version: 66.03
glider: 16
mission: 9
dive: 325
start: 8 7 108 16 8 10
data:
$ID,16
$MISSION,9
$DIVE,325
$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,-2100391.2
$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,26
$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
$GPS1,160307,6441.929,-1051.899,38,1.4,38,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-58.8
$GPS2,160751,6441.919,-1051.926,14,1.4,14,-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,34.2,24257,-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,-146.6,0.0,0.0,0,142,0.00,0.00,-115.95,0.000,2,0.000,0.000,73,2240,2689
$GC,145,-0.85,-146.6,3.1,-2.3,6,188,11.73,2.67,-21.75,0.000,4,0.172,0.071,2140,820,3379
$GC,228,-0.80,-146.6,11.7,-9.0,9,235,0.00,2.55,0.00,0.000,6,0.000,0.048,2141,2226,3379
$GC,545,-0.70,-146.6,38.2,-7.7,25,550,0.15,2.62,0.00,0.000,4,0.094,0.064,2173,3638,3379
$GC,589,-0.70,-146.6,41.5,-7.1,27,594,0.00,2.58,0.00,0.000,6,0.000,0.049,2173,2225,3380
$GC,911,-0.70,-146.6,68.0,-10.0,43,915,0.00,2.67,0.00,0.000,4,0.000,0.070,2173,3643,3381
$GC,950,-0.70,-146.6,72.1,-10.4,45,955,0.00,2.58,0.00,0.000,6,0.000,0.051,2173,2230,3381
$GC,1278,-0.70,-146.6,99.2,-8.1,61,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3381
$GC,1587,-0.70,-146.6,125.2,-8.6,76,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3382
$GC,1897,-0.70,-146.6,149.5,-7.4,91,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3382
$GC,2205,-0.70,-146.6,170.8,-6.8,106,2210,0.00,2.67,0.00,0.000,4,0.000,0.075,2173,3634,3382
$GC,2245,-0.70,-146.6,173.8,-7.9,108,2250,0.00,2.58,0.00,0.000,6,0.000,0.052,2173,2227,3382
$GC,2573,-0.70,-146.6,193.3,-5.6,124,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2226,3382
$GC,2882,-0.70,-146.6,209.7,-5.0,139,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2226,3382
$GC,3192,-0.70,-146.6,225.7,-5.4,154,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2226,3381
$GC,3501,-0.75,-146.6,244.7,-6.3,169,3505,0.00,2.70,0.00,0.000,4,0.000,0.081,2173,3634,3382
$GC,3541,-0.75,-146.6,247.5,-7.2,171,3546,0.00,2.60,0.00,0.000,6,0.000,0.059,2173,2232,3382
$GC,3868,-0.80,-146.6,271.1,-7.6,187,3873,0.00,2.65,0.00,0.000,4,0.000,0.071,2173,819,3381
$GC,3909,-0.90,-146.6,274.4,-8.7,189,3914,0.20,2.62,0.00,0.000,6,0.047,0.061,2120,2231,3381
$GC,4238,-0.79,-146.6,306.3,-9.8,205,4243,0.17,2.70,0.00,0.000,4,0.091,0.083,2156,3638,3380
$GC,4294,-0.79,-146.6,311.4,-8.5,207,4300,0.00,2.65,0.00,0.000,6,0.000,0.067,2156,2231,3380
$GC,4610,-0.79,-146.6,335.7,-7.5,223,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2231,3379
$GC,4919,-0.79,-146.6,360.1,-7.7,238,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2231,3379
$GC,5229,-0.79,-146.6,385.5,-8.0,253,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2231,3379
$GC,5537,-0.79,-146.6,407.0,-7.2,268,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2231,3376
$STATE,5658,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5659,begin apogee
$GC,5665,-0.31,0.0,416.2,7.9,274,5801,0.52,0.00,128.07,0.988,6,0.099,0.000,2261,2231,2781
$STATE,5801,end apogee,CONTROL_FINISHED_OK
$STATE,5802,begin climb
$GC,5805,0.85,146.6,422.2,0.0,281,5941,1.17,2.88,127.38,0.968,4,0.078,0.088,2507,3644,2183
$GC,6138,0.81,185.2,413.0,4.9,296,6178,0.00,2.65,34.65,0.938,6,0.000,0.069,2508,2241,2025
$GC,6496,0.87,238.3,396.7,4.5,314,6546,0.00,0.00,47.25,0.949,6,0.000,0.000,2507,2241,1808
$GC,6845,0.88,248.2,375.8,5.7,331,6860,0.00,2.78,9.80,0.844,4,0.000,0.077,2508,827,1769
$GC,6894,0.88,250.0,372.7,5.9,332,6898,0.00,2.67,0.00,0.000,6,0.000,0.064,2507,2239,1768
$GC,7209,0.88,250.0,353.7,6.6,347,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2240,1768
$GC,7520,0.88,251.6,334.3,6.0,362,7529,0.00,2.75,4.38,0.668,4,0.000,0.080,2507,823,1755
$GC,7563,0.88,251.6,331.5,6.6,364,7567,0.00,2.67,0.00,0.000,6,0.000,0.063,2507,2242,1755
$GC,7884,0.91,275.9,314.0,5.3,380,7908,0.00,0.00,22.55,0.906,6,0.000,0.000,2507,2242,1656
$GC,8215,0.97,284.0,295.4,5.8,396,8225,0.15,0.00,8.43,0.808,6,0.065,0.000,2545,2242,1623
$GC,8523,0.92,284.0,271.0,8.0,411,8527,0.00,2.72,0.00,0.000,4,0.000,0.080,2545,828,1622
$GC,8585,0.87,284.0,265.7,8.6,414,8590,0.12,2.67,0.00,0.000,6,0.104,0.063,2522,2247,1621
$GC,8912,0.87,284.0,238.6,8.4,430,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2247,1621
$GC,9221,0.87,284.0,215.0,7.1,445,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2247,1621
$GC,9530,0.87,284.0,196.6,6.4,460,9535,0.00,2.67,0.00,0.000,4,0.000,0.083,2522,3649,1621
$GC,9571,0.87,284.0,193.5,8.0,462,9575,0.00,2.67,0.00,0.000,6,0.000,0.070,2522,2237,1621
$GC,9897,0.87,284.0,168.4,8.5,478,9901,0.00,2.67,0.00,0.000,4,0.000,0.071,2522,825,1621
$GC,9936,0.87,284.0,164.8,9.8,480,9941,0.00,2.65,0.00,0.000,6,0.000,0.061,2522,2243,1620
$GC,10264,0.87,284.0,135.2,7.6,496,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2244,1620
$GC,10573,0.96,365.1,120.1,3.8,511,10648,0.00,2.80,67.35,0.795,4,0.000,0.076,2522,3648,1292
$GC,10680,1.17,451.4,116.7,3.6,516,10763,0.30,2.67,72.15,0.776,6,0.047,0.064,2592,2236,940
$GC,11072,1.08,451.4,85.6,7.9,535,11077,0.15,2.67,0.00,0.000,4,0.093,0.067,2560,823,938
$GC,11168,1.13,451.4,78.9,6.9,539,11173,0.00,2.62,0.00,0.000,6,0.000,0.054,2561,2251,940
$GC,11484,1.13,451.4,51.1,10.3,554,11488,0.00,2.70,0.00,0.000,4,0.000,0.068,2560,827,940
$GC,11547,1.20,451.4,44.6,10.0,557,11552,0.15,2.60,0.00,0.000,6,0.052,0.051,2595,2242,940
$GC,11875,1.20,451.4,4.9,11.2,573,11880,0.00,2.70,0.00,0.000,4,0.000,0.068,2595,820,941
$STATE,11900,end climb,SURFACE_DEPTH_REACHED
$STATE,11900,begin surface coast
$FINISH,1.1,1.026975
$STATE,11906,end surface coast,CONTROL_FINISHED_OK
$STATE,11907,begin surface
$SM_CCo,11932,57.08,0.649,1,0,509,557.32
$SM_GC,1.33,0.00,0.00,57.08,0.000,0.000,0.649,70,2231,509,-10.39,0.03,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1982
$TCM_TEMP,18.60
$XPDR_PINGS,58
$ALTIM_TOP_PING,18.8,17.7
$ALTIM_BOTTOM_PING,401.1,24.1
$24V_AH,23.4,52.744
$10V_AH,10.1,26.111
$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,25.975,90.700,522.000,57.075,0.000,18.097,29.113,121.519,17.750,0.000,0.000,14.130,1046.875,8867.722,696.930,1277.522,396.574,0.000,1376.634,0.000,1251.265,0.000,23.298
$DEVICE_MAMPS,171.808,88.205,987.896,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.613,389.574,442.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28589,574
$CAP_FILE_SIZE,86618,0
$CFSIZE,260165632,240377856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,070808,192937,6442.439,-1052.164,42,1.4,53,-11.5