version: 66.03
glider: 16
mission: 9
dive: 309
start: 8 5 108 10 18 45
data:
$ID,16
$MISSION,9
$DIVE,309
$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,-2099981.8
$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
$GPS1,101338,6420.613,-1127.959,41,1.3,41,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-56.7
$GPS2,101826,6420.673,-1127.863,10,1.6,15,-11.7
$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,315.2,21212,-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,-120.72,0.000,2,0.000,0.000,66,2246,3000
$GC,150,-0.85,-146.6,4.2,-3.4,6,176,11.65,2.60,-8.40,0.000,4,0.170,0.076,2139,3637,3380
$GC,234,-0.76,-146.6,17.6,-9.2,10,239,0.12,2.58,0.00,0.000,6,0.095,0.048,2162,2224,3381
$GC,562,-0.70,-146.6,42.4,-6.9,26,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2224,3382
$GC,870,-0.65,-146.6,66.4,-8.1,41,872,0.12,0.00,0.00,0.000,6,0.096,0.000,2186,2224,3382
$GC,1181,-0.69,-146.6,86.8,-5.8,56,1185,0.00,2.65,0.00,0.000,4,0.000,0.067,2187,3643,3382
$GC,1214,-0.74,-146.6,89.0,-6.3,57,1220,0.00,2.53,0.00,0.000,6,0.000,0.044,2186,2228,3382
$GC,1530,-0.79,-146.6,101.4,-3.5,73,1535,0.15,2.58,0.00,0.000,4,0.041,0.058,2134,819,3382
$GC,1572,-0.73,-146.6,103.4,-5.7,75,1577,0.17,2.55,0.00,0.000,6,0.087,0.048,2167,2229,3382
$GC,1899,-0.73,-146.6,121.2,-5.9,91,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3382
$GC,2208,-0.73,-146.6,142.9,-7.4,106,2212,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,3637,3382
$GC,2241,-0.73,-146.6,145.5,-7.6,107,2248,0.00,2.53,0.00,0.000,6,0.000,0.048,2167,2231,3382
$GC,2557,-0.73,-146.6,166.1,-6.4,123,2561,0.00,2.58,0.00,0.000,4,0.000,0.058,2168,817,3383
$GC,2601,-0.79,-146.6,168.9,-6.0,125,2606,0.00,2.55,0.00,0.000,6,0.000,0.048,2168,2229,3383
$GC,2924,-0.79,-146.6,189.7,-6.8,141,2928,0.00,2.62,0.00,0.000,4,0.000,0.070,2168,3638,3382
$GC,2956,-0.79,-146.6,192.2,-7.4,142,2962,0.00,2.55,0.00,0.000,6,0.000,0.050,2168,2226,3383
$GC,3272,-0.79,-146.6,213.3,-7.2,158,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2226,3383
$GC,3581,-0.79,-146.6,239.7,-8.8,173,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2225,3383
$GC,3890,-0.79,-146.6,264.9,-8.0,188,3894,0.00,2.60,0.00,0.000,4,0.000,0.062,2167,814,3383
$GC,3946,-0.87,-146.6,269.4,-7.9,190,3953,0.12,2.58,0.00,0.000,6,0.048,0.052,2126,2227,3382
$GC,4263,-0.77,-146.6,297.8,-8.7,206,4268,0.15,2.65,0.00,0.000,4,0.087,0.075,2160,3643,3382
$GC,4296,-0.77,-146.6,300.7,-7.9,207,4302,0.00,2.58,0.00,0.000,6,0.000,0.054,2160,2230,3382
$GC,4612,-0.77,-146.6,323.7,-7.3,223,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2231,3381
$GC,4920,-0.77,-146.6,344.1,-7.6,238,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2230,3380
$GC,5230,-0.77,-146.6,365.4,-5.3,253,5234,0.00,2.62,0.00,0.000,4,0.000,0.064,2160,817,3380
$GC,5270,-0.77,-146.6,368.2,-8.2,255,5274,0.00,2.60,0.00,0.000,6,0.000,0.055,2160,2229,3380
$STATE,5429,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5429,begin apogee
$GC,5435,-0.31,0.0,380.5,8.7,263,5566,0.47,0.00,127.32,0.896,6,0.086,0.000,2258,2229,2781
$STATE,5566,end apogee,CONTROL_FINISHED_OK
$STATE,5566,begin climb
$GC,5569,0.85,146.6,385.9,0.0,269,5704,1.17,2.75,125.65,0.881,4,0.071,0.063,2508,829,2181
$GC,5772,0.97,317.2,382.9,1.3,278,5923,0.15,2.62,144.40,0.867,6,0.061,0.053,2542,2242,1486
$GC,6254,0.93,317.2,344.8,9.3,302,6258,0.00,2.70,0.00,0.000,4,0.000,0.067,2542,830,1485
$GC,6303,0.93,317.2,339.3,10.0,304,6307,0.00,2.60,0.00,0.000,6,0.000,0.053,2542,2241,1484
$GC,6619,0.93,317.2,312.1,7.4,319,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2241,1484
$GC,6928,0.93,317.2,280.1,10.0,334,6933,0.00,2.70,0.00,0.000,4,0.000,0.067,2542,824,1483
$GC,6969,0.93,317.2,276.2,9.5,336,6973,0.00,2.62,0.00,0.000,6,0.000,0.054,2542,2246,1482
$GC,7295,0.93,317.2,245.8,8.9,352,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2246,1482
$GC,7605,0.93,317.2,221.3,7.7,367,7610,0.00,2.67,0.00,0.000,4,0.000,0.067,2542,830,1482
$GC,7706,0.93,317.2,213.9,7.8,371,7712,0.00,2.60,0.00,0.000,6,0.000,0.052,2542,2247,1481
$GC,8022,0.93,317.2,186.6,9.7,387,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2247,1482
$GC,8331,0.93,317.2,156.5,9.6,402,8336,0.00,2.70,0.00,0.000,4,0.000,0.066,2542,822,1481
$GC,8375,0.93,317.2,152.1,9.4,404,8380,0.00,2.60,0.00,0.000,6,0.000,0.051,2542,2243,1481
$GC,8697,0.93,317.2,124.2,8.0,420,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2242,1481
$GC,9007,0.93,317.2,103.1,6.3,435,9011,0.00,2.65,0.00,0.000,4,0.000,0.063,2542,829,1481
$GC,9056,0.93,317.2,100.0,6.1,437,9061,0.00,2.55,0.00,0.000,6,0.000,0.049,2542,2243,1481
$GC,9372,0.93,317.2,77.3,7.5,452,9376,0.00,2.65,0.00,0.000,4,0.000,0.062,2542,829,1481
$GC,9428,0.98,317.2,72.6,8.5,454,9434,0.00,2.55,0.00,0.000,6,0.000,0.048,2542,2240,1481
$GC,9744,0.98,317.2,44.6,9.3,470,9748,0.00,2.62,0.00,0.000,4,0.000,0.067,2542,3654,1481
$GC,9777,0.98,317.2,41.5,8.9,471,9783,0.00,2.55,0.00,0.000,6,0.000,0.052,2542,2240,1482
$GC,10094,0.98,317.2,15.6,7.8,487,10098,0.00,2.60,0.00,0.000,4,0.000,0.061,2542,823,1482
$GC,10144,0.98,317.2,11.3,8.3,489,10148,0.00,2.55,0.00,0.000,6,0.000,0.045,2542,2243,1482
$STATE,10273,end climb,SURFACE_DEPTH_REACHED
$STATE,10273,begin surface coast
$FINISH,0.5,1.012555
$STATE,10293,end surface coast,CONTROL_FINISHED_OK
$STATE,10293,begin surface
$SM_CCo,10315,116.57,0.614,0,0,508,557.32
$SM_GC,1.21,0.00,0.00,116.57,0.000,0.000,0.614,65,2242,508,-10.42,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1916
$TCM_TEMP,17.60
$XPDR_PINGS,24
$ALTIM_TOP_PING,18.8,17.6
$ALTIM_BOTTOM_PING,350.2,39.0
$24V_AH,23.6,50.475
$10V_AH,10.1,25.145
$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,24.975,93.850,397.375,116.575,0.000,18.346,32.519,120.584,9.000,0.000,0.000,15.736,917.261,7650.914,653.151,1125.416,382.865,0.000,1239.802,0.000,1098.632,0.000,23.005
$DEVICE_MAMPS,169.507,75.933,895.856,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.667,335.955,448.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25376,496
$CAP_FILE_SIZE,78689,0
$CFSIZE,260165632,241070080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050808,131356,6423.012,-1124.979,38,1.8,38,-11.7