version: 66.03
glider: 16
mission: 9
dive: 265
start: 7 30 108 22 29 53
data:
$ID,16
$MISSION,9
$DIVE,265
$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,-2098909.5
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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,24
$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
$GPS1,222231,6416.604,-1138.258,37,1.8,42,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-54.4
$GPS2,222936,6416.564,-1138.004,13,1.7,22,-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,345.3,21572,-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,-146.6,0.0,0.0,0,148,0.00,0.00,-121.10,0.000,2,0.000,0.000,64,2245,3060
$GC,151,-0.85,-146.6,4.6,-4.0,6,176,11.50,2.62,-6.72,0.000,4,0.170,0.075,2115,3635,3381
$GC,374,-0.67,-146.6,33.6,-9.9,16,379,0.20,2.53,0.00,0.000,6,0.097,0.048,2153,2232,3381
$GC,702,-0.61,-146.6,60.9,-8.2,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2231,3381
$GC,1012,-0.56,-146.6,87.3,-8.7,47,1013,0.12,0.00,0.00,0.000,6,0.098,0.000,2177,2231,3381
$GC,1321,-0.56,-146.6,112.1,-8.0,62,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2231,3380
$GC,1629,-0.56,-146.6,137.9,-8.5,77,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2231,3382
$GC,1938,-0.56,-146.6,161.2,-7.2,92,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2231,3382
$GC,2247,-0.56,-146.6,184.7,-7.4,107,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2231,3382
$GC,2556,-0.56,-146.6,207.5,-6.8,122,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2231,3382
$GC,2866,-0.56,-146.6,227.5,-6.6,137,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2231,3381
$GC,3179,-0.56,-146.6,250.7,-7.7,152,3183,0.00,2.58,0.00,0.000,4,0.000,0.059,2178,815,3381
$GC,3229,-0.65,-146.6,254.8,-7.4,154,3233,0.00,2.55,0.00,0.000,6,0.000,0.047,2178,2232,3381
$GC,3546,-0.65,-146.6,275.0,-6.2,169,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2233,3381
$GC,3854,-0.69,-146.6,294.9,-6.5,184,3856,0.12,0.00,0.00,0.000,6,0.047,0.000,2136,2233,3381
$GC,4163,-0.62,-146.6,321.3,-8.2,199,4165,0.15,0.00,0.00,0.000,6,0.087,0.000,2166,2233,3381
$GC,4473,-0.62,-146.6,343.5,-7.4,214,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2233,3381
$STATE,4511,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4512,begin apogee
$GC,4518,-0.31,0.0,346.4,7.3,216,4646,0.32,0.00,125.65,0.834,6,0.091,0.000,2232,2233,2781
$STATE,4647,end apogee,CONTROL_FINISHED_OK
$STATE,4647,begin climb
$GC,4650,0.85,146.6,351.6,0.0,222,4779,1.17,0.00,124.15,0.820,6,0.079,0.000,2480,2233,2183
$GC,5089,1.01,254.1,339.9,3.1,244,5187,0.17,2.72,90.62,0.815,4,0.055,0.071,2525,3647,1745
$GC,5256,1.01,254.1,329.3,7.6,251,5260,0.00,2.62,0.00,0.000,6,0.000,0.055,2525,2232,1745
$GC,5582,1.01,254.1,305.6,7.4,267,5587,0.00,2.62,0.00,0.000,4,0.000,0.065,2525,823,1744
$GC,5627,1.01,254.1,301.8,8.1,269,5631,0.00,2.60,0.00,0.000,6,0.000,0.051,2525,2245,1743
$GC,5948,1.01,254.1,275.7,7.9,285,5952,0.00,2.65,0.00,0.000,4,0.000,0.064,2525,828,1743
$GC,6014,1.01,254.1,270.0,8.6,288,6018,0.00,2.58,0.00,0.000,6,0.000,0.050,2525,2246,1742
$GC,6335,1.01,254.1,244.2,7.9,304,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2246,1742
$GC,6644,1.01,254.1,220.7,7.4,319,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2246,1742
$GC,6954,1.01,254.1,198.2,7.2,334,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2246,1741
$GC,7262,1.01,254.1,178.3,6.9,349,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2246,1741
$GC,7572,1.01,254.1,156.4,7.1,364,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2246,1742
$GC,7882,1.01,254.1,133.3,7.5,379,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2246,1741
$GC,8191,1.01,254.1,111.1,6.8,394,8195,0.00,2.60,0.00,0.000,4,0.000,0.067,2525,3651,1742
$GC,8230,1.01,254.1,108.2,7.9,396,8235,0.00,2.55,0.00,0.000,6,0.000,0.052,2525,2239,1741
$GC,8558,1.01,254.1,85.7,6.9,412,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2238,1741
$GC,8867,1.01,254.1,64.1,7.0,427,8868,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2238,1741
$GC,9177,1.01,254.1,43.6,7.3,442,9182,0.00,2.60,0.00,0.000,4,0.000,0.061,2525,818,1741
$GC,9218,1.01,254.1,40.3,9.3,444,9223,0.00,2.58,0.00,0.000,6,0.000,0.047,2525,2249,1742
$GC,9546,1.01,254.1,15.5,7.4,460,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2250,1741
$STATE,9750,end climb,SURFACE_DEPTH_REACHED
$STATE,9750,begin surface coast
$FINISH,0.8,1.026958
$STATE,9771,end surface coast,CONTROL_FINISHED_OK
$STATE,9771,begin surface
$SM_CCo,9792,146.65,0.589,0,0,508,557.32
$SM_GC,1.35,0.00,0.00,146.65,0.000,0.000,0.589,75,2251,508,-10.24,0.59,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1901
$TCM_TEMP,17.60
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,326.0,28.9
$24V_AH,23.7,44.840
$10V_AH,10.2,22.694
$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,24.450,36.400,340.425,146.650,0.000,36.384,109.719,104.807,4.000,0.000,0.000,22.385,842.958,7517.141,609.703,975.149,427.258,0.000,1082.625,0.000,950.313,0.000,24.238
$DEVICE_MAMPS,169.507,75.166,834.496,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.042,320.131,420.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22252,471
$CAP_FILE_SIZE,62753,0
$CFSIZE,260165632,242757632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310708,011707,6415.983,-1135.147,43,1.7,54,-11.7