version: 66.03
glider: 16
mission: 9
dive: 279
start: 8 1 108 15 45 24
data:
$ID,16
$MISSION,9
$DIVE,279
$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,-2099249.8
$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,22
$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
$GPS1,154038,6407.162,-1105.990,31,1.3,31,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-54.1
$GPS2,154503,6407.106,-1106.045,11,1.2,11,-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,327.8,50894,-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,-120.65,0.000,2,0.000,0.000,71,2252,3027
$GC,150,-0.85,-146.6,4.3,-3.5,6,175,11.48,2.60,-7.53,0.000,4,0.170,0.076,2111,3637,3381
$GC,378,-0.66,-146.6,37.6,-11.7,16,383,0.20,2.53,0.00,0.000,6,0.091,0.048,2151,2228,3382
$GC,700,-0.58,-146.6,67.8,-9.4,32,701,0.10,0.00,0.00,0.000,6,0.107,0.000,2169,2228,3382
$GC,1009,-0.58,-146.6,93.4,-6.4,47,1013,0.00,2.58,0.00,0.000,4,0.000,0.058,2169,816,3382
$GC,1043,-0.63,-146.6,95.3,-5.1,48,1050,0.00,2.55,0.00,0.000,6,0.000,0.046,2169,2237,3382
$GC,1359,-0.63,-146.6,112.4,-5.8,64,1364,0.00,2.60,0.00,0.000,4,0.000,0.067,2169,3641,3382
$GC,1399,-0.63,-146.6,115.1,-7.1,66,1404,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,2222,3382
$GC,1727,-0.63,-146.6,140.5,-8.5,82,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2222,3382
$GC,2035,-0.63,-146.6,166.3,-7.8,97,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2222,3382
$GC,2345,-0.63,-146.6,187.1,-6.3,112,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2222,3382
$GC,2654,-0.63,-146.6,209.6,-8.1,127,2659,0.00,2.65,0.00,0.000,4,0.000,0.069,2169,3640,3382
$GC,2688,-0.63,-146.6,212.6,-9.0,128,2694,0.00,2.53,0.00,0.000,6,0.000,0.048,2169,2228,3382
$GC,3003,-0.63,-146.6,239.5,-8.6,144,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2227,3382
$GC,3313,-0.63,-146.6,265.3,-8.2,159,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2227,3382
$GC,3622,-0.63,-146.6,289.2,-7.2,174,3626,0.00,2.62,0.00,0.000,4,0.000,0.071,2169,3637,3382
$GC,3666,-0.63,-146.6,292.7,-7.8,176,3670,0.00,2.53,0.00,0.000,6,0.000,0.048,2169,2230,3382
$GC,3987,-0.63,-146.6,314.7,-6.8,192,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3382
$GC,4296,-0.63,-146.6,333.8,-5.9,207,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3382
$GC,4605,-0.63,-146.6,353.1,-6.8,222,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3381
$STATE,4789,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4789,begin apogee
$GC,4796,-0.31,0.0,366.1,6.6,231,4925,0.30,0.00,125.95,0.864,6,0.092,0.000,2229,2229,2781
$STATE,4926,end apogee,CONTROL_FINISHED_OK
$STATE,4926,begin climb
$GC,4929,0.85,146.6,372.1,0.0,237,5060,1.20,2.67,123.70,0.854,4,0.078,0.061,2481,821,2183
$GC,5144,0.88,174.3,367.4,5.2,247,5176,0.00,2.60,24.23,0.804,6,0.000,0.049,2481,2238,2070
$GC,5485,0.95,239.0,350.9,4.2,264,5548,0.12,2.72,55.50,0.838,4,0.058,0.074,2510,3650,1805
$GC,5588,0.95,239.0,344.8,8.0,268,5594,0.00,2.60,0.00,0.000,6,0.000,0.054,2511,2240,1805
$GC,5904,0.96,250.2,325.5,5.7,284,5916,0.00,0.00,10.82,0.748,6,0.000,0.000,2511,2240,1761
$GC,6213,0.98,269.1,308.9,5.5,299,6233,0.00,0.00,17.17,0.787,6,0.000,0.000,2511,2240,1683
$GC,6543,1.02,304.2,292.0,5.0,315,6579,0.00,2.72,30.50,0.802,4,0.000,0.073,2510,3647,1540
$GC,6613,1.09,304.2,287.8,6.4,317,6618,0.12,2.60,0.00,0.000,6,0.058,0.054,2540,2239,1540
$GC,6929,1.09,304.2,262.7,8.3,332,6933,0.00,2.62,0.00,0.000,4,0.000,0.066,2541,822,1539
$GC,6991,1.09,304.2,257.5,8.3,335,6995,0.00,2.58,0.00,0.000,6,0.000,0.050,2541,2241,1538
$GC,7318,1.09,304.2,229.0,8.3,351,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2241,1538
$GC,7628,1.09,304.2,207.0,6.9,366,7632,0.00,2.62,0.00,0.000,4,0.000,0.062,2541,828,1537
$GC,7667,1.09,304.2,204.3,7.0,368,7671,0.00,2.55,0.00,0.000,6,0.000,0.048,2541,2242,1537
$GC,7993,1.09,304.2,183.0,6.7,384,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2242,1537
$GC,8303,1.09,304.2,162.1,6.7,399,8307,0.00,2.60,0.00,0.000,4,0.000,0.061,2541,828,1537
$GC,8369,1.09,304.2,157.4,7.5,402,8374,0.00,2.55,0.00,0.000,6,0.000,0.047,2541,2243,1537
$GC,8690,1.09,304.2,131.4,8.8,418,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2243,1537
$GC,9000,1.09,304.2,103.4,9.2,433,9004,0.00,2.62,0.00,0.000,4,0.000,0.061,2541,821,1537
$GC,9055,1.09,304.2,98.0,9.2,435,9061,0.00,2.55,0.00,0.000,6,0.000,0.047,2541,2240,1537
$GC,9371,1.09,304.2,69.7,9.0,451,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2240,1538
$GC,9682,1.09,304.2,42.2,8.9,466,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2240,1538
$GC,9989,1.09,304.2,17.0,7.7,481,9994,0.00,2.60,0.00,0.000,4,0.000,0.059,2541,823,1538
$GC,10068,1.09,304.2,10.4,8.5,484,10074,0.00,2.55,0.00,0.000,6,0.000,0.047,2541,2245,1538
$STATE,10176,end climb,SURFACE_DEPTH_REACHED
$STATE,10176,begin surface coast
$FINISH,0.5,1.027017
$STATE,10196,end surface coast,CONTROL_FINISHED_OK
$STATE,10197,begin surface
$SM_CCo,10219,122.47,0.606,0,0,509,557.32
$SM_GC,1.30,0.00,0.00,122.47,0.000,0.000,0.606,72,2248,509,-10.25,0.51,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1901
$TCM_TEMP,17.80
$XPDR_PINGS,7
$ALTIM_TOP_PING,18.5,17.4
$ALTIM_BOTTOM_PING,300.6,74.6
$24V_AH,23.7,46.537
$10V_AH,10.2,23.457
$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,24.200,67.500,387.875,122.475,0.000,18.113,32.578,113.918,4.000,0.000,0.000,11.552,900.199,7646.611,629.078,1087.326,354.588,0.000,1191.255,0.000,1068.350,0.000,16.948
$DEVICE_MAMPS,170.274,75.933,864.409,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,358.073,333.290,404.611,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25330,491
$CAP_FILE_SIZE,71619,0
$CFSIZE,260165632,242237440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,010808,183908,6407.241,-1107.443,42,1.2,42,-11.4