version: 66.03
glider: 16
mission: 9
dive: 306
start: 8 5 108 1 21 24
data:
$ID,16
$MISSION,9
$DIVE,306
$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,-2099933
$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
$GPS1,011128,6419.480,-1122.089,25,3.1,44,-11.6
$_CALLS,2
$_XMS_NAKs,28
$_XMS_TOUTs,3
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-53.4
$GPS2,012107,6419.454,-1121.889,34,1.9,38,-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,313.5,26448,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.25,0.000,2,0.000,0.000,70,2243,2985
$GC,151,-0.85,-146.6,4.1,-3.4,6,178,11.65,2.60,-8.85,0.000,4,0.170,0.076,2141,3639,3380
$GC,318,-0.74,-146.6,26.2,-9.1,13,325,0.12,2.55,0.00,0.000,6,0.096,0.048,2167,2225,3381
$GC,635,-0.74,-146.6,53.6,-9.4,29,640,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,816,3381
$GC,686,-0.78,-146.6,58.4,-8.6,31,690,0.00,2.58,0.00,0.000,6,0.000,0.048,2165,2234,3381
$GC,1004,-0.78,-146.6,86.9,-9.1,46,1008,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,3644,3381
$GC,1053,-0.78,-146.6,92.6,-10.8,48,1058,0.00,2.55,0.00,0.000,6,0.000,0.048,2165,2230,3382
$GC,1371,-0.78,-146.6,123.0,-8.8,63,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$GC,1680,-0.78,-146.6,150.1,-9.0,78,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3382
$GC,1988,-0.78,-146.6,176.3,-7.8,93,1992,0.00,2.60,0.00,0.000,4,0.000,0.060,2165,811,3380
$GC,2021,-0.78,-146.6,178.9,-7.2,94,2027,0.00,2.58,0.00,0.000,6,0.000,0.048,2165,2230,3381
$GC,2338,-0.78,-146.6,198.1,-5.7,110,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$GC,2647,-0.78,-146.6,215.5,-5.2,125,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$GC,2955,-0.78,-146.6,234.2,-6.4,140,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3381
$GC,3266,-0.78,-146.6,253.0,-5.4,155,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3381
$GC,3574,-0.78,-146.6,269.3,-5.3,170,3579,0.00,2.60,0.00,0.000,4,0.000,0.060,2166,817,3381
$GC,3608,-0.84,-146.6,271.3,-5.5,171,3614,0.00,2.58,0.00,0.000,6,0.000,0.050,2166,2234,3381
$GC,3924,-0.84,-146.6,289.1,-6.3,187,3929,0.00,2.62,0.00,0.000,4,0.000,0.072,2166,3639,3381
$GC,3942,-0.84,-146.6,290.7,-6.8,188,3946,0.00,2.58,0.00,0.000,6,0.000,0.054,2166,2230,3381
$GC,4268,-0.84,-146.6,312.1,-6.2,204,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3381
$GC,4578,-0.84,-146.6,333.3,-6.2,219,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3380
$GC,4886,-0.84,-146.6,354.4,-6.2,234,4891,0.00,2.67,0.00,0.000,4,0.000,0.076,2166,3643,3379
$STATE,4917,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4917,begin apogee
$GC,4927,-0.31,0.0,356.9,7.7,235,5056,0.43,0.00,125.88,0.854,6,0.089,0.000,2256,2240,2780
$STATE,5057,end apogee,CONTROL_FINISHED_OK
$STATE,5057,begin climb
$GC,5060,0.85,146.6,362.9,0.0,242,5196,1.23,2.75,124.60,0.841,4,0.073,0.073,2512,3643,2183
$GC,5222,0.78,170.0,360.2,5.4,250,5248,0.00,2.60,21.20,0.795,6,0.000,0.053,2512,2240,2087
$GC,5573,0.75,189.6,339.7,5.5,267,5593,0.00,0.00,17.85,0.788,6,0.000,0.000,2512,2240,2008
$GC,5899,0.82,257.1,323.3,4.2,283,5959,0.00,0.00,58.40,0.831,6,0.000,0.000,2511,2240,1732
$GC,6269,0.82,257.1,295.0,9.2,301,6274,0.00,2.67,0.00,0.000,4,0.000,0.074,2512,3647,1731
$GC,6325,0.82,257.1,289.4,10.5,303,6331,0.00,2.60,0.00,0.000,6,0.000,0.056,2512,2240,1731
$GC,6640,0.82,257.1,260.9,9.0,319,6645,0.00,2.65,0.00,0.000,4,0.000,0.067,2512,830,1730
$GC,6719,0.82,257.1,254.2,7.5,322,6725,0.00,2.60,0.00,0.000,6,0.000,0.053,2512,2244,1730
$GC,7035,0.82,257.1,234.6,6.3,338,7039,0.00,2.65,0.00,0.000,4,0.000,0.065,2511,830,1729
$GC,7074,0.82,257.1,231.9,6.9,340,7078,0.00,2.60,0.00,0.000,6,0.000,0.051,2512,2246,1729
$GC,7402,0.92,307.5,215.3,4.6,356,7451,0.00,2.72,42.30,0.778,4,0.000,0.072,2512,3640,1527
$GC,7481,1.01,307.5,210.8,6.7,359,7487,0.17,2.60,0.00,0.000,6,0.055,0.055,2558,2241,1527
$GC,7797,0.95,307.5,184.2,8.8,375,7802,0.12,2.65,0.00,0.000,4,0.094,0.064,2534,821,1526
$GC,7859,0.95,307.5,179.1,8.5,378,7864,0.00,2.60,0.00,0.000,6,0.000,0.050,2534,2240,1525
$GC,8187,0.90,307.5,151.2,8.1,394,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2240,1525
$GC,8497,0.85,307.5,126.6,7.8,409,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2240,1525
$GC,8805,0.85,307.5,96.5,11.3,424,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2240,1525
$GC,9114,0.85,307.5,63.7,9.5,439,9119,0.00,2.62,0.00,0.000,4,0.000,0.062,2534,829,1526
$GC,9178,0.85,307.5,58.8,7.3,442,9182,0.00,2.55,0.00,0.000,6,0.000,0.048,2534,2241,1526
$GC,9504,0.85,307.5,36.5,7.2,458,9509,0.00,2.62,0.00,0.000,4,0.000,0.061,2534,826,1526
$GC,9554,0.85,307.5,32.5,7.0,460,9559,0.00,2.55,0.00,0.000,6,0.000,0.048,2534,2245,1526
$GC,9871,0.85,307.5,7.4,8.4,475,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2245,1527
$STATE,9951,end climb,SURFACE_DEPTH_REACHED
$STATE,9952,begin surface coast
$FINISH,0.6,1.017839
$STATE,9972,end surface coast,CONTROL_FINISHED_OK
$STATE,9972,begin surface
$SM_CCo,9994,121.43,0.608,0,0,509,557.32
$SM_GC,1.22,0.00,0.00,121.43,0.000,0.000,0.608,64,2246,509,-10.42,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1922
$TCM_TEMP,17.50
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.5,19.6
$ALTIM_BOTTOM_PING,350.6,16.2
$24V_AH,23.7,50.095
$10V_AH,10.2,24.980
$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,24.450,78.350,390.225,121.425,0.000,36.007,52.585,286.315,7.750,0.000,0.000,38.176,884.341,7514.250,652.958,1064.497,583.674,0.000,1193.995,0.000,1020.099,0.000,20.039
$DEVICE_MAMPS,169.507,75.933,854.438,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.940,325.334,389.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25323,480
$CAP_FILE_SIZE,77374,0
$CFSIZE,260165632,241184768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050808,041108,6418.689,-1122.654,28,1.1,28,-11.6