version: 66.03
glider: 16
mission: 9
dive: 294
start: 8 3 108 14 53 13
data:
$ID,16
$MISSION,9
$DIVE,294
$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,-2099633.8
$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,25
$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
$GPS1,144626,6411.114,-1107.950,43,1.7,43,-11.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-53.5
$GPS2,145253,6411.048,-1107.996,10,2.7,29,-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,322.8,44704,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-120.88,0.000,2,0.000,0.000,66,2249,3001
$GC,150,-0.85,-146.6,4.2,-3.5,6,176,11.60,2.58,-8.40,0.000,4,0.167,0.076,2141,3638,3381
$GC,327,-0.75,-146.6,27.9,-9.8,14,332,0.12,2.55,0.00,0.000,6,0.097,0.048,2165,2226,3382
$GC,649,-0.75,-146.6,54.6,-8.4,30,653,0.00,2.60,0.00,0.000,4,0.000,0.058,2165,812,3381
$GC,722,-0.80,-146.6,59.6,-6.7,33,726,0.00,2.58,0.00,0.000,6,0.000,0.046,2165,2233,3382
$GC,1039,-0.80,-146.6,81.7,-6.8,48,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2233,3382
$GC,1347,-0.80,-146.6,105.1,-7.9,63,1352,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,3643,3382
$GC,1392,-0.80,-146.6,108.7,-7.8,65,1396,0.00,2.55,0.00,0.000,6,0.000,0.049,2165,2232,3382
$GC,1713,-0.80,-146.6,134.6,-8.2,81,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3382
$GC,2022,-0.80,-146.6,158.6,-7.6,96,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3382
$GC,2332,-0.80,-146.6,180.3,-6.8,111,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3382
$GC,2642,-0.80,-146.6,201.3,-6.8,126,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2232,3382
$GC,2950,-0.80,-146.6,227.5,-9.3,141,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3382
$GC,3260,-0.80,-146.6,259.5,-10.7,156,3264,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,816,3382
$GC,3304,-0.87,-146.6,264.4,-10.9,158,3309,0.12,2.58,0.00,0.000,6,0.047,0.049,2124,2236,3382
$GC,3626,-0.72,-146.6,298.8,-9.7,174,3628,0.22,0.00,0.00,0.000,6,0.087,0.000,2168,2236,3382
$GC,3934,-0.72,-146.6,321.5,-7.7,189,3939,0.00,2.62,0.00,0.000,4,0.000,0.073,2168,3641,3382
$GC,3979,-0.72,-146.6,325.3,-8.0,191,3983,0.00,2.58,0.00,0.000,6,0.000,0.052,2168,2223,3382
$GC,4300,-0.72,-146.6,346.0,-5.5,207,4305,0.00,2.67,0.00,0.000,4,0.000,0.074,2168,3636,3382
$STATE,4309,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4309,begin apogee
$GC,4318,-0.31,0.0,347.2,7.0,207,4447,0.45,0.00,125.75,0.848,6,0.115,0.000,2257,2236,2781
$STATE,4448,end apogee,CONTROL_FINISHED_OK
$STATE,4448,begin climb
$GC,4451,0.85,146.6,351.2,0.0,214,4582,1.17,2.70,123.30,0.836,4,0.067,0.063,2511,826,2183
$GC,4700,0.80,146.6,345.0,7.9,225,4707,0.00,2.60,0.00,0.000,6,0.000,0.050,2511,2241,2183
$GC,5019,0.77,204.0,330.9,4.4,241,5074,0.00,2.72,48.95,0.821,4,0.000,0.074,2510,3650,1948
$GC,5225,0.77,204.0,316.7,8.1,250,5229,0.00,2.60,0.00,0.000,6,0.000,0.056,2511,2240,1948
$GC,5541,0.78,212.5,296.7,5.8,265,5555,0.00,2.72,8.45,0.707,4,0.000,0.075,2511,3640,1914
$GC,5618,0.78,212.5,291.8,6.8,268,5622,0.00,2.58,0.00,0.000,6,0.000,0.055,2510,2241,1914
$GC,5934,0.78,214.1,273.5,6.0,283,5938,0.00,2.67,0.00,0.000,4,0.000,0.074,2511,3645,1913
$GC,5997,0.78,214.1,269.5,6.9,286,6001,0.00,2.60,0.00,0.000,6,0.000,0.055,2511,2236,1913
$GC,6323,0.78,214.1,247.3,7.9,302,6327,0.00,2.62,0.00,0.000,4,0.000,0.064,2511,826,1912
$GC,6367,0.78,214.1,243.3,9.5,304,6371,0.00,2.60,0.00,0.000,6,0.000,0.050,2510,2246,1912
$GC,6688,0.78,214.1,215.2,8.7,320,6692,0.00,2.62,0.00,0.000,4,0.000,0.071,2511,3647,1912
$GC,6743,0.78,214.1,210.0,9.3,322,6749,0.00,2.58,0.00,0.000,6,0.000,0.054,2511,2238,1912
$GC,7058,0.78,214.1,185.7,7.3,338,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2238,1912
$GC,7368,0.78,214.1,164.5,6.6,353,7372,0.00,2.65,0.00,0.000,4,0.000,0.071,2510,3652,1912
$GC,7430,0.78,214.1,159.8,7.6,356,7435,0.00,2.58,0.00,0.000,6,0.000,0.053,2511,2237,1912
$GC,7758,0.78,214.1,138.3,6.6,372,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2237,1912
$GC,8068,0.81,236.1,120.4,5.4,387,8094,0.00,2.70,20.65,0.689,4,0.000,0.069,2511,3647,1818
$GC,8151,0.81,236.1,114.8,7.7,391,8156,0.00,2.58,0.00,0.000,6,0.000,0.052,2511,2240,1817
$GC,8478,0.81,236.1,94.6,6.5,407,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2240,1818
$GC,8789,0.83,257.6,77.0,5.4,422,8809,0.00,0.00,18.77,0.654,6,0.000,0.000,2511,2240,1730
$GC,9119,0.94,306.5,59.6,4.7,438,9165,0.10,2.67,40.10,0.660,4,0.051,0.069,2545,3648,1531
$GC,9221,0.94,306.5,52.6,7.7,442,9228,0.00,2.58,0.00,0.000,6,0.000,0.053,2545,2240,1531
$GC,9538,0.94,306.5,30.8,7.8,458,9542,0.00,2.62,0.00,0.000,4,0.000,0.062,2545,823,1532
$GC,9645,0.94,306.5,21.3,9.0,463,9649,0.00,2.58,0.00,0.000,6,0.000,0.048,2545,2241,1530
$STATE,9907,end climb,SURFACE_DEPTH_REACHED
$STATE,9907,begin surface coast
$FINISH,0.6,1.027012
$STATE,9929,end surface coast,CONTROL_FINISHED_OK
$STATE,9929,begin surface
$SM_CCo,9950,123.25,0.605,0,0,508,557.32
$SM_GC,1.21,0.00,0.00,123.25,0.000,0.000,0.605,67,2242,508,-10.41,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1892
$TCM_TEMP,17.50
$XPDR_PINGS,7
$ALTIM_TOP_PING,18.4,17.2
$ALTIM_BOTTOM_PING,250.7,106.2
$24V_AH,23.7,48.560
$10V_AH,10.2,24.331
$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,24.525,83.675,385.975,123.250,0.000,28.473,26.161,205.891,3.500,0.000,0.000,30.092,895.338,7319.824,620.061,1173.539,462.015,0.000,1219.099,0.000,1135.630,0.000,13.783
$DEVICE_MAMPS,167.206,75.933,847.535,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.350,323.566,444.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25452,477
$CAP_FILE_SIZE,76377,0
$CFSIZE,260165632,241618944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,030808,174231,6409.943,-1114.295,39,1.6,44,-11.5