version: 66.03
glider: 16
mission: 9
dive: 272
start: 7 31 108 19 10 53
data:
$ID,16
$MISSION,9
$DIVE,272
$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,-2099055.5
$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,23
$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
$GPS1,190607,6413.828,-1119.049,36,1.0,42,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-55.0
$GPS2,191032,6413.830,-1118.908,11,1.0,16,-11.5
$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,326.0,34809,-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,-120.78,0.000,2,0.000,0.000,74,2244,3049
$GC,150,-0.85,-146.6,4.7,-4.1,6,175,11.48,2.62,-6.88,0.000,4,0.170,0.076,2114,3631,3380
$GC,362,-0.69,-146.6,37.3,-12.4,15,367,0.17,2.55,0.00,0.000,6,0.092,0.049,2148,2223,3381
$GC,679,-0.62,-146.6,78.0,-13.9,30,684,0.00,2.65,0.00,0.000,4,0.000,0.067,2148,3640,3381
$GC,735,-0.62,-146.6,86.4,-14.4,32,742,0.00,2.55,0.00,0.000,6,0.000,0.048,2148,2224,3381
$GC,1052,-0.54,-146.6,127.0,-11.6,48,1057,0.15,2.65,0.00,0.000,4,0.093,0.067,2180,3638,3381
$GC,1093,-0.61,-146.6,131.2,-9.5,50,1097,0.00,2.55,0.00,0.000,6,0.000,0.048,2180,2221,3381
$GC,1420,-0.61,-146.6,153.4,-5.0,66,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2221,3381
$GC,1730,-0.61,-146.6,164.5,-3.4,81,1734,0.00,2.65,0.00,0.000,4,0.000,0.069,2181,3638,3381
$GC,1770,-0.67,-146.6,166.1,-4.1,83,1775,0.12,2.55,0.00,0.000,6,0.046,0.048,2142,2222,3382
$GC,2099,-0.59,-146.6,184.1,-6.0,99,2105,0.15,2.65,0.00,0.000,4,0.085,0.069,2176,3638,3381
$GC,2133,-0.63,-146.6,186.3,-5.4,100,2139,0.00,2.53,0.00,0.000,6,0.000,0.048,2176,2230,3381
$GC,2450,-0.63,-146.6,202.3,-5.2,116,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2229,3381
$GC,2759,-0.63,-146.6,222.2,-6.9,131,2764,0.00,2.65,0.00,0.000,4,0.000,0.071,2176,3644,3381
$GC,2804,-0.69,-146.6,225.5,-7.0,133,2809,0.12,2.55,0.00,0.000,6,0.056,0.048,2146,2222,3381
$GC,3126,-0.62,-146.6,251.9,-8.2,149,3130,0.00,2.65,0.00,0.000,4,0.000,0.071,2146,3638,3381
$GC,3159,-0.58,-146.6,254.8,-8.5,150,3166,0.15,2.53,0.00,0.000,6,0.086,0.049,2176,2230,3381
$GC,3475,-0.58,-146.6,273.1,-5.7,166,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3380
$GC,3786,-0.62,-146.6,287.5,-3.6,181,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3381
$GC,4094,-0.62,-146.6,305.1,-6.4,196,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3380
$STATE,4400,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4401,begin apogee
$GC,4407,-0.31,0.0,320.1,3.8,211,4535,0.28,0.00,125.28,0.830,6,0.083,0.000,2233,2230,2781
$STATE,4536,end apogee,CONTROL_FINISHED_OK
$STATE,4536,begin climb
$GC,4539,0.85,146.6,326.6,0.0,217,4667,1.17,0.00,122.97,0.816,6,0.077,0.000,2480,2229,2183
$GC,4972,0.86,160.9,302.8,5.6,238,4993,0.00,2.67,13.38,0.735,4,0.000,0.063,2480,830,2124
$GC,5142,0.92,214.4,295.5,4.5,245,5194,0.00,2.58,45.70,0.788,6,0.000,0.051,2480,2239,1907
$GC,5506,1.05,259.5,278.2,4.8,263,5550,0.17,2.70,38.70,0.782,4,0.060,0.063,2524,824,1722
$GC,5608,1.05,260.6,272.0,6.0,267,5614,0.00,2.60,0.00,0.000,6,0.000,0.050,2524,2240,1720
$GC,5924,1.06,271.3,253.9,5.7,283,5936,0.00,0.00,11.15,0.713,6,0.000,0.000,2524,2239,1674
$GC,6233,1.06,276.2,236.7,5.9,298,6241,0.00,0.00,5.78,0.615,6,0.000,0.000,2524,2240,1655
$GC,6541,1.06,276.2,217.2,6.7,313,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2239,1654
$GC,6850,1.06,276.2,194.2,7.8,328,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2240,1654
$GC,7160,1.06,276.2,169.7,7.7,343,7165,0.00,2.60,0.00,0.000,4,0.000,0.061,2524,829,1653
$GC,7200,1.06,276.2,166.6,8.0,345,7204,0.00,2.55,0.00,0.000,6,0.000,0.047,2524,2244,1652
$GC,7527,1.06,276.2,140.8,8.3,361,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2244,1653
$GC,7837,1.06,276.2,113.3,8.9,376,7841,0.00,2.62,0.00,0.000,4,0.000,0.060,2525,827,1652
$GC,7876,1.06,276.2,109.8,8.9,378,7881,0.00,2.55,0.00,0.000,6,0.000,0.047,2524,2245,1653
$GC,8203,1.06,276.2,84.0,7.2,394,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2245,1653
$GC,8514,1.07,277.6,65.0,6.0,409,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2245,1653
$GC,8823,1.07,277.6,42.7,8.3,424,8828,0.00,2.60,0.00,0.000,4,0.000,0.058,2524,829,1653
$GC,8879,1.07,277.6,38.1,7.6,426,8886,0.00,2.53,0.00,0.000,6,0.000,0.046,2524,2242,1653
$GC,9196,1.11,277.6,13.1,7.9,442,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2241,1654
$STATE,9400,end climb,SURFACE_DEPTH_REACHED
$STATE,9400,begin surface coast
$FINISH,0.6,1.014907
$STATE,9420,end surface coast,CONTROL_FINISHED_OK
$STATE,9420,begin surface
$SM_CCo,9442,135.45,0.599,0,0,509,557.32
$SM_GC,1.30,0.00,0.00,135.45,0.000,0.000,0.599,73,2243,509,-10.24,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1884
$TCM_TEMP,17.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.3
$ALTIM_BOTTOM_PING,301.2,28.7
$24V_AH,23.7,45.662
$10V_AH,10.2,23.072
$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,24.600,62.325,362.950,135.450,0.000,18.021,31.125,110.964,3.500,0.000,0.000,16.234,844.366,7032.037,615.428,1019.561,343.442,0.000,1144.127,0.000,994.929,0.000,24.758
$DEVICE_MAMPS,170.274,75.933,829.894,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,333.201,307.126,377.202,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22219,453
$CAP_FILE_SIZE,69240,0
$CFSIZE,260165632,242499584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310708,215158,6414.167,-1112.845,28,3.0,47,-11.5