version: 66.03
glider: 16
mission: 9
dive: 277
start: 8 1 108 9 41 12
data:
$ID,16
$MISSION,9
$DIVE,277
$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,-2099217.8
$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,24
$R_STBD_OVSHOOT,20
$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
$GPS1,093608,6411.083,-1106.888,34,1.7,34,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-54.3
$GPS2,094053,6411.065,-1106.724,13,2.6,32,-11.4
$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,321.9,45451,-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,-146.6,0.0,0.0,0,128,0.00,0.00,-101.30,0.000,2,0.000,0.000,71,2235,2593
$GC,131,-0.85,-146.6,3.1,-2.0,5,174,11.38,2.60,-24.50,0.000,4,0.166,0.077,2108,3638,3380
$GC,334,-0.65,-146.6,24.6,-9.9,14,339,0.25,2.53,0.00,0.000,6,0.092,0.048,2157,2231,3380
$GC,662,-0.60,-146.6,47.2,-7.2,30,666,0.00,2.58,0.00,0.000,4,0.000,0.057,2157,817,3380
$GC,706,-0.60,-146.6,51.4,-9.1,32,711,0.00,2.55,0.00,0.000,6,0.000,0.045,2157,2233,3380
$GC,1029,-0.55,-146.6,84.6,-10.9,48,1034,0.10,2.60,0.00,0.000,4,0.110,0.067,2174,3638,3381
$GC,1069,-0.55,-146.6,88.9,-10.0,50,1073,0.00,2.53,0.00,0.000,6,0.000,0.048,2174,2225,3380
$GC,1396,-0.55,-146.6,119.1,-8.1,66,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3381
$GC,1706,-0.55,-146.6,136.6,-5.2,81,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3381
$GC,2014,-0.55,-146.6,155.2,-6.5,96,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2225,3381
$GC,2324,-0.55,-146.6,179.2,-8.5,111,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3381
$GC,2633,-0.55,-146.6,207.1,-9.0,126,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2225,3381
$GC,2942,-0.55,-146.6,233.3,-8.0,141,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3381
$GC,3251,-0.55,-146.6,253.6,-5.7,156,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3381
$GC,3561,-0.55,-146.6,264.0,-2.3,171,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3381
$GC,3871,-0.55,-146.6,273.2,-4.1,186,3876,0.00,2.65,0.00,0.000,4,0.000,0.071,2174,3641,3381
$GC,3912,-0.59,-146.6,274.9,-4.8,188,3919,0.00,2.55,0.00,0.000,6,0.000,0.048,2174,2223,3380
$GC,4246,-0.59,-146.6,294.3,-6.6,204,4251,0.00,2.55,0.00,0.000,4,0.000,0.059,2174,818,3380
$GC,4287,-0.68,-146.6,297.2,-7.5,206,4292,0.12,2.55,0.00,0.000,6,0.052,0.049,2131,2229,3380
$GC,4617,-0.59,-146.6,325.7,-7.9,222,4618,0.20,0.00,0.00,0.000,6,0.087,0.000,2171,2229,3380
$GC,4923,-0.59,-146.6,346.7,-6.3,237,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3380
$STATE,5168,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5168,begin apogee
$GC,5174,-0.31,0.0,363.9,6.5,249,5303,0.30,0.00,125.85,0.858,6,0.119,0.000,2226,2229,2781
$STATE,5304,end apogee,CONTROL_FINISHED_OK
$STATE,5304,begin climb
$GC,5307,0.85,146.6,369.1,0.0,255,5439,1.25,2.72,124.62,0.846,4,0.098,0.070,2481,3650,2182
$GC,5525,0.95,245.4,364.2,3.3,266,5616,0.12,2.58,83.60,0.831,6,0.050,0.051,2518,2239,1779
$GC,5932,0.95,245.4,339.6,7.2,286,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2239,1779
$GC,6241,0.95,245.4,316.1,8.9,301,6246,0.00,2.67,0.00,0.000,4,0.000,0.071,2518,3652,1778
$GC,6286,0.95,245.4,312.2,9.7,303,6290,0.00,2.58,0.00,0.000,6,0.000,0.053,2518,2241,1778
$GC,6607,0.95,245.4,285.0,8.4,319,6611,0.00,2.62,0.00,0.000,4,0.000,0.064,2518,829,1777
$GC,6673,0.95,245.4,279.8,7.5,322,6678,0.00,2.55,0.00,0.000,6,0.000,0.050,2518,2238,1777
$GC,6994,0.95,245.4,257.7,6.1,338,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2238,1777
$GC,7305,0.99,282.2,242.7,5.0,353,7345,0.00,2.70,31.38,0.779,4,0.000,0.062,2518,826,1629
$GC,7379,1.04,282.2,238.0,6.5,356,7384,0.00,2.60,0.00,0.000,6,0.000,0.048,2518,2243,1628
$GC,7696,1.04,282.2,216.9,6.7,371,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2243,1628
$GC,8004,1.04,282.2,195.7,7.7,386,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2243,1627
$GC,8314,1.04,282.2,168.3,9.5,401,8318,0.00,2.60,0.00,0.000,4,0.000,0.061,2518,829,1628
$GC,8364,1.08,282.2,163.6,9.6,403,8369,0.00,2.55,0.00,0.000,6,0.000,0.047,2518,2241,1627
$GC,8680,1.08,282.2,136.5,8.1,418,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2241,1627
$GC,8990,1.08,282.2,114.6,6.1,433,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2241,1627
$GC,9300,1.15,344.5,100.8,4.3,448,9357,0.15,2.67,50.72,0.686,4,0.047,0.059,2568,830,1375
$GC,9396,1.11,344.5,91.5,11.9,451,9403,0.12,2.58,0.00,0.000,6,0.087,0.047,2544,2242,1374
$GC,9713,1.06,344.5,50.5,11.8,467,9717,0.00,2.62,0.00,0.000,4,0.000,0.060,2543,830,1374
$GC,9753,1.06,344.5,46.5,10.2,469,9757,0.00,2.55,0.00,0.000,6,0.000,0.046,2544,2241,1374
$GC,10080,1.06,344.5,19.1,8.3,485,10085,0.00,2.62,0.00,0.000,4,0.000,0.059,2544,819,1374
$GC,10130,1.06,344.5,14.8,8.2,487,10135,0.00,2.55,0.00,0.000,6,0.000,0.045,2543,2242,1374
$STATE,10299,end climb,SURFACE_DEPTH_REACHED
$STATE,10300,begin surface coast
$FINISH,0.6,1.026985
$STATE,10321,end surface coast,CONTROL_FINISHED_OK
$STATE,10321,begin surface
$SM_CCo,10343,104.95,0.603,0,0,508,557.32
$SM_GC,1.33,0.00,0.00,104.95,0.000,0.000,0.603,72,2242,508,-10.24,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1892
$TCM_TEMP,17.70
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.1,17.5
$ALTIM_BOTTOM_PING,300.3,73.4
$24V_AH,23.7,46.280
$10V_AH,10.2,23.345
$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,24.775,67.450,416.175,104.950,0.000,17.975,33.910,109.478,3.250,0.000,0.000,32.933,904.154,7741.262,635.310,1104.215,358.927,0.000,1196.027,0.000,1065.619,0.000,19.902
$DEVICE_MAMPS,165.672,76.700,858.273,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.775,337.170,416.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25305,496
$CAP_FILE_SIZE,72754,0
$CFSIZE,260165632,242307072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010808,123638,6409.503,-1103.767,37,1.8,37,-11.4