version: 66.03
glider: 16
mission: 9
dive: 316
start: 8 6 108 8 50 58
data:
$ID,16
$MISSION,9
$DIVE,316
$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,-2100186.8
$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,18
$R_STBD_OVSHOOT,25
$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
$GPS1,083508,6426.063,-1109.484,30,1.3,30,-11.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-57.0
$GPS2,085041,6426.001,-1109.467,16,2.5,35,-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,35.6,56787,-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,-121.10,0.000,2,0.000,0.000,71,2246,2963
$GC,151,-0.85,-146.6,3.9,-3.1,6,176,11.77,0.00,-10.00,0.000,6,0.170,0.000,2142,2248,3381
$GC,479,-0.74,-146.6,39.9,-10.1,22,484,0.12,2.58,0.00,0.000,4,0.102,0.063,2165,3635,3382
$GC,534,-0.74,-146.6,45.1,-8.3,24,541,0.00,2.55,0.00,0.000,6,0.000,0.049,2165,2224,3382
$GC,850,-0.74,-146.6,69.4,-7.8,40,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2224,3382
$GC,1160,-0.74,-146.6,91.5,-6.9,55,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2224,3382
$GC,1469,-0.74,-146.6,116.4,-8.7,70,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2224,3383
$GC,1778,-0.74,-146.6,141.6,-7.7,85,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2224,3383
$GC,2087,-0.74,-146.6,163.0,-6.7,100,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2224,3383
$GC,2397,-0.74,-146.6,181.9,-6.5,115,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2224,3383
$GC,2708,-0.74,-146.6,200.8,-6.1,130,2712,0.00,2.67,0.00,0.000,4,0.000,0.074,2165,3634,3384
$GC,2751,-0.74,-146.6,203.9,-6.5,132,2756,0.00,2.58,0.00,0.000,6,0.000,0.056,2165,2231,3383
$GC,3076,-0.74,-146.6,225.6,-6.6,148,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3382
$GC,3382,-0.74,-146.6,245.5,-6.6,163,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3382
$GC,3691,-0.74,-146.6,266.5,-7.6,178,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$GC,4001,-0.74,-146.6,288.9,-7.1,193,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3381
$GC,4310,-0.74,-146.6,309.8,-6.3,208,4314,0.00,2.70,0.00,0.000,4,0.000,0.081,2165,3635,3379
$GC,4353,-0.74,-146.6,312.6,-6.7,210,4358,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2233,3380
$GC,4675,-0.74,-146.6,332.5,-6.4,226,4680,0.00,2.70,0.00,0.000,4,0.000,0.083,2165,3633,3379
$GC,4708,-0.74,-146.6,335.1,-7.7,227,4714,0.00,2.62,0.00,0.000,6,0.000,0.061,2165,2227,3379
$GC,5024,-0.78,-146.6,357.1,-7.2,243,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2226,3378
$STATE,5331,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5331,begin apogee
$GC,5338,-0.31,0.0,377.8,6.7,258,5468,0.47,0.00,127.18,0.935,6,0.097,0.000,2259,2226,2781
$STATE,5469,end apogee,CONTROL_FINISHED_OK
$STATE,5469,begin climb
$GC,5472,0.85,146.6,383.1,0.0,264,5603,1.17,0.00,126.68,0.917,6,0.079,0.000,2505,2226,2183
$GC,5910,0.84,187.6,371.1,4.9,286,5952,0.00,2.83,36.15,0.890,4,0.000,0.084,2505,3641,2015
$GC,5992,0.84,187.6,366.1,6.4,289,5997,0.00,2.67,0.00,0.000,6,0.000,0.067,2505,2240,2015
$GC,6308,0.84,187.6,347.9,6.5,305,6312,0.00,2.70,0.00,0.000,4,0.000,0.076,2505,821,2015
$GC,6357,0.84,191.5,345.0,5.9,307,6369,0.00,2.65,4.95,0.670,6,0.000,0.061,2505,2235,2000
$GC,6678,0.87,214.8,327.1,5.4,323,6701,0.00,0.00,21.33,0.875,6,0.000,0.000,2505,2235,1905
$GC,7008,0.90,249.0,309.6,5.1,339,7041,0.00,0.00,30.55,0.888,6,0.000,0.000,2505,2235,1765
$GC,7336,0.92,262.9,291.7,5.6,355,7356,0.12,0.00,13.50,0.836,6,0.084,0.000,2530,2235,1709
$GC,7666,0.92,262.9,268.9,7.0,371,7670,0.00,2.70,0.00,0.000,4,0.000,0.077,2530,827,1708
$GC,7712,0.92,262.9,265.5,7.3,373,7716,0.00,2.65,0.00,0.000,6,0.000,0.060,2530,2243,1707
$GC,8032,0.92,262.9,243.3,6.9,389,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2243,1707
$GC,8342,0.92,262.9,222.9,6.5,404,8346,0.00,2.70,0.00,0.000,4,0.000,0.081,2530,3650,1707
$GC,8386,0.92,262.9,219.7,7.1,406,8390,0.00,2.65,0.00,0.000,6,0.000,0.065,2530,2238,1707
$GC,8707,0.92,262.9,198.2,7.2,422,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2238,1707
$GC,9016,0.92,262.9,175.9,7.0,437,9020,0.00,2.70,0.00,0.000,4,0.000,0.078,2530,3648,1707
$GC,9049,0.92,262.9,173.5,7.0,438,9055,0.00,2.62,0.00,0.000,6,0.000,0.061,2530,2239,1707
$GC,9365,0.92,262.9,151.8,7.2,454,9369,0.00,2.65,0.00,0.000,4,0.000,0.068,2530,821,1707
$GC,9405,0.92,262.9,148.7,8.0,456,9409,0.00,2.62,0.00,0.000,6,0.000,0.054,2530,2247,1706
$GC,9732,0.92,262.9,122.1,8.9,472,9736,0.00,2.65,0.00,0.000,4,0.000,0.074,2530,3650,1706
$GC,9772,0.92,262.9,117.8,10.9,474,9777,0.00,2.62,0.00,0.000,6,0.000,0.061,2530,2236,1707
$GC,10100,0.92,262.9,87.7,9.1,490,10104,0.00,2.62,0.00,0.000,4,0.000,0.065,2530,826,1707
$GC,10172,0.92,262.9,81.2,8.6,493,10177,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2242,1707
$GC,10490,0.92,262.9,57.2,7.0,508,10494,0.00,2.65,0.00,0.000,4,0.000,0.072,2530,3650,1707
$GC,10545,0.92,262.9,52.8,8.2,510,10551,0.00,2.60,0.00,0.000,6,0.000,0.058,2530,2237,1707
$GC,10862,0.96,304.7,36.1,4.9,526,10904,0.00,2.70,35.08,0.696,4,0.000,0.074,2530,3646,1538
$GC,10951,1.04,313.1,31.2,5.8,530,10966,0.12,2.65,8.62,0.616,6,0.064,0.059,2563,2231,1503
$GC,11285,1.04,313.1,8.0,7.6,546,11286,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2231,1502
$STATE,11364,end climb,SURFACE_DEPTH_REACHED
$STATE,11364,begin surface coast
$FINISH,0.8,1.027127
$STATE,11384,end surface coast,CONTROL_FINISHED_OK
$STATE,11384,begin surface
$SM_CCo,11406,126.60,0.649,1,0,509,557.32
$SM_GC,1.39,0.00,0.00,126.60,0.000,0.000,0.649,76,2229,509,-10.37,-0.03,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1956
$TCM_TEMP,16.20
$XPDR_PINGS,46
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,351.1,36.3
$24V_AH,23.5,51.415
$10V_AH,10.1,25.556
$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,24.775,74.225,404.025,126.600,0.000,90.248,229.153,225.002,14.750,0.000,0.000,35.895,989.450,8874.762,682.907,1158.396,773.225,0.000,1259.840,0.000,1115.092,0.000,25.929
$DEVICE_MAMPS,169.507,83.603,934.973,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.772,373.618,446.664,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28575,551
$CAP_FILE_SIZE,81180,0
$CFSIZE,260165632,240779264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,060808,120438,6428.430,-1103.116,41,2.0,41,-11.5