version: 66.03
glider: 16
mission: 9
dive: 290
start: 8 3 108 2 46 22
data:
$ID,16
$MISSION,9
$DIVE,290
$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,-2099556.2
$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,20
$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
$GPS1,023952,6408.132,-1101.544,41,6.1,60,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-52.9
$GPS2,024605,6408.048,-1101.616,12,2.5,31,-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,323.5,52207,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.55,0.000,2,0.000,0.000,72,2244,2967
$GC,153,-0.85,-146.6,4.1,-3.3,6,180,11.57,2.60,-9.40,0.000,4,0.169,0.076,2139,3638,3380
$GC,285,-0.74,-146.6,22.1,-10.6,12,291,0.15,2.55,0.00,0.000,6,0.094,0.048,2168,2227,3381
$GC,612,-0.74,-146.6,47.8,-6.8,28,617,0.00,2.58,0.00,0.000,4,0.000,0.058,2168,816,3381
$GC,677,-0.80,-146.6,51.8,-5.0,31,681,0.00,2.55,0.00,0.000,6,0.000,0.046,2168,2230,3381
$GC,1004,-0.80,-146.6,74.1,-7.0,47,1008,0.00,2.62,0.00,0.000,4,0.000,0.067,2168,3643,3381
$GC,1053,-0.80,-146.6,78.1,-8.0,49,1057,0.00,2.55,0.00,0.000,6,0.000,0.048,2168,2221,3381
$GC,1370,-0.80,-146.6,102.4,-7.6,64,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2221,3381
$GC,1678,-0.80,-146.6,127.6,-8.5,79,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2221,3381
$GC,1987,-0.80,-146.6,154.5,-8.4,94,1991,0.00,2.65,0.00,0.000,4,0.000,0.070,2169,3638,3381
$GC,2027,-0.80,-146.6,157.9,-8.6,96,2032,0.00,2.55,0.00,0.000,6,0.000,0.048,2168,2222,3381
$GC,2354,-0.80,-146.6,183.6,-7.5,112,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2222,3381
$GC,2663,-0.80,-146.6,207.1,-7.8,127,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2222,3381
$GC,2973,-0.80,-146.6,229.0,-6.7,142,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2222,3381
$GC,3282,-0.80,-146.6,248.8,-6.4,157,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2221,3381
$GC,3591,-0.80,-146.6,270.5,-7.6,172,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2221,3381
$GC,3901,-0.80,-146.6,294.9,-8.3,187,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2221,3381
$GC,4210,-0.80,-146.6,318.5,-7.0,202,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3381
$GC,4519,-0.80,-146.6,336.2,-5.1,217,4524,0.00,2.65,0.00,0.000,4,0.000,0.071,2168,3637,3381
$GC,4593,-0.80,-146.6,340.2,-6.0,220,4597,0.00,2.53,0.00,0.000,6,0.000,0.050,2168,2230,3381
$GC,4909,-0.80,-146.6,354.8,-4.9,235,4913,0.00,2.67,0.00,0.000,4,0.000,0.075,2169,3642,3381
$GC,4953,-0.85,-146.6,357.6,-6.2,237,4958,0.12,2.55,0.00,0.000,6,0.050,0.052,2137,2232,3381
$STATE,5231,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5231,begin apogee
$GC,5238,-0.31,0.0,376.9,7.1,251,5372,0.60,0.00,127.22,0.873,6,0.084,0.000,2260,2231,2781
$STATE,5373,end apogee,CONTROL_FINISHED_OK
$STATE,5373,begin climb
$GC,5376,0.85,146.6,382.8,0.0,258,5511,1.17,2.83,125.43,0.865,4,0.070,0.077,2512,3648,2182
$GC,5601,0.77,163.9,375.2,5.5,268,5627,0.00,2.62,16.33,0.798,6,0.000,0.058,2512,2239,2112
$GC,5937,0.74,196.1,358.6,5.1,285,5967,0.12,0.00,28.15,0.838,6,0.098,0.000,2488,2239,1981
$GC,6267,0.81,218.3,342.2,5.4,301,6290,0.00,0.00,20.35,0.828,6,0.000,0.000,2488,2239,1890
$GC,6595,0.88,218.3,323.2,6.1,317,6600,0.15,2.72,0.00,0.000,4,0.053,0.081,2533,3646,1889
$GC,6719,0.78,218.3,311.9,9.2,322,6725,0.17,2.62,0.00,0.000,6,0.094,0.063,2500,2242,1889
$GC,7034,0.78,218.3,291.5,6.9,338,7039,0.00,2.70,0.00,0.000,4,0.000,0.081,2500,3646,1888
$GC,7124,0.78,218.3,283.7,9.0,342,7128,0.00,2.62,0.00,0.000,6,0.000,0.060,2500,2232,1888
$GC,7445,0.83,218.3,256.5,7.9,358,7450,0.00,2.62,0.00,0.000,4,0.000,0.068,2500,827,1885
$GC,7496,0.87,218.3,252.6,7.6,360,7500,0.00,2.60,0.00,0.000,6,0.000,0.053,2500,2244,1885
$GC,7812,0.87,218.3,231.5,6.3,375,7816,0.00,2.62,0.00,0.000,4,0.000,0.073,2500,3647,1885
$GC,7884,0.87,218.3,226.6,7.1,378,7888,0.00,2.58,0.00,0.000,6,0.000,0.054,2500,2238,1885
$GC,8199,0.89,237.6,208.3,5.5,393,8219,0.12,0.00,16.67,0.755,6,0.052,0.000,2537,2237,1812
$GC,8530,0.84,237.6,186.0,6.4,409,8531,0.12,0.00,0.00,0.000,6,0.091,0.000,2512,2237,1812
$GC,8838,0.84,237.6,166.5,7.1,424,8842,0.00,2.65,0.00,0.000,4,0.000,0.070,2512,3653,1812
$GC,8899,0.84,237.6,161.6,8.2,427,8904,0.00,2.58,0.00,0.000,6,0.000,0.051,2513,2237,1812
$GC,9228,0.84,237.6,137.0,7.6,443,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2237,1812
$GC,9536,0.84,237.6,114.5,7.2,458,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2237,1812
$GC,9845,0.84,237.6,93.6,6.4,473,9849,0.00,2.65,0.00,0.000,4,0.000,0.067,2512,3654,1813
$GC,9901,0.84,237.6,89.6,7.0,475,9907,0.00,2.58,0.00,0.000,6,0.000,0.051,2513,2232,1813
$GC,10217,0.94,331.8,75.2,3.4,491,10300,0.10,0.00,77.28,0.679,6,0.053,0.000,2544,2232,1427
$GC,10610,0.94,331.8,48.9,8.4,510,10614,0.00,2.60,0.00,0.000,4,0.000,0.063,2544,828,1427
$GC,10666,0.94,331.8,43.8,8.1,512,10672,0.00,2.58,0.00,0.000,6,0.000,0.048,2544,2247,1426
$GC,10982,0.94,331.8,22.1,6.1,528,10986,0.00,2.65,0.00,0.000,4,0.000,0.063,2545,827,1426
$GC,11049,1.02,357.1,17.8,5.3,531,11076,0.00,2.55,21.30,0.615,6,0.000,0.047,2545,2241,1324
$STATE,11265,end climb,SURFACE_DEPTH_REACHED
$STATE,11266,begin surface coast
$FINISH,0.7,1.027012
$STATE,11287,end surface coast,CONTROL_FINISHED_OK
$STATE,11288,begin surface
$SM_CCo,11309,99.45,0.609,0,0,509,557.32
$SM_GC,1.27,0.00,0.00,99.45,0.000,0.000,0.609,73,2242,509,-10.38,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1903
$TCM_TEMP,17.60
$XPDR_PINGS,21
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,326.0,60.8
$24V_AH,23.7,48.037
$10V_AH,10.2,24.107
$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,25.275,78.425,432.725,99.450,0.000,17.945,28.743,197.966,7.750,0.000,0.000,32.642,992.640,8442.544,678.081,1224.557,451.811,0.000,1286.835,0.000,1183.885,0.000,18.538
$DEVICE_MAMPS,168.740,81.302,872.846,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.111,368.970,461.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28567,543
$CAP_FILE_SIZE,81937,0
$CFSIZE,260165632,241770496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030808,055755,6407.705,-1107.671,25,1.2,43,-11.4