version: 66.03
glider: 16
mission: 9
dive: 285
start: 8 2 108 10 30 52
data:
$ID,16
$MISSION,9
$DIVE,285
$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,-2099435
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,102126,6407.517,-1103.150,40,1.8,40,-11.4
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-51.4
$GPS2,103035,6407.475,-1102.766,11,3.8,30,-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,325.1,52258,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-121.10,0.000,2,0.000,0.000,67,2249,3016
$GC,154,-0.85,-146.6,4.1,-3.3,6,179,11.65,2.58,-8.02,0.000,4,0.170,0.076,2143,3638,3381
$GC,342,-0.76,-146.6,32.2,-12.2,14,346,0.00,2.53,0.00,0.000,6,0.000,0.047,2143,2228,3381
$GC,659,-0.65,-146.6,61.5,-6.6,29,661,0.22,0.00,0.00,0.000,6,0.090,0.000,2188,2228,3381
$GC,968,-0.65,-146.6,76.7,-5.6,44,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2228,3381
$GC,1277,-0.69,-146.6,95.6,-6.5,59,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2228,3381
$GC,1587,-0.74,-146.6,114.6,-5.2,74,1592,0.00,2.58,0.00,0.000,4,0.000,0.058,2187,814,3381
$GC,1628,-0.84,-146.6,116.8,-5.7,76,1633,0.20,2.55,0.00,0.000,6,0.039,0.046,2128,2227,3381
$GC,1956,-0.71,-146.6,141.5,-7.5,92,1961,0.20,2.62,0.00,0.000,4,0.083,0.067,2171,3644,3381
$GC,1989,-0.71,-146.6,143.8,-6.1,93,1996,0.00,2.55,0.00,0.000,6,0.000,0.048,2171,2221,3381
$GC,2305,-0.71,-146.6,158.5,-4.7,109,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3381
$GC,2615,-0.71,-146.6,178.3,-6.7,124,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3381
$GC,2924,-0.71,-146.6,201.4,-7.6,139,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3381
$GC,3233,-0.71,-146.6,223.1,-6.6,154,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3381
$GC,3542,-0.71,-146.6,243.6,-6.5,169,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3381
$GC,3851,-0.71,-146.6,265.0,-7.2,184,3855,0.00,2.65,0.00,0.000,4,0.000,0.070,2171,3641,3381
$GC,3884,-0.71,-146.6,267.7,-8.3,185,3890,0.00,2.53,0.00,0.000,6,0.000,0.047,2171,2229,3381
$GC,4200,-0.71,-146.6,292.4,-7.7,201,4205,0.00,2.58,0.00,0.000,4,0.000,0.060,2171,812,3381
$GC,4257,-0.81,-146.6,296.7,-7.4,203,4262,0.00,2.58,0.00,0.000,6,0.000,0.049,2171,2235,3381
$GC,4572,-0.81,-146.6,316.9,-6.1,219,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2236,3381
$GC,4882,-0.81,-146.6,336.4,-6.2,234,4886,0.00,2.62,0.00,0.000,4,0.000,0.073,2172,3641,3380
$GC,4914,-0.81,-146.6,338.7,-7.1,235,4921,0.00,2.55,0.00,0.000,6,0.000,0.050,2172,2224,3380
$GC,5233,-0.85,-146.6,356.2,-5.4,251,5235,0.12,0.00,0.00,0.000,6,0.048,0.000,2136,2224,3380
$GC,5541,-0.77,-146.6,378.4,-7.2,266,5543,0.12,0.00,0.00,0.000,6,0.090,0.000,2159,2224,3380
$STATE,5578,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5578,begin apogee
$GC,5585,-0.31,0.0,381.2,7.0,268,5714,0.47,0.00,126.43,0.877,6,0.084,0.000,2258,2224,2780
$STATE,5715,end apogee,CONTROL_FINISHED_OK
$STATE,5715,begin climb
$GC,5718,0.85,146.6,385.1,0.0,274,5846,1.17,0.00,124.53,0.869,6,0.069,0.000,2510,2224,2183
$GC,6154,0.80,151.5,366.0,5.9,295,6164,0.00,2.65,5.72,0.663,4,0.000,0.066,2510,822,2162
$GC,6267,0.80,151.5,358.6,6.2,300,6271,0.00,2.62,0.00,0.000,6,0.000,0.054,2510,2240,2161
$GC,6589,0.77,172.3,340.0,5.4,316,6613,0.00,2.75,18.60,0.825,4,0.000,0.067,2510,814,2078
$GC,6757,0.72,172.3,330.6,6.4,323,6762,0.12,2.65,0.00,0.000,6,0.096,0.055,2486,2246,2077
$GC,7074,0.86,305.4,320.3,2.4,338,7196,0.15,2.78,111.85,0.864,4,0.051,0.077,2532,3645,1535
$GC,7320,0.86,305.4,308.2,6.6,349,7324,0.00,2.62,0.00,0.000,6,0.000,0.058,2532,2235,1534
$GC,7635,0.86,305.4,288.1,6.8,364,7640,0.00,2.62,0.00,0.000,4,0.000,0.067,2532,829,1533
$GC,7692,0.86,305.4,284.0,7.4,366,7698,0.00,2.58,0.00,0.000,6,0.000,0.051,2532,2240,1532
$GC,8008,0.86,305.4,260.3,7.8,382,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2240,1532
$GC,8318,0.86,305.4,235.7,8.5,397,8322,0.00,2.65,0.00,0.000,4,0.000,0.064,2533,820,1532
$GC,8384,0.86,305.4,229.7,9.4,400,8389,0.00,2.58,0.00,0.000,6,0.000,0.048,2532,2240,1531
$GC,8706,0.86,305.4,201.1,9.1,416,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2240,1531
$GC,9016,0.86,305.4,174.4,8.3,431,9020,0.00,2.62,0.00,0.000,4,0.000,0.062,2532,820,1532
$GC,9066,0.86,305.4,169.9,8.6,433,9070,0.00,2.58,0.00,0.000,6,0.000,0.048,2532,2243,1531
$GC,9382,0.86,305.4,145.4,7.6,448,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2243,1532
$GC,9693,0.86,305.4,120.1,8.4,463,9697,0.00,2.62,0.00,0.000,4,0.000,0.061,2532,823,1533
$GC,9737,0.86,305.4,116.0,9.3,465,9741,0.00,2.58,0.00,0.000,6,0.000,0.048,2532,2248,1532
$GC,10058,0.86,305.4,86.7,9.0,481,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2248,1531
$GC,10368,0.86,305.4,60.2,8.0,496,10372,0.00,2.62,0.00,0.000,4,0.000,0.061,2532,827,1533
$GC,10454,0.86,305.4,53.9,7.7,500,10458,0.00,2.58,0.00,0.000,6,0.000,0.048,2532,2249,1533
$GC,10780,0.86,305.4,31.8,8.3,516,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2249,1534
$GC,11091,0.86,305.4,8.8,7.6,531,11092,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2249,1533
$STATE,11191,end climb,SURFACE_DEPTH_REACHED
$STATE,11192,begin surface coast
$FINISH,0.6,1.013453
$STATE,11212,end surface coast,CONTROL_FINISHED_OK
$STATE,11212,begin surface
$SM_CCo,11233,121.35,0.611,0,0,509,557.32
$SM_GC,1.18,0.00,0.00,121.35,0.000,0.000,0.611,70,2251,509,-10.40,0.59,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1903
$TCM_TEMP,17.50
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.6,17.8
$ALTIM_BOTTOM_PING,325.8,65.2
$24V_AH,23.7,47.336
$10V_AH,10.1,23.804
$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,25.175,73.000,387.125,121.350,0.000,36.064,55.000,268.036,6.250,0.000,0.000,31.497,991.908,8480.935,640.947,1222.025,576.488,0.000,1248.313,0.000,1182.519,0.000,21.820
$DEVICE_MAMPS,169.507,77.467,876.681,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.728,364.581,449.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25436,537
$CAP_FILE_SIZE,82213,0
$CFSIZE,260165632,241979392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,020808,134134,6406.714,-1100.842,37,1.6,46,-11.3