version: 66.03
glider: 16
mission: 9
dive: 282
start: 8 2 108 1 2 10
data:
$ID,16
$MISSION,9
$DIVE,282
$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,-2099351.2
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2330
$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,21
$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
$GPS1,005538,6407.446,-1100.270,30,1.7,30,-11.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-51.2
$GPS2,010150,6407.356,-1100.205,13,1.8,30,-11.3
$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,323.7,53903,-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,-120.88,0.000,2,0.000,0.000,68,2250,2977
$GC,150,-0.85,-146.6,3.9,-3.1,6,177,11.62,2.60,-9.27,0.000,4,0.168,0.078,2141,3637,3379
$GC,407,-0.73,-146.6,33.1,-9.1,17,414,0.15,2.55,0.00,0.000,6,0.095,0.046,2171,2221,3379
$GC,723,-0.73,-146.6,56.0,-6.3,33,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3379
$GC,1033,-0.73,-146.6,78.1,-7.8,48,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3380
$GC,1341,-0.73,-146.6,104.7,-8.7,63,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3380
$GC,1650,-0.73,-146.6,128.3,-7.5,78,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3380
$GC,1960,-0.73,-146.6,152.4,-8.1,93,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2220,3380
$GC,2271,-0.73,-146.6,175.5,-7.0,108,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2220,3380
$GC,2579,-0.73,-146.6,192.1,-4.5,123,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2220,3380
$GC,2888,-0.73,-146.6,202.3,-2.9,138,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2220,3380
$GC,3197,-0.73,-146.6,211.2,-3.7,153,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2220,3380
$GC,3506,-0.73,-146.6,228.7,-6.8,168,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2220,3380
$GC,3816,-0.73,-146.6,247.8,-5.3,183,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2220,3380
$GC,4124,-0.73,-146.6,264.0,-5.4,198,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2220,3380
$GC,4434,-0.73,-146.6,280.3,-5.4,213,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2219,3380
$GC,4743,-0.73,-146.6,296.7,-6.0,228,4748,0.00,2.55,0.00,0.000,4,0.000,0.060,2171,816,3380
$GC,4788,-0.83,-146.6,299.9,-7.2,230,4795,0.00,2.55,0.00,0.000,6,0.000,0.049,2171,2228,3380
$GC,5118,-0.83,-146.6,320.1,-5.9,246,5123,0.00,2.62,0.00,0.000,4,0.000,0.074,2171,3637,3379
$GC,5152,-0.83,-146.6,322.0,-5.1,247,5158,0.00,2.55,0.00,0.000,6,0.000,0.051,2171,2225,3379
$GC,5468,-0.83,-146.6,348.7,-9.2,263,5472,0.00,2.67,0.00,0.000,4,0.000,0.077,2171,3637,3379
$GC,5508,-0.87,-146.6,351.9,-7.0,265,5513,0.15,2.58,0.00,0.000,6,0.046,0.053,2130,2223,3379
$GC,5835,-0.79,-146.6,384.5,-9.0,281,5841,0.15,2.70,0.00,0.000,4,0.091,0.078,2159,3640,3379
$GC,5886,-0.83,-146.6,388.2,-5.9,283,5890,0.00,2.55,0.00,0.000,6,0.000,0.051,2159,2230,3379
$STATE,6014,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6014,begin apogee
$GC,6021,-0.31,0.0,396.8,6.8,289,6150,0.50,0.00,126.20,0.906,6,0.103,0.000,2258,2230,2781
$STATE,6151,end apogee,CONTROL_FINISHED_OK
$STATE,6151,begin climb
$GC,6154,0.85,146.6,402.1,0.0,295,6286,1.20,2.67,124.82,0.887,4,0.078,0.065,2511,830,2182
$GC,6324,0.78,179.3,398.2,5.1,304,6358,0.00,2.62,28.88,0.844,6,0.000,0.053,2511,2240,2050
$GC,6676,0.78,179.3,372.9,8.5,321,6680,0.00,2.70,0.00,0.000,4,0.000,0.078,2511,3653,2048
$GC,6726,0.72,179.3,368.7,8.9,323,6731,0.12,2.62,0.00,0.000,6,0.100,0.058,2487,2239,2047
$GC,7042,0.73,192.9,348.6,5.6,338,7061,0.00,0.00,12.80,0.802,6,0.000,0.000,2487,2238,1994
$GC,7371,0.76,219.7,330.9,5.3,354,7397,0.00,0.00,23.95,0.838,6,0.000,0.000,2487,2238,1885
$GC,7701,0.84,238.4,306.1,5.5,370,7724,0.12,2.80,17.40,0.815,4,0.056,0.077,2523,3652,1808
$GC,7833,0.79,238.4,300.8,9.3,375,7840,0.00,2.62,0.00,0.000,6,0.000,0.061,2523,2240,1809
$GC,8150,0.86,298.4,278.9,4.4,391,8203,0.00,0.00,51.10,0.840,6,0.000,0.000,2522,2239,1564
$GC,8498,0.86,298.4,260.1,6.8,408,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2239,1562
$GC,8807,0.86,298.4,237.9,7.2,423,8811,0.00,2.62,0.00,0.000,4,0.000,0.067,2523,827,1561
$GC,8857,0.86,298.4,234.0,7.5,425,8861,0.00,2.58,0.00,0.000,6,0.000,0.051,2522,2241,1561
$GC,9173,0.86,298.4,209.5,8.0,440,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2241,1560
$GC,9481,0.86,298.4,184.7,8.2,455,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2241,1561
$GC,9791,0.86,298.4,159.1,8.5,470,9795,0.00,2.62,0.00,0.000,4,0.000,0.063,2522,826,1561
$GC,9831,0.90,298.4,155.7,8.9,472,9835,0.00,2.58,0.00,0.000,6,0.000,0.048,2523,2245,1561
$GC,10158,0.90,298.4,130.8,6.8,488,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2245,1561
$GC,10468,0.90,298.4,111.4,6.2,503,10473,0.00,2.62,0.00,0.000,4,0.000,0.061,2522,826,1562
$GC,10520,0.95,298.4,107.7,6.4,505,10524,0.00,2.55,0.00,0.000,6,0.000,0.048,2523,2242,1562
$GC,10837,0.95,298.4,85.2,7.7,520,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2242,1562
$GC,11145,0.95,298.4,58.7,8.8,535,11149,0.00,2.62,0.00,0.000,4,0.000,0.061,2522,822,1563
$GC,11201,1.02,298.4,53.6,9.3,537,11208,0.12,2.55,0.00,0.000,6,0.055,0.047,2561,2242,1563
$GC,11517,0.96,298.4,26.9,8.3,553,11522,0.12,2.62,0.00,0.000,4,0.087,0.060,2535,821,1564
$GC,11558,0.96,298.4,23.5,8.3,555,11562,0.00,2.55,0.00,0.000,6,0.000,0.047,2535,2241,1563
$STATE,11799,end climb,SURFACE_DEPTH_REACHED
$STATE,11799,begin surface coast
$FINISH,0.6,1.027053
$STATE,11821,end surface coast,CONTROL_FINISHED_OK
$STATE,11821,begin surface
$SM_CCo,11843,126.00,0.613,0,0,508,557.32
$SM_GC,1.14,0.00,0.00,126.00,0.000,0.000,0.613,75,2242,508,-10.37,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1906
$TCM_TEMP,17.50
$XPDR_PINGS,22
$ALTIM_TOP_PING,18.4,17.2
$ALTIM_BOTTOM_PING,300.3,105.3
$24V_AH,23.6,46.928
$10V_AH,10.1,23.632
$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,25.000,67.900,385.150,126.000,0.000,18.310,25.427,200.495,7.750,0.000,0.000,30.486,1028.632,9002.656,658.000,1203.272,457.741,0.000,1253.697,0.000,1170.693,0.000,17.048
$DEVICE_MAMPS,167.973,78.234,905.827,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.002,385.994,449.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28441,568
$CAP_FILE_SIZE,81885,0
$CFSIZE,260165632,242102272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,020808,042307,6405.223,-1104.908,37,1.5,48,-11.4