version: 66.03
glider: 16
mission: 9
dive: 273
start: 7 31 108 21 59 46
data:
$ID,16
$MISSION,9
$DIVE,273
$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,-2099089.8
$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,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
$GPS1,215158,6414.167,-1112.845,28,3.0,47,-11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-54.2
$GPS2,215929,6414.114,-1112.539,13,2.5,32,-11.5
$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,320.1,38274,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.97,0.000,2,0.000,0.000,71,2245,3098
$GC,153,-0.85,-146.6,5.0,-4.4,6,176,11.45,2.65,-5.55,0.000,4,0.169,0.074,2108,3641,3381
$GC,402,-0.64,-146.6,37.4,-10.0,17,407,0.25,2.55,0.00,0.000,6,0.093,0.048,2158,2229,3381
$GC,730,-0.60,-146.6,61.6,-8.0,33,734,0.00,2.62,0.00,0.000,4,0.000,0.066,2158,3637,3381
$GC,770,-0.60,-146.6,65.4,-9.0,35,774,0.00,2.53,0.00,0.000,6,0.000,0.047,2158,2225,3381
$GC,1097,-0.55,-146.6,98.3,-10.9,51,1099,0.10,0.00,0.00,0.000,6,0.099,0.000,2176,2226,3382
$GC,1406,-0.55,-146.6,130.3,-9.5,66,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3382
$GC,1717,-0.55,-146.6,148.4,-4.6,81,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3382
$GC,2024,-0.55,-146.6,162.8,-5.5,96,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2226,3382
$GC,2334,-0.55,-146.6,185.4,-8.5,111,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3382
$GC,2643,-0.55,-146.6,214.6,-10.1,126,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2225,3381
$GC,2952,-0.55,-146.6,247.1,-10.4,141,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2225,3381
$GC,3262,-0.55,-146.6,274.8,-7.6,156,3269,0.00,2.55,0.00,0.000,4,0.000,0.058,2177,817,3381
$GC,3314,-0.68,-146.6,278.1,-5.2,158,3319,0.12,2.55,0.00,0.000,6,0.046,0.048,2135,2228,3381
$GC,3636,-0.59,-146.6,299.9,-8.8,174,3643,0.15,2.62,0.00,0.000,4,0.087,0.073,2168,3640,3381
$GC,3671,-0.59,-146.6,302.8,-7.0,175,3676,0.00,2.55,0.00,0.000,6,0.000,0.051,2168,2227,3381
$GC,3987,-0.59,-146.6,324.8,-7.3,190,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2227,3381
$STATE,4128,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4129,begin apogee
$GC,4135,-0.31,0.0,335.7,7.7,197,4263,0.30,0.00,125.32,0.836,6,0.088,0.000,2229,2227,2781
$STATE,4264,end apogee,CONTROL_FINISHED_OK
$STATE,4264,begin climb
$GC,4267,0.85,146.6,340.7,0.0,203,4395,1.20,0.00,123.20,0.829,6,0.084,0.000,2478,2226,2183
$GC,4700,0.85,151.7,329.6,5.9,224,4711,0.00,2.62,5.95,0.635,4,0.000,0.063,2478,824,2161
$GC,4751,0.92,173.7,326.8,5.4,226,4776,0.00,2.58,19.70,0.778,6,0.000,0.050,2478,2240,2072
$GC,5087,0.98,224.9,312.9,4.6,242,5137,0.15,2.70,43.80,0.811,4,0.066,0.072,2513,3647,1863
$GC,5230,0.88,224.9,302.5,8.3,248,5234,0.00,2.60,0.00,0.000,6,0.000,0.054,2514,2234,1863
$GC,5546,0.83,224.9,274.1,9.6,263,5548,0.17,0.00,0.00,0.000,6,0.089,0.000,2478,2235,1862
$GC,5856,0.88,224.9,247.1,8.2,278,5860,0.00,2.67,0.00,0.000,4,0.000,0.074,2478,3648,1862
$GC,5928,0.92,224.9,241.4,7.4,281,5933,0.10,2.58,0.00,0.000,6,0.054,0.055,2511,2240,1862
$GC,6244,0.88,224.9,219.2,6.6,296,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2240,1862
$GC,6554,0.89,235.3,200.9,5.7,311,6566,0.00,0.00,9.98,0.684,6,0.000,0.000,2511,2240,1821
$GC,6862,0.89,235.3,181.4,6.8,326,6867,0.00,2.65,0.00,0.000,4,0.000,0.070,2511,3652,1820
$GC,6908,0.89,235.3,177.8,8.4,328,6913,0.00,2.55,0.00,0.000,6,0.000,0.051,2511,2240,1820
$GC,7230,0.89,235.3,151.6,8.8,344,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2240,1820
$GC,7539,0.89,235.3,125.1,8.1,359,7543,0.00,2.65,0.00,0.000,4,0.000,0.068,2511,3654,1820
$GC,7588,0.89,235.3,120.5,9.3,361,7593,0.00,2.55,0.00,0.000,6,0.000,0.051,2511,2240,1820
$GC,7905,0.89,235.3,94.3,8.2,376,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2239,1820
$GC,8214,0.92,259.5,73.7,5.3,391,8237,0.00,0.00,20.90,0.652,6,0.000,0.000,2511,2239,1722
$GC,8545,0.92,264.5,56.0,5.9,407,8552,0.00,0.00,6.03,0.538,6,0.000,0.000,2511,2239,1701
$GC,8855,0.95,290.8,37.7,5.3,422,8884,0.00,2.70,22.15,0.630,4,0.000,0.060,2511,825,1594
$GC,8921,1.08,356.4,34.5,4.2,425,8984,0.10,2.58,52.85,0.634,6,0.058,0.046,2532,2245,1327
$GC,9293,1.08,356.4,8.5,8.0,443,9297,0.00,2.62,0.00,0.000,4,0.000,0.061,2533,829,1326
$GC,9337,1.08,356.4,4.8,9.1,445,9341,0.00,2.55,0.00,0.000,6,0.000,0.045,2533,2240,1326
$STATE,9389,end climb,SURFACE_DEPTH_REACHED
$STATE,9389,begin surface coast
$FINISH,0.6,1.026736
$STATE,9409,end surface coast,CONTROL_FINISHED_OK
$STATE,9410,begin surface
$SM_CCo,9431,99.70,0.597,0,0,509,557.32
$SM_GC,1.37,0.00,0.00,99.70,0.000,0.000,0.597,72,2242,509,-10.24,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1890
$TCM_TEMP,17.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.3
$ALTIM_BOTTOM_PING,300.6,44.5
$24V_AH,23.7,45.787
$10V_AH,10.2,23.125
$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,24.850,57.225,429.875,99.700,0.000,36.478,52.701,167.171,3.250,0.000,0.000,33.412,836.865,7038.697,623.928,1040.333,451.506,0.000,1159.994,0.000,998.720,0.000,20.145
$DEVICE_MAMPS,168.740,74.399,836.030,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,329.293,304.995,411.500,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22265,449
$CAP_FILE_SIZE,70610,0
$CFSIZE,260165632,242454528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010808,004016,6412.219,-1110.150,38,2.8,57,-11.4