version: 66.03
glider: 16
mission: 9
dive: 321
start: 8 7 108 1 58 46
data:
$ID,16
$MISSION,9
$DIVE,321
$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,-2100300
$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,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
$GPS1,014828,6435.396,-1050.818,32,5.3,51,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-57.9
$GPS2,015829,6435.426,-1050.757,15,6.1,34,-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,25.2,35422,-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,-121.10,0.000,2,0.000,0.000,74,2235,2842
$GC,151,-0.85,-146.6,3.8,-2.9,6,180,11.85,0.00,-13.62,0.000,6,0.174,0.000,2139,2235,3380
$GC,478,-0.74,-146.6,40.2,-8.5,22,483,0.15,2.65,0.00,0.000,4,0.097,0.069,2172,3640,3381
$GC,523,-0.74,-146.6,43.6,-6.8,24,528,0.00,2.58,0.00,0.000,6,0.000,0.051,2172,2228,3381
$GC,844,-0.74,-146.6,67.6,-7.4,40,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3383
$GC,1153,-0.74,-146.6,88.1,-7.1,55,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2228,3382
$GC,1463,-0.74,-146.6,108.5,-6.8,70,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3383
$GC,1772,-0.74,-146.6,130.0,-6.6,85,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3383
$GC,2083,-0.74,-146.6,149.5,-6.4,100,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3382
$GC,2391,-0.74,-146.6,172.3,-8.0,115,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3383
$GC,2699,-0.74,-146.6,196.6,-7.6,130,2704,0.00,2.70,0.00,0.000,4,0.000,0.080,2172,3634,3382
$GC,2727,-0.74,-146.6,198.8,-7.4,131,2731,0.00,2.60,0.00,0.000,6,0.000,0.058,2172,2231,3382
$GC,3044,-0.78,-146.6,218.4,-5.8,146,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2231,3383
$GC,3352,-0.83,-146.6,237.9,-6.6,161,3357,0.12,2.65,0.00,0.000,4,0.052,0.066,2135,817,3382
$GC,3385,-0.83,-146.6,240.8,-9.0,162,3391,0.00,2.62,0.00,0.000,6,0.000,0.058,2134,2233,3382
$GC,3702,-0.76,-146.6,269.1,-8.7,178,3704,0.15,0.00,0.00,0.000,6,0.093,0.000,2163,2233,3381
$GC,4010,-0.76,-146.6,292.4,-8.0,193,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2233,3381
$GC,4319,-0.76,-146.6,318.0,-8.5,208,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2233,3380
$GC,4629,-0.76,-146.6,343.6,-7.8,223,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2233,3379
$GC,4938,-0.76,-146.6,368.2,-7.3,238,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2233,3379
$GC,5248,-0.76,-146.6,389.7,-6.9,253,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2233,3378
$STATE,5492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5492,begin apogee
$GC,5499,-0.31,0.0,407.1,6.9,265,5629,0.47,0.00,127.72,0.971,6,0.097,0.000,2258,2233,2781
$STATE,5630,end apogee,CONTROL_FINISHED_OK
$STATE,5630,begin climb
$GC,5633,0.85,146.6,412.6,0.0,271,5769,1.20,2.85,126.78,0.960,4,0.084,0.085,2506,3645,2183
$GC,6022,0.79,191.1,407.5,4.8,288,6069,0.00,2.67,39.53,0.937,6,0.000,0.067,2505,2238,2001
$GC,6379,0.80,192.9,387.4,6.0,306,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2238,2000
$GC,6687,0.80,192.9,368.4,6.2,321,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2238,2000
$GC,6997,0.80,192.9,349.2,6.2,336,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2238,1998
$GC,7307,0.80,192.9,329.8,6.4,351,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2238,1998
$GC,7617,0.80,192.9,309.8,6.4,366,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2238,1997
$GC,7925,0.80,192.9,290.4,6.0,381,7929,0.00,2.78,0.00,0.000,4,0.000,0.090,2506,3650,1997
$GC,7980,0.80,192.9,286.6,6.9,383,7986,0.00,2.67,0.00,0.000,6,0.000,0.069,2506,2241,1997
$GC,8296,0.81,206.5,268.0,5.6,399,8315,0.00,0.00,13.60,0.858,6,0.000,0.000,2505,2241,1939
$GC,8625,0.81,208.9,248.4,5.9,415,8631,0.00,0.00,3.80,0.600,6,0.000,0.000,2506,2241,1929
$GC,8935,0.85,243.4,231.8,5.1,430,8968,0.00,0.00,30.77,0.875,6,0.000,0.000,2506,2241,1788
$GC,9264,0.92,263.5,213.7,5.5,446,9289,0.12,2.78,18.77,0.841,4,0.084,0.076,2531,826,1705
$GC,9329,0.92,263.5,209.2,7.3,449,9334,0.00,2.67,0.00,0.000,6,0.000,0.061,2531,2240,1704
$GC,9657,0.92,269.3,188.4,5.8,465,9670,0.00,2.80,6.43,0.715,4,0.000,0.081,2531,3651,1682
$GC,9701,0.92,269.3,185.6,6.6,467,9705,0.00,2.70,0.00,0.000,6,0.000,0.067,2531,2236,1682
$GC,10028,0.98,318.5,169.2,4.7,483,10072,0.00,0.00,42.22,0.834,6,0.000,0.000,2531,2236,1482
$GC,10377,1.01,351.9,154.3,5.1,500,10411,0.00,2.83,28.80,0.805,4,0.000,0.081,2531,3662,1346
$GC,10452,1.06,351.9,149.5,6.4,503,10457,0.15,2.70,0.00,0.000,6,0.067,0.064,2568,2240,1346
$GC,10771,0.99,351.9,119.9,9.2,518,10776,0.12,2.70,0.00,0.000,4,0.104,0.071,2545,821,1346
$GC,10837,0.99,351.9,114.4,7.5,521,10842,0.00,2.65,0.00,0.000,6,0.000,0.056,2545,2249,1345
$GC,11161,0.99,351.9,93.8,7.1,537,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2249,1346
$GC,11468,0.99,351.9,70.5,7.2,552,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2249,1346
$GC,11777,0.99,351.9,46.8,7.2,567,11782,0.00,2.70,0.00,0.000,4,0.000,0.070,2545,826,1347
$GC,11822,0.99,351.9,43.8,6.3,569,11826,0.00,2.60,0.00,0.000,6,0.000,0.053,2545,2242,1346
$GC,12143,1.03,351.9,20.5,7.3,585,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2242,1346
$STATE,12408,end climb,SURFACE_DEPTH_REACHED
$STATE,12408,begin surface coast
$FINISH,0.7,1.026940
$STATE,12430,end surface coast,CONTROL_FINISHED_OK
$STATE,12430,begin surface
$SM_CCo,12452,105.70,0.672,0,0,508,557.32
$SM_GC,1.22,0.00,0.00,105.70,0.000,0.000,0.672,72,2244,508,-10.39,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1959
$TCM_TEMP,16.00
$XPDR_PINGS,47
$ALTIM_TOP_PING,19.0,17.8
$ALTIM_BOTTOM_PING,376.1,40.8
$24V_AH,23.4,52.145
$10V_AH,10.1,25.864
$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,25.200,53.900,438.425,105.700,0.000,36.022,53.171,308.877,14.750,0.000,0.000,35.598,1060.922,9579.810,665.260,1241.377,616.595,0.000,1277.004,0.000,1200.320,0.000,21.717
$DEVICE_MAMPS,174.109,89.739,971.022,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.439,407.660,477.533,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31648,599
$CAP_FILE_SIZE,83115,0
$CFSIZE,260165632,240553984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070808,052937,6436.222,-1051.738,42,1.2,53,-11.4