version: 66.03
glider: 16
mission: 9
dive: 313
start: 8 5 108 23 4 45
data:
$ID,16
$MISSION,9
$DIVE,313
$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,-2100102.2
$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
$GPS1,225955,6425.551,-1118.906,39,1.9,39,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-52.8
$GPS2,230426,6425.605,-1118.756,9,1.8,14,-11.6
$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,41.7,60766,-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,-120.57,0.000,2,0.000,0.000,70,2236,2976
$GC,150,-0.85,-146.6,3.9,-3.1,6,175,11.73,0.00,-9.50,0.000,6,0.169,0.000,2141,2236,3380
$GC,477,-0.73,-146.6,39.9,-9.8,22,479,0.15,0.00,0.00,0.000,6,0.097,0.000,2170,2236,3381
$GC,785,-0.73,-146.6,62.1,-6.5,37,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2236,3380
$GC,1094,-0.73,-146.6,84.0,-7.1,52,1098,0.00,2.60,0.00,0.000,4,0.000,0.064,2170,3638,3381
$GC,1144,-0.73,-146.6,87.8,-6.9,54,1148,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,2228,3381
$GC,1460,-0.73,-146.6,107.8,-6.5,69,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,1769,-0.73,-146.6,128.4,-6.8,84,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,2078,-0.73,-146.6,149.2,-6.5,99,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,2388,-0.73,-146.6,171.1,-7.0,114,2392,0.00,2.65,0.00,0.000,4,0.000,0.067,2170,3645,3381
$GC,2437,-0.73,-146.6,174.8,-7.5,116,2445,0.00,2.55,0.00,0.000,6,0.000,0.046,2170,2228,3381
$GC,2760,-0.73,-146.6,197.4,-6.8,132,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,3070,-0.73,-146.6,219.1,-7.3,147,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,3379,-0.73,-146.6,240.4,-6.3,162,3383,0.00,2.62,0.00,0.000,4,0.000,0.070,2170,3638,3382
$GC,3434,-0.78,-146.6,244.3,-7.0,164,3440,0.00,2.55,0.00,0.000,6,0.000,0.049,2171,2228,3381
$GC,3751,-0.78,-146.6,266.6,-7.1,180,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,4059,-0.78,-146.6,287.8,-7.0,195,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,4369,-0.78,-146.6,306.8,-5.6,210,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3380
$GC,4679,-0.83,-146.6,325.7,-6.5,225,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3380
$GC,4988,-0.89,-146.6,344.2,-5.3,240,4990,0.17,0.00,0.00,0.000,6,0.045,0.000,2117,2228,3379
$GC,5297,-0.80,-146.6,368.4,-8.2,255,5302,0.15,2.62,0.00,0.000,4,0.093,0.065,2152,813,3379
$GC,5347,-0.80,-146.6,372.1,-6.8,257,5351,0.00,2.60,0.00,0.000,6,0.000,0.054,2152,2230,3379
$STATE,5578,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5578,begin apogee
$GC,5584,-0.31,0.0,388.5,7.3,268,5715,0.52,0.00,127.57,0.915,6,0.089,0.000,2260,2230,2781
$STATE,5716,end apogee,CONTROL_FINISHED_OK
$STATE,5716,begin climb
$GC,5719,0.85,146.6,393.9,0.0,274,5855,1.17,2.83,125.97,0.899,4,0.072,0.077,2509,3647,2183
$GC,6081,0.79,172.3,382.3,5.3,291,6113,0.00,2.62,23.12,0.857,6,0.000,0.061,2510,2243,2077
$GC,6425,0.76,188.4,364.3,5.6,308,6447,0.00,2.75,15.18,0.840,4,0.000,0.072,2510,828,2011
$GC,6480,0.76,188.4,360.6,6.1,310,6485,0.00,2.65,0.00,0.000,6,0.000,0.058,2509,2240,2011
$GC,6797,0.89,310.2,345.5,2.7,325,6909,0.00,2.83,104.12,0.902,4,0.000,0.073,2510,828,1515
$GC,6940,0.99,338.8,339.4,5.2,332,6971,0.17,2.67,25.45,0.857,6,0.056,0.058,2554,2245,1399
$GC,7290,0.93,338.8,307.7,10.1,349,7295,0.12,2.75,0.00,0.000,4,0.100,0.074,2531,821,1397
$GC,7323,0.93,338.8,304.1,9.2,350,7330,0.00,2.65,0.00,0.000,6,0.000,0.058,2531,2246,1397
$GC,7639,0.93,338.8,279.3,7.7,366,7643,0.00,2.72,0.00,0.000,4,0.000,0.070,2531,821,1396
$GC,7679,0.97,338.8,276.2,7.8,368,7684,0.00,2.62,0.00,0.000,6,0.000,0.055,2531,2243,1396
$GC,8006,0.97,338.8,252.4,7.6,384,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2243,1396
$GC,8315,0.97,338.8,227.4,8.2,399,8320,0.00,2.70,0.00,0.000,4,0.000,0.069,2531,820,1396
$GC,8366,0.97,338.8,223.2,8.6,401,8370,0.00,2.60,0.00,0.000,6,0.000,0.052,2532,2240,1395
$GC,8682,0.97,338.8,195.8,8.9,416,8683,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2239,1395
$GC,8991,0.97,338.8,170.7,8.8,431,8995,0.00,2.67,0.00,0.000,4,0.000,0.067,2531,826,1395
$GC,9054,1.02,338.8,165.2,8.7,434,9058,0.00,2.58,0.00,0.000,6,0.000,0.051,2531,2240,1395
$GC,9381,1.02,338.8,135.5,9.2,450,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2240,1395
$GC,9690,1.02,338.8,107.6,8.8,465,9694,0.00,2.65,0.00,0.000,4,0.000,0.064,2531,826,1396
$GC,9746,1.08,338.8,102.2,10.3,467,9753,0.15,2.58,0.00,0.000,6,0.050,0.048,2568,2245,1396
$GC,10062,1.00,338.8,71.9,9.3,483,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2246,1396
$GC,10371,0.94,338.8,45.1,8.9,498,10376,0.15,2.67,0.00,0.000,4,0.096,0.062,2534,818,1397
$GC,10457,0.94,338.8,38.2,7.7,502,10462,0.00,2.58,0.00,0.000,6,0.000,0.047,2534,2242,1397
$GC,10785,0.94,338.8,11.8,8.2,518,10789,0.00,2.65,0.00,0.000,4,0.000,0.061,2535,820,1397
$GC,10852,0.94,338.8,5.8,10.9,521,10857,0.00,2.58,0.00,0.000,6,0.000,0.045,2535,2253,1397
$STATE,10902,end climb,SURFACE_DEPTH_REACHED
$STATE,10902,begin surface coast
$FINISH,0.6,1.021193
$STATE,10924,end surface coast,CONTROL_FINISHED_OK
$STATE,10924,begin surface
$SM_CCo,10946,108.03,0.628,0,0,509,557.32
$SM_GC,1.29,0.00,0.00,108.03,0.000,0.000,0.628,74,2253,509,-10.37,0.65,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1941
$TCM_TEMP,17.30
$XPDR_PINGS,34
$ALTIM_TOP_PING,18.6,17.3
$ALTIM_BOTTOM_PING,301.0,96.7
$24V_AH,23.6,50.989
$10V_AH,10.1,25.377
$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,25.275,74.075,421.425,108.025,0.000,18.250,25.937,115.450,10.750,0.000,0.000,16.672,954.027,8192.701,657.894,1160.029,369.818,0.000,1253.351,0.000,1139.481,0.000,17.009
$DEVICE_MAMPS,168.740,77.467,915.031,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.709,356.439,432.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25364,525
$CAP_FILE_SIZE,77254,0
$CFSIZE,260165632,240902144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060808,021028,6426.801,-1111.889,28,3.5,47,-11.6