version: 66.03
glider: 16
mission: 9
dive: 301
start: 8 4 108 9 59 57
data:
$ID,16
$MISSION,9
$DIVE,301
$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,-2099803.5
$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
$GPS1,095231,6414.366,-1126.531,37,1.8,42,-11.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-50.6
$GPS2,095938,6414.407,-1126.438,12,1.8,17,-11.6
$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,332.7,29969,-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,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.70,0.000,2,0.000,0.000,71,2245,2963
$GC,152,-0.85,-146.6,3.8,-3.1,6,176,11.62,0.00,-9.68,0.000,6,0.170,0.000,2140,2245,3380
$GC,486,-0.72,-146.6,37.6,-8.4,22,491,0.15,2.60,0.00,0.000,4,0.097,0.064,2172,3644,3379
$GC,530,-0.72,-146.6,41.0,-6.5,24,534,0.00,2.55,0.00,0.000,6,0.000,0.045,2172,2226,3380
$GC,851,-0.72,-146.6,59.0,-6.4,40,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2226,3380
$GC,1161,-0.72,-146.6,83.1,-7.8,55,1165,0.00,2.65,0.00,0.000,4,0.000,0.066,2172,3643,3380
$GC,1200,-0.72,-146.6,86.7,-9.3,57,1205,0.00,2.53,0.00,0.000,6,0.000,0.045,2172,2227,3381
$GC,1527,-0.72,-146.6,111.8,-6.4,73,1532,0.00,2.58,0.00,0.000,4,0.000,0.058,2172,820,3381
$GC,1569,-0.81,-146.6,114.5,-6.3,75,1573,0.00,2.55,0.00,0.000,6,0.000,0.045,2172,2238,3381
$GC,1896,-0.81,-146.6,141.7,-8.4,91,1900,0.00,2.60,0.00,0.000,4,0.000,0.067,2172,3637,3381
$GC,1928,-0.81,-146.6,144.5,-8.5,92,1935,0.00,2.53,0.00,0.000,6,0.000,0.048,2172,2232,3381
$GC,2245,-0.81,-146.6,165.5,-5.9,108,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2232,3381
$GC,2553,-0.81,-146.6,186.5,-8.4,123,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2232,3381
$GC,2862,-0.81,-146.6,218.1,-10.5,138,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2232,3381
$GC,3173,-0.81,-146.6,240.7,-5.9,153,3177,0.00,2.65,0.00,0.000,4,0.000,0.070,2172,3644,3381
$GC,3222,-0.81,-146.6,244.0,-6.4,155,3226,0.00,2.55,0.00,0.000,6,0.000,0.048,2173,2228,3381
$GC,3538,-0.81,-146.6,259.8,-4.2,170,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3382
$GC,3847,-0.81,-146.6,270.7,-3.0,185,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3381
$GC,4156,-0.81,-146.6,286.2,-6.0,200,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3381
$GC,4465,-0.81,-146.6,310.0,-8.2,215,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3380
$GC,4776,-0.87,-146.6,333.6,-7.2,230,4781,0.15,2.62,0.00,0.000,4,0.047,0.064,2124,816,3380
$GC,4838,-0.80,-146.6,340.2,-11.2,233,4844,0.15,2.60,0.00,0.000,6,0.093,0.052,2153,2232,3380
$STATE,4936,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4936,begin apogee
$GC,4943,-0.31,0.0,349.5,8.6,238,5072,0.52,0.00,126.45,0.861,6,0.088,0.000,2260,2232,2782
$STATE,5073,end apogee,CONTROL_FINISHED_OK
$STATE,5073,begin climb
$GC,5076,0.85,146.6,352.6,0.0,244,5209,1.15,2.72,124.95,0.847,4,0.067,0.061,2508,821,2182
$GC,5334,0.91,265.7,351.4,2.7,256,5441,0.00,2.62,101.50,0.840,6,0.000,0.051,2509,2242,1697
$GC,5757,0.91,265.7,324.8,6.5,277,5761,0.00,2.67,0.00,0.000,4,0.000,0.064,2508,830,1695
$GC,5820,0.96,265.7,320.7,6.8,280,5825,0.15,2.62,0.00,0.000,6,0.073,0.053,2541,2247,1695
$GC,6147,0.92,265.7,295.2,8.1,296,6151,0.00,2.65,0.00,0.000,4,0.000,0.075,2541,3649,1695
$GC,6187,0.88,265.7,291.5,9.6,298,6191,0.00,2.60,0.00,0.000,6,0.000,0.057,2541,2243,1695
$GC,6514,0.88,265.7,256.5,11.8,314,6518,0.00,2.62,0.00,0.000,4,0.000,0.065,2541,826,1693
$GC,6569,0.88,265.7,250.0,11.8,316,6575,0.00,2.60,0.00,0.000,6,0.000,0.051,2541,2246,1693
$GC,6885,0.83,265.7,217.9,9.8,332,6890,0.15,2.65,0.00,0.000,4,0.094,0.071,2508,3653,1692
$GC,6953,0.89,265.7,211.8,8.7,335,6957,0.00,2.60,0.00,0.000,6,0.000,0.055,2507,2237,1693
$GC,7274,0.94,265.7,189.3,6.4,351,7279,0.12,2.62,0.00,0.000,4,0.051,0.061,2545,821,1691
$GC,7319,0.89,265.7,185.9,8.0,353,7324,0.00,2.58,0.00,0.000,6,0.000,0.048,2545,2240,1692
$GC,7641,0.84,265.7,163.4,6.7,369,7643,0.15,0.00,0.00,0.000,6,0.083,0.000,2514,2240,1692
$GC,7950,0.88,296.5,145.6,5.2,384,7978,0.00,0.00,25.80,0.711,6,0.000,0.000,2514,2240,1571
$GC,8282,0.88,296.5,126.2,6.7,400,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2240,1571
$GC,8589,0.88,296.5,101.6,8.6,415,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2241,1571
$GC,8898,0.88,296.5,74.4,9.1,430,8902,0.00,2.65,0.00,0.000,4,0.000,0.061,2514,821,1571
$GC,8948,0.88,296.5,69.8,8.8,432,8953,0.00,2.58,0.00,0.000,6,0.000,0.046,2514,2244,1571
$GC,9264,0.88,296.5,43.7,7.8,447,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2244,1571
$GC,9574,0.92,334.6,24.6,5.0,462,9608,0.00,0.00,31.90,0.627,6,0.000,0.000,2514,2244,1417
$GC,9906,0.92,334.6,3.2,6.7,478,9910,0.00,2.62,0.00,0.000,4,0.000,0.061,2514,829,1416
$STATE,9920,end climb,SURFACE_DEPTH_REACHED
$STATE,9920,begin surface coast
$FINISH,0.7,1.027027
$STATE,9944,end surface coast,CONTROL_FINISHED_OK
$STATE,9944,begin surface
$SM_CCo,9968,109.88,0.605,0,0,509,557.32
$SM_GC,1.29,0.00,0.00,109.88,0.000,0.000,0.605,73,2232,509,-10.38,0.06,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1893
$TCM_TEMP,17.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.7,17.8
$ALTIM_BOTTOM_PING,251.0,108.4
$24V_AH,23.7,49.447
$10V_AH,10.1,24.697
$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,24.950,73.000,410.600,109.875,0.000,36.220,53.567,159.643,3.250,0.000,0.000,17.305,886.065,7474.583,632.444,1071.052,452.602,0.000,1188.868,0.000,1050.369,0.000,13.790
$DEVICE_MAMPS,169.507,75.166,860.574,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.204,325.941,435.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25354,480
$CAP_FILE_SIZE,74274,0
$CFSIZE,260165632,241377280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040808,124928,6416.600,-1122.921,32,3.0,51,-11.6