version: 66.03
glider: 16
mission: 9
dive: 322
start: 8 7 108 5 34 43
data:
$ID,16
$MISSION,9
$DIVE,322
$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,-2100331.8
$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,19
$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
$GPS1,052937,6436.222,-1051.738,42,1.2,53,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-56.3
$GPS2,053426,6436.200,-1051.873,13,1.3,30,-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,27.2,34261,-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,24,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.88,0.000,2,0.000,0.000,71,2245,2789
$GC,151,-0.85,-146.6,3.9,-3.1,6,186,11.77,2.70,-15.45,0.000,4,0.173,0.072,2139,808,3381
$GC,255,-0.79,-146.6,17.0,-10.1,10,261,0.00,2.60,0.00,0.000,6,0.000,0.049,2139,2235,3381
$GC,571,-0.67,-146.6,45.6,-9.3,26,576,0.17,2.62,0.00,0.000,4,0.094,0.066,2177,3640,3381
$GC,660,-0.67,-146.6,52.2,-7.0,30,664,0.00,2.58,0.00,0.000,6,0.000,0.050,2178,2226,3382
$GC,982,-0.67,-146.6,73.1,-7.0,46,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2226,3382
$GC,1290,-0.67,-146.6,92.9,-7.6,61,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2226,3383
$GC,1599,-0.67,-146.6,117.7,-7.0,76,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2226,3384
$GC,1910,-0.71,-146.6,136.9,-7.2,91,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2226,3384
$GC,2218,-0.76,-146.6,158.5,-6.4,106,2223,0.00,2.70,0.00,0.000,4,0.000,0.077,2178,3637,3384
$GC,2251,-0.80,-146.6,160.8,-6.9,107,2258,0.12,2.58,0.00,0.000,6,0.061,0.054,2149,2231,3384
$GC,2568,-0.80,-146.6,186.2,-9.0,123,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2231,3384
$GC,2876,-0.80,-146.6,216.2,-9.6,138,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2231,3385
$GC,3186,-0.80,-146.6,246.1,-9.4,153,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2231,3384
$GC,3496,-0.80,-146.6,273.2,-8.2,168,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2231,3383
$GC,3804,-0.80,-146.6,297.5,-8.1,183,3808,0.00,2.72,0.00,0.000,4,0.000,0.086,2149,3633,3382
$GC,3848,-0.80,-146.6,301.4,-8.9,185,3852,0.00,2.62,0.00,0.000,6,0.000,0.064,2149,2228,3382
$GC,4170,-0.80,-146.6,328.1,-8.2,201,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2228,3381
$GC,4479,-0.80,-146.6,350.3,-7.0,216,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2228,3381
$GC,4788,-0.89,-146.6,372.7,-7.5,231,4792,0.00,2.65,0.00,0.000,4,0.000,0.071,2149,817,3380
$GC,4844,-0.89,-146.6,376.9,-7.0,233,4850,0.00,2.62,0.00,0.000,6,0.000,0.062,2149,2226,3380
$GC,5159,-0.89,-146.6,398.5,-7.2,249,5164,0.00,2.72,0.00,0.000,4,0.000,0.086,2149,3638,3379
$GC,5214,-0.89,-146.6,403.3,-8.7,251,5220,0.00,2.65,0.00,0.000,6,0.000,0.066,2149,2227,3379
$STATE,5259,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5259,begin apogee
$GC,5266,-0.31,0.0,407.1,8.2,254,5402,0.55,0.00,128.43,0.983,6,0.090,0.000,2261,2227,2781
$STATE,5403,end apogee,CONTROL_FINISHED_OK
$STATE,5403,begin climb
$GC,5406,0.85,146.6,412.8,0.0,261,5543,1.23,2.88,127.32,0.960,4,0.078,0.086,2512,3645,2183
$GC,5696,0.76,164.2,406.2,5.5,274,5722,0.00,2.67,16.85,0.894,6,0.000,0.067,2512,2237,2111
$GC,6032,0.78,241.0,390.6,3.9,291,6102,0.00,0.00,67.38,0.950,6,0.000,0.000,2512,2237,1798
$GC,6401,0.79,253.1,371.0,5.7,309,6423,0.00,2.85,11.82,0.865,4,0.000,0.087,2512,3645,1749
$GC,6450,0.79,253.1,367.9,6.8,311,6455,0.00,2.70,0.00,0.000,6,0.000,0.067,2512,2235,1749
$GC,6771,0.79,253.1,348.8,6.0,327,6775,0.00,2.70,0.00,0.000,4,0.000,0.077,2512,828,1747
$GC,6827,0.79,253.1,345.1,7.0,329,6833,0.00,2.65,0.00,0.000,6,0.000,0.063,2512,2240,1747
$GC,7143,0.82,277.3,327.3,5.3,345,7172,0.00,2.83,21.88,0.910,4,0.000,0.077,2512,827,1649
$GC,7207,0.86,277.3,323.6,6.4,348,7212,0.00,2.67,0.00,0.000,6,0.000,0.063,2512,2239,1648
$GC,7536,0.97,336.2,308.4,4.4,364,7593,0.12,0.00,51.30,0.927,6,0.082,0.000,2538,2239,1410
$GC,7903,0.97,336.2,286.7,6.5,382,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2239,1410
$GC,8213,0.97,336.2,262.4,8.6,397,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1409
$GC,8521,0.97,336.2,236.6,8.0,412,8526,0.00,2.72,0.00,0.000,4,0.000,0.077,2539,821,1408
$GC,8567,0.97,336.2,233.1,7.9,414,8572,0.00,2.65,0.00,0.000,6,0.000,0.061,2539,2240,1407
$GC,8888,0.97,336.2,209.8,7.8,430,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2240,1408
$GC,9198,0.97,336.2,182.8,9.3,445,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2241,1407
$GC,9507,0.97,336.2,153.6,8.7,460,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2240,1407
$GC,9817,0.97,336.2,124.7,9.0,475,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2240,1407
$GC,10128,0.97,336.2,99.4,7.7,490,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2240,1407
$GC,10435,0.97,336.2,75.8,7.9,505,10439,0.00,2.67,0.00,0.000,4,0.000,0.067,2539,825,1407
$GC,10485,1.01,336.2,71.8,7.3,507,10490,0.00,2.58,0.00,0.000,6,0.000,0.051,2539,2244,1408
$GC,10802,1.01,336.2,46.2,8.9,522,10806,0.00,2.67,0.00,0.000,4,0.000,0.064,2539,821,1408
$GC,10842,1.07,336.2,42.6,9.1,524,10847,0.12,2.58,0.00,0.000,6,0.072,0.048,2566,2242,1408
$GC,11169,1.07,336.2,13.7,8.6,540,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2242,1410
$STATE,11311,end climb,SURFACE_DEPTH_REACHED
$STATE,11311,begin surface coast
$FINISH,0.6,1.016705
$STATE,11332,end surface coast,CONTROL_FINISHED_OK
$STATE,11332,begin surface
$SM_CCo,11354,112.45,0.660,0,0,508,557.32
$SM_GC,1.36,0.00,0.00,112.45,0.000,0.000,0.660,68,2243,508,-10.41,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1938
$TCM_TEMP,16.80
$XPDR_PINGS,51
$ALTIM_TOP_PING,19.0,18.0
$ALTIM_BOTTOM_PING,400.2,16.0
$24V_AH,23.4,52.290
$10V_AH,10.1,25.923
$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,25.050,69.600,424.975,112.450,0.000,17.949,27.786,111.643,16.250,0.000,0.000,30.906,978.870,8548.751,701.581,1166.258,365.950,0.000,1280.625,0.000,1126.447,0.000,26.145
$DEVICE_MAMPS,173.342,87.438,982.527,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.664,371.539,446.468,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28509,548
$CAP_FILE_SIZE,76867,0
$CFSIZE,260165632,240521216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,070808,084728,6437.309,-1055.542,38,3.4,57,-11.5