version: 66.03
glider: 16
mission: 9
dive: 299
start: 8 4 108 4 47 41
data:
$ID,16
$MISSION,9
$DIVE,299
$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,-2099753.5
$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,23
$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
$GPS1,044258,6411.232,-1120.317,30,2.6,49,-11.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-54.5
$GPS2,044720,6411.180,-1120.402,11,2.0,16,-11.5
$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,332.6,37648,-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,-120.57,0.000,2,0.000,0.000,70,2244,2963
$GC,150,-0.85,-146.6,4.3,-3.6,6,177,11.60,2.60,-9.35,0.000,4,0.169,0.076,2142,3637,3379
$GC,282,-0.74,-146.6,20.9,-8.2,12,287,0.12,2.55,0.00,0.000,6,0.101,0.050,2165,2231,3380
$GC,610,-0.69,-146.6,44.7,-6.6,28,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3380
$GC,919,-0.69,-146.6,65.8,-7.1,43,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3379
$GC,1228,-0.69,-146.6,88.3,-8.5,58,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3380
$GC,1538,-0.69,-146.6,109.6,-6.1,73,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3380
$GC,1846,-0.69,-146.6,128.2,-6.4,88,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3380
$GC,2156,-0.69,-146.6,150.0,-7.1,103,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3380
$GC,2465,-0.69,-146.6,172.9,-8.2,118,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3380
$GC,2774,-0.69,-146.6,200.8,-8.7,133,2779,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,3638,3381
$GC,2814,-0.69,-146.6,204.2,-8.8,135,2819,0.00,2.55,0.00,0.000,6,0.000,0.049,2165,2226,3380
$GC,3142,-0.69,-146.6,233.7,-9.0,151,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2225,3380
$GC,3451,-0.69,-146.6,258.9,-7.4,166,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2225,3380
$GC,3761,-0.69,-146.6,275.5,-4.4,181,3765,0.00,2.65,0.00,0.000,4,0.000,0.073,2165,3637,3380
$GC,3811,-0.69,-146.6,277.9,-5.5,183,3815,0.00,2.55,0.00,0.000,6,0.000,0.052,2165,2230,3380
$GC,4127,-0.69,-146.6,296.8,-6.4,198,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3380
$STATE,4290,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4290,begin apogee
$GC,4297,-0.31,0.0,306.9,6.1,206,4425,0.47,0.00,125.32,0.830,6,0.091,0.000,2264,2230,2781
$STATE,4426,end apogee,CONTROL_FINISHED_OK
$STATE,4426,begin climb
$GC,4429,0.85,146.6,310.1,0.0,212,4557,1.15,0.00,123.85,0.812,6,0.072,0.000,2505,2230,2183
$GC,4867,0.87,229.2,296.4,3.7,234,4939,0.00,0.00,70.30,0.799,6,0.000,0.000,2505,2229,1845
$GC,5235,0.87,229.2,269.6,7.9,252,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2229,1845
$GC,5544,0.87,229.2,247.0,6.1,267,5548,0.00,2.70,0.00,0.000,4,0.000,0.075,2505,3645,1845
$GC,5645,0.87,229.2,238.6,8.4,271,5651,0.00,2.60,0.00,0.000,6,0.000,0.056,2506,2237,1845
$GC,5960,0.87,229.2,210.2,9.4,287,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2237,1844
$GC,6269,0.87,229.2,185.3,7.4,302,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2237,1843
$GC,6579,0.87,229.2,162.0,8.0,317,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2237,1842
$GC,6888,0.87,229.2,139.0,6.9,332,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2237,1842
$GC,7199,0.89,255.7,121.0,5.3,347,7229,0.00,2.75,22.33,0.700,4,0.000,0.068,2506,3650,1738
$GC,7266,0.95,260.6,117.3,5.9,350,7277,0.15,2.58,5.85,0.571,6,0.060,0.051,2547,2239,1718
$GC,7597,0.91,284.8,97.3,5.3,366,7623,0.00,2.65,20.92,0.676,4,0.000,0.061,2547,829,1619
$GC,7663,0.96,328.9,93.9,4.8,369,7707,0.00,2.58,36.92,0.685,6,0.000,0.048,2547,2240,1440
$GC,8032,0.98,347.5,76.8,5.5,387,8054,0.00,2.67,16.42,0.640,4,0.000,0.061,2547,826,1363
$GC,8093,0.98,347.5,72.5,7.2,389,8100,0.00,2.58,0.00,0.000,6,0.000,0.048,2547,2240,1362
$GC,8410,0.98,347.5,50.4,6.7,405,8414,0.00,2.62,0.00,0.000,4,0.000,0.061,2547,828,1363
$GC,8453,0.98,347.5,47.6,6.2,407,8458,0.00,2.58,0.00,0.000,6,0.000,0.048,2546,2246,1363
$GC,8775,0.98,347.5,25.6,7.4,423,8779,0.00,2.65,0.00,0.000,4,0.000,0.061,2547,821,1363
$GC,8816,1.03,347.5,22.7,7.5,425,8820,0.00,2.58,0.00,0.000,6,0.000,0.048,2547,2243,1363
$STATE,9119,end climb,SURFACE_DEPTH_REACHED
$STATE,9119,begin surface coast
$FINISH,0.6,1.015005
$STATE,9141,end surface coast,CONTROL_FINISHED_OK
$STATE,9141,begin surface
$SM_CCo,9162,102.78,0.607,0,0,509,557.32
$SM_GC,1.29,0.00,0.00,102.78,0.000,0.000,0.607,74,2244,509,-10.37,0.42,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1902
$TCM_TEMP,17.40
$XPDR_PINGS,7
$ALTIM_TOP_PING,18.6,999.0
$ALTIM_BOTTOM_PING,251.3,65.0
$24V_AH,23.7,49.186
$10V_AH,10.2,24.592
$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,24.350,47.075,421.925,102.775,0.000,17.943,28.887,109.133,3.500,0.000,0.000,16.285,785.059,6828.385,626.047,958.317,333.105,0.000,1114.500,0.000,940.510,0.000,13.716
$DEVICE_MAMPS,168.740,75.933,829.894,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,324.513,299.087,454.599,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22235,441
$CAP_FILE_SIZE,61661,0
$CFSIZE,260165632,241459200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040808,072307,6411.708,-1126.146,12,1.8,28,-11.6