version: 66.03
glider: 16
mission: 9
dive: 289
start: 8 2 108 23 39 22
data:
$ID,16
$MISSION,9
$DIVE,289
$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,-2099522.8
$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,22
$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
$GPS1,233338,6408.823,-1100.977,30,1.2,30,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-53.5
$GPS2,233903,6408.766,-1100.861,16,2.0,16,-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,322.0,51777,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-120.75,0.000,2,0.000,0.000,71,2249,2952
$GC,152,-0.85,-146.6,4.1,-3.2,6,182,11.57,2.58,-9.95,0.000,4,0.168,0.074,2139,3640,3379
$GC,375,-0.74,-146.6,30.9,-10.1,16,380,0.15,2.55,0.00,0.000,6,0.091,0.050,2168,2230,3380
$GC,702,-0.74,-146.6,51.4,-4.2,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3380
$GC,1011,-0.74,-146.6,68.0,-6.6,47,1016,0.00,2.62,0.00,0.000,4,0.000,0.066,2168,3638,3380
$GC,1052,-0.74,-146.6,70.9,-7.2,49,1056,0.00,2.53,0.00,0.000,6,0.000,0.046,2168,2223,3380
$GC,1379,-0.74,-146.6,96.6,-8.8,65,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2223,3380
$GC,1689,-0.74,-146.6,127.5,-10.2,80,1693,0.00,2.65,0.00,0.000,4,0.000,0.067,2168,3643,3380
$GC,1738,-0.74,-146.6,133.0,-10.8,82,1742,0.00,2.55,0.00,0.000,6,0.000,0.046,2168,2222,3380
$GC,2054,-0.74,-146.6,161.6,-8.2,97,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2222,3381
$GC,2364,-0.74,-146.6,182.5,-5.8,112,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2221,3381
$GC,2672,-0.74,-146.6,197.0,-4.0,127,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2221,3380
$GC,2982,-0.74,-146.6,207.8,-3.8,142,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2221,3380
$GC,3291,-0.74,-146.6,227.2,-8.2,157,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3380
$GC,3600,-0.74,-146.6,260.7,-11.6,172,3604,0.00,2.65,0.00,0.000,4,0.000,0.067,2169,3640,3380
$GC,3633,-0.74,-146.6,264.5,-11.5,173,3639,0.00,2.53,0.00,0.000,6,0.000,0.047,2169,2228,3380
$GC,3948,-0.74,-146.6,293.7,-8.0,189,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3380
$GC,4258,-0.74,-146.6,311.3,-4.8,204,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3380
$GC,4567,-0.74,-146.6,328.9,-5.9,219,4572,0.00,2.58,0.00,0.000,4,0.000,0.058,2169,813,3380
$GC,4609,-0.82,-146.6,331.5,-6.4,221,4613,0.00,2.58,0.00,0.000,6,0.000,0.048,2169,2238,3380
$GC,4935,-0.82,-146.6,348.2,-4.2,237,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2238,3380
$GC,5244,-0.82,-146.6,364.6,-5.4,252,5249,0.00,2.62,0.00,0.000,4,0.000,0.073,2168,3641,3380
$GC,5278,-0.82,-146.6,366.8,-6.8,253,5284,0.00,2.55,0.00,0.000,6,0.000,0.051,2169,2228,3380
$STATE,5550,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5550,begin apogee
$GC,5557,-0.31,0.0,382.4,5.6,267,5686,0.45,0.00,126.55,0.875,6,0.092,0.000,2259,2228,2781
$STATE,5687,end apogee,CONTROL_FINISHED_OK
$STATE,5687,begin climb
$GC,5690,0.85,146.6,386.2,0.0,273,5822,1.17,2.67,124.72,0.867,4,0.079,0.065,2508,831,2182
$GC,5922,0.84,197.5,379.9,4.6,284,5972,0.00,2.60,44.22,0.844,6,0.000,0.054,2508,2238,1974
$GC,6297,0.87,227.5,358.3,5.2,302,6331,0.00,2.83,26.40,0.835,4,0.000,0.079,2507,3653,1852
$GC,6457,0.87,227.5,348.3,6.1,309,6462,0.00,2.62,0.00,0.000,6,0.000,0.060,2508,2244,1852
$GC,6779,0.93,280.3,332.1,4.6,325,6830,0.10,2.78,45.20,0.856,4,0.060,0.079,2538,3651,1638
$GC,6900,0.93,280.3,325.4,6.4,330,6906,0.00,2.62,0.00,0.000,6,0.000,0.059,2538,2240,1638
$GC,7216,0.98,331.6,309.5,4.6,346,7265,0.00,2.72,43.72,0.848,4,0.000,0.067,2538,825,1429
$GC,7339,0.98,331.6,302.2,6.8,351,7345,0.00,2.60,0.00,0.000,6,0.000,0.051,2538,2240,1428
$GC,7655,0.98,331.6,276.4,9.6,367,7659,0.00,2.65,0.00,0.000,4,0.000,0.064,2537,826,1428
$GC,7705,0.98,331.6,271.0,10.9,369,7709,0.00,2.58,0.00,0.000,6,0.000,0.049,2538,2242,1427
$GC,8021,0.93,331.6,231.9,12.7,384,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2242,1428
$GC,8330,0.88,331.6,190.4,13.3,399,8334,0.00,2.62,0.00,0.000,4,0.000,0.061,2538,821,1427
$GC,8386,0.88,331.6,183.2,13.5,401,8392,0.00,2.58,0.00,0.000,6,0.000,0.048,2538,2245,1427
$GC,8702,0.83,331.6,147.0,10.6,417,8704,0.12,0.00,0.00,0.000,6,0.090,0.000,2513,2244,1427
$GC,9013,0.83,331.6,122.3,7.1,432,9017,0.00,2.62,0.00,0.000,4,0.000,0.061,2512,826,1428
$GC,9085,0.83,331.6,117.2,6.5,435,9089,0.00,2.55,0.00,0.000,6,0.000,0.046,2512,2241,1428
$GC,9401,0.83,331.6,94.2,8.0,450,9405,0.00,2.62,0.00,0.000,4,0.000,0.061,2512,820,1428
$GC,9434,0.88,331.6,91.6,7.7,451,9440,0.00,2.55,0.00,0.000,6,0.000,0.047,2512,2241,1429
$GC,9752,0.88,331.6,65.3,8.3,467,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,1429
$GC,10060,0.92,331.6,40.6,7.5,482,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,1429
$GC,10370,0.98,331.6,19.5,6.8,497,10375,0.12,2.62,0.00,0.000,4,0.048,0.060,2553,818,1429
$GC,10456,0.98,331.6,12.0,8.9,501,10460,0.00,2.55,0.00,0.000,6,0.000,0.047,2553,2241,1429
$STATE,10573,end climb,SURFACE_DEPTH_REACHED
$STATE,10573,begin surface coast
$FINISH,0.5,1.027060
$STATE,10597,end surface coast,CONTROL_FINISHED_OK
$STATE,10597,begin surface
$SM_CCo,10618,109.75,0.611,0,0,509,557.32
$SM_GC,1.16,0.00,0.00,109.75,0.000,0.000,0.611,73,2242,509,-10.38,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1907
$TCM_TEMP,17.40
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.5,19.5
$ALTIM_BOTTOM_PING,325.3,66.7
$24V_AH,23.7,47.905
$10V_AH,10.2,24.046
$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,24.500,78.375,410.825,109.750,0.000,18.013,27.560,172.500,5.250,0.000,0.000,16.183,938.789,7879.763,627.896,1192.556,423.958,0.000,1248.774,0.000,1166.063,0.000,18.552
$DEVICE_MAMPS,167.973,79.001,875.147,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.274,344.490,427.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25353,508
$CAP_FILE_SIZE,78288,0
$CFSIZE,260165632,241815552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030808,023952,6408.132,-1101.544,41,6.1,60,-11.3