version: 66.03
glider: 16
mission: 9
dive: 275
start: 8 1 108 3 39 36
data:
$ID,16
$MISSION,9
$DIVE,275
$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,-2099152.2
$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,22
$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
$GPS1,033507,6410.020,-1112.097,35,1.2,39,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-51.4
$GPS2,033915,6409.971,-1112.127,11,1.9,11,-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,327.7,43701,-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,-146.6,0.0,0.0,0,146,0.00,0.00,-120.70,0.000,2,0.000,0.000,69,2245,3032
$GC,150,-0.85,-146.6,4.2,-3.5,6,175,11.50,2.60,-7.65,0.000,4,0.169,0.076,2117,3631,3381
$GC,356,-0.67,-146.6,35.6,-12.7,15,361,0.17,2.53,0.00,0.000,6,0.095,0.048,2150,2230,3381
$GC,678,-0.61,-146.6,68.8,-9.1,31,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2230,3381
$GC,987,-0.54,-146.6,86.9,-5.0,46,989,0.15,0.00,0.00,0.000,6,0.098,0.000,2179,2230,3382
$GC,1297,-0.54,-146.6,99.4,-4.2,61,1301,0.00,2.58,0.00,0.000,4,0.000,0.059,2179,816,3382
$GC,1341,-0.63,-146.6,101.2,-4.1,63,1346,0.00,2.55,0.00,0.000,6,0.000,0.047,2178,2233,3382
$GC,1663,-0.63,-146.6,111.3,-2.8,79,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2233,3382
$GC,1973,-0.63,-146.6,121.8,-4.1,94,1977,0.00,2.60,0.00,0.000,4,0.000,0.068,2179,3639,3382
$GC,2006,-0.63,-146.6,123.4,-4.7,95,2012,0.00,2.53,0.00,0.000,6,0.000,0.048,2179,2229,3382
$GC,2323,-0.63,-146.6,138.4,-5.0,111,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2229,3382
$GC,2631,-0.63,-146.6,157.0,-6.5,126,2635,0.00,2.58,0.00,0.000,4,0.000,0.061,2179,816,3382
$GC,2671,-0.72,-146.6,159.9,-6.7,128,2676,0.17,2.55,0.00,0.000,6,0.040,0.048,2124,2232,3382
$GC,2998,-0.58,-146.6,191.5,-10.0,144,3000,0.25,0.00,0.00,0.000,6,0.084,0.000,2174,2232,3382
$GC,3306,-0.58,-146.6,213.7,-6.6,159,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2232,3382
$GC,3616,-0.58,-146.6,232.0,-5.4,174,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2232,3382
$GC,3927,-0.58,-146.6,249.9,-5.5,189,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2232,3382
$GC,4234,-0.58,-146.6,267.6,-6.3,204,4238,0.00,2.62,0.00,0.000,4,0.000,0.071,2174,3644,3382
$GC,4274,-0.62,-146.6,270.4,-7.0,206,4279,0.00,2.55,0.00,0.000,6,0.000,0.051,2174,2230,3381
$GC,4602,-0.62,-146.6,295.9,-8.1,222,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3381
$GC,4910,-0.62,-146.6,321.0,-7.9,237,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3382
$STATE,5217,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5217,begin apogee
$GC,5224,-0.31,0.0,342.8,6.8,252,5352,0.28,0.00,125.35,0.851,6,0.094,0.000,2229,2229,2780
$STATE,5353,end apogee,CONTROL_FINISHED_OK
$STATE,5353,begin climb
$GC,5356,0.85,146.6,347.5,0.0,258,5484,1.20,0.00,124.07,0.838,6,0.082,0.000,2478,2229,2183
$GC,5795,1.02,225.7,333.6,3.8,280,5870,0.17,2.70,67.05,0.823,4,0.074,0.063,2520,826,1860
$GC,5913,0.98,225.7,327.9,6.7,285,5917,0.00,2.60,0.00,0.000,6,0.000,0.051,2520,2240,1859
$GC,6228,0.98,225.7,308.0,6.9,300,6232,0.00,2.65,0.00,0.000,4,0.000,0.074,2520,3650,1859
$GC,6283,0.98,225.7,303.9,7.1,302,6289,0.00,2.60,0.00,0.000,6,0.000,0.055,2519,2236,1859
$GC,6599,0.98,225.7,283.9,6.2,318,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2235,1857
$GC,6908,1.04,284.7,269.1,4.4,333,6968,0.00,2.75,49.90,0.796,4,0.000,0.074,2520,3653,1619
$GC,6996,1.04,284.7,264.0,7.6,337,7000,0.00,2.62,0.00,0.000,6,0.000,0.054,2520,2233,1619
$GC,7317,1.10,340.1,247.6,4.5,353,7369,0.00,2.65,46.85,0.785,4,0.000,0.065,2520,829,1393
$GC,7405,1.24,380.4,243.6,4.9,357,7445,0.25,2.60,34.12,0.763,6,0.075,0.051,2570,2246,1230
$GC,7775,1.17,380.4,214.5,8.5,375,7779,0.00,2.65,0.00,0.000,4,0.000,0.064,2570,828,1229
$GC,7819,1.17,380.4,210.5,8.5,377,7823,0.00,2.58,0.00,0.000,6,0.000,0.049,2570,2243,1229
$GC,8140,1.11,380.4,181.5,9.5,393,8145,0.15,2.65,0.00,0.000,4,0.101,0.062,2538,823,1229
$GC,8185,1.18,380.4,177.8,7.9,395,8189,0.00,2.58,0.00,0.000,6,0.000,0.048,2538,2243,1229
$GC,8506,1.18,380.4,152.0,8.2,411,8510,0.00,2.62,0.00,0.000,4,0.000,0.062,2538,826,1229
$GC,8562,1.18,380.4,147.3,8.7,413,8568,0.00,2.55,0.00,0.000,6,0.000,0.048,2538,2241,1229
$GC,8878,1.18,380.4,119.1,9.1,429,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2241,1229
$GC,9188,1.18,380.4,89.6,10.0,444,9193,0.00,2.62,0.00,0.000,4,0.000,0.063,2538,826,1229
$GC,9267,1.18,380.4,81.3,10.2,447,9273,0.00,2.55,0.00,0.000,6,0.000,0.048,2538,2241,1229
$GC,9585,1.18,380.4,52.6,8.4,463,9589,0.00,2.62,0.00,0.000,4,0.000,0.062,2538,824,1228
$GC,9628,1.18,380.4,48.6,8.3,465,9633,0.00,2.55,0.00,0.000,6,0.000,0.048,2538,2241,1229
$GC,9951,1.18,380.4,27.2,6.5,481,9955,0.00,2.62,0.00,0.000,4,0.000,0.063,2538,824,1229
$GC,10001,1.22,380.4,23.9,6.2,483,10006,0.12,2.55,0.00,0.000,6,0.048,0.048,2568,2243,1229
$STATE,10273,end climb,SURFACE_DEPTH_REACHED
$STATE,10273,begin surface coast
$FINISH,0.8,1.006744
$STATE,10297,end surface coast,CONTROL_FINISHED_OK
$STATE,10297,begin surface
$SM_CCo,10318,84.93,0.599,0,0,509,557.32
$SM_GC,1.32,0.00,0.00,84.93,0.000,0.000,0.599,72,2244,509,-10.24,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1917
$TCM_TEMP,16.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,18.6,17.6
$ALTIM_BOTTOM_PING,251.0,100.6
$24V_AH,23.7,46.031
$10V_AH,10.2,23.235
$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,25.325,78.000,447.350,84.925,0.000,18.375,29.803,100.023,3.000,0.000,0.000,11.193,904.394,7641.919,664.972,1094.762,350.182,0.000,1226.756,0.000,1081.538,0.000,13.774
$DEVICE_MAMPS,168.740,75.933,851.370,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.868,338.681,452.647,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25359,497
$CAP_FILE_SIZE,74804,0
$CFSIZE,260165632,242372608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,010808,063432,6410.289,-1112.477,60,1.2,60,-11.5