version: 66.03
glider: 16
mission: 9
dive: 319
start: 8 6 108 18 56 54
data:
$ID,16
$MISSION,9
$DIVE,319
$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,-2100230.8
$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,20
$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
$GPS1,184926,6430.630,-1055.412,39,1.7,39,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-58.0
$GPS2,185633,6430.592,-1055.448,16,2.0,16,-11.4
$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,27.0,45018,-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,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.78,0.000,2,0.000,0.000,71,2243,2846
$GC,150,-0.85,-146.6,3.6,-2.9,6,179,11.82,0.00,-13.77,0.000,6,0.172,0.000,2141,2243,3380
$GC,478,-0.72,-146.6,38.9,-8.1,22,480,0.15,0.00,0.00,0.000,6,0.097,0.000,2170,2243,3381
$GC,785,-0.72,-146.6,68.5,-10.8,37,789,0.00,2.67,0.00,0.000,4,0.000,0.063,2169,809,3382
$GC,829,-0.77,-146.6,72.4,-8.4,39,833,0.00,2.60,0.00,0.000,6,0.000,0.050,2169,2230,3382
$GC,1151,-0.77,-146.6,94.6,-7.0,55,1155,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3638,3383
$GC,1178,-0.77,-146.6,96.5,-6.1,56,1182,0.00,2.60,0.00,0.000,6,0.000,0.056,2169,2228,3383
$GC,1493,-0.77,-146.6,115.5,-6.9,71,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3383
$GC,1804,-0.77,-146.6,134.1,-5.5,86,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2229,3383
$GC,2112,-0.77,-146.6,154.8,-7.4,101,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3383
$GC,2422,-0.77,-146.6,170.3,-4.4,116,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3383
$GC,2731,-0.77,-146.6,193.9,-7.8,131,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3383
$GC,3040,-0.77,-146.6,213.3,-6.1,146,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3382
$GC,3349,-0.77,-146.6,238.5,-9.5,161,3354,0.00,2.72,0.00,0.000,4,0.000,0.082,2169,3641,3382
$GC,3416,-0.77,-146.6,244.9,-10.1,164,3421,0.00,2.62,0.00,0.000,6,0.000,0.061,2169,2233,3382
$GC,3738,-0.77,-146.6,272.7,-8.1,180,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2233,3382
$GC,4047,-0.82,-146.6,295.5,-7.0,195,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2233,3381
$GC,4358,-0.86,-146.6,312.9,-5.1,210,4359,0.12,0.00,0.00,0.000,6,0.054,0.000,2134,2233,3381
$GC,4666,-0.78,-146.6,334.7,-7.7,225,4671,0.12,2.75,0.00,0.000,4,0.098,0.089,2157,3639,3379
$GC,4706,-0.78,-146.6,337.8,-7.1,227,4711,0.00,2.67,0.00,0.000,6,0.000,0.067,2157,2225,3380
$GC,5033,-0.78,-146.6,361.3,-7.3,243,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2224,3378
$GC,5342,-0.78,-146.6,383.7,-7.5,258,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2224,3377
$STATE,5443,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5443,begin apogee
$GC,5450,-0.31,0.0,391.1,7.2,263,5585,0.52,0.00,127.95,0.966,6,0.097,0.000,2262,2224,2781
$STATE,5586,end apogee,CONTROL_FINISHED_OK
$STATE,5586,begin climb
$GC,5589,0.85,146.6,397.6,0.0,270,5725,1.17,2.78,126.40,0.946,4,0.077,0.073,2508,826,2182
$GC,5847,0.82,203.8,393.6,4.4,282,5903,0.00,2.67,49.88,0.925,6,0.000,0.063,2508,2237,1950
$GC,6217,0.82,203.8,371.9,6.1,299,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2237,1948
$GC,6523,0.83,211.3,353.6,5.8,314,6537,0.00,2.83,7.88,0.803,4,0.000,0.087,2507,3647,1919
$GC,6572,0.83,211.3,350.4,6.9,316,6577,0.00,2.70,0.00,0.000,6,0.000,0.071,2507,2238,1919
$GC,6894,0.84,221.0,332.0,5.7,332,6906,0.00,0.00,10.10,0.841,6,0.000,0.000,2508,2238,1879
$GC,7203,0.84,221.0,313.3,6.2,347,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2238,1878
$GC,7512,0.84,221.0,293.1,6.9,362,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2238,1877
$GC,7821,0.84,221.0,272.4,6.5,377,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2238,1877
$GC,8131,0.86,238.1,254.2,5.5,392,8150,0.00,0.00,15.75,0.860,6,0.000,0.000,2507,2238,1810
$GC,8460,0.90,277.7,238.9,4.9,408,8502,0.00,2.83,34.50,0.881,4,0.000,0.089,2507,3647,1649
$GC,8548,0.96,280.4,233.9,5.9,412,8558,0.15,2.67,3.88,0.591,6,0.071,0.070,2545,2240,1638
$GC,8881,0.91,280.4,210.1,7.1,428,8885,0.00,2.70,0.00,0.000,4,0.000,0.076,2545,826,1637
$GC,8936,0.85,280.4,205.8,7.8,430,8943,0.15,2.65,0.00,0.000,6,0.098,0.061,2515,2245,1636
$GC,9253,0.85,280.4,181.9,7.8,446,9257,0.00,2.70,0.00,0.000,4,0.000,0.082,2515,3648,1637
$GC,9303,0.85,280.4,177.6,8.0,448,9307,0.00,2.65,0.00,0.000,6,0.000,0.065,2515,2240,1637
$GC,9618,0.85,280.4,154.6,7.5,463,9623,0.00,2.72,0.00,0.000,4,0.000,0.081,2516,3650,1637
$GC,9668,0.85,280.4,150.3,8.9,465,9673,0.00,2.65,0.00,0.000,6,0.000,0.065,2515,2239,1637
$GC,9986,0.85,280.4,125.9,6.6,480,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2239,1637
$GC,10293,0.85,280.4,99.1,10.0,495,10298,0.00,2.70,0.00,0.000,4,0.000,0.077,2514,3649,1637
$GC,10334,0.85,280.4,95.0,11.0,497,10338,0.00,2.62,0.00,0.000,6,0.000,0.061,2515,2239,1637
$GC,10661,0.85,280.4,69.9,8.1,513,10662,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2239,1637
$GC,10970,0.85,280.4,47.5,8.0,528,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2239,1637
$GC,11280,0.85,280.4,26.1,6.2,543,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2239,1638
$GC,11589,0.86,288.8,7.3,5.8,558,11603,0.00,2.70,9.15,0.624,4,0.000,0.072,2516,3652,1603
$GC,11643,0.86,288.8,3.3,7.6,560,11648,0.00,2.62,0.00,0.000,6,0.000,0.058,2515,2238,1602
$STATE,11668,end climb,SURFACE_DEPTH_REACHED
$STATE,11668,begin surface coast
$FINISH,0.6,1.026947
$STATE,11690,end surface coast,CONTROL_FINISHED_OK
$STATE,11690,begin surface
$SM_CCo,11712,138.70,0.660,1,0,509,557.32
$SM_GC,1.39,0.00,0.00,138.70,0.000,0.000,0.660,66,2236,509,-10.41,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1942
$TCM_TEMP,14.90
$XPDR_PINGS,47
$ALTIM_TOP_PING,19.4,18.0
$ALTIM_BOTTOM_PING,376.1,24.9
$24V_AH,23.5,51.845
$10V_AH,10.1,25.736
$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,24.975,64.500,385.475,138.700,0.000,36.047,54.105,155.677,14.750,0.000,0.000,16.441,1012.042,8987.513,655.416,1170.306,468.152,0.000,1250.145,0.000,1149.329,0.000,21.672
$DEVICE_MAMPS,171.808,88.972,965.653,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.293,382.691,462.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28578,562
$CAP_FILE_SIZE,79869,0
$CFSIZE,260165632,240648192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,060808,221555,6432.723,-1054.214,26,1.5,43,-11.4