version: 66.03
glider: 16
mission: 9
dive: 418
start: 8 29 108 3 6 51
data:
$ID,16
$MISSION,9
$DIVE,418
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,120
$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,-2102688
$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,24
$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
$GPS1,030056,6340.172,-604.087,41,1.5,41,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-57.1
$GPS2,030633,6340.237,-604.028,12,1.5,12,-8.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NO9
$TGT_LATLONG,6340.000,-605.000
$TGT_RADIUS,1500.000
$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,249.5,911,-27.9,-10.000
$D_GRID,300
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.81,-62.0,0.0,0.0,0,130,0.00,0.00,-101.62,0.000,2,0.000,0.000,72,2230,2575
$GC,133,-1.89,-137.0,3.0,-1.9,5,177,10.48,2.58,-25.88,0.000,4,0.173,0.064,1911,814,3341
$GC,301,-1.83,-137.0,36.1,-24.4,12,305,0.00,2.55,0.00,0.000,6,0.000,0.044,1911,2227,3341
$GC,617,-1.74,-137.0,106.4,-22.6,27,622,0.17,2.60,0.00,0.000,4,0.131,0.060,1945,3640,3342
$GC,703,-1.70,-137.0,125.1,-21.4,31,708,0.00,2.53,0.00,0.000,6,0.000,0.043,1945,2230,3342
$GC,1030,-1.70,-137.0,194.2,-21.3,47,1034,0.00,2.62,0.00,0.000,4,0.000,0.062,1945,3643,3342
$GC,1069,-1.70,-137.0,202.7,-21.3,49,1074,0.00,2.55,0.00,0.000,6,0.000,0.043,1945,2224,3342
$GC,1397,-1.70,-137.0,269.3,-19.5,65,1401,0.00,2.65,0.00,0.000,4,0.000,0.064,1945,3643,3342
$GC,1459,-1.70,-137.0,282.2,-19.8,68,1463,0.00,2.55,0.00,0.000,6,0.000,0.044,1945,2228,3342
$STATE,1556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1556,begin apogee
$GC,1564,-0.31,0.0,302.9,20.8,73,1685,1.60,0.00,117.38,0.812,6,0.114,0.000,2258,2228,2781
$STATE,1686,end apogee,CONTROL_FINISHED_OK
$STATE,1686,begin climb
$GC,1689,1.89,137.0,309.8,0.0,79,1812,2.25,2.70,115.15,0.805,4,0.068,0.055,2744,825,2221
$GC,1909,1.83,137.0,297.5,13.9,89,1913,0.00,2.58,0.00,0.000,6,0.000,0.045,2745,2243,2222
$GC,2230,1.83,137.0,260.2,11.6,105,2234,0.00,2.62,0.00,0.000,4,0.000,0.067,2744,3649,2221
$GC,2488,1.72,137.0,230.6,11.6,116,2495,0.20,2.58,0.00,0.000,6,0.114,0.048,2708,2231,2221
$GC,2804,1.73,143.8,199.5,9.3,132,2818,0.00,2.72,6.88,0.640,4,0.000,0.065,2708,3653,2194
$GC,3072,1.73,143.8,169.4,11.8,144,3076,0.00,2.53,0.00,0.000,6,0.000,0.047,2708,2241,2193
$GC,3398,1.73,143.8,133.8,11.0,160,3403,0.00,2.62,0.00,0.000,4,0.000,0.063,2708,3650,2192
$GC,3587,1.68,143.8,111.3,12.2,168,3591,0.00,2.55,0.00,0.000,6,0.000,0.045,2708,2233,2192
$GC,3903,1.68,143.8,76.1,11.4,183,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2234,2191
$GC,4213,1.68,143.8,43.1,10.1,198,4218,0.00,2.55,0.00,0.000,4,0.000,0.054,2708,828,2191
$GC,4282,1.69,150.4,36.0,9.3,201,4298,0.00,2.55,6.47,0.553,6,0.000,0.042,2708,2253,2167
$GC,4608,1.69,152.6,7.7,9.8,217,4612,0.00,2.58,0.00,0.000,4,0.000,0.062,2708,3650,2167
$STATE,4660,end climb,SURFACE_DEPTH_REACHED
$STATE,4660,begin surface coast
$FINISH,0.6,1.026913
$STATE,4684,end surface coast,CONTROL_FINISHED_OK
$STATE,4684,begin surface
$SM_CCo,4710,201.93,0.611,0,0,508,557.32
$SM_GC,1.30,0.00,0.00,201.93,0.000,0.000,0.611,72,2231,508,-10.39,0.03,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1849
$TCM_TEMP,19.60
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.1,17.6
$24V_AH,23.5,67.923
$10V_AH,10.1,34.261
$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,26.275,51.825,245.875,201.925,0.000,18.375,26.319,154.661,3.250,0.000,0.000,12.087,486.924,3115.503,577.639,703.428,358.851,0.000,949.898,0.000,690.960,0.000,13.922
$DEVICE_MAMPS,172.575,66.729,812.253,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,158.507,150.967,218.769,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9716,220
$CAP_FILE_SIZE,48069,0
$CFSIZE,260165632,234541056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290808,042953,6340.611,-603.919,10,2.2,30,-8.3