version: 66.03
glider: 16
mission: 9
dive: 329
start: 8 8 108 6 6 39
data:
$ID,16
$MISSION,9
$DIVE,329
$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,-2100476.2
$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,17
$R_STBD_OVSHOOT,23
$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
$GPS1,060138,6447.327,-1048.808,39,1.2,39,-11.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.0
$GPS2,060620,6447.317,-1048.942,11,1.2,16,-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,41.1,14232,-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,-120.78,0.000,2,0.000,0.000,70,2243,2803
$GC,150,-0.85,-146.6,3.3,-2.3,6,185,11.73,2.65,-16.33,0.000,4,0.170,0.077,2143,3638,3381
$GC,231,-0.74,-146.6,13.4,-9.9,9,238,0.12,2.58,0.00,0.000,6,0.101,0.051,2166,2222,3381
$GC,548,-0.69,-146.6,37.6,-7.6,25,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2222,3381
$GC,858,-0.69,-146.6,61.2,-8.5,40,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2221,3382
$GC,1166,-0.69,-146.6,92.7,-10.2,55,1171,0.00,2.67,0.00,0.000,4,0.000,0.070,2166,3638,3383
$GC,1222,-0.69,-146.6,98.6,-10.0,57,1228,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2222,3384
$GC,1538,-0.69,-146.6,123.4,-7.0,73,1542,0.00,2.67,0.00,0.000,4,0.000,0.073,2166,3635,3385
$GC,1571,-0.69,-146.6,125.9,-7.5,74,1577,0.00,2.58,0.00,0.000,6,0.000,0.053,2166,2224,3384
$GC,1890,-0.69,-146.6,150.4,-8.2,90,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2224,3385
$GC,2195,-0.69,-146.6,174.6,-6.7,105,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2224,3385
$GC,2505,-0.69,-146.6,194.8,-7.3,120,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2224,3385
$GC,2815,-0.69,-146.6,218.0,-7.2,135,2819,0.00,2.70,0.00,0.000,4,0.000,0.079,2166,3634,3384
$GC,2864,-0.69,-146.6,221.9,-7.7,137,2869,0.00,2.60,0.00,0.000,6,0.000,0.056,2166,2224,3384
$GC,3180,-0.69,-146.6,245.9,-7.4,152,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2224,3384
$GC,3490,-0.69,-146.6,268.5,-7.2,167,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2224,3384
$GC,3798,-0.69,-146.6,284.0,-4.3,182,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2224,3383
$GC,4108,-0.69,-146.6,300.3,-6.3,197,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2224,3382
$GC,4417,-0.69,-146.6,323.1,-7.6,212,4422,0.00,2.75,0.00,0.000,4,0.000,0.086,2166,3640,3382
$GC,4457,-0.69,-146.6,326.2,-7.6,214,4461,0.00,2.65,0.00,0.000,6,0.000,0.063,2166,2229,3382
$GC,4783,-0.69,-146.6,352.0,-7.8,230,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3381
$GC,5094,-0.69,-146.6,374.1,-7.1,245,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3381
$GC,5401,-0.69,-146.6,395.6,-6.7,260,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3379
$GC,5711,-0.69,-146.6,416.7,-7.3,275,5715,0.00,2.75,0.00,0.000,4,0.000,0.091,2166,3633,3378
$STATE,5748,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5748,begin apogee
$GC,5758,-0.31,0.0,419.7,7.7,277,5890,0.47,0.00,128.25,0.985,6,0.094,0.000,2261,2241,2781
$STATE,5891,end apogee,CONTROL_FINISHED_OK
$STATE,5891,begin climb
$GC,5894,0.85,146.6,425.0,0.0,284,6030,1.20,2.85,126.68,0.964,4,0.080,0.087,2510,3643,2183
$GC,6268,0.78,180.2,418.2,5.1,301,6303,0.00,2.67,30.25,0.928,6,0.000,0.067,2510,2240,2046
$GC,6615,0.73,180.2,397.9,6.0,317,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2240,2045
$GC,6923,0.69,180.2,380.5,6.0,332,6928,0.15,2.75,0.00,0.000,4,0.103,0.088,2478,3642,2044
$GC,6991,0.76,200.1,376.8,5.5,335,7015,0.00,2.67,18.20,0.907,6,0.000,0.067,2479,2234,1965
$GC,7339,0.88,236.8,359.8,5.0,352,7377,0.20,0.00,33.20,0.932,6,0.056,0.000,2522,2234,1814
$GC,7687,0.88,236.8,331.7,8.7,369,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2234,1814
$GC,7997,0.88,236.8,306.9,7.7,384,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2234,1813
$GC,8305,0.88,236.8,284.6,6.8,399,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2234,1812
$GC,8615,0.88,236.8,261.4,8.2,414,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2234,1811
$GC,8924,0.88,236.8,234.4,9.2,429,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2234,1811
$GC,9233,0.88,236.8,207.7,7.9,444,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2234,1811
$GC,9543,0.88,243.0,186.9,5.8,459,9550,0.00,0.00,6.00,0.695,6,0.000,0.000,2520,2234,1789
$GC,9853,0.90,260.5,170.3,5.5,474,9871,0.00,0.00,16.38,0.797,6,0.000,0.000,2522,2234,1719
$GC,10181,0.90,260.5,145.7,8.0,490,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2234,1719
$GC,10491,0.90,260.5,122.6,7.0,505,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2234,1719
$GC,10801,0.90,260.5,102.0,6.9,520,10805,0.00,2.70,0.00,0.000,4,0.000,0.077,2522,3645,1719
$GC,10845,0.90,260.5,98.6,7.6,522,10849,0.00,2.62,0.00,0.000,6,0.000,0.059,2522,2233,1719
$GC,11166,0.90,260.5,75.1,7.4,538,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2233,1719
$GC,11478,0.92,281.3,55.7,5.4,553,11503,0.00,2.75,18.48,0.696,4,0.000,0.072,2522,3645,1634
$GC,11538,0.99,287.7,52.1,5.8,555,11553,0.10,2.60,7.05,0.608,6,0.065,0.056,2550,2239,1608
$GC,11876,1.00,293.9,32.5,5.8,572,11885,0.00,0.00,7.00,0.596,6,0.000,0.000,2550,2238,1583
$GC,12186,1.00,293.9,10.6,7.5,587,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2238,1582
$STATE,12306,end climb,SURFACE_DEPTH_REACHED
$STATE,12306,begin surface coast
$FINISH,0.6,1.027007
$STATE,12329,end surface coast,CONTROL_FINISHED_OK
$STATE,12329,begin surface
$SM_CCo,12351,134.90,0.641,1,0,509,557.32
$SM_GC,1.31,0.00,0.00,134.90,0.000,0.000,0.641,72,2237,509,-10.38,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1926
$TCM_TEMP,17.00
$XPDR_PINGS,41
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,375.5,54.1
$24V_AH,23.5,53.332
$10V_AH,10.1,26.360
$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,24.875,53.450,391.475,134.900,0.000,18.205,27.684,120.887,13.250,0.000,0.000,16.304,1053.682,9470.081,656.994,1216.327,385.341,0.000,1268.208,0.000,1197.741,0.000,21.760
$DEVICE_MAMPS,170.274,90.506,984.828,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.995,403.795,476.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31695,594
$CAP_FILE_SIZE,78314,0
$CFSIZE,260165632,240205824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,080808,093608,6448.877,-1050.346,37,1.4,37,-11.5