version: 66.03
glider: 16
mission: 9
dive: 314
start: 8 6 108 2 19 54
data:
$ID,16
$MISSION,9
$DIVE,314
$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,-2100133
$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,19
$R_STBD_OVSHOOT,25
$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
$GPS1,021028,6426.801,-1111.889,28,3.5,47,-11.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-54.9
$GPS2,021937,6426.725,-1111.536,13,1.9,30,-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,37.7,56262,-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,-120.80,0.000,2,0.000,0.000,73,2256,2953
$GC,151,-0.85,-146.6,3.7,-2.9,6,181,11.62,2.67,-10.05,0.000,4,0.170,0.067,2142,813,3379
$GC,232,-0.85,-146.6,17.2,-10.7,9,238,0.00,2.55,0.00,0.000,6,0.000,0.046,2140,2227,3379
$GC,550,-0.72,-146.6,51.0,-11.0,25,552,0.15,0.00,0.00,0.000,6,0.097,0.000,2170,2227,3379
$GC,857,-0.72,-146.6,79.6,-9.1,40,861,0.00,2.62,0.00,0.000,4,0.000,0.055,2170,807,3380
$GC,898,-0.78,-146.6,83.2,-9.4,42,902,0.00,2.58,0.00,0.000,6,0.000,0.045,2172,2235,3380
$GC,1225,-0.78,-146.6,110.3,-7.4,58,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2235,3380
$GC,1534,-0.78,-146.6,132.1,-6.9,73,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2235,3380
$GC,1843,-0.78,-146.6,155.4,-7.6,88,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2235,3380
$GC,2152,-0.78,-146.6,179.4,-7.4,103,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2235,3381
$GC,2463,-0.78,-146.6,200.3,-6.4,118,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2235,3381
$GC,2771,-0.78,-146.6,218.7,-5.8,133,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2235,3381
$GC,3080,-0.78,-146.6,239.4,-7.3,148,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2236,3381
$GC,3389,-0.78,-146.6,262.7,-7.9,163,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2236,3381
$GC,3699,-0.78,-146.6,285.2,-7.0,178,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2236,3380
$GC,4008,-0.78,-146.6,304.3,-6.0,193,4012,0.00,2.70,0.00,0.000,4,0.000,0.067,2171,810,3379
$GC,4047,-0.87,-146.6,306.8,-6.4,195,4053,0.15,2.62,0.00,0.000,6,0.049,0.055,2128,2230,3379
$GC,4378,-0.79,-146.6,334.1,-8.6,211,4380,0.15,0.00,0.00,0.000,6,0.091,0.000,2157,2231,3378
$GC,4684,-0.79,-146.6,357.7,-6.6,226,4688,0.00,2.67,0.00,0.000,4,0.000,0.071,2155,817,3378
$GC,4717,-0.79,-146.6,360.3,-8.3,227,4723,0.00,2.62,0.00,0.000,6,0.000,0.058,2156,2233,3378
$STATE,4990,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4990,begin apogee
$GC,4997,-0.31,0.0,381.6,8.2,241,5131,0.52,0.00,127.53,0.927,6,0.100,0.000,2261,2233,2781
$STATE,5132,end apogee,CONTROL_FINISHED_OK
$STATE,5132,begin climb
$GC,5135,0.85,146.6,389.0,0.0,248,5271,1.17,2.78,126.20,0.910,4,0.074,0.069,2508,822,2183
$GC,5512,0.87,222.6,378.4,3.9,265,5584,0.00,2.65,65.50,0.897,6,0.000,0.060,2508,2239,1873
$GC,5898,0.87,222.6,354.7,6.1,283,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2239,1872
$GC,6203,0.87,222.6,335.3,6.1,298,6208,0.00,2.72,0.00,0.000,4,0.000,0.076,2508,827,1870
$GC,6247,0.87,222.6,332.6,6.4,300,6251,0.00,2.65,0.00,0.000,6,0.000,0.061,2508,2240,1869
$GC,6569,0.91,264.5,315.7,4.9,316,6611,0.00,2.80,36.60,0.890,4,0.000,0.078,2508,828,1702
$GC,6657,0.96,264.5,310.6,6.6,320,6663,0.15,2.65,0.00,0.000,6,0.083,0.061,2539,2238,1701
$GC,6986,0.92,264.5,285.1,7.8,336,6990,0.00,2.75,0.00,0.000,4,0.000,0.079,2539,822,1699
$GC,7035,0.92,264.5,280.9,8.2,338,7039,0.00,2.67,0.00,0.000,6,0.000,0.061,2539,2248,1699
$GC,7351,0.87,264.5,257.0,7.4,353,7355,0.00,2.75,0.00,0.000,4,0.000,0.076,2539,821,1699
$GC,7397,0.87,264.5,253.5,8.5,355,7401,0.00,2.65,0.00,0.000,6,0.000,0.059,2539,2242,1699
$GC,7718,0.82,264.5,227.4,7.9,371,7720,0.17,0.00,0.00,0.000,6,0.102,0.000,2506,2242,1699
$GC,8028,0.88,266.5,208.0,5.9,386,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2242,1698
$GC,8338,0.97,296.7,191.4,5.2,401,8373,0.15,2.78,27.38,0.817,4,0.054,0.072,2545,828,1570
$GC,8424,0.97,296.7,185.0,7.2,405,8429,0.00,2.62,0.00,0.000,6,0.000,0.057,2545,2248,1569
$GC,8753,0.93,296.7,159.7,8.4,421,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2248,1569
$GC,9063,0.88,296.7,134.8,7.8,436,9065,0.12,0.00,0.00,0.000,6,0.097,0.000,2521,2248,1569
$GC,9370,0.88,296.7,114.5,6.2,451,9375,0.00,2.70,0.00,0.000,4,0.000,0.065,2521,817,1569
$GC,9422,0.93,299.9,111.3,5.9,453,9434,0.00,2.60,4.25,0.539,6,0.000,0.050,2522,2247,1558
$GC,9744,0.93,299.9,89.4,7.1,469,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2247,1558
$GC,10052,0.93,299.9,67.3,6.9,484,10056,0.00,2.67,0.00,0.000,4,0.000,0.064,2521,825,1558
$GC,10102,0.99,299.9,63.7,7.2,486,10107,0.12,2.55,0.00,0.000,6,0.051,0.048,2550,2240,1558
$GC,10419,0.94,299.9,37.3,8.7,501,10423,0.00,2.60,0.00,0.000,4,0.000,0.066,2550,3648,1560
$GC,10459,0.94,299.9,33.8,8.7,503,10463,0.00,2.58,0.00,0.000,6,0.000,0.055,2550,2238,1561
$GC,10786,0.89,299.9,9.1,7.5,519,10791,0.15,2.60,0.00,0.000,4,0.094,0.062,2517,827,1561
$STATE,10878,end climb,SURFACE_DEPTH_REACHED
$STATE,10878,begin surface coast
$FINISH,0.7,1.027033
$STATE,10904,end surface coast,CONTROL_FINISHED_OK
$STATE,10904,begin surface
$SM_CCo,10929,129.85,0.633,0,0,508,557.32
$SM_GC,1.28,0.00,0.00,129.85,0.000,0.000,0.633,71,2232,508,-10.39,0.06,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1914
$TCM_TEMP,19.50
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,325.3,64.5
$24V_AH,23.6,51.131
$10V_AH,10.1,25.437
$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,25.325,74.425,387.450,129.850,0.000,36.374,157.971,165.711,12.500,0.000,0.000,29.984,966.198,8252.103,634.317,1189.430,572.810,0.000,1241.778,0.000,1148.120,0.000,21.486
$DEVICE_MAMPS,169.507,79.001,926.536,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.380,355.566,431.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25362,524
$CAP_FILE_SIZE,79557,0
$CFSIZE,260165632,240857088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,060808,052537,6425.826,-1109.957,39,1.6,44,-11.5