version: 66.03
glider: 16
mission: 9
dive: 296
start: 8 3 108 20 36 16
data:
$ID,16
$MISSION,9
$DIVE,296
$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,-2099666.2
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,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
$GPS1,203032,6411.225,-1118.110,39,1.8,39,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-53.4
$GPS2,203557,6411.244,-1118.019,15,1.9,15,-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,330.3,38781,-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,-120.53,0.000,2,0.000,0.000,69,2245,3024
$GC,152,-0.85,-146.6,4.7,-4.0,6,177,11.65,2.62,-7.57,0.000,4,0.170,0.077,2139,3638,3382
$GC,293,-0.72,-146.6,24.7,-10.3,12,298,0.17,2.58,0.00,0.000,6,0.094,0.051,2173,2225,3382
$GC,614,-0.72,-146.6,51.7,-8.0,28,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3382
$GC,923,-0.72,-146.6,75.5,-7.9,43,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3383
$GC,1234,-0.72,-146.6,102.1,-9.6,58,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3383
$GC,1542,-0.72,-146.6,130.4,-9.1,73,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3383
$GC,1850,-0.72,-146.6,157.8,-8.2,88,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3383
$GC,2160,-0.72,-146.6,180.1,-6.8,103,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3383
$GC,2470,-0.72,-146.6,201.0,-6.9,118,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3383
$GC,2779,-0.72,-146.6,220.5,-5.8,133,2783,0.00,2.58,0.00,0.000,4,0.000,0.061,2173,817,3383
$GC,2824,-0.81,-146.6,223.1,-6.0,135,2828,0.00,2.55,0.00,0.000,6,0.000,0.048,2173,2228,3383
$GC,3145,-0.81,-146.6,242.8,-6.4,151,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2229,3383
$GC,3454,-0.81,-146.6,266.1,-8.8,166,3458,0.00,2.65,0.00,0.000,4,0.000,0.071,2173,3643,3383
$GC,3505,-0.87,-146.6,270.9,-9.4,168,3510,0.15,2.58,0.00,0.000,6,0.044,0.051,2131,2224,3383
$GC,3821,-0.77,-146.6,306.1,-11.5,183,3826,0.15,2.58,0.00,0.000,4,0.087,0.061,2164,818,3383
$STATE,3914,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3914,begin apogee
$GC,3924,-0.31,0.0,315.7,8.9,187,4056,0.45,0.00,125.28,0.824,6,0.088,0.000,2258,2240,2780
$STATE,4056,end apogee,CONTROL_FINISHED_OK
$STATE,4056,begin climb
$GC,4059,0.85,146.6,321.0,0.0,194,4187,1.20,0.00,123.40,0.813,6,0.072,0.000,2510,2240,2183
$GC,4489,0.85,201.6,304.1,4.5,215,4543,0.00,2.75,46.72,0.795,4,0.000,0.062,2510,829,1957
$GC,4606,0.85,201.6,296.2,7.3,220,4610,0.00,2.62,0.00,0.000,6,0.000,0.051,2510,2248,1956
$GC,4921,0.85,201.6,271.8,8.3,235,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2248,1957
$GC,5231,0.85,201.6,249.6,6.4,250,5235,0.00,2.65,0.00,0.000,4,0.000,0.073,2510,3648,1956
$GC,5354,0.85,201.6,240.8,7.4,255,5360,0.00,2.60,0.00,0.000,6,0.000,0.055,2510,2233,1956
$GC,5670,0.88,228.8,222.4,5.3,271,5700,0.00,2.70,23.35,0.753,4,0.000,0.062,2510,830,1848
$GC,5740,0.89,237.7,218.6,5.8,274,5757,0.00,2.60,9.05,0.674,6,0.000,0.050,2510,2240,1812
$GC,6066,0.91,257.0,201.9,5.5,290,6089,0.00,2.72,17.40,0.727,4,0.000,0.071,2510,3642,1733
$GC,6124,0.96,257.0,198.1,7.2,292,6131,0.12,2.60,0.00,0.000,6,0.060,0.054,2539,2236,1733
$GC,6440,0.91,257.0,171.8,8.6,308,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2236,1733
$GC,6750,0.91,257.0,146.0,8.4,323,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2236,1733
$GC,7060,0.86,257.0,121.6,7.6,338,7062,0.12,0.00,0.00,0.000,6,0.091,0.000,2514,2236,1733
$GC,7368,0.91,297.2,105.0,4.9,353,7408,0.00,0.00,34.10,0.689,6,0.000,0.000,2514,2236,1568
$GC,7720,1.06,388.9,89.8,3.5,370,7798,0.20,0.00,74.65,0.681,6,0.047,0.000,2560,2236,1195
$GC,8108,1.06,388.9,60.7,9.7,389,8113,0.00,2.62,0.00,0.000,4,0.000,0.062,2560,821,1195
$GC,8175,1.06,388.9,53.5,10.7,392,8180,0.00,2.58,0.00,0.000,6,0.000,0.048,2560,2242,1195
$GC,8497,1.06,388.9,21.3,9.6,408,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2242,1196
$STATE,8721,end climb,SURFACE_DEPTH_REACHED
$STATE,8721,begin surface coast
$FINISH,0.6,1.027052
$STATE,8743,end surface coast,CONTROL_FINISHED_OK
$STATE,8743,begin surface
$SM_CCo,8764,83.80,0.605,0,0,508,557.32
$SM_GC,1.32,0.00,0.00,83.80,0.000,0.000,0.605,68,2242,508,-10.40,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1893
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,251.0,74.7
$24V_AH,23.7,48.817
$10V_AH,10.2,24.433
$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,25.075,47.225,453.950,83.800,0.000,17.992,27.674,172.830,2.250,0.000,0.000,15.758,765.434,6456.819,666.782,907.267,387.044,0.000,1126.360,0.000,891.508,0.000,13.699
$DEVICE_MAMPS,170.274,76.700,823.758,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,309.275,284.706,398.060,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22312,420
$CAP_FILE_SIZE,61154,0
$CFSIZE,260165632,241569792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030808,230525,6413.209,-1116.119,44,1.9,61,-11.5