version: 66.03
glider: 16
mission: 9
dive: 280
start: 8 1 108 18 44 16
data:
$ID,16
$MISSION,9
$DIVE,280
$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,-2099286.2
$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,23
$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
$GPS1,183908,6407.241,-1107.443,42,1.2,42,-11.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-51.6
$GPS2,184356,6407.246,-1107.334,17,1.2,33,-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,328.4,49999,-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,-120.65,0.000,2,0.000,0.000,71,2250,3021
$GC,150,-0.85,-146.6,4.3,-3.7,6,175,11.48,2.58,-7.85,0.000,4,0.171,0.076,2110,3638,3380
$GC,332,-0.67,-146.6,30.4,-10.5,14,337,0.22,2.53,0.00,0.000,6,0.091,0.048,2154,2230,3380
$GC,654,-0.60,-146.6,55.8,-7.9,30,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2230,3381
$GC,963,-0.54,-146.6,79.3,-7.4,45,965,0.12,0.00,0.00,0.000,6,0.096,0.000,2179,2230,3381
$GC,1274,-0.54,-146.6,100.0,-6.8,60,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2230,3380
$GC,1581,-0.54,-146.6,120.7,-6.6,75,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2230,3381
$GC,1891,-0.54,-146.6,141.5,-6.8,90,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2231,3381
$GC,2200,-0.54,-146.6,163.1,-7.0,105,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2230,3381
$GC,2509,-0.54,-146.6,182.6,-5.8,120,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2230,3381
$GC,2818,-0.54,-146.6,197.4,-4.3,135,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2231,3381
$GC,3128,-0.54,-146.6,212.9,-6.0,150,3132,0.00,2.58,0.00,0.000,4,0.000,0.060,2179,813,3381
$GC,3168,-0.64,-146.6,215.7,-7.4,152,3172,0.00,2.55,0.00,0.000,6,0.000,0.048,2179,2228,3381
$GC,3494,-0.64,-146.6,243.3,-9.3,168,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2229,3381
$GC,3804,-0.68,-146.6,272.5,-8.5,183,3806,0.12,0.00,0.00,0.000,6,0.047,0.000,2137,2229,3381
$GC,4113,-0.60,-146.6,299.1,-7.8,198,4118,0.15,2.62,0.00,0.000,4,0.086,0.071,2171,3638,3381
$GC,4160,-0.65,-146.6,302.1,-5.9,200,4165,0.00,2.55,0.00,0.000,6,0.000,0.050,2171,2223,3381
$GC,4482,-0.65,-146.6,321.4,-6.2,216,4486,0.00,2.58,0.00,0.000,4,0.000,0.061,2171,814,3380
$GC,4522,-0.73,-146.6,323.9,-6.2,218,4527,0.15,2.58,0.00,0.000,6,0.045,0.049,2125,2232,3380
$GC,4849,-0.61,-146.6,352.1,-9.0,234,4851,0.20,0.00,0.00,0.000,6,0.084,0.000,2164,2232,3380
$STATE,4990,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4990,begin apogee
$GC,4997,-0.31,0.0,362.2,6.6,241,5125,0.32,0.00,125.60,0.858,6,0.094,0.000,2229,2232,2781
$STATE,5126,end apogee,CONTROL_FINISHED_OK
$STATE,5126,begin climb
$GC,5129,0.85,146.6,366.5,0.0,247,5257,1.17,0.00,124.30,0.844,6,0.078,0.000,2478,2232,2183
$GC,5566,0.92,218.9,353.1,4.0,269,5636,0.10,2.72,61.72,0.831,4,0.056,0.061,2511,827,1887
$GC,5695,0.92,218.9,343.8,8.1,275,5700,0.00,2.60,0.00,0.000,6,0.000,0.050,2510,2243,1886
$GC,6023,0.92,218.9,324.2,6.2,291,6027,0.00,2.65,0.00,0.000,4,0.000,0.062,2511,829,1886
$GC,6090,0.92,218.9,319.8,6.1,294,6094,0.00,2.58,0.00,0.000,6,0.000,0.050,2510,2240,1885
$GC,6411,0.92,218.9,298.4,6.6,310,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2240,1886
$GC,6720,0.97,261.0,281.0,4.8,325,6759,0.00,0.00,36.17,0.805,6,0.000,0.000,2511,2240,1717
$GC,7069,0.98,267.9,262.2,5.8,342,7083,0.00,2.67,7.32,0.676,4,0.000,0.062,2511,832,1688
$GC,7119,1.04,267.9,258.9,7.1,344,7123,0.00,2.58,0.00,0.000,6,0.000,0.049,2511,2241,1687
$GC,7440,1.09,267.9,237.3,6.8,360,7442,0.12,0.00,0.00,0.000,6,0.064,0.000,2541,2240,1687
$GC,7749,1.04,267.9,213.9,7.1,375,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2240,1687
$GC,8059,0.99,267.9,192.1,7.1,390,8061,0.12,0.00,0.00,0.000,6,0.091,0.000,2517,2240,1687
$GC,8367,0.99,267.9,169.6,7.9,405,8372,0.00,2.62,0.00,0.000,4,0.000,0.060,2517,821,1687
$GC,8412,1.03,267.9,165.8,8.2,407,8417,0.00,2.55,0.00,0.000,6,0.000,0.047,2516,2243,1687
$GC,8734,1.03,267.9,138.1,8.8,423,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2242,1687
$GC,9042,1.03,267.9,112.1,8.2,438,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2242,1687
$GC,9352,1.03,267.9,88.0,7.4,453,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2242,1687
$GC,9662,1.04,272.8,67.9,5.9,468,9669,0.00,0.00,5.47,0.533,6,0.000,0.000,2517,2242,1669
$GC,9973,1.11,342.8,53.6,4.1,483,10033,0.12,0.00,57.55,0.655,6,0.048,0.000,2553,2242,1382
$GC,10342,1.11,342.8,25.6,7.9,501,10346,0.00,2.62,0.00,0.000,4,0.000,0.058,2553,826,1382
$GC,10381,1.11,342.8,22.6,7.5,503,10386,0.00,2.55,0.00,0.000,6,0.000,0.045,2554,2240,1381
$STATE,10623,end climb,SURFACE_DEPTH_REACHED
$STATE,10624,begin surface coast
$FINISH,0.6,1.024969
$STATE,10645,end surface coast,CONTROL_FINISHED_OK
$STATE,10645,begin surface
$SM_CCo,10667,105.18,0.598,0,0,508,557.32
$SM_GC,1.27,0.00,0.00,105.18,0.000,0.000,0.598,68,2241,508,-10.27,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1908
$TCM_TEMP,17.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.5,18.5
$ALTIM_BOTTOM_PING,300.3,71.9
$24V_AH,23.7,46.660
$10V_AH,10.2,23.512
$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,25.200,46.700,418.150,105.175,0.000,18.465,27.022,117.603,3.750,0.000,0.000,35.802,923.260,8084.901,652.851,1057.021,353.346,0.000,1167.071,0.000,1026.314,0.000,16.941
$DEVICE_MAMPS,171.041,75.933,857.506,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.933,351.181,445.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25441,516
$CAP_FILE_SIZE,70464,0
$CFSIZE,260165632,242196480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,010808,214508,6408.490,-1102.906,39,1.9,39,-11.4