version: 66.03
glider: 16
mission: 9
dive: 271
start: 7 31 108 16 34 10
data:
$ID,16
$MISSION,9
$DIVE,271
$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,-2099038.5
$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
$GPS1,162638,6413.048,-1121.615,31,1.6,31,-11.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-51.7
$GPS2,163353,6412.979,-1121.647,12,2.2,31,-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,330.5,34456,-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,-146.6,0.0,0.0,0,148,0.00,0.00,-121.25,0.000,2,0.000,0.000,65,2248,3082
$GC,151,-0.85,-146.6,4.7,-4.2,6,174,11.52,2.65,-6.05,0.000,4,0.170,0.077,2114,3646,3381
$GC,394,-0.69,-146.6,39.8,-12.2,16,400,0.17,2.55,0.00,0.000,6,0.094,0.048,2147,2230,3381
$GC,711,-0.62,-146.6,68.9,-9.0,32,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2230,3382
$GC,1020,-0.55,-146.6,95.0,-8.6,47,1022,0.15,0.00,0.00,0.000,6,0.091,0.000,2177,2230,3382
$GC,1328,-0.55,-146.6,117.3,-7.2,62,1332,0.00,2.62,0.00,0.000,4,0.000,0.067,2177,3640,3381
$GC,1372,-0.55,-146.6,120.7,-7.5,64,1376,0.00,2.53,0.00,0.000,6,0.000,0.048,2177,2224,3382
$GC,1693,-0.55,-146.6,143.5,-7.1,80,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2224,3382
$GC,2002,-0.55,-146.6,164.6,-6.8,95,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2224,3382
$GC,2311,-0.55,-146.6,185.1,-6.6,110,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2224,3382
$GC,2621,-0.55,-146.6,204.9,-6.1,125,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2224,3382
$GC,2929,-0.55,-146.6,224.2,-6.3,140,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2224,3382
$GC,3239,-0.55,-146.6,243.7,-5.8,155,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2223,3382
$GC,3549,-0.60,-146.6,263.1,-5.8,170,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2223,3381
$GC,3858,-0.60,-146.6,280.6,-5.3,185,3862,0.00,2.65,0.00,0.000,4,0.000,0.070,2177,3640,3381
$GC,3902,-0.65,-146.6,282.7,-4.7,187,3907,0.00,2.53,0.00,0.000,6,0.000,0.049,2177,2230,3381
$GC,4224,-0.65,-146.6,298.8,-5.7,203,4229,0.00,2.58,0.00,0.000,4,0.000,0.060,2177,816,3381
$GC,4265,-0.76,-146.6,301.6,-8.1,205,4270,0.20,2.55,0.00,0.000,6,0.040,0.049,2118,2228,3381
$STATE,4403,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4403,begin apogee
$GC,4410,-0.31,0.0,314.8,9.1,212,4538,0.55,0.00,125.38,0.820,6,0.088,0.000,2229,2229,2780
$STATE,4539,end apogee,CONTROL_FINISHED_OK
$STATE,4539,begin climb
$GC,4543,0.85,146.6,318.8,0.0,218,4673,1.17,2.75,123.35,0.803,4,0.077,0.071,2479,3653,2183
$GC,4719,0.91,146.6,314.2,7.7,227,4724,0.00,2.60,0.00,0.000,6,0.000,0.052,2479,2239,2183
$GC,5042,1.08,253.7,299.3,3.1,243,5139,0.22,2.67,89.93,0.795,4,0.041,0.063,2545,830,1745
$GC,5229,0.98,253.7,286.7,7.1,251,5236,0.17,2.60,0.00,0.000,6,0.087,0.051,2510,2248,1744
$GC,5545,1.04,307.3,270.1,4.5,267,5596,0.00,2.70,45.42,0.777,4,0.000,0.071,2510,3653,1527
$GC,5649,1.17,331.5,264.7,5.3,272,5678,0.20,2.62,21.25,0.745,6,0.044,0.055,2565,2235,1429
$GC,6003,1.10,331.5,236.8,8.3,289,6008,0.12,2.62,0.00,0.000,4,0.083,0.062,2540,821,1428
$GC,6081,1.10,331.5,229.9,8.7,292,6087,0.00,2.58,0.00,0.000,6,0.000,0.049,2540,2240,1427
$GC,6398,1.06,331.5,201.8,9.0,308,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1427
$GC,6706,1.01,331.5,172.4,9.6,323,6710,0.00,2.62,0.00,0.000,4,0.000,0.063,2540,828,1427
$GC,6773,1.01,331.5,165.7,9.8,326,6777,0.00,2.55,0.00,0.000,6,0.000,0.048,2540,2241,1427
$GC,7095,0.96,331.5,135.3,9.2,342,7097,0.15,0.00,0.00,0.000,6,0.087,0.000,2510,2241,1427
$GC,7403,0.96,331.5,112.9,7.3,357,7408,0.00,2.62,0.00,0.000,4,0.000,0.061,2510,824,1427
$GC,7471,1.01,331.5,107.5,8.2,360,7475,0.00,2.55,0.00,0.000,6,0.000,0.048,2510,2241,1427
$GC,7792,1.01,331.5,81.7,7.7,376,7797,0.00,2.62,0.00,0.000,4,0.000,0.061,2510,820,1427
$GC,7826,1.08,331.5,79.1,7.2,377,7833,0.12,2.55,0.00,0.000,6,0.050,0.048,2550,2241,1427
$GC,8144,1.02,331.5,51.6,8.5,393,8145,0.15,0.00,0.00,0.000,6,0.085,0.000,2520,2241,1427
$GC,8452,1.02,337.6,32.2,5.8,408,8465,0.00,2.65,6.68,0.538,4,0.000,0.061,2520,820,1403
$GC,8519,1.06,337.6,28.1,6.1,411,8523,0.00,2.58,0.00,0.000,6,0.000,0.048,2520,2241,1402
$GC,8846,1.06,337.6,4.3,8.0,427,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2241,1403
$STATE,8884,end climb,SURFACE_DEPTH_REACHED
$STATE,8884,begin surface coast
$FINISH,0.6,1.026969
$STATE,8906,end surface coast,CONTROL_FINISHED_OK
$STATE,8906,begin surface
$SM_CCo,8927,107.20,0.601,0,0,508,557.32
$SM_GC,1.22,0.00,0.00,107.20,0.000,0.000,0.601,74,2242,508,-10.24,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1902
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,250.2,74.3
$24V_AH,23.7,45.548
$10V_AH,10.2,23.021
$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,25.525,62.550,412.000,107.200,0.000,36.378,110.846,105.151,2.000,0.000,0.000,32.241,807.092,6595.617,622.001,1020.282,433.358,0.000,1149.630,0.000,985.433,0.000,13.698
$DEVICE_MAMPS,170.274,77.467,819.923,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,318.595,291.450,395.897,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22260,430
$CAP_FILE_SIZE,68759,0
$CFSIZE,260165632,242532352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,310708,190607,6413.828,-1119.049,36,1.0,42,-11.5