version: 66.03
glider: 16
mission: 9
dive: 311
start: 8 5 108 16 37 43
data:
$ID,16
$MISSION,9
$DIVE,311
$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,-2100050.2
$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,22
$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
$GPS1,163207,6422.501,-1125.896,40,1.9,40,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-54.6
$GPS2,163726,6422.459,-1125.928,17,2.0,34,-11.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NV
$TGT_LATLONG,6454.000,-1040.000
$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,43.4,68660,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-120.90,0.000,2,0.000,0.000,71,2245,2958
$GC,151,-0.85,-146.6,3.9,-3.2,6,176,11.73,0.00,-10.07,0.000,6,0.169,0.000,2141,2245,3380
$GC,479,-0.73,-146.6,39.6,-10.0,22,481,0.15,0.00,0.00,0.000,6,0.097,0.000,2172,2245,3380
$GC,786,-0.73,-146.6,65.0,-8.1,37,790,0.00,2.60,0.00,0.000,4,0.000,0.064,2171,3642,3381
$GC,825,-0.73,-146.6,68.4,-9.4,39,830,0.00,2.55,0.00,0.000,6,0.000,0.047,2170,2228,3381
$GC,1153,-0.73,-146.6,93.4,-7.3,55,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,1462,-0.73,-146.6,115.3,-6.7,70,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3382
$GC,1771,-0.73,-146.6,140.4,-8.8,85,1775,0.00,2.60,0.00,0.000,4,0.000,0.058,2171,811,3382
$GC,1827,-0.80,-146.6,145.7,-9.6,87,1833,0.00,2.58,0.00,0.000,6,0.000,0.048,2170,2233,3382
$GC,2143,-0.80,-146.6,173.0,-8.2,103,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2233,3382
$GC,2451,-0.80,-146.6,194.5,-6.5,118,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2233,3382
$GC,2761,-0.80,-146.6,216.7,-8.0,133,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2233,3382
$GC,3070,-0.80,-146.6,240.6,-6.1,148,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2233,3382
$GC,3380,-0.80,-146.6,253.7,-4.1,163,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2233,3382
$GC,3689,-0.80,-146.6,272.1,-6.5,178,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2233,3381
$GC,3998,-0.80,-146.6,289.7,-5.2,193,4002,0.00,2.65,0.00,0.000,4,0.000,0.077,2171,3635,3381
$GC,4031,-0.84,-146.6,291.5,-5.6,194,4038,0.12,2.58,0.00,0.000,6,0.052,0.055,2134,2230,3380
$GC,4348,-0.75,-146.6,311.2,-6.8,210,4350,0.15,0.00,0.00,0.000,6,0.091,0.000,2164,2230,3380
$GC,4656,-0.75,-146.6,329.4,-6.4,225,4661,0.00,2.67,0.00,0.000,4,0.000,0.077,2164,3636,3379
$GC,4706,-0.75,-146.6,333.3,-7.5,227,4711,0.00,2.58,0.00,0.000,6,0.000,0.054,2164,2223,3379
$GC,5022,-0.75,-146.6,356.6,-7.7,242,5026,0.00,2.70,0.00,0.000,4,0.000,0.077,2164,3637,3379
$GC,5061,-0.75,-146.6,359.7,-8.3,244,5065,0.00,2.60,0.00,0.000,6,0.000,0.055,2164,2226,3379
$STATE,5323,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5323,begin apogee
$GC,5329,-0.31,0.0,378.9,6.8,257,5459,0.47,0.00,126.93,0.905,6,0.085,0.000,2262,2226,2781
$STATE,5460,end apogee,CONTROL_FINISHED_OK
$STATE,5460,begin climb
$GC,5464,0.85,146.6,384.2,0.0,263,5599,1.15,2.70,125.50,0.892,4,0.071,0.066,2508,827,2182
$GC,5760,0.84,192.5,378.2,4.7,276,5807,0.00,2.62,40.00,0.866,6,0.000,0.053,2508,2243,1995
$GC,6116,0.87,222.4,360.8,5.2,294,6150,0.00,2.80,26.50,0.851,4,0.000,0.077,2508,3648,1875
$GC,6195,0.87,222.4,356.0,7.4,297,6201,0.00,2.65,0.00,0.000,6,0.000,0.059,2508,2236,1874
$GC,6511,0.87,222.4,336.3,6.0,313,6516,0.00,2.72,0.00,0.000,4,0.000,0.078,2508,3649,1873
$GC,6574,0.87,222.4,332.2,6.6,316,6578,0.00,2.62,0.00,0.000,6,0.000,0.060,2508,2241,1873
$GC,6901,0.89,233.3,313.1,5.7,332,6914,0.00,0.00,10.77,0.789,6,0.000,0.000,2508,2241,1830
$GC,7209,0.89,234.8,295.4,6.0,347,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1830
$GC,7518,0.89,234.8,274.9,6.3,362,7523,0.00,2.67,0.00,0.000,4,0.000,0.076,2508,3648,1829
$GC,7586,0.89,234.8,270.2,7.5,365,7590,0.00,2.60,0.00,0.000,6,0.000,0.058,2508,2240,1829
$GC,7907,0.89,234.8,250.3,6.1,381,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1830
$GC,8216,0.89,234.8,230.5,7.0,396,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1829
$GC,8525,0.89,234.8,205.0,8.9,411,8530,0.00,2.67,0.00,0.000,4,0.000,0.074,2508,3648,1829
$GC,8588,0.89,234.8,199.6,9.4,414,8593,0.00,2.60,0.00,0.000,6,0.000,0.056,2508,2237,1828
$GC,8915,0.94,279.7,180.1,4.8,430,8958,0.12,0.00,39.78,0.782,6,0.054,0.000,2546,2237,1639
$GC,9266,0.90,279.7,157.4,6.9,447,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2237,1639
$GC,9574,0.90,279.7,130.8,8.8,462,9575,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2236,1638
$GC,9884,0.90,279.7,108.2,6.5,477,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2236,1638
$GC,10194,0.85,279.7,88.0,6.9,492,10199,0.15,2.62,0.00,0.000,4,0.085,0.061,2512,820,1639
$GC,10235,0.97,300.7,85.8,5.4,494,10260,0.12,2.58,18.67,0.683,6,0.051,0.047,2550,2251,1554
$GC,10589,0.97,300.7,59.2,8.2,511,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2251,1554
$GC,10897,0.97,300.7,32.0,8.2,526,10902,0.00,2.65,0.00,0.000,4,0.000,0.061,2550,823,1554
$GC,10938,0.97,300.7,28.8,7.7,528,10942,0.00,2.55,0.00,0.000,6,0.000,0.045,2550,2245,1554
$GC,11265,0.92,300.7,4.7,7.4,544,11267,0.10,0.00,0.00,0.000,6,0.089,0.000,2531,2246,1555
$STATE,11325,end climb,SURFACE_DEPTH_REACHED
$STATE,11325,begin surface coast
$FINISH,0.6,1.003004
$STATE,11345,end surface coast,CONTROL_FINISHED_OK
$STATE,11345,begin surface
$SM_CCo,11367,126.97,0.620,0,0,509,557.32
$SM_GC,1.32,0.00,0.00,126.97,0.000,0.000,0.620,68,2247,509,-10.40,0.48,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1896
$TCM_TEMP,17.60
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,325.5,63.0
$24V_AH,23.6,50.730
$10V_AH,10.1,25.263
$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,24.875,63.175,388.150,126.975,0.000,17.978,25.876,143.764,11.250,0.000,0.000,34.214,982.874,8627.808,639.620,1178.385,389.720,0.000,1224.057,0.000,1136.317,0.000,18.535
$DEVICE_MAMPS,168.740,78.234,905.060,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.721,372.609,446.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28519,548
$CAP_FILE_SIZE,77126,0
$CFSIZE,260165632,240984064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050808,195058,6422.971,-1124.408,41,2.9,60,-11.7