version: 66.03
glider: 16
mission: 9
dive: 297
start: 8 3 108 23 10 31
data:
$ID,16
$MISSION,9
$DIVE,297
$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,-2099698.8
$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
$GPS1,230525,6413.209,-1116.119,44,1.9,61,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-53.1
$GPS2,231012,6413.200,-1116.025,11,2.7,30,-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,324.8,37279,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-121.00,0.000,2,0.000,0.000,68,2245,2972
$GC,151,-0.85,-146.6,3.8,-3.1,6,181,11.68,2.62,-9.50,0.000,4,0.170,0.077,2141,3643,3379
$GC,248,-0.76,-146.6,17.9,-9.2,10,253,0.12,2.58,0.00,0.000,6,0.097,0.050,2165,2228,3379
$GC,566,-0.76,-146.6,40.6,-6.4,25,570,0.00,2.65,0.00,0.000,4,0.000,0.067,2164,3640,3379
$GC,621,-0.76,-146.6,44.1,-6.1,27,627,0.00,2.53,0.00,0.000,6,0.000,0.045,2165,2229,3379
$GC,937,-0.72,-146.6,65.2,-7.3,43,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2229,3380
$GC,1247,-0.72,-146.6,90.2,-8.3,58,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2229,3379
$GC,1555,-0.72,-146.6,115.9,-8.3,73,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2229,3379
$GC,1865,-0.72,-146.6,142.3,-9.0,88,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2229,3379
$GC,2174,-0.72,-146.6,171.8,-9.5,103,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2229,3379
$GC,2483,-0.72,-146.6,194.2,-5.9,118,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2229,3379
$GC,2792,-0.72,-146.6,206.6,-3.7,133,2797,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,817,3379
$GC,2834,-0.77,-146.6,208.3,-4.6,135,2838,0.00,2.58,0.00,0.000,6,0.000,0.048,2165,2230,3379
$GC,3160,-0.77,-146.6,229.9,-8.2,151,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3379
$GC,3470,-0.77,-146.6,258.1,-8.8,166,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3380
$GC,3780,-0.77,-146.6,277.7,-5.5,181,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3380
$GC,4088,-0.77,-146.6,297.3,-6.3,196,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3380
$GC,4398,-0.77,-146.6,316.3,-5.9,211,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3380
$STATE,4539,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4539,begin apogee
$GC,4545,-0.31,0.0,326.5,7.5,218,4673,0.45,0.00,125.20,0.833,6,0.085,0.000,2258,2231,2781
$STATE,4674,end apogee,CONTROL_FINISHED_OK
$STATE,4674,begin climb
$GC,4677,0.85,146.6,332.0,0.0,224,4805,1.17,0.00,123.62,0.825,6,0.065,0.000,2510,2231,2183
$GC,5109,0.85,152.6,312.0,5.8,245,5123,0.00,2.78,6.60,0.649,4,0.000,0.075,2510,3648,2158
$GC,5288,0.82,194.0,302.8,4.9,253,5330,0.00,2.60,35.45,0.797,6,0.000,0.055,2510,2241,1990
$GC,5640,0.89,254.9,289.4,4.3,270,5701,0.00,2.75,51.95,0.806,4,0.000,0.064,2510,830,1740
$GC,5765,0.92,284.5,283.4,5.2,275,5795,0.00,2.60,25.73,0.777,6,0.000,0.052,2510,2240,1621
$GC,6120,0.98,284.5,263.8,6.3,293,6125,0.15,2.67,0.00,0.000,4,0.072,0.073,2547,3648,1620
$GC,6164,0.93,284.5,259.9,9.1,295,6169,0.00,2.60,0.00,0.000,6,0.000,0.055,2547,2241,1620
$GC,6487,0.88,284.5,235.4,7.4,311,6492,0.15,2.62,0.00,0.000,4,0.097,0.062,2514,828,1619
$GC,6543,0.94,284.5,231.6,6.7,313,6549,0.00,2.58,0.00,0.000,6,0.000,0.049,2514,2242,1619
$GC,6859,0.99,284.5,211.4,7.1,329,6860,0.15,0.00,0.00,0.000,6,0.047,0.000,2553,2242,1619
$GC,7168,0.91,284.5,181.9,9.9,344,7170,0.12,0.00,0.00,0.000,6,0.093,0.000,2530,2242,1619
$GC,7477,0.91,284.5,158.0,7.1,359,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2242,1619
$GC,7787,0.91,284.5,136.5,7.2,374,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2242,1619
$GC,8096,0.91,284.5,109.3,9.9,389,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2242,1619
$GC,8405,0.91,284.5,77.7,9.8,404,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2242,1619
$GC,8714,0.91,286.5,57.4,5.9,419,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2242,1618
$GC,9024,0.91,286.5,35.3,7.6,434,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2242,1619
$GC,9333,0.91,286.5,13.3,6.7,449,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2242,1619
$STATE,9515,end climb,SURFACE_DEPTH_REACHED
$STATE,9516,begin surface coast
$FINISH,0.7,1.027098
$STATE,9537,end surface coast,CONTROL_FINISHED_OK
$STATE,9538,begin surface
$SM_CCo,9559,132.20,0.609,0,0,509,557.32
$SM_GC,1.20,0.00,0.00,132.20,0.000,0.000,0.609,73,2243,509,-10.38,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1898
$TCM_TEMP,17.30
$XPDR_PINGS,6
$ALTIM_TOP_PING,18.8,17.2
$ALTIM_BOTTOM_PING,275.5,60.1
$24V_AH,23.7,48.934
$10V_AH,10.2,24.485
$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,24.675,36.725,368.550,132.200,0.000,17.991,32.580,115.889,3.750,0.000,0.000,31.762,819.109,7236.140,605.701,988.474,340.244,0.000,1098.838,0.000,953.630,0.000,18.241
$DEVICE_MAMPS,170.274,77.467,832.962,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.228,311.018,413.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22250,459
$CAP_FILE_SIZE,62788,0
$CFSIZE,260165632,241532928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040808,015327,6412.862,-1115.405,24,4.3,43,-11.5