version: 66.03
glider: 16
mission: 9
dive: 276
start: 8 1 108 6 45 34
data:
$ID,16
$MISSION,9
$DIVE,276
$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,-2099184
$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
$GPS1,063432,6410.289,-1112.477,60,1.2,60,-11.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-54.5
$GPS2,064517,6410.334,-1112.173,11,2.4,30,-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,327.1,43192,-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,-121.05,0.000,2,0.000,0.000,71,2247,3037
$GC,153,-0.85,-146.6,4.3,-3.6,6,178,11.48,2.62,-7.25,0.000,4,0.170,0.077,2106,3640,3381
$GC,415,-0.67,-146.6,47.4,-14.6,17,422,0.22,2.55,0.00,0.000,6,0.093,0.048,2151,2228,3381
$GC,731,-0.60,-146.6,80.1,-8.6,33,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2228,3381
$GC,1041,-0.53,-146.6,104.3,-7.4,48,1043,0.17,0.00,0.00,0.000,6,0.095,0.000,2185,2228,3381
$GC,1350,-0.53,-146.6,123.1,-6.2,63,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2228,3381
$GC,1659,-0.57,-146.6,143.7,-6.9,78,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2228,3382
$GC,1968,-0.61,-146.6,164.8,-6.8,93,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2228,3382
$GC,2278,-0.66,-146.6,186.2,-6.7,108,2280,0.15,0.00,0.00,0.000,6,0.042,0.000,2136,2228,3382
$GC,2587,-0.55,-146.6,210.9,-7.5,123,2589,0.22,0.00,0.00,0.000,6,0.081,0.000,2181,2228,3382
$GC,2897,-0.55,-146.6,225.1,-4.0,138,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2228,3382
$GC,3206,-0.55,-146.6,235.2,-2.9,153,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2228,3382
$GC,3515,-0.60,-146.6,246.1,-4.3,168,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2228,3381
$GC,3824,-0.64,-146.6,263.8,-6.5,183,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2228,3380
$GC,4133,-0.69,-146.6,283.2,-6.0,198,4138,0.15,2.65,0.00,0.000,4,0.044,0.070,2129,3641,3381
$GC,4183,-0.59,-146.6,287.5,-8.7,200,4188,0.20,2.55,0.00,0.000,6,0.083,0.051,2169,2228,3381
$GC,4499,-0.59,-146.6,308.6,-6.1,215,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3380
$GC,4808,-0.59,-146.6,328.7,-8.5,230,4812,0.00,2.58,0.00,0.000,4,0.000,0.062,2169,819,3380
$GC,4852,-0.70,-146.6,331.5,-7.2,232,4857,0.00,2.55,0.00,0.000,6,0.000,0.050,2169,2227,3381
$STATE,5068,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5068,begin apogee
$GC,5075,-0.31,0.0,347.4,7.8,243,5203,0.30,0.00,125.18,0.852,6,0.087,0.000,2230,2227,2781
$STATE,5204,end apogee,CONTROL_FINISHED_OK
$STATE,5204,begin climb
$GC,5207,0.85,146.6,351.5,0.0,249,5335,1.17,0.00,124.15,0.838,6,0.076,0.000,2479,2227,2182
$GC,5646,1.03,253.8,337.0,3.1,271,5744,0.17,2.67,90.10,0.822,4,0.051,0.064,2530,830,1745
$GC,5839,1.03,253.8,323.1,7.5,279,5843,0.00,2.60,0.00,0.000,6,0.000,0.050,2529,2243,1744
$GC,6160,1.03,253.8,302.0,6.4,295,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2243,1744
$GC,6469,1.03,253.8,277.2,9.5,310,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2243,1744
$GC,6778,1.03,253.8,245.9,10.8,325,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2244,1743
$GC,7088,1.03,253.8,214.6,8.7,340,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2243,1743
$GC,7397,1.03,253.8,191.8,6.8,355,7401,0.00,2.62,0.00,0.000,4,0.000,0.069,2530,3653,1743
$GC,7440,1.03,253.8,188.5,7.3,357,7445,0.00,2.55,0.00,0.000,6,0.000,0.051,2529,2239,1743
$GC,7762,1.03,253.8,164.8,7.7,373,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2239,1743
$GC,8071,1.03,253.8,138.4,9.0,388,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2239,1743
$GC,8380,1.03,253.8,111.9,8.4,403,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2239,1743
$GC,8690,1.03,253.8,87.8,7.8,418,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2239,1743
$GC,8999,1.03,253.8,62.7,8.1,433,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2239,1743
$GC,9310,1.03,253.8,38.9,7.3,448,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2239,1743
$GC,9619,1.03,253.8,19.7,6.2,463,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2239,1743
$GC,9927,1.06,288.1,2.5,5.1,478,9947,0.00,0.00,17.00,0.584,6,0.000,0.000,2530,2239,1606
$STATE,9965,end climb,SURFACE_DEPTH_REACHED
$STATE,9965,begin surface coast
$FINISH,0.5,1.021695
$STATE,10009,end surface coast,CONTROL_FINISHED_OK
$STATE,10009,begin surface
$SM_CCo,10030,129.18,0.599,0,0,508,557.32
$SM_GC,1.22,0.00,0.00,129.18,0.000,0.000,0.599,72,2236,508,-10.24,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1886
$TCM_TEMP,17.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,300.6,56.0
$24V_AH,23.7,46.156
$10V_AH,10.2,23.291
$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,25.100,25.950,356.425,129.175,0.000,72.229,88.603,231.571,3.750,0.000,0.000,31.077,853.445,7795.040,600.383,983.180,580.584,0.000,1074.492,0.000,955.336,0.000,16.893
$DEVICE_MAMPS,169.507,76.700,852.137,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.549,327.937,418.322,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25333,482
$CAP_FILE_SIZE,65943,0
$CFSIZE,260165632,242343936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,010808,093608,6411.083,-1106.888,34,1.7,34,-11.4