version: 66.03
glider: 16
mission: 9
dive: 328
start: 8 8 108 2 58 15
data:
$ID,16
$MISSION,9
$DIVE,328
$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,-2100459.2
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,025307,6446.419,-1048.445,33,1.6,33,-11.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-57.3
$GPS2,025756,6446.448,-1048.459,10,1.6,16,-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,36.9,15485,-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,-120.68,0.000,2,0.000,0.000,76,2236,2816
$GC,150,-0.85,-146.6,3.4,-2.7,6,185,11.73,2.70,-15.43,0.000,4,0.173,0.067,2140,808,3381
$GC,278,-0.78,-146.6,17.9,-9.0,11,284,0.00,2.60,0.00,0.000,6,0.000,0.050,2140,2238,3382
$GC,596,-0.66,-146.6,48.9,-10.0,27,601,0.20,2.60,0.00,0.000,4,0.094,0.065,2182,3637,3382
$GC,659,-0.73,-146.6,54.4,-8.0,30,664,0.00,2.58,0.00,0.000,6,0.000,0.052,2182,2226,3382
$GC,989,-0.73,-146.6,82.0,-8.4,46,993,0.00,2.67,0.00,0.000,4,0.000,0.072,2182,3638,3382
$GC,1021,-0.73,-146.6,85.3,-9.0,47,1027,0.00,2.58,0.00,0.000,6,0.000,0.052,2182,2225,3383
$GC,1339,-0.77,-146.6,111.2,-8.3,63,1343,0.00,2.60,0.00,0.000,4,0.000,0.060,2182,817,3384
$GC,1384,-0.86,-146.6,115.1,-8.1,65,1389,0.20,2.58,0.00,0.000,6,0.040,0.051,2124,2230,3383
$GC,1706,-0.74,-146.6,149.0,-10.3,81,1711,0.17,2.65,0.00,0.000,4,0.087,0.071,2163,3638,3384
$GC,1749,-0.74,-146.6,153.2,-9.0,83,1754,0.00,2.58,0.00,0.000,6,0.000,0.055,2163,2230,3384
$GC,2071,-0.74,-146.6,178.5,-7.4,99,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3384
$GC,2380,-0.74,-146.6,203.4,-8.7,114,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3384
$GC,2689,-0.74,-146.6,231.2,-9.5,129,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3384
$GC,2999,-0.74,-146.6,257.7,-8.2,144,3003,0.00,2.70,0.00,0.000,4,0.000,0.082,2163,3635,3384
$GC,3043,-0.74,-146.6,261.6,-8.8,146,3047,0.00,2.60,0.00,0.000,6,0.000,0.061,2163,2233,3383
$GC,3364,-0.74,-146.6,286.0,-6.7,162,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2233,3383
$GC,3673,-0.74,-146.6,308.7,-7.5,177,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2233,3383
$GC,3982,-0.74,-146.6,332.1,-7.3,192,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2233,3382
$GC,4292,-0.74,-146.6,352.7,-6.3,207,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2232,3382
$GC,4601,-0.74,-146.6,372.9,-6.0,222,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2232,3380
$GC,4910,-0.74,-146.6,393.2,-6.7,237,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2233,3379
$GC,5220,-0.74,-146.6,415.2,-7.4,252,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2232,3378
$GC,5529,-0.99,-146.6,427.9,-0.1,267,5534,0.20,2.65,0.00,0.000,4,0.061,0.064,2112,810,3377
$STATE,5582,end dive,NO_VERTICAL_VELOCITY
$STATE,5582,begin apogee
$GC,5592,-0.31,0.0,427.9,0.0,269,5723,0.70,0.00,128.27,0.991,6,0.088,0.000,2258,2238,2781
$STATE,5724,end apogee,CONTROL_FINISHED_OK
$STATE,5724,begin climb
$GC,5727,0.85,146.6,427.8,0.0,276,5864,1.20,2.85,127.07,0.969,4,0.081,0.087,2507,3649,2183
$GC,6123,1.27,359.0,427.7,0.2,294,6314,0.45,2.70,180.65,0.967,6,0.059,0.068,2607,2234,1317
$GC,6636,1.09,359.0,382.5,12.7,319,6641,0.17,2.80,0.00,0.000,4,0.104,0.088,2571,3653,1316
$GC,6805,1.02,359.0,362.7,12.0,326,6811,0.00,2.70,0.00,0.000,6,0.000,0.070,2571,2238,1316
$GC,7121,0.96,359.0,326.8,11.8,342,7126,0.17,2.70,0.00,0.000,4,0.099,0.076,2534,827,1315
$GC,7161,1.02,359.0,322.3,11.2,344,7166,0.00,2.67,0.00,0.000,6,0.000,0.064,2535,2243,1315
$GC,7490,1.02,359.0,289.0,10.3,360,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2243,1314
$GC,7798,1.02,359.0,257.5,9.2,375,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2243,1314
$GC,8107,1.02,359.0,233.2,7.6,390,8111,0.00,2.75,0.00,0.000,4,0.000,0.077,2534,820,1313
$GC,8146,1.08,359.0,230.0,8.3,392,8152,0.15,2.67,0.00,0.000,6,0.060,0.061,2573,2248,1313
$GC,8474,0.99,359.0,199.4,10.0,408,8476,0.15,0.00,0.00,0.000,6,0.102,0.000,2545,2247,1313
$GC,8782,0.99,359.0,173.0,8.5,423,8787,0.00,2.72,0.00,0.000,4,0.000,0.075,2545,826,1312
$GC,8815,0.99,359.0,170.2,8.9,424,8821,0.00,2.62,0.00,0.000,6,0.000,0.058,2545,2239,1312
$GC,9132,0.99,359.0,140.9,10.0,440,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2239,1312
$GC,9441,0.99,359.0,110.4,8.9,455,9445,0.00,2.70,0.00,0.000,4,0.000,0.070,2545,820,1312
$GC,9481,1.04,359.0,107.1,8.5,457,9485,0.00,2.60,0.00,0.000,6,0.000,0.055,2545,2240,1312
$GC,9808,1.04,359.0,83.7,6.4,473,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2240,1313
$GC,10117,1.04,359.0,59.4,9.0,488,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2240,1313
$GC,10427,1.04,359.0,32.8,7.8,503,10432,0.00,2.67,0.00,0.000,4,0.000,0.064,2545,818,1313
$GC,10493,1.10,359.0,27.8,7.9,506,10498,0.12,2.58,0.00,0.000,6,0.054,0.048,2581,2242,1313
$STATE,10776,end climb,SURFACE_DEPTH_REACHED
$STATE,10776,begin surface coast
$FINISH,0.7,1.014650
$STATE,10800,end surface coast,CONTROL_FINISHED_OK
$STATE,10800,begin surface
$SM_CCo,10822,100.10,0.657,0,0,509,557.32
$SM_GC,1.30,0.00,0.00,100.10,0.000,0.000,0.657,70,2243,509,-10.40,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1953
$TCM_TEMP,16.70
$XPDR_PINGS,47
$ALTIM_TOP_PING,18.4,17.2
$24V_AH,23.4,53.195
$10V_AH,10.1,26.299
$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,26.650,74.575,436.000,100.100,0.000,18.005,26.685,123.362,15.500,0.000,0.000,16.935,961.056,8034.569,637.435,1202.268,382.968,0.000,1267.288,0.000,1172.567,0.000,27.779
$DEVICE_MAMPS,172.575,88.205,990.964,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.516,353.314,410.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25424,521
$CAP_FILE_SIZE,78558,0
$CFSIZE,260165632,240250880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,080808,060138,6447.327,-1048.808,39,1.2,39,-11.5