version: 66.03
glider: 16
mission: 9
dive: 298
start: 8 4 108 1 58 24
data:
$ID,16
$MISSION,9
$DIVE,298
$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,-2099736.5
$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
$GPS1,015327,6412.862,-1115.405,24,4.3,43,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-51.7
$GPS2,015805,6412.812,-1115.447,17,5.1,36,-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,325.1,38107,-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,-121.03,0.000,2,0.000,0.000,72,2245,2983
$GC,151,-0.85,-146.6,4.1,-3.3,6,178,11.62,2.62,-9.10,0.000,4,0.170,0.077,2140,3644,3379
$GC,371,-0.76,-146.6,30.9,-9.4,16,376,0.12,2.55,0.00,0.000,6,0.098,0.049,2164,2228,3379
$GC,699,-0.70,-146.6,57.0,-7.9,32,703,0.00,2.60,0.00,0.000,4,0.000,0.058,2162,816,3379
$GC,743,-0.75,-146.6,60.3,-6.9,34,748,0.00,2.58,0.00,0.000,6,0.000,0.046,2164,2236,3379
$GC,1065,-0.75,-146.6,84.7,-7.8,50,1069,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,3643,3379
$GC,1120,-0.75,-146.6,89.2,-7.8,52,1126,0.00,2.55,0.00,0.000,6,0.000,0.048,2164,2230,3380
$GC,1438,-0.75,-146.6,108.3,-5.8,68,1442,0.00,2.60,0.00,0.000,4,0.000,0.061,2164,816,3379
$GC,1471,-0.75,-146.6,110.6,-7.0,69,1477,0.00,2.58,0.00,0.000,6,0.000,0.048,2164,2236,3380
$GC,1787,-0.75,-146.6,131.7,-6.3,85,1791,0.00,2.62,0.00,0.000,4,0.000,0.070,2164,3641,3380
$GC,1826,-0.75,-146.6,134.3,-6.5,87,1831,0.00,2.55,0.00,0.000,6,0.000,0.051,2164,2230,3379
$GC,2155,-0.75,-146.6,148.5,-3.9,103,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3380
$GC,2463,-0.75,-146.6,160.4,-3.7,118,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3379
$GC,2772,-0.75,-146.6,171.7,-3.4,133,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3379
$GC,3082,-0.75,-146.6,182.4,-3.8,148,3086,0.00,2.60,0.00,0.000,4,0.000,0.060,2164,811,3380
$GC,3115,-0.75,-146.6,183.9,-4.2,149,3121,0.00,2.58,0.00,0.000,6,0.000,0.048,2164,2229,3380
$GC,3431,-0.75,-146.6,198.5,-4.8,165,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3379
$GC,3740,-0.75,-146.6,221.9,-9.5,180,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3379
$GC,4049,-0.75,-146.6,248.9,-9.7,195,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3380
$GC,4358,-0.75,-146.6,279.4,-7.6,210,4362,0.00,2.62,0.00,0.000,4,0.000,0.061,2164,816,3379
$GC,4422,-0.81,-146.6,282.9,-5.4,213,4426,0.00,2.58,0.00,0.000,6,0.000,0.051,2164,2237,3379
$GC,4748,-0.81,-146.6,305.7,-8.0,229,4753,0.00,2.62,0.00,0.000,4,0.000,0.074,2164,3638,3380
$GC,4810,-0.81,-146.6,311.0,-7.5,232,4814,0.00,2.58,0.00,0.000,6,0.000,0.054,2164,2231,3379
$GC,5138,-1.02,-146.6,327.8,0.1,248,5139,0.25,0.00,0.00,0.000,6,0.061,0.000,2109,2227,3379
$STATE,5257,end dive,NO_VERTICAL_VELOCITY
$STATE,5257,begin apogee
$GC,5264,-0.31,0.0,327.3,0.0,254,5392,0.73,0.00,125.28,0.840,6,0.077,0.000,2260,2226,2781
$STATE,5393,end apogee,CONTROL_FINISHED_OK
$STATE,5393,begin climb
$GC,5397,0.85,146.6,326.2,0.0,260,5528,1.15,2.78,123.78,0.830,4,0.068,0.074,2508,3653,2183
$GC,5784,0.86,249.5,318.5,3.2,277,5878,0.00,2.62,86.75,0.821,6,0.000,0.056,2508,2235,1762
$GC,6201,0.86,249.5,287.0,8.1,298,6206,0.00,2.70,0.00,0.000,4,0.000,0.074,2508,3647,1761
$GC,6274,0.86,249.5,281.5,7.4,301,6278,0.00,2.60,0.00,0.000,6,0.000,0.057,2509,2237,1761
$GC,6590,0.86,249.5,255.4,8.7,316,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2237,1761
$GC,6899,0.92,298.7,235.0,4.7,331,6948,0.00,2.75,41.67,0.782,4,0.000,0.067,2508,831,1562
$GC,7008,1.13,437.5,232.4,2.2,336,7131,0.32,2.60,115.12,0.787,6,0.046,0.053,2584,2241,998
$GC,7441,1.06,437.5,200.8,8.7,357,7446,0.12,2.65,0.00,0.000,4,0.100,0.066,2561,830,997
$GC,7491,1.06,437.5,196.8,7.2,359,7495,0.00,2.58,0.00,0.000,6,0.000,0.051,2561,2240,997
$GC,7806,1.06,437.5,171.7,8.7,374,7811,0.00,2.65,0.00,0.000,4,0.000,0.065,2562,830,996
$GC,7874,1.06,437.5,165.8,8.9,377,7878,0.00,2.58,0.00,0.000,6,0.000,0.050,2561,2241,997
$GC,8195,1.06,437.5,136.3,9.2,393,8199,0.00,2.65,0.00,0.000,4,0.000,0.064,2561,826,997
$GC,8250,1.06,437.5,131.2,8.9,395,8256,0.00,2.58,0.00,0.000,6,0.000,0.049,2561,2243,996
$GC,8566,1.06,437.5,100.4,9.9,411,8571,0.00,2.65,0.00,0.000,4,0.000,0.064,2561,830,997
$GC,8622,1.06,437.5,95.1,8.8,413,8628,0.00,2.58,0.00,0.000,6,0.000,0.049,2560,2247,997
$GC,8938,1.06,437.5,69.8,7.2,429,8942,0.00,2.65,0.00,0.000,4,0.000,0.064,2560,830,997
$GC,9010,1.06,437.5,64.6,7.6,432,9014,0.00,2.55,0.00,0.000,6,0.000,0.048,2561,2240,997
$GC,9328,1.11,437.5,39.3,7.9,447,9333,0.00,2.62,0.00,0.000,4,0.000,0.063,2560,828,997
$GC,9414,1.18,437.5,30.8,10.4,451,9419,0.12,2.55,0.00,0.000,6,0.051,0.047,2590,2240,997
$STATE,9676,end climb,SURFACE_DEPTH_REACHED
$STATE,9676,begin surface coast
$FINISH,0.8,1.026862
$STATE,9702,end surface coast,CONTROL_FINISHED_OK
$STATE,9702,begin surface
$SM_CCo,9724,59.33,0.607,0,0,510,557.32
$SM_GC,1.26,0.00,0.00,59.33,0.000,0.000,0.607,71,2242,510,-10.39,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1915
$TCM_TEMP,17.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,18.4
$24V_AH,23.2,49.067
$10V_AH,10.1,24.541
$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,25.425,88.775,492.600,59.325,0.000,18.378,27.552,105.274,4.500,0.000,0.000,37.111,882.071,6976.938,637.236,1225.182,351.413,0.000,1278.290,0.000,1166.425,0.000,26.814
$DEVICE_MAMPS,169.507,77.467,839.865,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.054,314.117,415.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22277,465
$CAP_FILE_SIZE,76505,0
$CFSIZE,260165632,241483776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040808,044258,6411.232,-1120.317,30,2.6,49,-11.5