version: 66.03
glider: 16
mission: 9
dive: 305
start: 8 4 108 21 55 27
data:
$ID,16
$MISSION,9
$DIVE,305
$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,-2099894
$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,18
$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
$GPS1,215029,6417.406,-1126.140,9,7.7,28,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-51.1
$GPS2,215507,6417.429,-1126.023,15,1.3,31,-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,324.4,26096,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,142,0.00,0.00,-115.90,0.000,2,0.000,0.000,71,2231,2888
$GC,145,-0.85,-146.6,3.5,-2.5,6,176,11.62,2.67,-12.38,0.000,4,0.170,0.077,2139,3635,3380
$GC,274,-0.72,-146.6,21.2,-11.8,11,281,0.17,2.55,0.00,0.000,6,0.089,0.051,2174,2227,3380
$GC,593,-0.72,-146.6,52.2,-8.6,27,597,0.00,2.58,0.00,0.000,4,0.000,0.058,2174,817,3380
$GC,626,-0.77,-146.6,55.2,-8.2,28,633,0.00,2.58,0.00,0.000,6,0.000,0.048,2174,2235,3380
$GC,942,-0.77,-146.6,81.6,-7.9,44,946,0.00,2.62,0.00,0.000,4,0.000,0.067,2174,3645,3380
$GC,992,-0.77,-146.6,85.3,-7.0,46,996,0.00,2.55,0.00,0.000,6,0.000,0.048,2174,2228,3380
$GC,1308,-0.77,-146.6,102.2,-5.0,61,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3381
$GC,1618,-0.77,-146.6,115.5,-4.2,76,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3381
$GC,1929,-0.77,-146.6,128.8,-4.9,91,1934,0.00,2.65,0.00,0.000,4,0.000,0.071,2174,3638,3381
$GC,1963,-0.77,-146.6,130.7,-4.7,92,1969,0.00,2.55,0.00,0.000,6,0.000,0.050,2174,2225,3381
$GC,2279,-0.77,-146.6,144.9,-4.9,108,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2225,3381
$GC,2590,-0.77,-146.6,159.7,-5.2,123,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2225,3381
$GC,2897,-0.77,-146.6,174.5,-3.8,138,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2225,3381
$GC,3206,-0.77,-146.6,181.5,-1.7,153,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2225,3381
$GC,3516,-0.77,-146.6,188.6,-3.0,168,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2225,3381
$GC,3825,-0.77,-146.6,203.4,-5.8,183,3829,0.00,2.67,0.00,0.000,4,0.000,0.074,2174,3643,3381
$GC,3858,-0.77,-146.6,205.7,-7.0,184,3864,0.00,2.55,0.00,0.000,6,0.000,0.050,2174,2228,3381
$GC,4174,-0.77,-146.6,226.6,-7.0,200,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3381
$GC,4483,-0.77,-146.6,249.3,-6.9,215,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3381
$GC,4792,-0.77,-146.6,272.1,-7.5,230,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3381
$GC,5102,-0.77,-146.6,291.7,-5.7,245,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3381
$GC,5411,-0.81,-146.6,310.1,-6.2,260,5415,0.00,2.60,0.00,0.000,4,0.000,0.065,2174,821,3381
$GC,5455,-0.91,-146.6,312.5,-6.3,262,5460,0.20,2.58,0.00,0.000,6,0.041,0.054,2118,2229,3381
$GC,5777,-0.75,-146.6,336.4,-8.1,278,5779,0.22,0.00,0.00,0.000,6,0.087,0.000,2162,2229,3380
$GC,6085,-0.75,-146.6,359.3,-7.1,293,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2229,3379
$STATE,6186,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6186,begin apogee
$GC,6193,-0.31,0.0,366.7,8.0,298,6323,0.47,0.00,126.60,0.861,6,0.090,0.000,2259,2229,2781
$STATE,6324,end apogee,CONTROL_FINISHED_OK
$STATE,6324,begin climb
$GC,6327,0.85,146.6,371.3,0.0,304,6459,1.17,2.70,125.38,0.848,4,0.071,0.061,2508,828,2182
$GC,6595,0.79,146.6,360.6,8.0,317,6599,0.00,2.62,0.00,0.000,6,0.000,0.052,2508,2244,2181
$GC,6911,0.74,146.6,339.0,6.3,332,6915,0.00,2.67,0.00,0.000,4,0.000,0.077,2508,3652,2181
$GC,7008,0.68,176.2,333.5,5.2,336,7040,0.15,2.60,26.02,0.803,6,0.100,0.055,2479,2242,2062
$GC,7351,0.74,176.2,318.2,6.8,353,7356,0.00,2.65,0.00,0.000,4,0.000,0.067,2479,828,2061
$GC,7453,0.86,230.6,313.1,4.5,357,7507,0.17,2.60,46.65,0.816,6,0.059,0.053,2515,2240,1841
$GC,7830,0.86,230.6,283.7,9.1,376,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2240,1840
$GC,8139,0.89,254.3,261.9,5.4,391,8165,0.00,2.75,20.95,0.769,4,0.000,0.066,2516,823,1744
$GC,8223,0.93,290.7,258.0,5.0,395,8264,0.00,2.62,31.62,0.782,6,0.000,0.053,2516,2246,1596
$GC,8574,0.98,290.7,237.6,6.6,412,8576,0.12,0.00,0.00,0.000,6,0.077,0.000,2542,2245,1595
$GC,8884,0.98,290.7,214.6,6.9,427,8888,0.00,2.65,0.00,0.000,4,0.000,0.074,2543,3651,1594
$GC,8929,0.98,290.7,211.2,7.7,429,8933,0.00,2.60,0.00,0.000,6,0.000,0.056,2543,2241,1594
$GC,9250,1.01,311.5,191.8,5.4,445,9274,0.00,2.70,18.65,0.723,4,0.000,0.064,2543,837,1509
$GC,9321,1.01,311.5,187.2,6.5,448,9326,0.00,2.58,0.00,0.000,6,0.000,0.051,2543,2242,1508
$GC,9642,1.01,311.5,162.6,8.8,464,9643,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2242,1508
$GC,9951,1.01,311.5,135.0,8.5,479,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2242,1508
$GC,10261,1.01,311.5,110.8,8.0,494,10266,0.00,2.65,0.00,0.000,4,0.000,0.063,2543,820,1508
$GC,10334,1.01,311.5,104.2,9.6,497,10338,0.00,2.60,0.00,0.000,6,0.000,0.048,2543,2249,1508
$GC,10651,1.01,311.5,75.1,10.5,512,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2249,1509
$GC,10960,1.01,311.5,45.9,8.4,527,10964,0.00,2.65,0.00,0.000,4,0.000,0.061,2543,828,1509
$GC,11003,1.01,311.5,41.8,8.7,529,11008,0.00,2.55,0.00,0.000,6,0.000,0.048,2543,2240,1509
$GC,11325,1.01,311.5,15.2,7.8,545,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2240,1509
$STATE,11508,end climb,SURFACE_DEPTH_REACHED
$STATE,11508,begin surface coast
$FINISH,0.7,1.017024
$STATE,11531,end surface coast,CONTROL_FINISHED_OK
$STATE,11531,begin surface
$SM_CCo,11553,121.25,0.596,0,0,508,557.57
$SM_GC,1.21,0.00,0.00,121.25,0.000,0.000,0.596,72,2241,508,-10.38,0.31,557.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1891
$TCM_TEMP,17.50
$XPDR_PINGS,18
$ALTIM_TOP_PING,18.5,18.4
$ALTIM_BOTTOM_PING,275.3,100.3
$24V_AH,23.7,49.960
$10V_AH,10.2,24.924
$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,24.950,73.350,395.875,121.250,0.000,18.267,31.209,107.389,6.500,0.000,0.000,30.987,1012.385,8716.023,636.648,1226.879,372.213,0.000,1257.178,0.000,1189.446,0.000,15.402
$DEVICE_MAMPS,169.507,76.700,860.574,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.464,378.272,465.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28454,555
$CAP_FILE_SIZE,80552,0
$CFSIZE,260165632,241221632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050808,011128,6419.480,-1122.089,25,3.1,44,-11.6