version: 66.03
glider: 16
mission: 9
dive: 284
start: 8 2 108 7 36 49
data:
$ID,16
$MISSION,9
$DIVE,284
$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,-2099402.8
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2330
$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,21
$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
$GPS1,073031,6406.026,-1106.742,40,1.2,45,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-49.5
$GPS2,073632,6406.043,-1106.656,18,1.3,35,-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,329.7,52010,-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,27,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.88,0.000,2,0.000,0.000,70,2244,3011
$GC,153,-0.85,-146.6,4.3,-3.6,6,178,11.65,2.62,-7.85,0.000,4,0.170,0.077,2140,3645,3381
$GC,364,-0.73,-146.6,33.6,-10.9,15,369,0.15,2.55,0.00,0.000,6,0.091,0.045,2169,2228,3381
$GC,681,-0.73,-146.6,56.8,-6.7,30,686,0.00,2.58,0.00,0.000,4,0.000,0.058,2170,816,3382
$GC,723,-0.78,-146.6,59.5,-6.7,32,727,0.00,2.55,0.00,0.000,6,0.000,0.045,2170,2229,3382
$GC,1049,-0.78,-146.6,82.9,-7.7,48,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2229,3382
$GC,1358,-0.78,-146.6,106.1,-7.8,63,1363,0.00,2.62,0.00,0.000,4,0.000,0.066,2170,3644,3382
$GC,1403,-0.78,-146.6,109.9,-8.7,65,1407,0.00,2.53,0.00,0.000,6,0.000,0.046,2170,2230,3382
$GC,1724,-0.78,-146.6,134.4,-7.3,81,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3382
$GC,2033,-0.78,-146.6,154.9,-6.4,96,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3382
$GC,2344,-0.78,-146.6,173.8,-5.7,111,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3382
$GC,2652,-0.78,-146.6,192.8,-6.3,126,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2231,3382
$GC,2961,-0.78,-146.6,214.7,-7.5,141,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3382
$GC,3271,-0.78,-146.6,239.5,-8.2,156,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2229,3382
$GC,3580,-0.78,-146.6,263.7,-7.5,171,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2231,3381
$GC,3891,-0.78,-146.6,286.4,-7.8,186,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2229,3381
$GC,4199,-0.78,-146.6,313.2,-8.2,201,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2229,3382
$GC,4508,-0.78,-146.6,338.8,-8.2,216,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2229,3380
$GC,4817,-0.78,-146.6,362.0,-6.9,231,4821,0.00,2.58,0.00,0.000,4,0.000,0.061,2170,813,3381
$GC,4902,-0.96,-146.6,367.5,-7.0,235,4907,0.22,2.58,0.00,0.000,6,0.040,0.051,2106,2229,3382
$STATE,5082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5082,begin apogee
$GC,5088,-0.31,0.0,383.1,10.1,244,5218,0.75,0.00,126.50,0.874,6,0.094,0.000,2258,2229,2781
$STATE,5219,end apogee,CONTROL_FINISHED_OK
$STATE,5219,begin climb
$GC,5222,0.85,146.6,388.0,0.0,250,5354,1.20,2.75,124.28,0.863,4,0.081,0.072,2508,3651,2183
$GC,5456,0.85,146.6,380.0,8.1,262,5461,0.00,2.62,0.00,0.000,6,0.000,0.054,2508,2233,2183
$GC,5784,0.87,237.6,366.0,3.5,278,5868,0.00,2.70,77.75,0.854,4,0.000,0.060,2508,827,1811
$GC,5980,0.99,348.7,355.7,3.0,287,6083,0.17,2.62,93.43,0.848,6,0.077,0.054,2544,2242,1358
$GC,6392,0.99,348.7,320.8,11.8,307,6396,0.00,2.70,0.00,0.000,4,0.000,0.066,2544,823,1357
$GC,6454,0.99,348.7,311.7,15.7,310,6458,0.00,2.62,0.00,0.000,6,0.000,0.051,2544,2246,1357
$GC,6781,0.99,348.7,255.7,16.9,326,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2246,1356
$GC,7090,0.99,348.7,213.4,11.8,341,7095,0.00,2.67,0.00,0.000,4,0.000,0.064,2543,825,1355
$GC,7146,0.99,348.7,207.4,9.9,343,7152,0.00,2.58,0.00,0.000,6,0.000,0.049,2544,2242,1355
$GC,7464,0.99,348.7,181.8,7.3,359,7468,0.00,2.65,0.00,0.000,4,0.000,0.062,2544,826,1355
$GC,7504,0.99,348.7,179.0,7.5,361,7508,0.00,2.58,0.00,0.000,6,0.000,0.048,2544,2240,1355
$GC,7830,0.99,348.7,155.1,7.8,377,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2240,1355
$GC,8140,0.99,348.7,128.6,8.6,392,8144,0.00,2.62,0.00,0.000,4,0.000,0.061,2544,829,1355
$GC,8212,0.99,348.7,122.1,8.9,395,8217,0.00,2.55,0.00,0.000,6,0.000,0.047,2544,2241,1355
$GC,8530,0.99,348.7,94.0,8.8,410,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2241,1355
$GC,8838,0.99,348.7,66.9,8.8,425,8842,0.00,2.62,0.00,0.000,4,0.000,0.061,2544,829,1355
$GC,8905,1.03,348.7,61.3,7.9,428,8909,0.00,2.55,0.00,0.000,6,0.000,0.047,2544,2242,1355
$GC,9228,1.03,348.7,34.2,8.6,444,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2242,1355
$GC,9535,1.03,348.7,10.8,8.8,459,9540,0.00,2.62,0.00,0.000,4,0.000,0.059,2544,824,1356
$GC,9587,1.11,348.7,6.6,8.2,461,9592,0.12,2.55,0.00,0.000,6,0.071,0.045,2569,2245,1355
$STATE,9652,end climb,SURFACE_DEPTH_REACHED
$STATE,9652,begin surface coast
$FINISH,0.6,1.014094
$STATE,9674,end surface coast,CONTROL_FINISHED_OK
$STATE,9674,begin surface
$SM_CCo,9696,100.55,0.608,0,0,509,557.32
$SM_GC,1.23,0.00,0.00,100.55,0.000,0.000,0.608,69,2246,509,-10.40,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,1899
$TCM_TEMP,17.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,301.1,90.2
$24V_AH,23.7,47.199
$10V_AH,10.1,23.743
$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,25.225,62.625,421.950,100.550,0.000,17.994,28.419,184.624,3.750,0.000,0.000,35.163,858.794,7166.119,622.443,1094.768,422.961,0.000,1179.938,0.000,1052.997,0.000,16.987
$DEVICE_MAMPS,170.274,76.700,874.380,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.043,315.253,404.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22213,465
$CAP_FILE_SIZE,69894,0
$CFSIZE,260165632,242032640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020808,102126,6407.517,-1103.150,40,1.8,40,-11.4