version: 66.03
glider: 16
mission: 9
dive: 295
start: 8 3 108 17 49 51
data:
$ID,16
$MISSION,9
$DIVE,295
$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,-2099649.8
$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,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
$GPS1,174231,6409.943,-1114.295,39,1.6,44,-11.5
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-52.3
$GPS2,174932,6409.895,-1114.410,10,1.7,15,-11.5
$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,329.6,42564,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-120.60,0.000,2,0.000,0.000,66,2244,2979
$GC,153,-0.85,-146.6,3.9,-3.2,6,179,11.65,2.62,-8.95,0.000,4,0.169,0.077,2140,3643,3380
$GC,373,-0.74,-146.6,30.7,-10.2,16,378,0.15,2.55,0.00,0.000,6,0.096,0.048,2170,2229,3380
$GC,701,-0.74,-146.6,57.9,-8.3,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2229,3380
$GC,1009,-0.74,-146.6,82.4,-7.8,47,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2229,3381
$GC,1318,-0.74,-146.6,114.0,-11.5,62,1322,0.00,2.60,0.00,0.000,4,0.000,0.058,2170,817,3382
$GC,1359,-0.79,-146.6,118.6,-11.7,64,1363,0.00,2.55,0.00,0.000,6,0.000,0.048,2170,2228,3381
$GC,1686,-0.79,-146.6,145.2,-6.1,80,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3381
$GC,1995,-0.79,-146.6,163.3,-6.0,95,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2229,3381
$GC,2304,-0.79,-146.6,183.6,-6.4,110,2309,0.00,2.65,0.00,0.000,4,0.000,0.071,2170,3646,3381
$GC,2338,-0.79,-146.6,185.9,-5.8,111,2344,0.00,2.58,0.00,0.000,6,0.000,0.050,2170,2222,3381
$GC,2654,-0.79,-146.6,202.3,-4.4,127,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2222,3381
$GC,2964,-0.79,-146.6,215.1,-4.7,142,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2222,3381
$GC,3272,-0.79,-146.6,232.4,-6.7,157,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2222,3381
$GC,3581,-0.79,-146.6,254.9,-6.4,172,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3381
$GC,3891,-0.79,-146.6,278.7,-7.8,187,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3381
$GC,4200,-0.79,-146.6,298.4,-6.0,202,4205,0.00,2.67,0.00,0.000,4,0.000,0.074,2171,3638,3380
$GC,4250,-0.84,-146.6,302.1,-7.6,204,4255,0.12,2.55,0.00,0.000,6,0.048,0.052,2136,2230,3380
$STATE,4563,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4563,begin apogee
$GC,4570,-0.31,0.0,326.6,8.5,219,4699,0.60,0.00,125.45,0.839,6,0.084,0.000,2260,2230,2781
$STATE,4700,end apogee,CONTROL_FINISHED_OK
$STATE,4700,begin climb
$GC,4703,0.85,146.6,331.5,0.0,225,4834,1.15,2.75,123.35,0.826,4,0.070,0.073,2506,3648,2183
$GC,4872,0.82,188.9,328.4,4.8,233,4914,0.00,2.62,36.62,0.798,6,0.000,0.053,2506,2232,2010
$GC,5223,0.82,188.9,308.1,6.5,250,5227,0.00,2.62,0.00,0.000,4,0.000,0.065,2506,825,2010
$GC,5267,0.82,188.9,304.8,7.9,252,5272,0.00,2.60,0.00,0.000,6,0.000,0.051,2506,2240,2009
$GC,5589,0.83,195.7,286.2,5.8,268,5598,0.00,0.00,7.00,0.666,6,0.000,0.000,2506,2240,1983
$GC,5898,0.89,256.0,270.8,4.3,283,5960,0.00,2.72,51.28,0.797,4,0.000,0.074,2506,3650,1737
$GC,6000,0.94,265.6,266.0,5.7,287,6016,0.15,2.62,9.82,0.703,6,0.054,0.056,2545,2235,1697
$GC,6334,0.97,333.7,249.9,4.1,304,6394,0.00,0.00,57.20,0.792,6,0.000,0.000,2544,2236,1420
$GC,6702,0.97,333.7,232.1,6.2,322,6706,0.00,2.62,0.00,0.000,4,0.000,0.065,2545,823,1418
$GC,6741,0.97,333.7,229.2,7.8,324,6745,0.00,2.58,0.00,0.000,6,0.000,0.050,2544,2242,1418
$GC,7068,0.97,333.7,198.8,10.7,340,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2241,1418
$GC,7376,0.97,333.7,162.9,11.8,355,7381,0.00,2.65,0.00,0.000,4,0.000,0.063,2544,821,1418
$GC,7432,0.97,333.7,156.2,11.5,357,7438,0.00,2.58,0.00,0.000,6,0.000,0.049,2545,2239,1418
$GC,7749,0.97,333.7,126.7,7.3,373,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2239,1418
$GC,8058,0.97,333.7,107.2,7.1,388,8062,0.00,2.62,0.00,0.000,4,0.000,0.063,2544,829,1418
$GC,8121,0.97,333.7,102.2,7.8,391,8125,0.00,2.58,0.00,0.000,6,0.000,0.049,2544,2247,1418
$GC,8448,0.97,333.7,79.1,6.4,407,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2247,1418
$GC,8759,0.97,333.7,56.9,7.5,422,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2247,1418
$GC,9066,0.97,333.7,31.7,8.9,437,9071,0.00,2.62,0.00,0.000,4,0.000,0.061,2544,828,1418
$GC,9117,1.02,333.7,26.9,9.2,439,9121,0.00,2.55,0.00,0.000,6,0.000,0.048,2544,2242,1418
$STATE,9409,end climb,SURFACE_DEPTH_REACHED
$STATE,9410,begin surface coast
$FINISH,0.6,1.027012
$STATE,9431,end surface coast,CONTROL_FINISHED_OK
$STATE,9431,begin surface
$SM_CCo,9453,108.10,0.608,0,0,509,557.32
$SM_GC,1.18,0.00,0.00,108.10,0.000,0.000,0.608,69,2243,509,-10.40,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1901
$TCM_TEMP,17.60
$XPDR_PINGS,5
$ALTIM_TOP_PING,18.8,17.1
$ALTIM_BOTTOM_PING,300.1,35.4
$24V_AH,23.7,48.691
$10V_AH,10.2,24.384
$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,24.575,57.525,410.725,108.100,0.000,17.983,33.247,264.057,3.750,0.000,0.000,15.165,823.754,7044.362,623.983,1001.114,498.517,0.000,1143.291,0.000,982.121,0.000,19.737
$DEVICE_MAMPS,168.740,76.700,839.098,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,333.952,307.785,401.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22217,454
$CAP_FILE_SIZE,68728,0
$CFSIZE,260165632,241594368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030808,203032,6411.225,-1118.110,39,1.8,39,-11.5