version: 66.03
glider: 16
mission: 9
dive: 281
start: 8 1 108 21 53 22
data:
$ID,16
$MISSION,9
$DIVE,281
$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,-2099320
$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,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
$GPS1,214508,6408.490,-1102.906,39,1.9,39,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-51.9
$GPS2,215302,6408.476,-1102.654,15,1.9,32,-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,323.6,51061,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-121.00,0.000,2,0.000,0.000,66,2244,3046
$GC,150,-0.85,-146.6,4.4,-3.9,6,175,11.50,2.62,-7.05,0.000,4,0.170,0.077,2115,3639,3381
$GC,378,-0.69,-146.6,36.2,-9.7,16,383,0.17,2.55,0.00,0.000,6,0.090,0.047,2149,2222,3382
$GC,700,-0.61,-146.6,64.7,-9.9,32,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2221,3382
$GC,1010,-0.53,-146.6,90.4,-7.6,47,1015,0.15,2.65,0.00,0.000,4,0.096,0.066,2181,3643,3382
$GC,1060,-0.58,-146.6,94.1,-7.1,49,1065,0.00,2.53,0.00,0.000,6,0.000,0.045,2181,2228,3382
$GC,1378,-0.58,-146.6,113.5,-6.2,64,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2228,3382
$GC,1686,-0.58,-146.6,132.5,-6.0,79,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2228,3382
$GC,1995,-0.58,-146.6,148.6,-4.8,94,1999,0.00,2.58,0.00,0.000,4,0.000,0.058,2181,814,3382
$GC,2038,-0.67,-146.6,150.6,-4.6,96,2043,0.15,2.55,0.00,0.000,6,0.042,0.045,2131,2230,3382
$GC,2365,-0.56,-146.6,174.2,-7.4,112,2370,0.20,2.60,0.00,0.000,4,0.083,0.067,2175,3637,3382
$GC,2405,-0.56,-146.6,176.7,-6.0,114,2409,0.00,2.53,0.00,0.000,6,0.000,0.048,2175,2228,3382
$GC,2732,-0.56,-146.6,194.7,-6.0,130,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2228,3382
$GC,3040,-0.56,-146.6,215.2,-6.9,145,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2228,3382
$GC,3350,-0.56,-146.6,239.6,-8.2,160,3354,0.00,2.58,0.00,0.000,4,0.000,0.058,2175,811,3382
$GC,3390,-0.64,-146.6,243.1,-9.0,162,3394,0.00,2.55,0.00,0.000,6,0.000,0.047,2176,2229,3382
$GC,3716,-0.64,-146.6,271.8,-8.8,178,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2229,3382
$GC,4026,-0.68,-146.6,297.9,-7.8,193,4031,0.12,2.60,0.00,0.000,4,0.046,0.058,2134,814,3382
$GC,4071,-0.63,-146.6,302.0,-9.5,195,4076,0.15,2.55,0.00,0.000,6,0.084,0.048,2164,2227,3382
$GC,4392,-0.63,-146.6,325.5,-7.0,211,4397,0.00,2.60,0.00,0.000,4,0.000,0.060,2164,819,3382
$GC,4433,-0.68,-146.6,328.2,-7.4,213,4438,0.00,2.58,0.00,0.000,6,0.000,0.050,2164,2237,3382
$GC,4760,-0.68,-146.6,352.4,-7.6,229,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2237,3382
$GC,5069,-0.68,-146.6,374.2,-7.4,244,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2237,3381
$STATE,5170,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5170,begin apogee
$GC,5177,-0.31,0.0,379.5,5.7,249,5306,0.32,0.00,126.32,0.875,6,0.084,0.000,2230,2237,2781
$STATE,5307,end apogee,CONTROL_FINISHED_OK
$STATE,5307,begin climb
$GC,5310,0.85,146.6,384.7,0.0,255,5442,1.17,2.75,124.75,0.863,4,0.076,0.077,2479,3648,2183
$GC,5490,0.85,146.6,378.5,6.5,263,5496,0.00,2.60,0.00,0.000,6,0.000,0.058,2479,2244,2182
$GC,5805,0.93,224.6,368.8,3.9,279,5876,0.10,0.00,66.70,0.863,6,0.060,0.000,2510,2244,1865
$GC,6176,0.93,224.6,343.4,8.3,297,6180,0.00,2.70,0.00,0.000,4,0.000,0.083,2510,3646,1864
$GC,6216,0.93,224.6,340.3,8.7,299,6220,0.00,2.60,0.00,0.000,6,0.000,0.056,2510,2239,1864
$GC,6542,0.93,224.6,309.9,8.6,315,6546,0.00,2.65,0.00,0.000,4,0.000,0.070,2510,829,1862
$GC,6626,0.93,224.6,302.6,8.4,319,6631,0.00,2.62,0.00,0.000,6,0.000,0.054,2510,2247,1862
$GC,6954,0.94,234.2,280.0,5.7,335,6968,0.00,2.70,9.25,0.746,4,0.000,0.066,2510,829,1826
$GC,7020,0.96,255.3,276.3,5.4,338,7045,0.00,2.60,19.12,0.802,6,0.000,0.053,2510,2246,1740
$GC,7373,1.07,353.1,262.2,3.3,355,7462,0.10,2.72,82.15,0.825,4,0.064,0.073,2536,3642,1340
$GC,7484,1.07,353.1,256.6,6.5,360,7489,0.00,2.60,0.00,0.000,6,0.000,0.056,2536,2240,1340
$GC,7800,1.07,353.1,238.2,6.1,375,7804,0.00,2.62,0.00,0.000,4,0.000,0.064,2537,828,1340
$GC,7885,1.11,353.1,232.9,6.5,379,7890,0.00,2.58,0.00,0.000,6,0.000,0.048,2537,2242,1339
$GC,8212,1.11,353.1,209.6,7.5,395,8216,0.00,2.65,0.00,0.000,4,0.000,0.063,2537,820,1340
$GC,8257,1.16,353.1,206.2,7.8,397,8261,0.00,2.58,0.00,0.000,6,0.000,0.048,2537,2242,1340
$GC,8577,1.16,353.1,181.7,7.4,413,8582,0.00,2.60,0.00,0.000,4,0.000,0.061,2537,827,1340
$GC,8618,1.21,353.1,178.9,7.5,415,8623,0.12,2.55,0.00,0.000,6,0.067,0.048,2564,2240,1340
$GC,8946,1.15,353.1,151.2,8.5,431,8950,0.00,2.62,0.00,0.000,4,0.000,0.062,2564,825,1340
$GC,8989,1.15,353.1,147.5,7.9,433,8994,0.00,2.55,0.00,0.000,6,0.000,0.048,2564,2243,1340
$GC,9311,1.08,353.1,122.8,8.0,449,9316,0.15,2.60,0.00,0.000,4,0.095,0.061,2530,827,1340
$GC,9352,1.08,353.1,119.7,7.0,451,9356,0.00,2.55,0.00,0.000,6,0.000,0.048,2530,2240,1342
$GC,9679,1.08,353.1,93.6,8.3,467,9683,0.00,2.62,0.00,0.000,4,0.000,0.061,2530,819,1341
$GC,9728,1.08,353.1,89.2,8.6,469,9732,0.00,2.58,0.00,0.000,6,0.000,0.048,2530,2246,1341
$GC,10045,1.08,353.1,59.6,10.6,484,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2246,1341
$GC,10353,1.08,353.1,29.2,8.7,499,10358,0.00,2.60,0.00,0.000,4,0.000,0.061,2530,827,1341
$GC,10439,1.08,353.1,21.8,7.7,503,10443,0.00,2.55,0.00,0.000,6,0.000,0.047,2530,2246,1342
$STATE,10721,end climb,SURFACE_DEPTH_REACHED
$STATE,10721,begin surface coast
$FINISH,0.6,1.020881
$STATE,10743,end surface coast,CONTROL_FINISHED_OK
$STATE,10746,begin surface
$SM_CCo,10767,98.35,0.602,0,0,509,557.32
$SM_GC,1.26,0.00,0.00,98.35,0.000,0.000,0.602,68,2248,509,-10.26,0.51,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1897
$TCM_TEMP,17.60
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.3,17.5
$ALTIM_BOTTOM_PING,300.5,88.5
$24V_AH,23.7,46.796
$10V_AH,10.2,23.572
$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,25.025,98.850,428.300,98.350,0.000,36.335,66.233,175.413,6.750,0.000,0.000,32.926,977.668,7996.978,660.628,1215.579,499.717,0.000,1279.899,0.000,1171.417,0.000,16.982
$DEVICE_MAMPS,169.507,82.836,875.147,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.400,351.696,428.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25359,518
$CAP_FILE_SIZE,85258,0
$CFSIZE,260165632,242143232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,020808,005538,6407.446,-1100.270,30,1.7,30,-11.3