version: 66.03
glider: 16
mission: 9
dive: 315
start: 8 6 108 5 31 3
data:
$ID,16
$MISSION,9
$DIVE,315
$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,-2100150
$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,21
$R_STBD_OVSHOOT,18
$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
$GPS1,052537,6425.826,-1109.957,39,1.6,44,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-57.5
$GPS2,053044,6425.717,-1109.972,11,1.6,16,-11.5
$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,35.7,57429,-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,-146.6,0.0,0.0,0,137,0.00,0.00,-110.28,0.000,2,0.000,0.000,71,2232,2708
$GC,140,-0.85,-146.6,3.2,-2.2,6,176,11.65,0.00,-20.15,0.000,6,0.170,0.000,2141,2233,3380
$GC,474,-0.73,-146.6,35.6,-9.2,22,479,0.15,2.62,0.00,0.000,4,0.096,0.058,2173,810,3381
$GC,514,-0.79,-146.6,38.8,-6.5,24,519,0.00,2.58,0.00,0.000,6,0.000,0.045,2173,2235,3381
$GC,841,-0.79,-146.6,61.1,-7.5,40,846,0.00,2.60,0.00,0.000,4,0.000,0.064,2173,3643,3381
$GC,882,-0.79,-146.6,64.4,-8.5,42,887,0.00,2.55,0.00,0.000,6,0.000,0.047,2173,2228,3382
$GC,1210,-0.79,-146.6,90.5,-7.6,58,1214,0.00,2.60,0.00,0.000,4,0.000,0.058,2173,810,3381
$GC,1250,-0.86,-146.6,93.6,-7.8,60,1255,0.15,2.58,0.00,0.000,6,0.042,0.047,2124,2230,3381
$GC,1579,-0.71,-146.6,124.4,-9.4,76,1580,0.25,0.00,0.00,0.000,6,0.085,0.000,2174,2230,3382
$GC,1887,-0.71,-146.6,147.4,-7.7,91,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3382
$GC,2196,-0.71,-146.6,171.0,-7.7,106,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3383
$GC,2506,-0.71,-146.6,193.0,-6.6,121,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3382
$GC,2815,-0.71,-146.6,214.2,-7.1,136,2819,0.00,2.65,0.00,0.000,4,0.000,0.061,2174,813,3383
$GC,2859,-0.80,-146.6,217.5,-7.3,138,2863,0.00,2.60,0.00,0.000,6,0.000,0.051,2174,2234,3383
$GC,3180,-0.80,-146.6,237.9,-6.1,154,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2234,3383
$GC,3489,-0.80,-146.6,255.2,-5.3,169,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2234,3382
$GC,3799,-0.84,-146.6,274.2,-6.5,184,3800,0.15,0.00,0.00,0.000,6,0.047,0.000,2130,2234,3382
$GC,4109,-0.75,-146.6,301.1,-8.7,199,4111,0.17,0.00,0.00,0.000,6,0.090,0.000,2164,2234,3381
$GC,4417,-0.75,-146.6,322.8,-7.4,214,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2234,3380
$GC,4727,-0.75,-146.6,346.8,-7.3,229,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2234,3380
$GC,5035,-0.75,-146.6,369.2,-6.8,244,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2234,3378
$STATE,5094,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5095,begin apogee
$GC,5101,-0.31,0.0,373.6,7.1,247,5231,0.47,0.00,127.35,0.927,6,0.092,0.000,2259,2234,2781
$STATE,5232,end apogee,CONTROL_FINISHED_OK
$STATE,5232,begin climb
$GC,5236,0.85,146.6,379.9,0.0,253,5371,1.17,2.85,125.72,0.908,4,0.074,0.081,2508,3649,2183
$GC,5613,0.82,198.1,368.5,4.6,270,5666,0.00,2.65,44.78,0.885,6,0.000,0.064,2508,2245,1974
$GC,5978,0.84,210.4,348.2,5.7,288,5994,0.00,0.00,12.07,0.818,6,0.000,0.000,2508,2244,1923
$GC,6304,0.89,262.5,330.2,4.6,304,6352,0.00,0.00,45.83,0.893,6,0.000,0.000,2508,2244,1710
$GC,6657,0.96,284.1,311.5,5.4,321,6679,0.15,0.00,19.45,0.858,6,0.063,0.000,2545,2244,1622
$GC,6985,0.91,284.1,286.2,7.8,337,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2244,1621
$GC,7295,0.86,284.1,262.3,8.2,352,7296,0.15,0.00,0.00,0.000,6,0.099,0.000,2517,2244,1620
$GC,7603,0.90,284.1,240.7,6.8,367,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2244,1619
$GC,7912,0.90,284.1,218.9,7.2,382,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2244,1619
$GC,8222,0.90,284.1,198.6,6.5,397,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2244,1619
$GC,8531,0.90,284.1,178.3,6.3,412,8535,0.00,2.67,0.00,0.000,4,0.000,0.077,2516,3649,1619
$GC,8586,0.90,284.1,173.9,8.3,414,8592,0.00,2.65,0.00,0.000,6,0.000,0.063,2516,2236,1619
$GC,8902,0.90,284.1,151.2,7.0,430,8906,0.00,2.65,0.00,0.000,4,0.000,0.070,2516,826,1618
$GC,8980,0.97,284.1,144.8,8.0,433,8987,0.10,2.60,0.00,0.000,6,0.062,0.053,2546,2242,1618
$GC,9296,0.92,284.1,116.2,9.0,449,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2242,1618
$GC,9606,0.86,284.1,87.8,8.9,464,9608,0.15,0.00,0.00,0.000,6,0.091,0.000,2516,2242,1618
$GC,9915,0.90,284.1,66.9,7.0,479,9919,0.00,2.65,0.00,0.000,4,0.000,0.063,2516,822,1618
$GC,9964,0.97,284.1,63.4,7.0,481,9970,0.12,2.58,0.00,0.000,6,0.053,0.047,2552,2245,1618
$GC,10281,0.92,284.1,36.7,8.9,496,10283,0.12,0.00,0.00,0.000,6,0.093,0.000,2529,2245,1619
$GC,10591,0.92,284.1,15.1,6.9,511,10592,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2245,1620
$STATE,10793,end climb,SURFACE_DEPTH_REACHED
$STATE,10793,begin surface coast
$FINISH,0.7,1.023987
$STATE,10816,end surface coast,CONTROL_FINISHED_OK
$STATE,10817,begin surface
$SM_CCo,10839,136.12,0.637,0,0,509,557.32
$SM_GC,1.22,0.00,0.00,136.12,0.000,0.000,0.637,72,2246,509,-10.38,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1926
$TCM_TEMP,16.90
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.4,18.1
$ALTIM_BOTTOM_PING,326.1,57.4
$24V_AH,23.6,51.263
$10V_AH,10.1,25.493
$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,25.700,42.075,375.200,136.125,0.000,18.373,26.778,149.721,10.750,0.000,0.000,16.214,933.270,8265.276,632.637,1072.990,386.186,0.000,1166.913,0.000,1053.358,0.000,18.523
$DEVICE_MAMPS,169.507,80.535,926.536,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.784,354.185,434.147,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25446,522
$CAP_FILE_SIZE,71799,0
$CFSIZE,260165632,240824320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060808,083508,6426.063,-1109.484,30,1.3,30,-11.5