version: 66.03
glider: 16
mission: 9
dive: 286
start: 8 2 108 13 54 35
data:
$ID,16
$MISSION,9
$DIVE,286
$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,-2099453
$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,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
$GPS1,134134,6406.714,-1100.842,37,1.6,46,-11.3
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-52.7
$GPS2,135414,6406.473,-1100.883,12,1.8,17,-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,325.4,54630,-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,-120.12,0.000,2,0.000,0.000,68,2253,2996
$GC,150,-0.85,-146.6,3.8,-3.0,6,177,11.62,2.60,-8.65,0.000,4,0.168,0.077,2142,3643,3380
$GC,325,-0.72,-146.6,28.2,-13.3,14,330,0.15,2.55,0.00,0.000,6,0.097,0.047,2171,2228,3381
$GC,653,-0.72,-146.6,48.5,-4.6,30,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3381
$GC,961,-0.72,-146.6,65.7,-6.1,45,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3380
$GC,1270,-0.72,-146.6,90.1,-8.3,60,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3381
$GC,1582,-0.72,-146.6,116.8,-8.7,75,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3381
$GC,1889,-0.72,-146.6,141.8,-8.1,90,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3381
$GC,2198,-0.72,-146.6,165.0,-7.0,105,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3381
$GC,2507,-0.72,-146.6,186.0,-6.4,120,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3381
$GC,2816,-0.72,-146.6,204.3,-5.7,135,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3380
$GC,3126,-0.72,-146.6,221.0,-5.7,150,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3380
$GC,3435,-0.72,-146.6,240.6,-6.5,165,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3380
$GC,3744,-0.72,-146.6,261.5,-7.2,180,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2227,3380
$GC,4053,-0.72,-146.6,289.3,-9.6,195,4057,0.00,2.58,0.00,0.000,4,0.000,0.061,2171,817,3381
$GC,4093,-0.80,-146.6,293.2,-9.7,197,4098,0.00,2.58,0.00,0.000,6,0.000,0.049,2171,2235,3381
$GC,4420,-0.80,-146.6,318.3,-6.9,213,4424,0.00,2.62,0.00,0.000,4,0.000,0.071,2171,3644,3380
$GC,4482,-0.80,-146.6,322.5,-6.7,216,4486,0.00,2.55,0.00,0.000,6,0.000,0.049,2171,2230,3380
$GC,4810,-0.80,-146.6,341.3,-5.2,232,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3380
$GC,5119,-0.80,-146.6,359.9,-5.5,247,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2229,3379
$GC,5428,-0.80,-146.6,381.3,-5.7,262,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2229,3379
$GC,5738,-0.85,-146.6,396.3,-4.6,277,5743,0.12,2.67,0.00,0.000,4,0.051,0.078,2133,3641,3379
$STATE,5762,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5763,begin apogee
$GC,5772,-0.31,0.0,398.8,9.5,278,5903,0.60,0.00,126.53,0.910,6,0.091,0.000,2258,2241,2781
$STATE,5904,end apogee,CONTROL_FINISHED_OK
$STATE,5904,begin climb
$GC,5908,0.85,146.6,404.9,0.0,285,6037,1.20,0.00,125.80,0.894,6,0.066,0.000,2513,2240,2183
$GC,6336,0.73,146.6,382.5,7.8,306,6341,0.12,2.65,0.00,0.000,4,0.097,0.069,2488,829,2181
$GC,6392,0.73,146.6,379.2,6.2,308,6398,0.00,2.62,0.00,0.000,6,0.000,0.056,2488,2246,2181
$GC,6708,0.81,217.5,366.3,4.1,324,6770,0.00,0.00,60.83,0.887,6,0.000,0.000,2488,2246,1894
$GC,7077,0.95,269.9,348.4,4.6,342,7127,0.22,0.00,45.72,0.881,6,0.058,0.000,2537,2246,1680
$GC,7427,0.95,269.9,320.4,9.0,359,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2246,1679
$GC,7735,0.95,269.9,291.4,10.1,374,7740,0.00,2.67,0.00,0.000,4,0.000,0.079,2537,3653,1677
$GC,7814,0.95,269.9,283.2,9.5,377,7820,0.00,2.62,0.00,0.000,6,0.000,0.059,2537,2239,1677
$GC,8130,0.95,269.9,257.1,7.2,393,8134,0.00,2.67,0.00,0.000,4,0.000,0.074,2537,3648,1676
$GC,8169,0.95,269.9,254.0,8.3,395,8173,0.00,2.60,0.00,0.000,6,0.000,0.055,2537,2235,1676
$GC,8496,0.95,269.9,230.5,7.3,411,8500,0.00,2.62,0.00,0.000,4,0.000,0.065,2537,825,1676
$GC,8540,0.95,269.9,227.0,7.5,413,8544,0.00,2.58,0.00,0.000,6,0.000,0.049,2537,2242,1675
$GC,8860,0.95,269.9,203.2,7.2,429,8865,0.00,2.62,0.00,0.000,4,0.000,0.070,2536,3647,1675
$GC,8905,0.95,269.9,199.7,7.8,431,8909,0.00,2.58,0.00,0.000,6,0.000,0.052,2537,2235,1675
$GC,9226,0.95,269.9,176.8,7.9,447,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2235,1675
$GC,9535,0.95,269.9,149.3,9.1,462,9539,0.00,2.60,0.00,0.000,4,0.000,0.061,2537,821,1675
$GC,9575,0.95,269.9,145.6,9.5,464,9579,0.00,2.58,0.00,0.000,6,0.000,0.048,2537,2246,1676
$GC,9902,0.95,269.9,117.9,8.2,480,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2246,1676
$GC,10212,0.95,269.9,95.2,6.8,495,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2246,1677
$GC,10520,0.95,269.9,75.4,6.8,510,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2245,1677
$GC,10830,0.95,269.9,49.8,9.2,525,10834,0.00,2.62,0.00,0.000,4,0.000,0.060,2537,823,1678
$GC,10892,0.95,269.9,43.4,10.3,528,10896,0.00,2.55,0.00,0.000,6,0.000,0.047,2537,2241,1677
$GC,11219,0.95,269.9,14.1,7.4,544,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2241,1678
$STATE,11401,end climb,SURFACE_DEPTH_REACHED
$STATE,11402,begin surface coast
$FINISH,0.7,1.016063
$STATE,11425,end surface coast,CONTROL_FINISHED_OK
$STATE,11425,begin surface
$SM_CCo,11446,139.65,0.614,0,0,509,557.32
$SM_GC,1.28,0.00,0.00,139.65,0.000,0.000,0.614,69,2242,509,-10.40,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1900
$TCM_TEMP,17.40
$XPDR_PINGS,24
$ALTIM_TOP_PING,18.5,17.9
$ALTIM_BOTTOM_PING,375.1,33.2
$24V_AH,23.6,47.480
$10V_AH,10.2,23.867
$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,24.775,57.350,358.875,139.650,0.000,56.615,86.924,367.470,9.500,0.000,0.000,17.212,992.691,8862.409,654.930,1115.852,730.496,0.000,1192.067,0.000,1093.740,0.000,29.561
$DEVICE_MAMPS,167.973,79.001,909.662,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.401,376.544,449.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28614,554
$CAP_FILE_SIZE,81220,0
$CFSIZE,260165632,241938432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,020808,170922,6405.382,-1105.296,40,2.6,59,-11.4