version: 66.03
glider: 16
mission: 9
dive: 278
start: 8 1 108 12 47 34
data:
$ID,16
$MISSION,9
$DIVE,278
$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,-2099237.5
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,123638,6409.503,-1103.767,37,1.8,37,-11.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-53.3
$GPS2,124717,6409.371,-1103.600,10,2.0,19,-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,322.8,49393,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-118.95,0.000,2,0.000,0.000,70,2245,3011
$GC,151,-0.85,-146.6,4.4,-3.8,6,176,11.50,2.60,-8.10,0.000,4,0.170,0.075,2112,3639,3381
$GC,420,-0.65,-146.6,35.5,-8.5,18,425,0.22,2.55,0.00,0.000,6,0.092,0.048,2156,2225,3381
$GC,749,-0.59,-146.6,54.6,-4.5,34,753,0.00,2.58,0.00,0.000,4,0.000,0.058,2156,811,3381
$GC,790,-0.59,-146.6,56.8,-5.0,36,794,0.00,2.55,0.00,0.000,6,0.000,0.045,2156,2227,3381
$GC,1117,-0.53,-146.6,79.5,-8.9,52,1122,0.15,2.60,0.00,0.000,4,0.091,0.065,2189,3643,3381
$GC,1173,-0.60,-146.6,84.5,-8.4,54,1179,0.00,2.53,0.00,0.000,6,0.000,0.047,2189,2230,3381
$GC,1489,-0.66,-146.6,107.0,-7.3,70,1494,0.15,2.58,0.00,0.000,4,0.043,0.058,2135,817,3381
$GC,1540,-0.61,-146.6,111.9,-10.0,72,1545,0.15,2.55,0.00,0.000,6,0.084,0.047,2165,2230,3381
$GC,1856,-0.61,-146.6,140.1,-9.0,87,1860,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,3640,3381
$GC,1889,-0.61,-146.6,143.3,-9.5,88,1895,0.00,2.53,0.00,0.000,6,0.000,0.048,2165,2230,3381
$GC,2204,-0.61,-146.6,172.2,-9.2,104,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$GC,2514,-0.61,-146.6,200.0,-8.7,119,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$GC,2823,-0.61,-146.6,227.6,-8.8,134,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$GC,3132,-0.61,-146.6,252.9,-7.5,149,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$GC,3446,-0.61,-146.6,275.5,-7.7,164,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$GC,3751,-0.61,-146.6,298.4,-6.8,179,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$GC,4060,-0.61,-146.6,321.2,-7.6,194,4064,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,3638,3381
$GC,4110,-0.66,-146.6,325.3,-8.3,196,4115,0.00,2.53,0.00,0.000,6,0.000,0.050,2165,2229,3381
$GC,4426,-0.66,-146.6,350.7,-7.9,211,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2227,3380
$STATE,4650,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4650,begin apogee
$GC,4657,-0.31,0.0,366.7,7.0,222,4785,0.32,0.00,125.85,0.862,6,0.081,0.000,2232,2227,2781
$STATE,4786,end apogee,CONTROL_FINISHED_OK
$STATE,4786,begin climb
$GC,4790,0.85,146.6,372.6,0.0,228,4921,1.15,2.67,123.62,0.850,4,0.074,0.061,2479,820,2183
$GC,5034,0.90,200.4,367.3,4.5,239,5087,0.00,2.60,46.28,0.825,6,0.000,0.049,2479,2240,1963
$GC,5398,1.07,250.7,349.8,4.6,257,5448,0.20,2.75,43.12,0.828,4,0.048,0.065,2529,829,1758
$GC,5522,1.07,250.7,342.0,8.9,262,5528,0.00,2.60,0.00,0.000,6,0.000,0.052,2529,2240,1757
$GC,5837,1.07,250.7,316.5,8.6,278,5841,0.00,2.65,0.00,0.000,4,0.000,0.074,2529,3649,1756
$GC,5892,1.07,250.7,311.0,11.0,280,5899,0.00,2.60,0.00,0.000,6,0.000,0.056,2529,2232,1756
$GC,6209,1.07,250.7,284.5,7.2,296,6213,0.00,2.70,0.00,0.000,4,0.000,0.075,2529,3651,1756
$GC,6258,1.07,250.7,280.6,7.5,298,6263,0.00,2.60,0.00,0.000,6,0.000,0.055,2529,2235,1756
$GC,6574,1.07,250.7,257.9,7.3,313,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2235,1755
$GC,6884,1.07,250.7,235.0,7.4,328,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2235,1755
$GC,7192,1.07,250.7,213.2,7.0,343,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2235,1755
$GC,7501,1.07,250.7,193.3,6.6,358,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2235,1754
$GC,7811,1.07,250.7,170.3,8.2,373,7815,0.00,2.62,0.00,0.000,4,0.000,0.069,2529,3650,1754
$GC,7861,1.07,250.7,165.8,9.2,375,7865,0.00,2.55,0.00,0.000,6,0.000,0.051,2529,2237,1754
$GC,8177,1.07,250.7,139.4,8.1,390,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2237,1754
$GC,8486,1.07,250.7,114.7,8.0,405,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2237,1754
$GC,8796,1.07,250.7,91.6,7.1,420,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2237,1754
$GC,9105,1.07,250.7,69.2,6.4,435,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2237,1754
$GC,9415,1.07,250.7,53.1,6.2,450,9420,0.00,2.58,0.00,0.000,4,0.000,0.061,2529,829,1755
$GC,9488,1.07,250.7,47.6,7.5,453,9493,0.00,2.55,0.00,0.000,6,0.000,0.046,2529,2248,1755
$GC,9805,1.19,363.0,32.7,2.9,468,9897,0.12,0.00,89.22,0.641,6,0.060,0.000,2563,2248,1300
$STATE,10173,end climb,SURFACE_DEPTH_REACHED
$STATE,10173,begin surface coast
$FINISH,0.7,1.027013
$STATE,10195,end surface coast,CONTROL_FINISHED_OK
$STATE,10195,begin surface
$SM_CCo,10217,96.03,0.597,0,0,508,557.32
$SM_GC,1.33,0.00,0.00,96.03,0.000,0.000,0.597,72,2250,508,-10.25,0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1889
$TCM_TEMP,17.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.5,17.8
$ALTIM_BOTTOM_PING,301.0,75.2
$24V_AH,23.7,46.415
$10V_AH,10.2,23.403
$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,24.825,62.275,428.100,96.025,0.000,54.791,89.330,256.381,4.000,0.000,0.000,18.994,887.699,7733.072,615.924,1121.480,601.246,0.000,1194.139,0.000,1092.577,0.000,19.896
$DEVICE_MAMPS,170.274,75.166,862.108,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.044,330.696,437.343,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25356,487
$CAP_FILE_SIZE,76321,0
$CFSIZE,260165632,242266112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,010808,154038,6407.162,-1105.990,31,1.3,31,-11.4