version: 66.03
glider: 16
mission: 9
dive: 312
start: 8 5 108 19 56 10
data:
$ID,16
$MISSION,9
$DIVE,312
$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,-2100084.8
$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,21
$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
$GPS1,195058,6422.971,-1124.408,41,2.9,60,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-54.2
$GPS2,195553,6422.988,-1124.438,11,2.2,30,-11.7
$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,43.0,67212,-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,-120.90,0.000,2,0.000,0.000,68,2248,2991
$GC,151,-0.85,-146.6,4.0,-3.5,6,175,11.75,0.00,-8.98,0.000,6,0.169,0.000,2142,2249,3380
$GC,478,-0.73,-146.6,41.5,-10.2,22,483,0.15,2.58,0.00,0.000,4,0.095,0.064,2174,3641,3380
$GC,523,-0.73,-146.6,45.8,-8.2,24,528,0.00,2.55,0.00,0.000,6,0.000,0.044,2175,2224,3381
$GC,844,-0.73,-146.6,66.5,-5.5,40,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2224,3382
$GC,1153,-0.73,-146.6,85.4,-6.7,55,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2225,3382
$GC,1463,-0.73,-146.6,108.1,-8.1,70,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3382
$GC,1772,-0.73,-146.6,133.7,-7.5,85,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3382
$GC,2081,-0.73,-146.6,151.8,-5.9,100,2085,0.00,2.62,0.00,0.000,4,0.000,0.065,2174,3638,3382
$GC,2121,-0.73,-146.6,154.4,-6.9,102,2125,0.00,2.53,0.00,0.000,6,0.000,0.046,2175,2231,3382
$GC,2447,-0.73,-146.6,178.3,-7.4,118,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3382
$GC,2759,-0.73,-146.6,200.1,-6.5,133,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2231,3382
$GC,3066,-0.73,-146.6,219.6,-6.0,148,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3382
$GC,3375,-0.73,-146.6,238.2,-6.4,163,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3382
$GC,3684,-0.73,-146.6,258.8,-6.5,178,3689,0.00,2.62,0.00,0.000,4,0.000,0.070,2175,3638,3382
$GC,3731,-0.79,-146.6,262.1,-6.6,180,3736,0.00,2.55,0.00,0.000,6,0.000,0.051,2175,2233,3383
$GC,4053,-0.83,-146.6,283.2,-6.9,196,4058,0.12,2.60,0.00,0.000,4,0.049,0.063,2135,816,3382
$GC,4099,-0.83,-146.6,286.7,-8.0,198,4103,0.00,2.58,0.00,0.000,6,0.000,0.050,2134,2228,3382
$GC,4421,-0.75,-146.6,315.4,-8.7,214,4422,0.15,0.00,0.00,0.000,6,0.091,0.000,2164,2229,3381
$GC,4729,-0.75,-146.6,336.8,-6.7,229,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2229,3380
$GC,5039,-0.75,-146.6,356.1,-6.0,244,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3380
$GC,5348,-0.75,-146.6,373.2,-5.0,259,5352,0.00,2.65,0.00,0.000,4,0.000,0.074,2164,3640,3379
$GC,5405,-0.75,-146.6,376.4,-5.8,261,5410,0.00,2.58,0.00,0.000,6,0.000,0.054,2164,2230,3379
$STATE,5491,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5491,begin apogee
$GC,5498,-0.31,0.0,382.5,7.0,266,5633,0.47,0.00,127.35,0.902,6,0.090,0.000,2259,2230,2780
$STATE,5634,end apogee,CONTROL_FINISHED_OK
$STATE,5634,begin climb
$GC,5636,0.85,146.6,388.4,0.0,273,5772,1.17,2.70,126.22,0.881,4,0.074,0.064,2509,832,2182
$GC,5847,0.89,261.9,385.8,2.8,283,5953,0.00,2.60,98.78,0.872,6,0.000,0.050,2509,2242,1713
$GC,6281,0.89,261.9,357.4,6.2,304,6285,0.00,2.67,0.00,0.000,4,0.000,0.074,2509,3647,1712
$GC,6336,0.89,261.9,353.1,7.6,306,6342,0.00,2.62,0.00,0.000,6,0.000,0.058,2509,2237,1712
$GC,6652,0.89,261.9,331.9,6.4,322,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2237,1710
$GC,6961,0.89,261.9,309.4,7.0,337,6965,0.00,2.65,0.00,0.000,4,0.000,0.067,2509,823,1709
$GC,7000,0.95,261.9,306.6,7.6,339,7006,0.12,2.60,0.00,0.000,6,0.075,0.051,2536,2242,1709
$GC,7328,0.95,261.9,281.3,8.1,355,7332,0.00,2.65,0.00,0.000,4,0.000,0.073,2536,3647,1709
$GC,7378,0.91,261.9,276.7,9.0,357,7382,0.00,2.60,0.00,0.000,6,0.000,0.056,2536,2238,1709
$GC,7693,0.91,261.9,246.7,10.3,372,7698,0.00,2.67,0.00,0.000,4,0.000,0.073,2536,3648,1709
$GC,7749,0.91,261.9,240.4,11.8,374,7755,0.00,2.60,0.00,0.000,6,0.000,0.056,2536,2240,1709
$GC,8064,0.91,261.9,207.8,9.9,390,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2240,1708
$GC,8374,0.91,261.9,179.3,10.5,405,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2240,1708
$GC,8683,0.91,261.9,156.5,7.0,420,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2240,1709
$GC,8993,0.91,261.9,130.9,8.7,435,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2240,1708
$GC,9302,0.91,261.9,103.2,8.7,450,9306,0.00,2.65,0.00,0.000,4,0.000,0.067,2536,3654,1708
$GC,9358,0.91,261.9,97.9,9.6,452,9364,0.00,2.58,0.00,0.000,6,0.000,0.051,2536,2236,1708
$GC,9675,0.91,261.9,73.4,6.5,468,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2236,1708
$GC,9983,0.91,261.9,54.6,6.1,483,9987,0.00,2.65,0.00,0.000,4,0.000,0.065,2536,3654,1708
$GC,10033,0.91,261.9,51.0,7.8,485,10037,0.00,2.55,0.00,0.000,6,0.000,0.050,2536,2239,1708
$GC,10349,0.91,261.9,32.0,6.5,500,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2239,1708
$GC,10658,0.91,261.9,8.7,8.4,515,10659,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2239,1709
$STATE,10758,end climb,SURFACE_DEPTH_REACHED
$STATE,10758,begin surface coast
$FINISH,0.6,1.013569
$STATE,10780,end surface coast,CONTROL_FINISHED_OK
$STATE,10780,begin surface
$SM_CCo,10803,143.02,0.614,0,0,508,557.32
$SM_GC,1.36,0.00,0.00,143.02,0.000,0.000,0.614,71,2237,508,-10.39,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1896
$TCM_TEMP,17.50
$XPDR_PINGS,24
$ALTIM_TOP_PING,18.8,18.2
$ALTIM_BOTTOM_PING,325.9,65.3
$24V_AH,23.6,50.853
$10V_AH,10.1,25.320
$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,24.675,62.650,352.350,143.025,0.000,18.365,28.392,117.585,8.500,0.000,0.000,33.769,933.637,8213.605,630.246,1099.290,369.891,0.000,1177.442,0.000,1065.017,0.000,18.548
$DEVICE_MAMPS,168.740,74.399,901.992,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.537,354.362,449.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25431,521
$CAP_FILE_SIZE,71974,0
$CFSIZE,260165632,240947200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050808,225955,6425.551,-1118.906,39,1.9,39,-11.6