version: 66.03
glider: 16
mission: 9
dive: 274
start: 8 1 108 0 45 42
data:
$ID,16
$MISSION,9
$DIVE,274
$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,-2099140.2
$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
$GPS1,004016,6412.219,-1110.150,38,2.8,57,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-52.3
$GPS2,004522,6412.131,-1110.120,35,1.9,49,-11.4
$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,322.2,42107,-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,23,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.95,0.000,2,0.000,0.000,71,2244,3047
$GC,150,-0.85,-146.6,4.5,-3.9,6,175,11.48,2.62,-7.05,0.000,4,0.170,0.074,2112,3638,3381
$GC,423,-0.69,-146.6,42.7,-11.4,18,428,0.17,2.55,0.00,0.000,6,0.091,0.047,2147,2225,3381
$GC,745,-0.61,-146.6,69.5,-7.6,34,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2224,3381
$GC,1056,-0.53,-146.6,94.7,-8.7,49,1058,0.17,0.00,0.00,0.000,6,0.091,0.000,2182,2224,3381
$GC,1364,-0.53,-146.6,117.9,-7.8,64,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2224,3382
$GC,1672,-0.53,-146.6,142.7,-8.1,79,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2224,3382
$GC,1981,-0.53,-146.6,166.8,-7.4,94,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2225,3381
$GC,2291,-0.53,-146.6,187.7,-6.4,109,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2225,3381
$GC,2600,-0.53,-146.6,207.4,-6.3,124,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2225,3382
$GC,2909,-0.53,-146.6,226.4,-6.0,139,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2225,3381
$GC,3219,-0.53,-146.6,245.8,-6.5,154,3223,0.00,2.58,0.00,0.000,4,0.000,0.060,2182,811,3381
$GC,3252,-0.62,-146.6,248.2,-6.8,155,3258,0.00,2.55,0.00,0.000,6,0.000,0.047,2182,2230,3381
$GC,3569,-0.67,-146.6,269.3,-6.2,171,3570,0.12,0.00,0.00,0.000,6,0.047,0.000,2139,2230,3381
$GC,3878,-0.57,-146.6,292.7,-7.8,186,3880,0.17,0.00,0.00,0.000,6,0.082,0.000,2175,2230,3381
$GC,4186,-0.57,-146.6,312.4,-6.4,201,4190,0.00,2.62,0.00,0.000,4,0.000,0.071,2175,3643,3381
$GC,4231,-0.64,-146.6,315.7,-7.2,203,4235,0.00,2.55,0.00,0.000,6,0.000,0.051,2175,2227,3381
$GC,4552,-0.64,-146.6,336.8,-6.2,219,4556,0.00,2.65,0.00,0.000,4,0.000,0.073,2174,3638,3381
$GC,4592,-0.69,-146.6,339.4,-6.9,221,4597,0.12,2.55,0.00,0.000,6,0.046,0.051,2132,2228,3381
$STATE,4668,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4668,begin apogee
$GC,4676,-0.31,0.0,346.2,8.7,225,4804,0.47,0.00,125.05,0.847,6,0.082,0.000,2229,2228,2781
$STATE,4804,end apogee,CONTROL_FINISHED_OK
$STATE,4804,begin climb
$GC,4807,0.85,146.6,351.8,0.0,231,4939,1.17,2.62,123.70,0.829,4,0.073,0.062,2478,827,2182
$GC,4998,0.95,193.7,348.3,4.7,240,5044,0.12,2.60,40.53,0.808,6,0.073,0.048,2504,2240,1991
$GC,5366,0.96,207.7,328.7,5.6,258,5387,0.00,2.72,13.18,0.753,4,0.000,0.072,2504,3645,1934
$GC,5483,0.96,207.7,322.0,6.1,263,5488,0.00,2.58,0.00,0.000,6,0.000,0.054,2504,2241,1934
$GC,5805,1.00,239.2,304.4,5.1,279,5839,0.00,2.72,27.90,0.798,4,0.000,0.073,2505,3640,1805
$GC,5891,1.00,239.2,299.4,6.1,283,5896,0.00,2.58,0.00,0.000,6,0.000,0.054,2505,2240,1805
$GC,6219,1.09,279.8,281.6,4.9,299,6261,0.15,2.70,34.50,0.795,4,0.070,0.073,2545,3647,1640
$GC,6325,1.05,279.8,274.7,7.5,303,6331,0.00,2.60,0.00,0.000,6,0.000,0.054,2545,2233,1640
$GC,6641,0.99,279.8,252.3,7.5,319,6646,0.15,2.62,0.00,0.000,4,0.091,0.064,2511,821,1639
$GC,6704,1.06,281.3,248.2,6.0,322,6708,0.00,2.60,0.00,0.000,6,0.000,0.048,2511,2247,1639
$GC,7031,1.12,281.3,226.8,7.0,338,7033,0.15,0.00,0.00,0.000,6,0.047,0.000,2551,2247,1639
$GC,7340,1.05,281.3,199.8,8.8,353,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2247,1639
$GC,7649,0.99,281.3,172.5,8.9,368,7654,0.15,2.62,0.00,0.000,4,0.090,0.061,2517,826,1638
$GC,7713,1.04,281.3,167.3,8.3,371,7717,0.00,2.55,0.00,0.000,6,0.000,0.046,2517,2241,1638
$GC,8039,1.04,281.3,142.8,7.7,387,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2241,1638
$GC,8349,1.04,281.3,119.5,7.2,402,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2241,1638
$GC,8660,1.04,281.3,98.9,6.4,417,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2241,1638
$GC,8967,1.04,281.3,79.7,6.2,432,8971,0.00,2.60,0.00,0.000,4,0.000,0.060,2517,826,1639
$GC,9034,1.09,281.3,75.0,6.9,435,9039,0.00,2.55,0.00,0.000,6,0.000,0.046,2517,2245,1639
$GC,9357,1.14,281.3,52.9,7.0,451,9359,0.12,0.00,0.00,0.000,6,0.049,0.000,2554,2245,1639
$GC,9667,1.08,281.3,22.9,10.4,466,9671,0.00,2.60,0.00,0.000,4,0.000,0.059,2554,827,1639
$GC,9708,1.08,281.3,18.8,9.6,468,9712,0.00,2.53,0.00,0.000,6,0.000,0.045,2554,2241,1639
$STATE,9908,end climb,SURFACE_DEPTH_REACHED
$STATE,9908,begin surface coast
$FINISH,0.7,1.020451
$STATE,9931,end surface coast,CONTROL_FINISHED_OK
$STATE,9931,begin surface
$SM_CCo,9952,133.38,0.602,0,0,508,557.32
$SM_GC,1.42,0.00,0.00,133.38,0.000,0.000,0.602,70,2242,508,-10.25,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1898
$TCM_TEMP,17.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,251.3,104.0
$24V_AH,23.7,45.904
$10V_AH,10.2,23.180
$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,25.600,62.475,364.850,133.375,0.000,18.001,36.819,112.315,3.250,0.000,0.000,49.633,893.402,7420.391,615.825,1117.304,356.147,0.000,1168.850,0.000,1063.683,0.000,15.879
$DEVICE_MAMPS,169.507,73.632,846.768,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.420,325.204,413.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25457,479
$CAP_FILE_SIZE,72792,0
$CFSIZE,260165632,242417664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,010808,033507,6410.020,-1112.097,35,1.2,39,-11.5