215.4,8.2,295,6197,0.12,0.00,0.00,0.000,6,0.090,0.000,2519,2240,1771
$GC,6503,1.02,247.2,195.3,6.5,310,6508,0.00,2.65,0.00,0.000,4,0.000,0.070,2519,3650,1770
$GC,6571,1.02,247.2,190.5,7.2,313,6575,0.00,2.55,0.00,0.000,6,0.000,0.051,2519,2239,1769
$GC,6892,1.02,247.5,171.1,6.0,329,6896,0.00,2.60,0.00,0.000,4,0.000,0.061,2519,821,1769
$GC,6931,1.02,247.5,168.7,6.5,331,6936,0.00,2.58,0.00,0.000,6,0.000,0.048,2519,2246,1769
$GC,7258,1.02,247.5,149.3,6.1,347,7263,0.00,2.60,0.00,0.000,4,0.000,0.067,2519,3647,1769
$GC,7299,1.02,247.5,146.4,7.5,349,7303,0.00,2.55,0.00,0.000,6,0.000,0.051,2519,2238,1769
$GC,7626,1.02,247.5,125.7,6.4,365,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2238,1769
$GC,7936,1.02,247.5,105.7,6.4,380,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2238,1769
$GC,8245,1.04,265.8,87.9,5.5,395,8264,0.00,0.00,16.20,0.649,6,0.000,0.000,2519,2238,1696
$GC,8575,1.04,265.8,69.0,6.2,411,8579,0.00,2.60,0.00,0.000,4,0.000,0.061,2519,821,1696
$GC,8616,1.10,270.1,66.3,5.9,413,8626,0.00,2.58,4.95,0.507,6,0.000,0.048,2519,2244,1679
$GC,8942,1.10,270.1,42.4,8.1,429,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2244,1679
$GC,9252,1.15,270.1,18.8,7.3,444,9254,0.15,0.00,0.00,0.000,6,0.044,0.000,2561,2245,1679
$STATE,9496,end climb,SURFACE_DEPTH_REACHED
$STATE,9496,begin surface coast
$FINISH,0.7,1.002277
$STATE,9518,end surface coast,CONTROL_FINISHED_OK
$STATE,9518,begin surface
$SM_CCo,9540,141.27,0.607,0,0,508,557.32
$SM_GC,1.32,0.00,0.00,141.27,0.000,0.000,0.607,66,2245,508,-10.27,0.42,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1896
$TCM_TEMP,16.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,18.8,17.4
$ALTIM_BOTTOM_PING,275.0,50.6
$24V_AH,23.7,45.424
$10V_AH,10.2,22.969
$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,25.500,57.200,356.525,141.275,0.000,18.325,28.488,104.576,3.500,0.000,0.000,14.120,843.607,7137.487,622.930,1007.822,334.492,0.000,1131.203,0.000,989.772,0.000,21.150
$DEVICE_MAMPS,167.206,75.166,823.758,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,335.628,311.267,447.586,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22236,457
$CAP_FILE_SIZE,68366,0
$CFSIZE,260165632,242569216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310708,162638,6413.048,-1121.615,31,1.6,31,-11.6