version: 66.03
glider: 16
mission: 9
dive: 293
start: 8 3 108 11 43 42
data:
$ID,16
$MISSION,9
$DIVE,293
$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,-2099603
$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,24
$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
$GPS1,113708,6411.910,-1106.642,35,1.9,35,-11.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-49.9
$GPS2,114321,6411.901,-1106.496,15,1.9,15,-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,320.2,44603,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.68,0.000,2,0.000,0.000,68,2244,2984
$GC,150,-0.85,-146.6,4.3,-3.6,6,177,11.68,2.62,-8.88,0.000,4,0.170,0.078,2140,3638,3379
$GC,317,-0.76,-146.6,26.1,-9.7,13,324,0.12,2.55,0.00,0.000,6,0.097,0.051,2164,2229,3380
$GC,634,-0.76,-146.6,47.7,-6.5,29,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3380
$GC,943,-0.76,-146.6,69.0,-6.9,44,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3380
$GC,1251,-0.76,-146.6,93.0,-8.4,59,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3381
$GC,1561,-0.76,-146.6,117.5,-7.8,74,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3381
$GC,1871,-0.76,-146.6,140.2,-7.4,89,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3381
$GC,2179,-0.76,-146.6,164.4,-8.0,104,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3380
$GC,2488,-0.76,-146.6,189.7,-8.1,119,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3381
$GC,2798,-0.76,-146.6,213.9,-7.6,134,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3381
$GC,3106,-0.76,-146.6,235.2,-6.5,149,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2228,3381
$GC,3416,-0.76,-146.6,254.7,-6.6,164,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3381
$GC,3726,-0.76,-146.6,277.0,-7.4,179,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2228,3381
$GC,4034,-0.76,-146.6,298.7,-7.1,194,4039,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,816,3380
$GC,4079,-0.82,-146.6,302.1,-7.9,196,4084,0.00,2.58,0.00,0.000,6,0.000,0.050,2165,2232,3381
$GC,4401,-0.82,-146.6,325.4,-7.1,212,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3381
$GC,4710,-0.82,-146.6,344.8,-6.1,227,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2232,3381
$STATE,4975,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4975,begin apogee
$GC,4982,-0.31,0.0,361.3,6.9,240,5110,0.45,0.00,125.57,0.863,6,0.059,0.000,2265,2235,2781
$STATE,5111,end apogee,CONTROL_FINISHED_OK
$STATE,5111,begin climb
$GC,5115,0.85,146.6,361.0,0.0,246,5246,1.12,2.72,123.45,0.841,4,0.065,0.073,2507,3647,2183
$GC,5399,0.79,174.8,354.1,5.2,259,5431,0.00,2.60,25.05,0.805,6,0.000,0.056,2507,2237,2068
$GC,5741,0.73,174.8,332.0,6.3,276,5745,0.00,2.70,0.00,0.000,4,0.000,0.078,2507,3647,2068
$GC,5941,0.73,174.8,318.5,6.6,285,5945,0.00,2.60,0.00,0.000,6,0.000,0.057,2507,2240,2068
$GC,6262,0.76,199.7,301.4,5.3,301,6291,0.00,2.75,21.70,0.801,4,0.000,0.076,2508,3647,1966
$GC,6337,0.76,199.7,296.5,7.0,304,6342,0.00,2.62,0.00,0.000,6,0.000,0.057,2507,2237,1966
$GC,6654,0.78,218.6,276.9,5.5,319,6676,0.00,2.75,17.17,0.785,4,0.000,0.065,2507,823,1889
$GC,6805,0.81,248.9,269.0,5.2,325,6837,0.00,2.60,26.38,0.796,6,0.000,0.052,2508,2242,1766
$GC,7159,0.81,248.9,246.3,6.7,343,7163,0.00,2.65,0.00,0.000,4,0.000,0.071,2507,3647,1765
$GC,7209,0.85,248.9,242.7,7.3,345,7213,0.00,2.60,0.00,0.000,6,0.000,0.054,2507,2233,1765
$GC,7525,0.89,248.9,222.5,6.2,360,7529,0.00,2.60,0.00,0.000,4,0.000,0.061,2508,827,1764
$GC,7565,0.94,248.9,220.1,6.3,362,7570,0.12,2.58,0.00,0.000,6,0.073,0.048,2535,2242,1764
$GC,7892,0.90,248.9,198.4,6.9,378,7896,0.00,2.62,0.00,0.000,4,0.000,0.069,2536,3647,1764
$GC,7965,0.85,248.9,192.7,8.1,381,7969,0.00,2.58,0.00,0.000,6,0.000,0.052,2536,2232,1764
$GC,8282,0.81,248.9,171.1,7.0,396,8284,0.15,0.00,0.00,0.000,6,0.091,0.000,2506,2231,1764
$GC,8591,0.87,254.0,153.5,5.9,411,8599,0.00,0.00,5.88,0.588,6,0.000,0.000,2506,2232,1745
$GC,8901,0.92,254.0,133.4,6.7,426,8902,0.10,0.00,0.00,0.000,6,0.051,0.000,2538,2231,1745
$GC,9209,0.87,254.0,105.2,9.3,441,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2231,1745
$GC,9519,0.83,254.0,80.7,7.2,456,9524,0.12,2.65,0.00,0.000,4,0.089,0.067,2513,3647,1745
$GC,9564,0.88,254.0,77.3,7.4,458,9568,0.00,2.55,0.00,0.000,6,0.000,0.051,2513,2237,1745
$GC,9885,0.88,254.0,56.0,6.7,474,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2238,1745
$GC,10197,0.93,254.0,34.0,7.0,489,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2238,1745
$GC,10504,1.01,289.3,16.4,5.0,504,10540,0.15,2.65,29.65,0.628,4,0.047,0.061,2552,830,1600
$GC,10587,1.01,289.3,10.2,8.4,507,10591,0.00,2.58,0.00,0.000,6,0.000,0.047,2552,2246,1599
$STATE,10704,end climb,SURFACE_DEPTH_REACHED
$STATE,10704,begin surface coast
$FINISH,0.6,1.026550
$STATE,10726,end surface coast,CONTROL_FINISHED_OK
$STATE,10726,begin surface
$SM_CCo,10748,131.85,0.608,0,0,509,557.32
$SM_GC,1.11,0.00,0.00,131.85,0.000,0.000,0.608,67,2248,509,-10.41,0.51,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1897
$TCM_TEMP,17.50
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,300.0,70.7
$24V_AH,23.7,48.436
$10V_AH,10.2,24.274
$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,24.875,57.725,374.850,131.850,0.000,18.249,32.813,216.828,4.250,0.000,0.000,15.489,944.340,8073.849,613.097,1169.247,464.075,0.000,1200.438,0.000,1146.156,0.000,19.874
$DEVICE_MAMPS,170.274,78.234,862.875,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.193,349.323,446.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25324,514
$CAP_FILE_SIZE,76959,0
$CFSIZE,260165632,241659904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,030808,144626,6411.114,-1107.950,43,1.7,43,-11.4