version: 66.03
glider: 16
mission: 9
dive: 342
start: 8 10 108 4 38 33
data:
$ID,16
$MISSION,9
$DIVE,342
$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,-2100787
$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
$GPS1,043137,6452.362,-1034.657,41,1.2,47,-11.4
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-52.4
$GPS2,043814,6452.434,-1034.788,17,1.2,33,-11.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NS
$TGT_LATLONG,6412.000,-940.000
$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,160.9,86935,-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,-120.90,0.000,2,0.000,0.000,65,2243,2758
$GC,151,-0.85,-146.6,3.5,-2.7,6,186,11.75,2.67,-16.55,0.000,4,0.172,0.067,2140,814,3381
$GC,328,-0.78,-146.6,22.9,-10.3,14,333,0.00,2.58,0.00,0.000,6,0.000,0.045,2140,2237,3381
$GC,656,-0.66,-146.6,50.6,-7.7,30,661,0.20,2.60,0.00,0.000,4,0.094,0.064,2182,3638,3381
$GC,690,-0.66,-146.6,52.7,-5.6,31,696,0.00,2.53,0.00,0.000,6,0.000,0.044,2183,2226,3382
$GC,1008,-0.66,-146.6,66.4,-4.5,47,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2225,3382
$GC,1315,-0.66,-146.6,85.0,-7.2,62,1320,0.00,2.62,0.00,0.000,4,0.000,0.064,2183,3637,3382
$GC,1343,-0.66,-146.6,87.4,-8.9,63,1348,0.00,2.53,0.00,0.000,6,0.000,0.044,2182,2231,3382
$GC,1659,-0.66,-146.6,120.4,-11.7,78,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2230,3382
$GC,1968,-0.70,-146.6,154.7,-10.5,93,1973,0.00,2.62,0.00,0.000,4,0.000,0.066,2183,3637,3383
$GC,1991,-0.70,-146.6,157.1,-9.8,94,1995,0.00,2.53,0.00,0.000,6,0.000,0.044,2183,2230,3383
$GC,2312,-0.75,-146.6,181.3,-6.7,110,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2230,3385
$GC,2622,-0.80,-146.6,198.8,-5.4,125,2624,0.12,0.00,0.00,0.000,6,0.048,0.000,2142,2230,3384
$GC,2932,-0.73,-146.6,215.4,-3.3,140,2937,0.15,2.65,0.00,0.000,4,0.087,0.070,2176,3637,3384
$GC,2988,-0.73,-146.6,216.3,-1.0,142,2994,0.00,2.55,0.00,0.000,6,0.000,0.047,2175,2225,3384
$STATE,3115,end dive,NO_VERTICAL_VELOCITY
$STATE,3115,begin apogee
$GC,3122,-0.31,0.0,216.2,0.0,149,3249,0.40,0.00,124.20,0.775,6,0.084,0.000,2259,2225,2781
$STATE,3250,end apogee,CONTROL_FINISHED_OK
$STATE,3250,begin climb
$GC,3253,0.85,146.6,213.6,0.0,155,3385,1.17,2.70,122.05,0.756,4,0.069,0.059,2509,828,2183
$GC,3461,0.80,158.1,203.7,5.7,165,3478,0.00,2.60,11.32,0.675,6,0.000,0.048,2509,2241,2136
$GC,3800,0.98,326.0,194.4,1.4,182,3946,0.15,2.75,138.30,0.758,4,0.061,0.072,2549,3641,1452
$GC,4001,0.98,326.0,186.4,6.3,191,4005,0.00,2.60,0.00,0.000,6,0.000,0.054,2550,2244,1453
$GC,4317,0.98,326.0,164.5,7.7,206,4321,0.00,2.65,0.00,0.000,4,0.000,0.063,2549,827,1452
$GC,4401,0.98,326.0,157.7,8.8,210,4405,0.00,2.60,0.00,0.000,6,0.000,0.050,2549,2247,1450
$GC,4728,0.98,326.0,125.2,10.9,226,4733,0.00,2.65,0.00,0.000,4,0.000,0.061,2549,826,1450
$GC,4750,0.98,326.0,122.4,11.7,227,4754,0.00,2.58,0.00,0.000,6,0.000,0.048,2550,2241,1450
$GC,5071,0.98,326.0,87.9,10.1,243,5076,0.00,2.65,0.00,0.000,4,0.000,0.060,2549,821,1449
$GC,5100,0.98,326.0,85.1,9.7,244,5104,0.00,2.58,0.00,0.000,6,0.000,0.047,2549,2242,1448
$GC,5416,0.98,326.0,60.1,7.4,259,5420,0.00,2.65,0.00,0.000,4,0.000,0.059,2549,820,1449
$GC,5443,0.98,326.0,57.9,7.6,260,5447,0.00,2.58,0.00,0.000,6,0.000,0.047,2549,2240,1448
$GC,5759,0.98,326.0,34.6,8.0,275,5764,0.00,2.62,0.00,0.000,4,0.000,0.058,2549,826,1449
$GC,5809,0.98,326.0,30.1,8.1,277,5814,0.00,2.58,0.00,0.000,6,0.000,0.046,2549,2246,1448
$GC,6125,0.98,326.0,4.7,8.2,292,6130,0.00,2.62,0.00,0.000,4,0.000,0.058,2550,825,1449
$STATE,6156,end climb,SURFACE_DEPTH_REACHED
$STATE,6156,begin surface coast
$FINISH,0.4,1.026999
$STATE,6174,end surface coast,CONTROL_FINISHED_OK
$STATE,6174,begin surface
$SM_CCo,6199,114.68,0.621,0,0,508,557.32
$SM_GC,1.11,0.00,0.00,114.68,0.000,0.000,0.621,70,2236,508,-10.39,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1886
$TCM_TEMP,19.40
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,23.6,55.183
$10V_AH,10.1,27.168
$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,24.800,67.875,395.875,114.675,0.000,33.461,26.123,201.628,2.750,0.000,0.000,32.962,577.286,4312.850,610.384,788.032,427.418,0.000,1043.410,0.000,756.083,0.000,7.476
$DEVICE_MAMPS,171.808,72.098,775.437,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,213.549,197.600,334.092,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15956,294
$CAP_FILE_SIZE,55949,0
$CFSIZE,260165632,239652864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100808,062459,6452.661,-1035.212,13,2.5,32,-11.4