version: 66.03
glider: 16
mission: 9
dive: 317
start: 8 6 108 12 13 4
data:
$ID,16
$MISSION,9
$DIVE,317
$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,-2100202
$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,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
$GPS1,120438,6428.430,-1103.116,41,2.0,41,-11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-56.7
$GPS2,121245,6428.536,-1102.811,14,2.0,14,-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,32.3,50450,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-121.00,0.000,2,0.000,0.000,75,2229,2863
$GC,153,-0.85,-146.6,3.9,-3.0,6,181,11.75,0.00,-13.00,0.000,6,0.171,0.000,2139,2229,3380
$GC,480,-0.72,-146.6,39.4,-9.3,22,485,0.15,2.65,0.00,0.000,4,0.096,0.067,2171,3638,3380
$GC,525,-0.72,-146.6,42.9,-6.5,24,530,0.00,2.58,0.00,0.000,6,0.000,0.049,2171,2227,3381
$GC,846,-0.72,-146.6,61.1,-5.4,40,851,0.00,2.67,0.00,0.000,4,0.000,0.071,2171,3641,3381
$GC,901,-0.72,-146.6,64.9,-6.9,42,908,0.00,2.58,0.00,0.000,6,0.000,0.054,2171,2231,3381
$GC,1218,-0.72,-146.6,86.7,-7.3,58,1223,0.00,2.62,0.00,0.000,4,0.000,0.063,2171,817,3382
$GC,1263,-0.77,-146.6,90.0,-7.5,60,1267,0.00,2.58,0.00,0.000,6,0.000,0.051,2171,2230,3382
$GC,1584,-0.77,-146.6,114.3,-7.8,76,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3382
$GC,1894,-0.77,-146.6,137.7,-7.8,91,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3382
$GC,2203,-0.77,-146.6,162.0,-7.2,106,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3382
$GC,2512,-0.77,-146.6,181.3,-6.5,121,2516,0.00,2.67,0.00,0.000,4,0.000,0.075,2171,3641,3382
$GC,2556,-0.77,-146.6,184.4,-7.5,123,2560,0.00,2.60,0.00,0.000,6,0.000,0.056,2171,2232,3382
$GC,2877,-0.77,-146.6,206.8,-7.4,139,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2231,3382
$GC,3186,-0.77,-146.6,229.8,-7.2,154,3190,0.00,2.70,0.00,0.000,4,0.000,0.080,2171,3638,3382
$GC,3235,-0.77,-146.6,233.5,-7.5,156,3240,0.00,2.60,0.00,0.000,6,0.000,0.059,2171,2231,3382
$GC,3552,-0.77,-146.6,251.7,-5.5,171,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2231,3382
$GC,3861,-0.82,-146.6,272.0,-7.0,186,3865,0.00,2.67,0.00,0.000,4,0.000,0.068,2171,812,3382
$GC,3907,-0.92,-146.6,275.5,-8.1,188,3912,0.20,2.62,0.00,0.000,6,0.048,0.058,2118,2227,3381
$GC,4230,-0.83,-146.6,305.8,-9.3,204,4232,0.15,0.00,0.00,0.000,6,0.095,0.000,2147,2228,3381
$GC,4537,-0.83,-146.6,332.1,-8.5,219,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2227,3380
$GC,4847,-0.83,-146.6,356.3,-6.7,234,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2227,3379
$GC,5156,-0.83,-146.6,380.1,-7.1,249,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2228,3378
$STATE,5256,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5256,begin apogee
$GC,5263,-0.31,0.0,387.2,6.7,254,5398,0.55,0.00,128.07,0.955,6,0.095,0.000,2257,2227,2781
$STATE,5399,end apogee,CONTROL_FINISHED_OK
$STATE,5399,begin climb
$GC,5403,0.85,146.6,393.1,0.0,261,5538,1.23,0.00,127.53,0.936,6,0.076,0.000,2510,2227,2183
$GC,5852,0.82,174.4,375.8,5.2,283,5879,0.00,0.00,25.08,0.897,6,0.000,0.000,2510,2227,2069
$GC,6178,0.82,174.4,356.9,6.1,299,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2227,2068
$GC,6487,0.78,180.0,339.2,5.8,314,6495,0.00,0.00,6.30,0.753,6,0.000,0.000,2510,2227,2047
$GC,6796,0.84,233.5,322.9,4.5,329,6846,0.00,0.00,47.38,0.917,6,0.000,0.000,2510,2227,1828
$GC,7146,0.88,273.2,304.2,4.9,346,7185,0.00,0.00,35.12,0.900,6,0.000,0.000,2510,2227,1667
$GC,7497,1.00,348.0,288.3,4.0,363,7568,0.15,2.80,64.03,0.901,4,0.080,0.080,2546,829,1362
$GC,7632,1.00,348.0,279.9,7.0,369,7637,0.00,2.67,0.00,0.000,6,0.000,0.063,2546,2239,1361
$GC,7954,1.00,348.0,253.9,8.4,385,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2239,1360
$GC,8263,1.00,348.0,228.3,7.5,400,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2239,1359
$GC,8573,1.00,348.0,204.2,7.7,415,8577,0.00,2.75,0.00,0.000,4,0.000,0.076,2546,825,1359
$GC,8605,1.00,348.0,201.6,7.7,416,8611,0.00,2.65,0.00,0.000,6,0.000,0.059,2546,2243,1359
$GC,8921,1.00,348.0,176.5,9.2,432,8925,0.00,2.72,0.00,0.000,4,0.000,0.074,2546,828,1360
$GC,8971,1.00,348.0,171.4,10.8,434,8976,0.00,2.62,0.00,0.000,6,0.000,0.057,2546,2243,1359
$GC,9287,1.00,348.0,139.9,8.9,449,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2243,1359
$GC,9596,1.00,348.0,115.7,8.0,464,9601,0.00,2.72,0.00,0.000,4,0.000,0.071,2546,820,1359
$GC,9646,1.00,348.0,111.2,8.4,466,9651,0.00,2.60,0.00,0.000,6,0.000,0.054,2546,2243,1359
$GC,9963,1.00,348.0,78.7,10.6,481,9967,0.00,2.70,0.00,0.000,4,0.000,0.070,2546,827,1360
$GC,10018,1.00,348.0,73.0,10.4,483,10024,0.00,2.60,0.00,0.000,6,0.000,0.053,2546,2246,1360
$GC,10334,1.00,348.0,47.4,7.2,499,10339,0.00,2.70,0.00,0.000,4,0.000,0.067,2546,824,1360
$GC,10367,1.00,348.0,45.0,7.5,500,10374,0.00,2.58,0.00,0.000,6,0.000,0.051,2546,2241,1360
$GC,10685,1.00,348.0,22.8,7.7,516,10689,0.00,2.67,0.00,0.000,4,0.000,0.064,2546,823,1360
$GC,10725,1.06,348.0,19.5,8.1,518,10729,0.00,2.58,0.00,0.000,6,0.000,0.048,2546,2242,1360
$STATE,10966,end climb,SURFACE_DEPTH_REACHED
$STATE,10967,begin surface coast
$FINISH,0.6,1.014920
$STATE,10988,end surface coast,CONTROL_FINISHED_OK
$STATE,10988,begin surface
$SM_CCo,11010,105.32,0.653,0,0,508,557.32
$SM_GC,1.35,0.00,0.00,105.32,0.000,0.000,0.653,69,2244,508,-10.40,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1949
$TCM_TEMP,16.60
$XPDR_PINGS,41
$ALTIM_TOP_PING,20.0,18.6
$ALTIM_BOTTOM_PING,300.0,96.1
$24V_AH,23.5,51.566
$10V_AH,10.1,25.615
$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,25.000,68.925,433.500,105.325,0.000,36.065,55.385,216.798,12.500,0.000,0.000,14.454,954.155,8356.749,696.702,1077.331,525.633,0.000,1241.838,0.000,1062.411,0.000,16.998
$DEVICE_MAMPS,171.041,79.768,954.915,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.183,360.176,439.902,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25351,531
$CAP_FILE_SIZE,76993,0
$CFSIZE,260165632,240738304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060808,151938,6430.056,-1056.546,38,1.7,38,-11.4