version: 66.03
glider: 16
mission: 9
dive: 291
start: 8 3 108 6 8 10
data:
$ID,16
$MISSION,9
$DIVE,291
$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,-2099572
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,055755,6407.705,-1107.671,25,1.2,43,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-51.0
$GPS2,060751,6407.690,-1107.799,15,1.2,15,-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,328.1,49144,-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,-146.6,0.0,0.0,0,149,0.00,0.00,-121.03,0.000,2,0.000,0.000,71,2244,3022
$GC,153,-0.85,-146.6,4.6,-4.1,6,178,11.65,2.62,-7.68,0.000,4,0.170,0.076,2139,3641,3380
$GC,322,-0.72,-146.6,28.8,-11.6,13,327,0.17,2.55,0.00,0.000,6,0.095,0.047,2173,2228,3380
$GC,638,-0.72,-146.6,62.2,-10.5,28,642,0.00,2.60,0.00,0.000,4,0.000,0.059,2173,811,3381
$GC,682,-0.77,-146.6,67.2,-10.9,30,687,0.00,2.58,0.00,0.000,6,0.000,0.046,2173,2232,3381
$GC,1004,-0.77,-146.6,102.3,-10.5,46,1008,0.00,2.62,0.00,0.000,4,0.000,0.067,2173,3643,3381
$GC,1036,-0.77,-146.6,105.8,-10.1,47,1043,0.00,2.55,0.00,0.000,6,0.000,0.051,2173,2230,3382
$GC,1354,-0.77,-146.6,133.5,-8.8,63,1358,0.00,2.60,0.00,0.000,4,0.000,0.060,2173,813,3381
$GC,1394,-0.85,-146.6,137.2,-9.2,65,1399,0.12,2.58,0.00,0.000,6,0.045,0.048,2130,2232,3381
$GC,1725,-0.72,-146.6,176.0,-12.8,81,1727,0.20,0.00,0.00,0.000,6,0.084,0.000,2169,2233,3381
$GC,2030,-0.72,-146.6,210.3,-10.6,96,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2233,3381
$GC,2340,-0.72,-146.6,238.5,-8.0,111,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2233,3381
$GC,2649,-0.72,-146.6,260.0,-6.8,126,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2233,3381
$GC,2958,-0.72,-146.6,285.2,-8.6,141,2962,0.00,2.62,0.00,0.000,4,0.000,0.070,2169,3642,3381
$GC,2998,-0.72,-146.6,288.9,-9.6,143,3002,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2230,3381
$GC,3324,-0.72,-146.6,314.5,-7.8,159,3328,0.00,2.58,0.00,0.000,4,0.000,0.061,2169,818,3381
$GC,3368,-0.80,-146.6,317.9,-8.0,161,3373,0.00,2.58,0.00,0.000,6,0.000,0.050,2170,2235,3381
$GC,3690,-0.80,-146.6,340.4,-6.2,177,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2235,3381
$STATE,3811,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3811,begin apogee
$GC,3817,-0.31,0.0,349.0,7.2,183,3946,0.45,0.00,125.55,0.842,6,0.085,0.000,2262,2234,2781
$STATE,3946,end apogee,CONTROL_FINISHED_OK
$STATE,3946,begin climb
$GC,3949,0.85,146.6,353.4,0.0,189,4077,1.17,0.00,123.90,0.831,6,0.076,0.000,2509,2235,2183
$GC,4389,0.85,195.3,338.5,4.7,211,4438,0.00,2.72,41.72,0.810,4,0.000,0.063,2509,829,1984
$GC,4524,0.87,213.3,331.1,5.5,217,4548,0.00,2.60,16.50,0.765,6,0.000,0.050,2509,2242,1911
$GC,4871,0.88,226.8,311.0,5.6,234,4890,0.00,0.00,13.18,0.746,6,0.000,0.000,2509,2242,1855
$GC,5200,0.88,226.8,286.1,8.0,250,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1854
$GC,5509,0.88,226.8,261.9,7.8,265,5514,0.00,2.65,0.00,0.000,4,0.000,0.072,2509,3652,1854
$GC,5582,0.88,226.8,255.8,7.7,268,5586,0.00,2.60,0.00,0.000,6,0.000,0.054,2509,2235,1854
$GC,5898,0.89,232.8,237.1,5.8,283,5906,0.00,0.00,6.32,0.637,6,0.000,0.000,2509,2235,1832
$GC,6208,0.92,264.0,220.0,5.1,298,6243,0.10,2.72,27.10,0.757,4,0.068,0.069,2532,3639,1704
$GC,6277,0.92,264.0,215.5,6.9,301,6281,0.00,2.58,0.00,0.000,6,0.000,0.054,2532,2241,1703
$GC,6598,0.92,264.2,196.9,6.0,317,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2241,1703
$GC,6908,0.92,264.2,175.6,7.5,332,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2241,1703
$GC,7216,0.92,264.2,152.5,7.3,347,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2241,1703
$GC,7526,0.92,264.2,132.1,6.3,362,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2241,1704
$GC,7836,0.94,278.3,114.3,5.6,377,7858,0.00,2.67,13.00,0.652,4,0.000,0.061,2532,830,1645
$GC,7892,0.95,287.9,111.0,5.7,379,7906,0.00,2.58,9.52,0.620,6,0.000,0.048,2532,2243,1607
$GC,8235,1.04,369.0,95.9,3.8,396,8304,0.12,0.00,65.90,0.682,6,0.067,0.000,2560,2243,1276
$GC,8605,1.11,435.8,76.6,4.2,414,8668,0.00,2.67,54.75,0.663,4,0.000,0.064,2560,828,1003
$GC,8743,1.30,497.6,69.9,4.3,420,8802,0.25,2.58,50.70,0.648,6,0.067,0.048,2614,2249,751
$GC,9115,1.24,497.6,26.7,13.7,438,9119,0.00,2.65,0.00,0.000,4,0.000,0.063,2614,830,751
$GC,9215,1.24,497.6,14.3,8.7,442,9221,0.00,2.55,0.00,0.000,6,0.000,0.047,2614,2245,751
$STATE,9322,end climb,SURFACE_DEPTH_REACHED
$STATE,9322,begin surface coast
$FINISH,0.5,1.019226
$STATE,9344,end surface coast,CONTROL_FINISHED_OK
$STATE,9344,begin surface
$SM_CCo,9367,30.33,0.581,0,0,508,557.32
$SM_GC,1.11,0.00,0.00,30.33,0.000,0.000,0.581,71,2246,508,-10.39,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1903
$TCM_TEMP,17.60
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.5,18.4
$ALTIM_BOTTOM_PING,300.2,57.6
$24V_AH,23.7,48.183
$10V_AH,10.2,24.162
$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,25.300,62.600,548.150,30.325,0.000,36.262,54.382,326.708,3.750,0.000,0.000,15.040,822.132,6859.914,678.503,1022.342,617.895,0.000,1225.895,0.000,1002.216,0.000,19.863
$DEVICE_MAMPS,170.274,75.933,842.166,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,329.410,303.724,389.392,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22212,449
$CAP_FILE_SIZE,72345,0
$CFSIZE,260165632,241741824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,030808,084608,6409.829,-1109.171,40,1.3,40,-11.4