version: 66.03
glider: 16
mission: 9
dive: 303
start: 8 4 108 16 10 16
data:
$ID,16
$MISSION,9
$DIVE,303
$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,-2099851
$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,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
$GPS1,155538,6415.713,-1122.950,42,1.5,42,-11.6
$_CALLS,4
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-52.3
$GPS2,160957,6415.474,-1123.089,13,1.8,13,-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,326.4,30294,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.72,0.000,2,0.000,0.000,67,2244,3006
$GC,150,-0.85,-146.6,4.2,-3.3,6,176,11.60,2.60,-8.40,0.000,4,0.168,0.077,2140,3639,3381
$GC,290,-0.73,-146.6,22.9,-8.1,12,296,0.15,2.55,0.00,0.000,6,0.091,0.047,2169,2227,3381
$GC,607,-0.73,-146.6,43.4,-5.8,27,612,0.00,2.65,0.00,0.000,4,0.000,0.066,2168,3641,3381
$GC,652,-0.73,-146.6,46.4,-6.7,29,656,0.00,2.55,0.00,0.000,6,0.000,0.045,2169,2224,3381
$GC,973,-0.73,-146.6,67.5,-7.5,45,977,0.00,2.58,0.00,0.000,4,0.000,0.058,2169,817,3381
$GC,1023,-0.78,-146.6,71.4,-7.8,47,1028,0.00,2.55,0.00,0.000,6,0.000,0.046,2168,2232,3381
$GC,1339,-0.78,-146.6,98.0,-8.7,62,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2232,3381
$GC,1648,-0.78,-146.6,124.4,-8.1,77,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2232,3381
$GC,1958,-0.78,-146.6,148.5,-7.7,92,1963,0.00,2.62,0.00,0.000,4,0.000,0.057,2169,812,3381
$GC,1992,-0.84,-146.6,151.3,-7.8,93,1998,0.00,2.58,0.00,0.000,6,0.000,0.049,2169,2233,3381
$GC,2308,-0.84,-146.6,176.0,-8.1,109,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2233,3381
$GC,2617,-0.84,-146.6,200.9,-8.1,124,2622,0.00,2.62,0.00,0.000,4,0.000,0.071,2169,3640,3381
$GC,2651,-0.84,-146.6,203.9,-8.4,125,2657,0.00,2.53,0.00,0.000,6,0.000,0.048,2169,2229,3381
$GC,2967,-0.84,-146.6,229.4,-8.0,141,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3381
$GC,3276,-0.84,-146.6,255.4,-8.2,156,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3381
$GC,3585,-0.84,-146.6,280.4,-7.9,171,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3381
$GC,3894,-0.84,-146.6,306.5,-9.1,186,3899,0.00,2.65,0.00,0.000,4,0.000,0.073,2169,3637,3381
$GC,3922,-0.84,-146.6,309.3,-10.4,187,3926,0.00,2.55,0.00,0.000,6,0.000,0.051,2169,2228,3381
$GC,4238,-0.84,-146.6,333.0,-6.9,202,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3381
$STATE,4421,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4421,begin apogee
$GC,4427,-0.31,0.0,345.1,6.6,211,4557,0.45,0.00,126.68,0.845,6,0.089,0.000,2261,2228,2782
$STATE,4558,end apogee,CONTROL_FINISHED_OK
$STATE,4558,begin climb
$GC,4561,0.85,146.6,351.0,0.0,217,4695,1.17,2.65,125.22,0.830,4,0.075,0.060,2512,829,2182
$GC,4816,0.82,188.8,345.3,4.8,229,4859,0.00,2.60,36.65,0.795,6,0.000,0.050,2512,2240,2011
$GC,5168,0.82,188.8,323.8,6.6,246,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,2011
$GC,5477,0.82,188.8,302.2,7.4,261,5481,0.00,2.67,0.00,0.000,4,0.000,0.075,2511,3651,2011
$GC,5594,0.82,188.8,293.2,7.6,266,5599,0.00,2.60,0.00,0.000,6,0.000,0.054,2512,2237,2011
$GC,5910,0.89,254.9,276.0,4.2,281,5972,0.00,0.00,56.55,0.792,6,0.000,0.000,2511,2237,1741
$GC,6282,0.90,262.7,256.2,5.8,299,6296,0.00,2.72,8.15,0.674,4,0.000,0.074,2511,3645,1709
$GC,6337,0.95,262.7,252.6,7.1,301,6342,0.12,2.58,0.00,0.000,6,0.051,0.054,2548,2242,1709
$GC,6653,0.88,262.7,224.8,9.6,316,6658,0.15,2.65,0.00,0.000,4,0.090,0.062,2515,820,1708
$GC,6733,0.88,262.7,218.8,7.4,319,6739,0.00,2.60,0.00,0.000,6,0.000,0.049,2515,2247,1708
$GC,7049,0.88,262.7,197.4,6.6,335,7053,0.00,2.62,0.00,0.000,4,0.000,0.071,2515,3647,1708
$GC,7089,0.92,262.7,194.9,6.5,337,7093,0.00,2.58,0.00,0.000,6,0.000,0.053,2515,2237,1708
$GC,7415,0.92,262.7,173.5,7.1,353,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2237,1707
$GC,7724,0.92,262.7,150.2,7.3,368,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2237,1708
$GC,8034,0.92,262.7,128.5,7.0,383,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2237,1708
$GC,8344,0.92,262.7,105.3,7.4,398,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2237,1708
$GC,8653,0.96,262.7,82.7,7.7,413,8654,0.10,0.00,0.00,0.000,6,0.054,0.000,2548,2237,1708
$GC,8962,0.90,262.7,49.3,11.4,428,8964,0.12,0.00,0.00,0.000,6,0.087,0.000,2523,2237,1708
$GC,9273,0.90,262.7,23.5,7.2,443,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2237,1708
$GC,9580,0.90,262.7,2.3,6.4,458,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2237,1708
$STATE,9598,end climb,SURFACE_DEPTH_REACHED
$STATE,9598,begin surface coast
$FINISH,0.7,1.027057
$STATE,9620,end surface coast,CONTROL_FINISHED_OK
$STATE,9620,begin surface
$SM_CCo,9641,142.57,0.591,0,0,508,557.32
$SM_GC,1.23,0.00,0.00,142.57,0.000,0.000,0.591,68,2234,508,-10.41,0.11,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1896
$TCM_TEMP,17.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.3,18.2
$ALTIM_BOTTOM_PING,301.1,53.4
$24V_AH,23.7,49.717
$10V_AH,10.2,24.812
$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,24.475,57.300,353.250,142.575,0.000,90.286,193.271,277.209,4.250,0.000,0.000,13.523,843.191,7428.487,605.213,1022.071,753.586,0.000,1132.273,0.000,1000.383,0.000,22.770
$DEVICE_MAMPS,167.973,76.700,845.234,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.107,312.310,413.362,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22216,460
$CAP_FILE_SIZE,74477,0
$CFSIZE,260165632,241303552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,040808,185438,6415.221,-1126.475,37,1.4,37,-11.6