version: 66.03
glider: 16
mission: 9
dive: 268
start: 7 31 108 7 25 42
data:
$ID,16
$MISSION,9
$DIVE,268
$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,-2098974.8
$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,22
$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
$GPS1,072107,6417.322,-1128.207,14,0.9,30,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-54.2
$GPS2,072521,6417.345,-1127.999,12,1.8,12,-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,327.2,25072,-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,-115.90,0.000,2,0.000,0.000,71,2235,2957
$GC,145,-0.85,-146.6,4.4,-3.6,6,172,11.43,2.62,-9.35,0.000,4,0.168,0.076,2106,3642,3379
$GC,388,-0.65,-146.6,37.7,-11.2,17,393,0.25,2.55,0.00,0.000,6,0.091,0.047,2155,2227,3380
$GC,715,-0.60,-146.6,60.8,-6.1,33,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2227,3381
$GC,1025,-0.54,-146.6,81.1,-6.7,48,1026,0.12,0.00,0.00,0.000,6,0.097,0.000,2180,2227,3380
$GC,1334,-0.54,-146.6,100.2,-6.3,63,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2227,3381
$GC,1643,-0.54,-146.6,119.0,-6.1,78,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2227,3381
$GC,1953,-0.54,-146.6,138.0,-6.1,93,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2227,3381
$GC,2262,-0.54,-146.6,156.9,-6.0,108,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2227,3381
$GC,2573,-0.54,-146.6,175.0,-5.7,123,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2227,3381
$GC,2880,-0.54,-146.6,192.3,-5.8,138,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2226,3381
$GC,3190,-0.54,-146.6,210.4,-6.0,153,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2227,3381
$GC,3498,-0.54,-146.6,230.6,-6.6,168,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2227,3381
$GC,3807,-0.54,-146.6,249.7,-5.9,183,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2226,3380
$GC,4118,-0.59,-146.6,267.2,-5.6,198,4122,0.00,2.65,0.00,0.000,4,0.000,0.071,2180,3642,3380
$GC,4158,-0.64,-146.6,269.2,-4.9,200,4162,0.00,2.55,0.00,0.000,6,0.000,0.048,2180,2224,3379
$GC,4486,-0.69,-146.6,282.9,-4.3,216,4491,0.15,2.58,0.00,0.000,4,0.044,0.059,2127,816,3380
$GC,4549,-0.64,-146.6,287.4,-7.7,219,4554,0.15,2.58,0.00,0.000,6,0.093,0.050,2156,2233,3380
$GC,4876,-0.64,-146.6,307.6,-6.4,235,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2233,3380
$GC,5185,-0.64,-146.6,330.5,-7.6,250,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2234,3380
$GC,5495,-0.58,-146.6,352.7,-5.9,265,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2234,3379
$STATE,5574,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5574,begin apogee
$GC,5581,-0.31,0.0,359.2,8.0,269,5710,0.38,0.00,125.78,0.866,6,0.093,0.000,2231,2234,2781
$STATE,5710,end apogee,CONTROL_FINISHED_OK
$STATE,5710,begin climb
$GC,5713,0.85,146.6,364.6,0.0,275,5842,1.15,0.00,125.35,0.850,6,0.072,0.000,2478,2234,2183
$GC,6151,0.94,233.6,347.6,3.6,297,6230,0.12,0.00,74.72,0.836,6,0.051,0.000,2517,2234,1828
$GC,6540,0.94,233.6,319.3,8.2,316,6544,0.00,2.67,0.00,0.000,4,0.000,0.074,2516,3654,1828
$GC,6567,0.94,233.6,317.0,8.3,317,6571,0.00,2.60,0.00,0.000,6,0.000,0.058,2516,2244,1828
$GC,6882,0.94,233.6,293.0,7.7,332,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2244,1828
$GC,7192,0.94,233.6,272.4,6.1,347,7196,0.00,2.62,0.00,0.000,4,0.000,0.066,2516,828,1827
$GC,7288,0.94,233.6,266.2,6.2,351,7292,0.00,2.58,0.00,0.000,6,0.000,0.051,2517,2242,1826
$GC,7604,0.94,233.6,246.1,6.3,366,7609,0.00,2.65,0.00,0.000,4,0.000,0.072,2516,3653,1826
$GC,7699,0.94,233.6,239.7,6.7,370,7704,0.00,2.58,0.00,0.000,6,0.000,0.054,2516,2237,1826
$GC,8015,0.94,235.4,221.8,5.9,385,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2237,1826
$GC,8325,0.94,235.4,201.1,7.4,400,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2237,1825
$GC,8633,0.94,235.4,176.7,8.1,415,8638,0.00,2.62,0.00,0.000,4,0.000,0.070,2517,3649,1825
$GC,8683,0.94,235.4,172.2,8.6,417,8688,0.00,2.55,0.00,0.000,6,0.000,0.051,2517,2238,1825
$GC,9000,0.94,235.4,147.4,7.6,432,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2238,1825
$GC,9310,0.94,235.4,125.9,6.6,447,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2238,1825
$GC,9618,0.94,235.4,106.3,6.3,462,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2238,1825
$GC,9928,0.94,236.0,87.4,6.0,477,9932,0.00,2.62,0.00,0.000,4,0.000,0.067,2517,3648,1825
$GC,9978,0.94,236.0,83.8,7.4,479,9982,0.00,2.55,0.00,0.000,6,0.000,0.051,2517,2234,1826
$GC,10294,0.94,236.0,63.9,6.2,494,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2234,1826
$GC,10603,0.94,236.0,45.3,6.3,509,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2234,1825
$GC,10913,0.94,236.0,25.7,6.1,524,10914,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2234,1826
$GC,11222,1.02,267.3,8.6,5.1,539,11257,0.00,2.70,28.05,0.611,4,0.000,0.067,2517,3642,1691
$GC,11289,1.06,267.3,4.9,6.6,542,11294,0.00,2.55,0.00,0.000,6,0.000,0.051,2517,2242,1691
$STATE,11326,end climb,SURFACE_DEPTH_REACHED
$STATE,11326,begin surface coast
$FINISH,0.9,1.026983
$STATE,11346,end surface coast,CONTROL_FINISHED_OK
$STATE,11346,begin surface
$SM_CCo,11368,142.20,0.606,0,0,509,557.32
$SM_GC,1.24,0.00,0.00,142.20,0.000,0.000,0.606,70,2237,509,-10.26,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1887
$TCM_TEMP,17.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,326.0,41.7
$24V_AH,23.7,45.195
$10V_AH,10.2,22.862
$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,24.450,46.825,353.900,142.200,0.000,17.976,31.252,104.408,3.750,0.000,0.000,12.239,981.988,8700.517,625.562,1118.530,348.794,0.000,1168.284,0.000,1107.257,0.000,18.484
$DEVICE_MAMPS,167.973,75.933,865.943,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.673,372.433,487.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28580,545
$CAP_FILE_SIZE,73310,0
$CFSIZE,260165632,242638848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310708,103855,6417.058,-1121.197,25,1.7,43,-11.6