version: 66.03
glider: 16
mission: 9
dive: 308
start: 8 5 108 7 9 54
data:
$ID,16
$MISSION,9
$DIVE,308
$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,-2099965.2
$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
$GPS1,070505,6418.180,-1126.938,15,2.9,34,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-50.7
$GPS2,070933,6418.181,-1126.976,15,1.1,15,-11.7
$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,323.3,24596,-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,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.53,0.000,2,0.000,0.000,64,2244,3024
$GC,150,-0.85,-146.6,4.9,-4.2,6,175,11.70,2.62,-7.47,0.000,4,0.170,0.077,2143,3638,3380
$GC,290,-0.74,-146.6,25.5,-9.7,12,295,0.12,2.55,0.00,0.000,6,0.095,0.049,2166,2230,3381
$GC,612,-0.74,-146.6,50.3,-7.4,28,616,0.00,2.60,0.00,0.000,4,0.000,0.058,2166,813,3382
$GC,652,-0.74,-146.6,53.0,-6.4,30,656,0.00,2.55,0.00,0.000,6,0.000,0.046,2166,2230,3382
$GC,979,-0.74,-146.6,75.4,-7.8,46,983,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,3640,3382
$GC,1019,-0.74,-146.6,78.8,-8.8,48,1023,0.00,2.55,0.00,0.000,6,0.000,0.048,2166,2222,3382
$GC,1346,-0.74,-146.6,108.6,-9.5,64,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2222,3382
$GC,1655,-0.74,-146.6,132.7,-6.3,79,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2222,3382
$GC,1968,-0.74,-146.6,150.3,-5.9,94,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2222,3382
$GC,2273,-0.74,-146.6,170.7,-8.2,109,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2222,3382
$GC,2582,-0.74,-146.6,198.1,-8.9,124,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2222,3382
$GC,2892,-0.74,-146.6,221.5,-7.1,139,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2222,3383
$GC,3201,-0.74,-146.6,242.9,-6.9,154,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2221,3382
$GC,3510,-0.74,-146.6,266.3,-8.2,169,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2221,3382
$GC,3819,-0.74,-146.6,290.3,-7.8,184,3824,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,819,3382
$GC,3862,-0.82,-146.6,293.2,-8.1,186,3866,0.00,2.58,0.00,0.000,6,0.000,0.052,2166,2228,3382
$GC,4188,-0.82,-146.6,317.9,-8.4,202,4192,0.00,2.65,0.00,0.000,4,0.000,0.074,2166,3639,3381
$GC,4232,-0.82,-146.6,321.4,-6.8,204,4237,0.00,2.58,0.00,0.000,6,0.000,0.054,2166,2231,3381
$GC,4554,-0.82,-146.6,342.5,-5.5,220,4558,0.00,2.62,0.00,0.000,4,0.000,0.064,2165,812,3381
$GC,4594,-0.90,-146.6,345.0,-6.5,222,4599,0.15,2.62,0.00,0.000,6,0.047,0.054,2122,2235,3381
$STATE,4897,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4897,begin apogee
$GC,4904,-0.31,0.0,374.0,10.0,237,5035,0.68,0.00,127.05,0.885,6,0.088,0.000,2260,2235,2780
$STATE,5035,end apogee,CONTROL_FINISHED_OK
$STATE,5035,begin climb
$GC,5038,0.85,146.6,379.5,0.0,243,5173,1.17,2.75,124.97,0.874,4,0.077,0.075,2508,3648,2182
$GC,5294,0.80,170.9,372.6,5.3,255,5322,0.00,2.60,21.90,0.823,6,0.000,0.055,2507,2241,2084
$GC,5631,0.83,193.5,355.6,5.4,272,5654,0.00,0.00,20.45,0.821,6,0.000,0.000,2507,2241,1992
$GC,5960,0.88,242.6,339.8,4.7,288,6005,0.00,0.00,43.28,0.848,6,0.000,0.000,2508,2241,1792
$GC,6309,0.88,242.6,316.8,8.2,305,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1791
$GC,6619,0.88,242.6,300.6,6.3,320,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1790
$GC,6928,0.88,242.6,279.5,7.0,335,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,1790
$GC,7237,0.88,242.6,255.2,8.3,350,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1789
$GC,7547,0.92,280.8,236.9,5.0,365,7586,0.10,0.00,32.75,0.802,6,0.059,0.000,2538,2241,1636
$GC,7896,0.92,280.8,210.4,7.5,382,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2241,1636
$GC,8205,0.92,280.8,190.6,6.5,397,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2241,1635
$GC,8515,0.92,280.8,171.3,6.2,412,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2241,1635
$GC,8824,0.95,308.7,153.3,5.2,427,8850,0.00,0.00,24.48,0.730,6,0.000,0.000,2538,2241,1522
$GC,9153,0.99,340.0,137.1,5.1,443,9188,0.00,2.75,26.92,0.718,4,0.000,0.062,2538,822,1395
$GC,9224,1.09,397.9,133.8,4.4,446,9282,0.15,2.58,48.72,0.719,6,0.055,0.047,2572,2244,1157
$GC,9591,1.04,397.9,110.1,6.5,464,9596,0.00,2.65,0.00,0.000,4,0.000,0.062,2572,828,1157
$GC,9636,1.04,397.9,106.8,6.9,466,9641,0.00,2.58,0.00,0.000,6,0.000,0.047,2572,2246,1157
$GC,9958,1.04,397.9,81.7,8.9,482,9962,0.00,2.65,0.00,0.000,4,0.000,0.061,2572,826,1157
$GC,9990,1.04,397.9,78.5,9.3,483,9997,0.00,2.55,0.00,0.000,6,0.000,0.048,2572,2241,1157
$GC,10308,1.04,397.9,51.2,8.8,499,10313,0.00,2.62,0.00,0.000,4,0.000,0.061,2572,829,1157
$GC,10387,1.04,397.9,43.2,9.4,502,10393,0.00,2.55,0.00,0.000,6,0.000,0.047,2572,2247,1157
$GC,10704,1.04,397.9,13.0,9.4,518,10708,0.00,2.62,0.00,0.000,4,0.000,0.061,2572,829,1158
$GC,10748,1.04,397.9,8.0,11.8,520,10753,0.00,2.55,0.00,0.000,6,0.000,0.046,2572,2243,1158
$STATE,10820,end climb,SURFACE_DEPTH_REACHED
$STATE,10820,begin surface coast
$FINISH,0.7,1.027031
$STATE,10842,end surface coast,CONTROL_FINISHED_OK
$STATE,10842,begin surface
$SM_CCo,10863,78.55,0.605,0,0,508,557.32
$SM_GC,1.35,0.00,0.00,78.55,0.000,0.000,0.605,67,2243,508,-10.42,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1911
$TCM_TEMP,17.60
$XPDR_PINGS,15
$ALTIM_TOP_PING,18.8,17.8
$ALTIM_BOTTOM_PING,276.2,106.5
$24V_AH,23.6,50.345
$10V_AH,10.1,25.089
$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,24.900,62.575,470.525,78.550,0.000,18.113,32.662,108.850,5.750,0.000,0.000,15.817,939.561,8152.542,655.945,1114.401,359.204,0.000,1235.842,0.000,1093.788,0.000,15.413
$DEVICE_MAMPS,170.274,77.467,885.118,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.811,356.038,441.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25415,525
$CAP_FILE_SIZE,73099,0
$CFSIZE,260165632,241115136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050808,101338,6420.613,-1127.959,41,1.3,41,-11.7