version: 66.03
glider: 16
mission: 9
dive: 304
start: 8 4 108 18 59 18
data:
$ID,16
$MISSION,9
$DIVE,304
$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,-2099862.2
$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,23
$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
$GPS1,185438,6415.221,-1126.475,37,1.4,37,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-53.3
$GPS2,185857,6415.221,-1126.543,10,1.8,10,-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,330.9,28757,-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,-120.62,0.000,2,0.000,0.000,67,2233,3001
$GC,150,-0.85,-146.6,4.3,-3.5,6,176,11.70,2.65,-8.20,0.000,4,0.172,0.079,2140,3641,3380
$GC,303,-0.72,-146.6,26.2,-11.2,13,308,0.15,2.55,0.00,0.000,6,0.093,0.045,2169,2228,3380
$GC,632,-0.72,-146.6,57.1,-9.9,29,636,0.00,2.58,0.00,0.000,4,0.000,0.055,2169,816,3380
$GC,676,-0.77,-146.6,61.9,-9.7,31,680,0.00,2.58,0.00,0.000,6,0.000,0.045,2169,2238,3380
$GC,998,-0.77,-146.6,95.3,-10.5,47,1002,0.00,2.60,0.00,0.000,4,0.000,0.067,2169,3638,3380
$GC,1030,-0.77,-146.6,99.0,-11.1,48,1036,0.00,2.55,0.00,0.000,6,0.000,0.047,2169,2221,3380
$GC,1348,-0.77,-146.6,127.5,-8.2,64,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3381
$GC,1655,-0.77,-146.6,153.1,-8.4,79,1659,0.00,2.58,0.00,0.000,4,0.000,0.061,2169,816,3381
$GC,1696,-0.83,-146.6,156.7,-9.0,81,1700,0.00,2.58,0.00,0.000,6,0.000,0.048,2169,2230,3381
$GC,2022,-0.83,-146.6,182.2,-7.5,97,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3381
$GC,2332,-0.83,-146.6,201.6,-5.7,112,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3381
$GC,2641,-0.83,-146.6,219.6,-5.9,127,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3381
$GC,2950,-0.83,-146.6,236.9,-5.5,142,2954,0.00,2.62,0.00,0.000,4,0.000,0.059,2169,816,3381
$GC,3001,-0.91,-146.6,239.7,-5.3,144,3006,0.17,2.58,0.00,0.000,6,0.041,0.050,2117,2232,3381
$GC,3317,-0.76,-146.6,265.6,-8.6,159,3319,0.22,0.00,0.00,0.000,6,0.084,0.000,2162,2233,3381
$GC,3626,-0.76,-146.6,289.6,-7.6,174,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2233,3381
$GC,3936,-0.76,-146.6,302.7,-2.9,189,3941,0.00,2.62,0.00,0.000,4,0.000,0.073,2162,3637,3381
$GC,3981,-0.76,-146.6,304.3,-3.9,191,3985,0.00,2.55,0.00,0.000,6,0.000,0.053,2162,2230,3380
$GC,4303,-0.76,-146.6,316.9,-4.8,207,4307,0.00,2.67,0.00,0.000,4,0.000,0.076,2162,3641,3380
$GC,4358,-0.76,-146.6,320.3,-5.8,209,4364,0.00,2.58,0.00,0.000,6,0.000,0.053,2162,2224,3380
$GC,4674,-0.76,-146.6,340.7,-7.4,225,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2223,3380
$STATE,4898,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4898,begin apogee
$GC,4905,-0.31,0.0,357.2,7.8,236,5035,0.47,0.00,126.55,0.844,6,0.087,0.000,2260,2224,2781
$STATE,5036,end apogee,CONTROL_FINISHED_OK
$STATE,5036,begin climb
$GC,5039,0.85,146.6,361.7,0.0,242,5171,1.17,2.67,125.28,0.836,4,0.074,0.064,2508,823,2182
$GC,5336,0.77,147.1,356.2,6.0,256,5341,0.00,2.62,0.00,0.000,6,0.000,0.051,2508,2243,2181
$GC,5652,0.76,179.8,341.0,5.1,272,5683,0.00,0.00,29.05,0.803,6,0.000,0.000,2508,2243,2048
$GC,5981,0.79,207.0,322.6,5.3,288,6008,0.00,0.00,24.65,0.795,6,0.000,0.000,2508,2243,1937
$GC,6310,0.79,207.0,299.2,6.8,304,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2243,1935
$GC,6619,0.81,224.0,280.4,5.5,319,6641,0.00,2.72,15.62,0.764,4,0.000,0.075,2508,3653,1867
$GC,6688,0.81,224.0,275.8,8.4,322,6692,0.00,2.62,0.00,0.000,6,0.000,0.057,2508,2234,1867
$GC,7014,0.81,224.0,248.3,7.8,338,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2234,1865
$GC,7324,0.89,297.9,233.7,4.0,353,7388,0.00,0.00,62.47,0.779,6,0.000,0.000,2507,2234,1565
$GC,7694,0.97,297.9,211.3,7.3,371,7696,0.15,0.00,0.00,0.000,6,0.074,0.000,2539,2234,1565
$GC,8003,0.97,297.9,185.7,7.7,386,8007,0.00,2.60,0.00,0.000,4,0.000,0.064,2540,826,1565
$GC,8058,0.97,297.9,181.4,7.5,388,8064,0.00,2.58,0.00,0.000,6,0.000,0.049,2540,2239,1564
$GC,8374,0.97,297.9,150.1,11.7,404,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2240,1564
$GC,8683,0.97,297.9,111.7,12.2,419,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2239,1564
$GC,8992,0.97,297.9,79.1,10.3,434,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2240,1565
$GC,9304,0.99,318.1,58.2,5.4,449,9327,0.00,2.70,17.52,0.622,4,0.000,0.061,2540,828,1483
$GC,9388,0.99,318.1,53.0,6.2,452,9395,0.00,2.58,0.00,0.000,6,0.000,0.048,2540,2245,1482
$GC,9706,0.99,318.1,27.2,8.5,468,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2245,1483
$GC,10014,1.03,318.1,5.5,6.9,483,10019,0.00,2.62,0.00,0.000,4,0.000,0.060,2540,826,1483
$STATE,10052,end climb,SURFACE_DEPTH_REACHED
$STATE,10052,begin surface coast
$FINISH,1.1,1.027056
$STATE,10059,end surface coast,CONTROL_FINISHED_OK
$STATE,10059,begin surface
$SM_CCo,10083,117.50,0.588,0,0,509,557.32
$SM_GC,1.21,0.00,0.00,117.50,0.000,0.000,0.588,72,2229,509,-10.39,-0.03,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1896
$TCM_TEMP,19.60
$XPDR_PINGS,11
$ALTIM_TOP_PING,20.0,19.3
$ALTIM_BOTTOM_PING,300.4,65.5
$24V_AH,23.7,49.837
$10V_AH,10.2,24.865
$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,24.800,62.600,401.150,117.500,0.000,18.021,26.857,111.695,5.250,0.000,0.000,10.451,888.673,7549.845,655.655,1032.357,345.757,0.000,1179.529,0.000,1016.342,0.000,22.029
$DEVICE_MAMPS,171.808,79.001,844.467,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.137,328.867,384.354,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25368,485
$CAP_FILE_SIZE,69910,0
$CFSIZE,260165632,241270784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,040808,215029,6417.406,-1126.140,9,7.7,28,-11.6