version: 66.03
glider: 16
mission: 9
dive: 302
start: 8 4 108 12 57 7
data:
$ID,16
$MISSION,9
$DIVE,302
$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,-2099836.8
$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,21
$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
$GPS1,124928,6416.600,-1122.921,32,3.0,51,-11.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-50.2
$GPS2,125650,6416.584,-1122.758,15,1.9,32,-11.6
$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,323.2,29079,-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,-120.93,0.000,2,0.000,0.000,72,2235,2991
$GC,153,-0.85,-146.6,3.7,-3.0,6,180,11.60,2.62,-9.00,0.000,4,0.169,0.077,2142,3638,3379
$GC,301,-0.74,-146.6,24.2,-10.1,12,308,0.12,2.53,0.00,0.000,6,0.097,0.047,2166,2230,3380
$GC,617,-0.69,-146.6,53.1,-9.2,28,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3380
$GC,927,-0.69,-146.6,77.0,-5.9,43,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3380
$GC,1237,-0.69,-146.6,95.5,-6.9,58,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,1544,-0.69,-146.6,120.6,-8.9,73,1549,0.00,2.60,0.00,0.000,4,0.000,0.058,2166,810,3380
$GC,1577,-0.69,-146.6,123.8,-9.3,74,1583,0.00,2.58,0.00,0.000,6,0.000,0.048,2166,2233,3380
$GC,1895,-0.69,-146.6,150.0,-7.1,90,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2232,3381
$GC,2202,-0.69,-146.6,166.2,-4.6,105,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2233,3380
$GC,2512,-0.69,-146.6,178.3,-4.0,120,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2233,3380
$GC,2821,-0.69,-146.6,191.3,-4.1,135,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2233,3380
$GC,3130,-0.69,-146.6,204.6,-4.3,150,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2233,3380
$GC,3440,-0.69,-146.6,225.0,-7.5,165,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2233,3380
$GC,3748,-0.69,-146.6,244.5,-6.0,180,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2233,3380
$GC,4058,-0.69,-146.6,262.2,-7.0,195,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2233,3380
$GC,4367,-0.69,-146.6,284.4,-6.9,210,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2233,3380
$GC,4676,-0.69,-146.6,307.2,-7.5,225,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2233,3380
$GC,4985,-0.69,-146.6,329.7,-6.8,240,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2234,3380
$STATE,5292,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5292,begin apogee
$GC,5299,-0.31,0.0,351.0,6.5,255,5429,0.45,0.00,126.43,0.862,6,0.086,0.000,2259,2234,2781
$STATE,5430,end apogee,CONTROL_FINISHED_OK
$STATE,5430,begin climb
$GC,5433,0.85,146.6,354.8,0.0,261,5565,1.17,2.70,124.60,0.844,4,0.075,0.060,2508,828,2182
$GC,5770,0.85,146.6,345.1,7.2,276,5776,0.00,2.60,0.00,0.000,6,0.000,0.051,2508,2239,2181
$GC,6086,0.79,146.6,327.5,6.4,292,6090,0.00,2.67,0.00,0.000,4,0.000,0.074,2507,3647,2181
$GC,6269,0.73,146.6,315.1,6.7,300,6274,0.00,2.60,0.00,0.000,6,0.000,0.056,2507,2241,2181
$GC,6591,0.69,158.5,295.2,5.7,316,6609,0.15,0.00,11.38,0.752,6,0.094,0.000,2477,2241,2134
$GC,6919,0.73,158.5,276.5,6.5,332,6923,0.00,2.67,0.00,0.000,4,0.000,0.076,2477,3648,2133
$GC,7015,0.73,158.5,269.9,6.3,336,7019,0.00,2.60,0.00,0.000,6,0.000,0.055,2477,2237,2133
$GC,7332,0.83,203.2,253.7,4.8,351,7377,0.15,2.72,38.17,0.802,4,0.050,0.065,2517,832,1951
$GC,7465,0.79,224.0,246.8,5.4,357,7489,0.00,2.60,18.80,0.762,6,0.000,0.051,2517,2239,1867
$GC,7819,0.94,357.8,235.9,2.3,374,7940,0.00,2.72,111.62,0.794,4,0.000,0.072,2517,3648,1321
$GC,7992,1.08,388.5,229.9,5.2,382,8029,0.22,2.62,26.85,0.752,6,0.055,0.055,2570,2234,1197
$GC,8341,1.02,388.5,199.9,10.2,399,8345,0.00,2.62,0.00,0.000,4,0.000,0.064,2570,824,1196
$GC,8407,1.02,388.5,192.5,10.2,402,8411,0.00,2.60,0.00,0.000,6,0.000,0.049,2570,2247,1196
$GC,8728,0.98,388.5,161.2,10.0,418,8733,0.15,2.65,0.00,0.000,4,0.083,0.063,2536,828,1196
$GC,8774,0.98,388.5,157.1,9.3,420,8778,0.00,2.58,0.00,0.000,6,0.000,0.048,2536,2243,1195
$GC,9095,0.98,388.5,129.7,8.5,436,9100,0.00,2.65,0.00,0.000,4,0.000,0.062,2536,825,1196
$GC,9136,0.98,388.5,126.3,8.5,438,9140,0.00,2.58,0.00,0.000,6,0.000,0.048,2536,2242,1196
$GC,9463,0.98,388.5,96.0,9.6,454,9467,0.00,2.62,0.00,0.000,4,0.000,0.062,2536,824,1196
$GC,9512,0.98,388.5,90.9,9.6,456,9517,0.00,2.58,0.00,0.000,6,0.000,0.048,2536,2242,1196
$GC,9830,0.98,388.5,60.9,9.5,471,9834,0.00,2.65,0.00,0.000,4,0.000,0.062,2536,821,1196
$GC,9897,0.98,388.5,54.6,9.4,474,9901,0.00,2.58,0.00,0.000,6,0.000,0.048,2536,2242,1196
$GC,10218,0.98,388.5,26.2,8.2,490,10222,0.00,2.62,0.00,0.000,4,0.000,0.061,2536,827,1197
$GC,10258,1.04,388.5,22.6,8.8,492,10262,0.00,2.55,0.00,0.000,6,0.000,0.048,2536,2240,1196
$STATE,10500,end climb,SURFACE_DEPTH_REACHED
$STATE,10500,begin surface coast
$FINISH,0.7,1.027115
$STATE,10522,end surface coast,CONTROL_FINISHED_OK
$STATE,10522,begin surface
$SM_CCo,10544,84.10,0.609,0,0,509,557.32
$SM_GC,1.31,0.00,0.00,84.10,0.000,0.000,0.609,69,2241,509,-10.40,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1921
$TCM_TEMP,17.50
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.2,17.8
$ALTIM_BOTTOM_PING,275.9,84.0
$24V_AH,23.7,49.582
$10V_AH,10.1,24.755
$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,24.775,68.125,457.850,84.100,0.000,33.701,54.450,164.211,4.500,0.000,0.000,32.517,932.302,7845.309,635.851,1206.076,458.839,0.000,1258.327,0.000,1164.618,0.000,15.349
$DEVICE_MAMPS,168.740,76.700,862.108,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.168,342.928,408.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25386,505
$CAP_FILE_SIZE,76833,0
$CFSIZE,260165632,241340416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040808,155538,6415.713,-1122.950,42,1.5,42,-11.6