version: 66.03
glider: 16
mission: 9
dive: 318
start: 8 6 108 15 24 28
data:
$ID,16
$MISSION,9
$DIVE,318
$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,-2100213.5
$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,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
$GPS1,151938,6430.056,-1056.546,38,1.7,38,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-56.5
$GPS2,152409,6430.023,-1056.416,8,1.7,8,-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,27.6,46241,-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,-120.78,0.000,2,0.000,0.000,68,2245,2845
$GC,150,-0.85,-146.6,3.8,-3.0,6,178,11.82,0.00,-13.93,0.000,6,0.171,0.000,2142,2245,3381
$GC,477,-0.72,-146.6,37.0,-8.7,22,482,0.15,2.58,0.00,0.000,4,0.099,0.064,2174,3637,3382
$GC,542,-0.72,-146.6,42.0,-7.4,25,546,0.00,2.58,0.00,0.000,6,0.000,0.051,2174,2223,3382
$GC,870,-0.72,-146.6,60.3,-5.1,41,875,0.00,2.60,0.00,0.000,4,0.000,0.059,2174,810,3382
$GC,904,-0.79,-146.6,62.3,-5.3,42,911,0.00,2.58,0.00,0.000,6,0.000,0.048,2174,2230,3382
$GC,1222,-0.79,-146.6,78.9,-5.4,58,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3383
$GC,1531,-0.79,-146.6,95.5,-5.8,73,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3385
$GC,1839,-0.79,-146.6,119.1,-8.4,88,1843,0.00,2.65,0.00,0.000,4,0.000,0.072,2174,3641,3384
$GC,1866,-0.79,-146.6,121.8,-9.1,89,1871,0.00,2.58,0.00,0.000,6,0.000,0.054,2174,2230,3384
$GC,2182,-0.79,-146.6,144.2,-6.3,104,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3384
$GC,2492,-0.79,-146.6,166.4,-7.8,119,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3384
$GC,2802,-0.83,-146.6,191.9,-7.7,134,2803,0.12,0.00,0.00,0.000,6,0.048,0.000,2136,2230,3384
$GC,3110,-0.75,-146.6,218.0,-8.1,149,3112,0.15,0.00,0.00,0.000,6,0.091,0.000,2164,2230,3384
$GC,3420,-0.75,-146.6,242.0,-7.8,164,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3383
$GC,3728,-0.75,-146.6,264.1,-6.8,179,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3383
$GC,4038,-0.75,-146.6,284.5,-5.8,194,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3383
$GC,4348,-0.75,-146.6,307.4,-8.2,209,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3382
$GC,4656,-0.75,-146.6,330.6,-6.5,224,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3381
$GC,4965,-0.75,-146.6,349.9,-6.2,239,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3380
$GC,5275,-0.75,-146.6,370.9,-6.4,254,5280,0.00,2.72,0.00,0.000,4,0.000,0.089,2164,3632,3379
$GC,5308,-0.75,-146.6,373.2,-6.6,255,5315,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2227,3379
$STATE,5580,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5580,begin apogee
$GC,5587,-0.31,0.0,391.6,6.7,269,5723,0.47,0.00,128.55,0.958,6,0.097,0.000,2260,2227,2781
$STATE,5724,end apogee,CONTROL_FINISHED_OK
$STATE,5724,begin climb
$GC,5727,0.85,146.6,398.1,0.0,276,5863,1.20,2.75,126.57,0.943,4,0.084,0.073,2507,830,2182
$GC,5950,0.80,169.3,393.4,5.4,286,5976,0.00,2.65,20.88,0.881,6,0.000,0.063,2507,2236,2090
$GC,6289,0.77,181.9,376.2,5.7,302,6307,0.00,2.85,12.35,0.850,4,0.000,0.085,2507,3647,2039
$GC,6340,0.77,181.9,373.0,6.1,304,6345,0.00,2.70,0.00,0.000,6,0.000,0.071,2507,2243,2039
$GC,6656,0.77,181.9,354.0,6.2,319,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2243,2038
$GC,6966,0.78,195.6,337.1,5.6,334,6984,0.00,0.00,13.20,0.867,6,0.000,0.000,2507,2243,1982
$GC,7294,0.78,195.6,316.2,6.5,350,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2243,1982
$GC,7604,0.80,215.3,299.1,5.5,365,7625,0.00,0.00,17.98,0.882,6,0.000,0.000,2507,2243,1903
$GC,7934,0.80,215.3,277.0,7.0,381,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2243,1903
$GC,8242,0.80,215.3,256.5,6.3,396,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2243,1903
$GC,8552,0.86,263.9,241.6,4.7,411,8597,0.00,0.00,42.78,0.887,6,0.000,0.000,2507,2243,1705
$GC,8901,0.91,269.0,221.1,5.9,428,8912,0.00,2.78,5.88,0.712,4,0.000,0.088,2507,3647,1684
$GC,8958,0.95,269.0,217.1,7.4,430,8965,0.12,2.70,0.00,0.000,6,0.074,0.072,2535,2231,1684
$GC,9274,0.95,269.0,195.2,6.8,446,9279,0.00,2.70,0.00,0.000,4,0.000,0.076,2535,821,1683
$GC,9324,0.95,269.0,191.3,7.4,448,9329,0.00,2.65,0.00,0.000,6,0.000,0.061,2535,2241,1683
$GC,9640,0.95,270.2,171.4,6.0,463,9644,0.00,2.70,0.00,0.000,4,0.000,0.082,2535,3648,1683
$GC,9691,0.90,270.2,167.8,7.7,465,9695,0.00,2.67,0.00,0.000,6,0.000,0.068,2535,2236,1683
$GC,10007,0.86,281.4,148.8,5.7,480,10029,0.00,2.75,11.88,0.763,4,0.000,0.069,2536,826,1633
$GC,10084,0.86,281.4,143.4,7.8,483,10089,0.00,2.65,0.00,0.000,6,0.000,0.058,2535,2246,1632
$GC,10401,0.86,281.4,119.4,7.7,498,10405,0.00,2.67,0.00,0.000,4,0.000,0.077,2535,3651,1633
$GC,10445,0.86,281.4,115.7,8.4,500,10449,0.00,2.65,0.00,0.000,6,0.000,0.064,2536,2238,1633
$GC,10766,0.86,281.4,90.6,7.3,516,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2238,1633
$GC,11078,0.87,294.9,70.5,5.6,531,11100,0.00,2.75,12.73,0.703,4,0.000,0.079,2535,3641,1578
$GC,11161,0.87,294.9,64.0,8.4,534,11168,0.00,2.65,0.00,0.000,6,0.000,0.065,2535,2234,1578
$GC,11479,0.87,294.9,40.9,6.4,550,11484,0.00,2.65,0.00,0.000,4,0.000,0.067,2535,823,1578
$GC,11542,0.87,294.9,35.8,8.0,553,11547,0.00,2.60,0.00,0.000,6,0.000,0.054,2535,2241,1578
$GC,11870,0.87,294.9,12.0,6.6,569,11871,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2241,1578
$STATE,12033,end climb,SURFACE_DEPTH_REACHED
$STATE,12033,begin surface coast
$FINISH,0.7,1.026973
$STATE,12054,end surface coast,CONTROL_FINISHED_OK
$STATE,12054,begin surface
$SM_CCo,12076,136.62,0.662,1,0,509,557.32
$SM_GC,1.29,0.00,0.00,136.62,0.000,0.000,0.662,72,2242,509,-10.39,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1959
$TCM_TEMP,16.50
$XPDR_PINGS,49
$ALTIM_TOP_PING,18.9,18.8
$ALTIM_BOTTOM_PING,325.3,75.5
$24V_AH,23.5,51.704
$10V_AH,10.1,25.675
$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,24.925,69.425,392.775,136.625,0.000,18.095,32.923,113.414,14.750,0.000,0.000,10.768,1039.344,9210.651,686.682,1182.021,379.248,0.000,1287.472,0.000,1168.639,0.000,18.571
$DEVICE_MAMPS,171.041,88.972,957.983,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.081,392.846,484.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28559,578
$CAP_FILE_SIZE,80057,0
$CFSIZE,260165632,240693248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,060808,184926,6430.630,-1055.412,39,1.7,39,-11.4