version: 66.03
glider: 16
mission: 9
dive: 269
start: 7 31 108 10 44 10
data:
$ID,16
$MISSION,9
$DIVE,269
$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,-2098990.8
$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,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
$GPS1,103855,6417.058,-1121.197,25,1.7,43,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-53.4
$GPS2,104351,6416.990,-1120.979,13,1.8,13,-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,320.2,29681,-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,-120.78,0.000,2,0.000,0.000,69,2237,3066
$GC,150,-0.85,-146.6,4.7,-4.0,6,175,11.48,2.62,-6.53,0.000,4,0.170,0.077,2112,3635,3382
$GC,366,-0.67,-146.6,33.4,-9.5,15,373,0.20,2.53,0.00,0.000,6,0.091,0.047,2152,2230,3382
$GC,684,-0.60,-146.6,58.7,-8.6,31,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2230,3382
$GC,992,-0.54,-146.6,86.5,-8.5,46,994,0.15,0.00,0.00,0.000,6,0.094,0.000,2181,2230,3383
$GC,1301,-0.54,-146.6,105.9,-5.8,61,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3383
$GC,1610,-0.54,-146.6,124.3,-6.3,76,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3383
$GC,1919,-0.54,-146.6,144.1,-6.4,91,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3383
$GC,2229,-0.54,-146.6,164.3,-6.5,106,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3383
$GC,2538,-0.54,-146.6,185.1,-6.7,121,2542,0.00,2.58,0.00,0.000,4,0.000,0.060,2181,816,3383
$GC,2578,-0.64,-146.6,187.9,-7.1,123,2582,0.00,2.55,0.00,0.000,6,0.000,0.047,2181,2230,3383
$GC,2905,-0.64,-146.6,209.2,-6.4,139,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2230,3382
$GC,3214,-0.68,-146.6,227.1,-5.4,154,3216,0.15,0.00,0.00,0.000,6,0.044,0.000,2133,2230,3383
$GC,3525,-0.58,-146.6,251.4,-8.0,169,3527,0.20,0.00,0.00,0.000,6,0.084,0.000,2173,2230,3382
$GC,3832,-0.58,-146.6,271.9,-7.1,184,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2231,3382
$GC,4141,-0.58,-146.6,293.5,-7.2,199,4146,0.00,2.62,0.00,0.000,4,0.000,0.071,2173,3639,3382
$GC,4175,-0.58,-146.6,296.1,-7.5,200,4182,0.00,2.53,0.00,0.000,6,0.000,0.050,2171,2228,3382
$GC,4491,-0.58,-146.6,317.8,-6.5,216,4496,0.00,2.65,0.00,0.000,4,0.000,0.075,2173,3637,3382
$GC,4520,-0.64,-146.6,319.4,-4.8,217,4524,0.00,2.55,0.00,0.000,6,0.000,0.053,2173,2225,3382
$GC,4836,-0.64,-146.6,339.9,-7.0,232,4840,0.00,2.67,0.00,0.000,4,0.000,0.075,2173,3643,3382
$STATE,4850,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4850,begin apogee
$GC,4860,-0.31,0.0,340.5,4.6,233,4993,0.28,0.00,126.62,0.849,6,0.093,0.000,2228,2238,2780
$STATE,4994,end apogee,CONTROL_FINISHED_OK
$STATE,4994,begin climb
$GC,4997,0.85,146.6,345.7,0.0,240,5126,1.23,0.00,124.72,0.837,6,0.079,0.000,2483,2237,2183
$GC,5423,0.92,213.8,331.0,4.2,261,5484,0.00,0.00,57.28,0.821,6,0.000,0.000,2483,2237,1909
$GC,5797,1.01,252.7,312.0,4.9,279,5839,0.15,2.75,33.85,0.803,4,0.053,0.074,2525,3644,1751
$GC,5903,1.01,252.7,305.0,7.4,283,5909,0.00,2.58,0.00,0.000,6,0.000,0.053,2525,2239,1751
$GC,6219,1.01,252.7,281.6,7.6,299,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2239,1751
$GC,6528,1.01,252.7,259.2,6.5,314,6532,0.00,2.67,0.00,0.000,4,0.000,0.074,2525,3648,1750
$GC,6646,1.01,252.7,250.3,7.8,319,6650,0.00,2.58,0.00,0.000,6,0.000,0.054,2526,2239,1750
$GC,6961,1.01,252.7,228.6,6.8,334,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2240,1749
$GC,7271,1.01,252.7,208.8,6.2,349,7275,0.00,2.65,0.00,0.000,4,0.000,0.071,2526,3648,1749
$GC,7311,1.01,252.7,206.1,6.7,351,7315,0.00,2.58,0.00,0.000,6,0.000,0.052,2525,2235,1749
$GC,7637,1.01,254.2,187.1,6.0,367,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2235,1748
$GC,7947,1.01,254.2,166.8,7.1,382,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2235,1748
$GC,8257,1.01,254.2,142.4,8.2,397,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2235,1748
$GC,8565,1.01,254.2,116.1,8.4,412,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2235,1748
$GC,8874,1.01,254.2,92.3,7.3,427,8879,0.00,2.62,0.00,0.000,4,0.000,0.067,2525,3648,1748
$GC,8915,1.01,254.2,89.3,8.3,429,8920,0.00,2.55,0.00,0.000,6,0.000,0.050,2525,2231,1747
$GC,9243,1.01,254.2,66.8,6.9,445,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2231,1748
$GC,9552,1.01,254.2,45.3,6.7,460,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2231,1748
$GC,9863,1.01,254.2,25.1,6.3,475,9867,0.00,2.62,0.00,0.000,4,0.000,0.066,2525,3648,1749
$GC,9918,1.01,254.2,20.9,7.0,477,9925,0.00,2.53,0.00,0.000,6,0.000,0.049,2526,2232,1749
$GC,10235,1.07,259.3,2.2,5.9,493,10240,0.00,0.00,3.92,0.422,6,0.000,0.000,2525,2232,1722
$STATE,10252,end climb,SURFACE_DEPTH_REACHED
$STATE,10252,begin surface coast
$FINISH,0.6,1.018475
$STATE,10274,end surface coast,CONTROL_FINISHED_OK
$STATE,10274,begin surface
$SM_CCo,10296,144.25,0.607,0,0,508,557.32
$SM_GC,1.31,0.00,0.00,144.25,0.000,0.000,0.607,72,2227,508,-10.25,-0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1892
$TCM_TEMP,17.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.3,18.3
$ALTIM_BOTTOM_PING,325.8,24.4
$24V_AH,23.7,45.311
$10V_AH,10.2,22.917
$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,24.500,52.025,346.400,144.250,0.000,33.206,38.488,111.369,4.250,0.000,0.000,15.138,890.933,7807.700,635.796,1031.577,379.367,0.000,1143.523,0.000,1016.778,0.000,21.352
$DEVICE_MAMPS,169.507,76.700,849.069,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.278,336.734,442.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25364,495
$CAP_FILE_SIZE,68704,0
$CFSIZE,260165632,242601984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,310708,133932,6414.471,-1120.220,41,1.7,41,-11.6