version: 66.03
glider: 16
mission: 9
dive: 267
start: 7 31 108 4 25 18
data:
$ID,16
$MISSION,9
$DIVE,267
$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,-2098961.8
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,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,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
$GPS1,042008,6415.876,-1134.032,34,1.1,34,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-52.7
$GPS2,042457,6415.878,-1133.920,17,1.3,17,-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,339.8,24274,-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,-146.6,0.0,0.0,0,146,0.00,0.00,-120.70,0.000,2,0.000,0.000,72,2245,3030
$GC,150,-0.85,-146.6,4.1,-3.5,6,175,11.50,2.62,-7.57,0.000,4,0.170,0.075,2108,3632,3381
$GC,406,-0.65,-146.6,39.7,-10.6,17,411,0.22,2.53,0.00,0.000,6,0.092,0.047,2152,2230,3382
$GC,724,-0.60,-146.6,65.7,-8.4,32,729,0.00,2.58,0.00,0.000,4,0.000,0.058,2152,817,3382
$GC,765,-0.60,-146.6,69.3,-9.0,34,769,0.00,2.55,0.00,0.000,6,0.000,0.045,2152,2230,3382
$GC,1092,-0.54,-146.6,96.3,-7.8,50,1094,0.15,0.00,0.00,0.000,6,0.097,0.000,2181,2230,3382
$GC,1401,-0.54,-146.6,115.8,-6.3,65,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3382
$GC,1710,-0.54,-146.6,136.0,-6.4,80,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3382
$GC,2019,-0.54,-146.6,155.7,-6.6,95,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3382
$GC,2328,-0.54,-146.6,176.8,-7.1,110,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3382
$GC,2638,-0.54,-146.6,198.6,-7.2,125,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3382
$GC,2947,-0.59,-146.6,223.0,-8.1,140,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2230,3382
$GC,3256,-0.63,-146.6,247.2,-7.4,155,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3382
$GC,3565,-0.67,-146.6,268.7,-6.8,170,3570,0.12,2.60,0.00,0.000,4,0.047,0.057,2141,817,3382
$GC,3606,-0.67,-146.6,272.0,-8.9,172,3610,0.00,2.55,0.00,0.000,6,0.000,0.048,2141,2230,3382
$GC,3932,-0.59,-146.6,299.1,-7.6,188,3937,0.15,2.62,0.00,0.000,4,0.087,0.069,2174,3644,3382
$GC,4000,-0.66,-146.6,303.3,-6.0,191,4004,0.00,2.55,0.00,0.000,6,0.000,0.048,2175,2223,3382
$GC,4321,-0.70,-146.6,323.0,-6.5,207,4326,0.12,2.58,0.00,0.000,4,0.048,0.060,2137,813,3382
$GC,4393,-0.70,-146.6,328.8,-8.1,210,4397,0.00,2.58,0.00,0.000,6,0.000,0.050,2137,2235,3382
$STATE,4603,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4603,begin apogee
$GC,4610,-0.31,0.0,346.4,9.2,220,4739,0.45,0.00,126.28,0.840,6,0.089,0.000,2227,2235,2781
$STATE,4740,end apogee,CONTROL_FINISHED_OK
$STATE,4740,begin climb
$GC,4743,0.85,146.6,350.4,0.0,226,4875,1.17,2.72,123.70,0.828,4,0.074,0.071,2478,3647,2183
$GC,5052,0.98,146.6,341.6,6.4,240,5057,0.15,2.58,0.00,0.000,6,0.048,0.054,2524,2241,2183
$GC,5369,0.93,187.9,325.3,4.9,255,5411,0.12,2.67,35.72,0.806,4,0.087,0.062,2499,829,2014
$GC,5451,0.90,213.9,321.2,5.3,258,5481,0.00,2.60,23.67,0.788,6,0.000,0.051,2499,2242,1907
$GC,5810,0.90,213.9,297.6,6.7,276,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2242,1906
$GC,6119,0.92,236.1,281.0,5.4,291,6143,0.00,2.72,19.35,0.769,4,0.000,0.073,2499,3654,1818
$GC,6239,0.92,236.1,273.6,6.2,296,6245,0.00,2.60,0.00,0.000,6,0.000,0.054,2499,2238,1818
$GC,6555,0.92,236.1,255.3,6.1,312,6559,0.00,2.60,0.00,0.000,4,0.000,0.062,2499,829,1818
$GC,6594,0.92,236.1,252.5,6.9,314,6599,0.00,2.58,0.00,0.000,6,0.000,0.051,2499,2241,1818
$GC,6921,0.92,236.1,228.8,7.7,330,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2241,1818
$GC,7231,0.92,236.1,206.0,7.0,345,7235,0.00,2.62,0.00,0.000,4,0.000,0.069,2499,3650,1818
$GC,7280,0.92,236.1,202.2,8.2,347,7285,0.00,2.55,0.00,0.000,6,0.000,0.051,2499,2234,1817
$GC,7596,0.95,255.9,183.4,5.5,362,7616,0.00,0.00,17.75,0.714,6,0.000,0.000,2499,2235,1737
$GC,7926,0.96,273.4,164.3,5.5,378,7948,0.00,2.70,15.93,0.694,4,0.000,0.068,2499,3641,1666
$GC,7977,0.96,273.4,161.0,6.8,380,7981,0.00,2.55,0.00,0.000,6,0.000,0.051,2499,2242,1666
$GC,8293,0.96,273.4,142.0,6.2,395,8297,0.00,2.60,0.00,0.000,4,0.000,0.061,2499,827,1666
$GC,8343,0.96,273.4,138.7,6.1,397,8348,0.00,2.55,0.00,0.000,6,0.000,0.047,2499,2242,1665
$GC,8659,0.96,273.4,118.9,6.5,412,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2242,1665
$GC,8968,0.96,273.4,96.6,7.1,427,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2242,1665
$GC,9280,0.96,273.4,76.5,6.2,442,9284,0.00,2.60,0.00,0.000,4,0.000,0.060,2499,827,1666
$GC,9320,1.02,273.4,73.8,6.7,444,9325,0.10,2.55,0.00,0.000,6,0.054,0.047,2531,2240,1666
$GC,9647,0.96,273.4,45.7,8.6,460,9649,0.12,0.00,0.00,0.000,6,0.087,0.000,2507,2241,1666
$GC,9957,0.96,273.4,24.8,6.6,475,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,1665
$GC,10265,0.96,273.4,4.3,7.1,490,10270,0.00,2.60,0.00,0.000,4,0.000,0.058,2507,821,1666
$STATE,10296,end climb,SURFACE_DEPTH_REACHED
$STATE,10296,begin surface coast
$FINISH,1.3,1.026977
$STATE,10309,end surface coast,CONTROL_FINISHED_OK
$STATE,10309,begin surface
$SM_CCo,10333,140.57,0.601,1,0,508,557.32
$SM_GC,1.33,0.00,0.00,140.57,0.000,0.000,0.601,71,2232,508,-10.25,0.06,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1896
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,18.6,17.5
$ALTIM_BOTTOM_PING,275.3,80.8
$24V_AH,23.7,45.079
$10V_AH,10.2,22.805
$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,24.925,72.725,362.400,140.575,0.000,33.469,41.786,105.925,3.500,0.000,0.000,17.632,917.494,7716.138,626.736,1146.688,373.162,0.000,1205.916,0.000,1120.052,0.000,15.342
$DEVICE_MAMPS,170.274,75.166,839.865,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.736,334.679,435.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25377,492
$CAP_FILE_SIZE,75430,0
$CFSIZE,260165632,242671616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,310708,072107,6417.322,-1128.207,14,0.9,30,-11.7