version: 66.03
glider: 16
mission: 9
dive: 283
start: 8 2 108 4 29 59
data:
$ID,16
$MISSION,9
$DIVE,283
$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,-2099366.8
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,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,20
$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
$GPS1,042307,6405.223,-1104.908,37,1.5,48,-11.4
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-50.0
$GPS2,042938,6405.139,-1105.046,9,1.6,14,-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,329.8,54116,-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,-120.78,0.000,2,0.000,0.000,74,2245,2993
$GC,150,-0.85,-146.6,4.1,-3.3,6,177,11.60,2.65,-8.75,0.000,4,0.169,0.068,2141,811,3379
$GC,363,-0.85,-146.6,29.1,-8.4,15,369,0.00,2.55,0.00,0.000,6,0.000,0.046,2140,2228,3379
$GC,681,-0.74,-146.6,58.0,-9.4,31,683,0.15,0.00,0.00,0.000,6,0.095,0.000,2170,2228,3380
$GC,988,-0.74,-146.6,82.5,-7.8,46,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3380
$GC,1297,-0.74,-146.6,104.4,-6.6,61,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,1606,-0.74,-146.6,124.2,-6.7,76,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,1916,-0.74,-146.6,147.2,-7.7,91,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,2225,-0.74,-146.6,173.5,-8.8,106,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2229,3381
$GC,2535,-0.74,-146.6,200.8,-8.8,121,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2229,3381
$GC,2844,-0.74,-146.6,227.2,-8.2,136,2849,0.00,2.60,0.00,0.000,4,0.000,0.058,2170,814,3381
$GC,2885,-0.80,-146.6,230.6,-7.8,138,2889,0.00,2.58,0.00,0.000,6,0.000,0.049,2170,2237,3381
$GC,3211,-0.80,-146.6,253.6,-6.1,154,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2237,3381
$GC,3521,-0.80,-146.6,271.6,-5.6,169,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2237,3381
$GC,3829,-0.80,-146.6,292.4,-7.5,184,3834,0.00,2.60,0.00,0.000,4,0.000,0.071,2170,3638,3381
$GC,3884,-0.80,-146.6,297.0,-8.0,186,3890,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2226,3381
$GC,4200,-0.80,-146.6,319.8,-6.9,202,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3381
$GC,4509,-0.80,-146.6,341.2,-6.6,217,4513,0.00,2.65,0.00,0.000,4,0.000,0.074,2170,3637,3381
$GC,4548,-0.80,-146.6,344.0,-6.8,219,4553,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2224,3381
$GC,4876,-0.80,-146.6,365.7,-6.8,235,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2224,3380
$STATE,5037,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5038,begin apogee
$GC,5044,-0.31,0.0,377.9,6.8,243,5173,0.45,0.00,126.10,0.879,6,0.087,0.000,2263,2223,2781
$STATE,5174,end apogee,CONTROL_FINISHED_OK
$STATE,5174,begin climb
$GC,5178,0.85,146.6,381.8,0.0,249,5307,1.15,0.00,124.82,0.864,6,0.070,0.000,2510,2223,2183
$GC,5616,0.80,163.1,366.6,5.6,271,5633,0.00,0.00,15.18,0.795,6,0.000,0.000,2510,2224,2115
$GC,5943,0.81,172.4,349.8,5.7,287,5958,0.00,2.75,9.52,0.755,4,0.000,0.075,2510,3652,2078
$GC,6009,0.77,172.4,345.4,7.3,289,6013,0.00,2.60,0.00,0.000,6,0.000,0.054,2510,2235,2078
$GC,6330,0.72,172.4,326.6,6.2,305,6332,0.12,0.00,0.00,0.000,6,0.094,0.000,2485,2235,2077
$GC,6640,0.79,200.1,309.4,5.2,320,6670,0.00,2.72,24.38,0.826,4,0.000,0.074,2485,3646,1965
$GC,6716,0.85,200.1,305.0,6.3,323,6721,0.15,2.60,0.00,0.000,6,0.049,0.054,2527,2239,1965
$GC,7032,0.83,239.3,287.9,4.9,338,7074,0.00,2.72,34.12,0.826,4,0.000,0.074,2527,3647,1805
$GC,7126,0.79,239.3,282.5,6.0,342,7131,0.12,2.60,0.00,0.000,6,0.093,0.054,2503,2237,1805
$GC,7448,0.87,265.9,265.7,5.3,358,7473,0.00,0.00,23.55,0.800,6,0.000,0.000,2502,2237,1697
$GC,7778,1.03,360.1,251.3,3.4,374,7860,0.22,0.00,78.90,0.810,6,0.047,0.000,2561,2237,1312
$GC,8166,0.97,360.1,222.5,8.5,393,8171,0.00,2.60,0.00,0.000,4,0.000,0.064,2562,830,1311
$GC,8223,0.97,360.1,217.5,8.6,395,8229,0.00,2.55,0.00,0.000,6,0.000,0.048,2562,2242,1311
$GC,8539,0.92,360.1,184.6,11.4,411,8544,0.15,2.62,0.00,0.000,4,0.087,0.061,2527,828,1311
$GC,8583,0.92,360.1,179.8,10.5,413,8587,0.00,2.55,0.00,0.000,6,0.000,0.047,2527,2240,1311
$GC,8905,0.92,360.1,146.6,10.0,429,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2240,1311
$GC,9213,0.92,360.1,117.3,8.9,444,9218,0.00,2.62,0.00,0.000,4,0.000,0.061,2527,823,1312
$GC,9292,0.92,360.1,110.8,7.3,447,9298,0.00,2.55,0.00,0.000,6,0.000,0.046,2527,2245,1312
$GC,9608,0.93,370.8,90.6,5.7,463,9621,0.00,0.00,10.35,0.626,6,0.000,0.000,2527,2245,1269
$GC,9918,0.93,370.8,70.3,7.6,478,9922,0.00,2.62,0.00,0.000,4,0.000,0.060,2527,827,1269
$GC,9990,0.97,370.8,64.1,7.8,481,9994,0.00,2.55,0.00,0.000,6,0.000,0.046,2527,2243,1269
$GC,10307,1.02,370.8,31.6,10.4,496,10312,0.10,2.62,0.00,0.000,4,0.054,0.058,2560,821,1269
$GC,10374,0.96,370.8,24.3,11.4,499,10378,0.00,2.55,0.00,0.000,6,0.000,0.044,2560,2241,1269
$STATE,10610,end climb,SURFACE_DEPTH_REACHED
$STATE,10610,begin surface coast
$FINISH,0.6,1.027047
$STATE,10632,end surface coast,CONTROL_FINISHED_OK
$STATE,10632,begin surface
$SM_CCo,10654,92.32,0.610,0,0,509,557.32
$SM_GC,1.17,0.00,0.00,92.32,0.000,0.000,0.610,71,2242,509,-10.39,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1888
$TCM_TEMP,17.60
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.4,18.1
$ALTIM_BOTTOM_PING,325.6,61.8
$24V_AH,23.6,47.066
$10V_AH,10.2,23.689
$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,25.050,62.575,446.925,92.325,0.000,18.074,30.705,227.992,6.750,0.000,0.000,14.719,930.944,7972.980,681.972,1083.054,477.836,0.000,1224.326,0.000,1064.106,0.000,21.470
$DEVICE_MAMPS,168.740,75.166,878.982,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.025,347.853,420.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25403,512
$CAP_FILE_SIZE,76086,0
$CFSIZE,260165632,242065408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,020808,073031,6406.026,-1106.742,40,1.2,45,-11.4