version: 66.03
glider: 16
mission: 9
dive: 324
start: 8 7 108 12 32 12
data:
$ID,16
$MISSION,9
$DIVE,324
$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,-2100376.2
$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,19
$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
$GPS1,122608,6440.207,-1054.572,42,1.6,42,-11.5
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-58.0
$GPS2,123151,6440.227,-1054.567,12,1.9,12,-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,35.7,27957,-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,-120.70,0.000,2,0.000,0.000,72,2248,2823
$GC,150,-0.85,-146.6,3.8,-3.0,6,184,11.73,2.65,-14.70,0.000,4,0.172,0.071,2141,816,3380
$GC,215,-0.79,-146.6,12.4,-8.3,9,219,0.00,2.58,0.00,0.000,6,0.000,0.048,2141,2235,3380
$GC,542,-0.67,-146.6,44.4,-10.1,25,547,0.17,2.62,0.00,0.000,4,0.100,0.065,2179,3643,3380
$GC,583,-0.67,-146.6,47.8,-7.8,27,587,0.00,2.60,0.00,0.000,6,0.000,0.049,2179,2218,3380
$GC,910,-0.67,-146.6,67.5,-5.0,43,914,0.00,2.58,0.00,0.000,4,0.000,0.058,2179,817,3381
$GC,950,-0.75,-146.6,69.3,-4.5,45,954,0.00,2.55,0.00,0.000,6,0.000,0.048,2179,2229,3381
$GC,1277,-0.75,-146.6,88.5,-7.2,61,1282,0.00,2.62,0.00,0.000,4,0.000,0.067,2179,3638,3381
$GC,1328,-0.80,-146.6,92.2,-7.1,63,1333,0.12,2.58,0.00,0.000,6,0.058,0.051,2150,2227,3381
$GC,1644,-0.75,-146.6,117.5,-9.0,78,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2227,3382
$GC,1954,-0.70,-146.6,146.1,-8.6,93,1959,0.15,2.62,0.00,0.000,4,0.086,0.061,2183,811,3382
$GC,1994,-0.82,-146.6,148.7,-6.1,95,2000,0.15,2.58,0.00,0.000,6,0.044,0.051,2137,2230,3382
$GC,2325,-0.76,-146.6,167.7,-5.7,111,2327,0.12,0.00,0.00,0.000,6,0.087,0.000,2162,2231,3382
$GC,2631,-0.76,-146.6,185.5,-6.4,126,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2231,3382
$GC,2940,-0.76,-146.6,207.5,-7.0,141,2944,0.00,2.65,0.00,0.000,4,0.000,0.075,2161,3638,3382
$GC,2979,-0.76,-146.6,210.5,-7.3,143,2984,0.00,2.60,0.00,0.000,6,0.000,0.057,2162,2233,3382
$GC,3307,-0.76,-146.6,234.1,-6.9,159,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2233,3382
$GC,3615,-0.76,-146.6,254.5,-7.1,174,3620,0.00,2.70,0.00,0.000,4,0.000,0.081,2162,3637,3381
$GC,3655,-0.76,-146.6,257.5,-8.5,176,3660,0.00,2.60,0.00,0.000,6,0.000,0.058,2162,2230,3381
$GC,3983,-0.76,-146.6,283.7,-8.1,192,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3381
$GC,4291,-0.76,-146.6,305.4,-6.4,207,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2230,3381
$GC,4602,-0.76,-146.6,325.7,-6.6,222,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2230,3380
$GC,4910,-0.76,-146.6,347.4,-7.2,237,4914,0.00,2.70,0.00,0.000,4,0.000,0.084,2161,3637,3378
$GC,4954,-0.76,-146.6,350.8,-7.1,239,4958,0.00,2.62,0.00,0.000,6,0.000,0.062,2161,2231,3378
$GC,5275,-0.76,-146.6,372.4,-7.5,255,5279,0.00,2.67,0.00,0.000,4,0.000,0.071,2161,814,3377
$GC,5308,-0.85,-146.6,374.9,-6.9,256,5318,0.00,2.62,0.00,0.000,6,0.000,0.060,2162,2229,3377
$GC,5623,-0.85,-146.6,394.3,-6.2,272,5628,0.00,2.70,0.00,0.000,4,0.000,0.085,2162,3637,3376
$GC,5663,-0.85,-146.6,397.1,-7.0,274,5667,0.00,2.65,0.00,0.000,6,0.000,0.064,2162,2227,3376
$STATE,5925,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5925,begin apogee
$GC,5932,-0.31,0.0,414.2,6.1,287,6067,0.47,0.00,127.70,0.992,6,0.094,0.000,2257,2227,2781
$STATE,6067,end apogee,CONTROL_FINISHED_OK
$STATE,6067,begin climb
$GC,6070,0.85,146.6,419.6,0.0,294,6209,1.23,2.75,127.20,0.967,4,0.080,0.073,2509,830,2183
$GC,6243,0.79,158.9,417.8,5.7,302,6262,0.00,2.67,12.32,0.865,6,0.000,0.060,2509,2245,2133
$GC,6585,0.76,168.2,397.7,5.7,319,6596,0.00,0.00,9.40,0.839,6,0.000,0.000,2508,2246,2095
$GC,6894,0.76,168.2,377.5,6.0,334,6896,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2246,2094
$GC,7204,0.72,186.8,360.4,5.5,349,7225,0.12,0.00,17.42,0.906,6,0.112,0.000,2486,2246,2019
$GC,7535,0.77,234.0,343.8,4.7,365,7578,0.00,0.00,41.60,0.937,6,0.000,0.000,2486,2246,1828
$GC,7884,0.86,244.6,323.0,5.7,382,7898,0.15,0.00,11.02,0.854,6,0.060,0.000,2517,2246,1783
$GC,8193,0.86,244.6,301.0,6.4,397,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2245,1782
$GC,8503,0.87,249.5,282.4,5.9,412,8514,0.00,2.75,5.72,0.739,4,0.000,0.074,2518,829,1763
$GC,8553,0.87,249.5,279.0,7.0,414,8558,0.00,2.65,0.00,0.000,6,0.000,0.060,2518,2240,1762
$GC,8869,0.87,249.5,259.5,6.1,429,8873,0.00,2.70,0.00,0.000,4,0.000,0.085,2518,3648,1762
$GC,8925,0.87,249.5,255.8,7.2,431,8930,0.00,2.65,0.00,0.000,6,0.000,0.067,2518,2241,1762
$GC,9240,0.89,269.4,237.9,5.5,447,9260,0.00,0.00,18.33,0.863,6,0.000,0.000,2518,2241,1682
$GC,9570,0.92,298.6,220.0,5.2,463,9597,0.00,0.00,25.95,0.861,6,0.000,0.000,2518,2241,1563
$GC,9899,1.01,336.5,203.9,5.0,479,9942,0.15,2.78,32.80,0.851,4,0.077,0.072,2554,832,1408
$GC,9992,1.01,336.5,197.3,7.0,483,9997,0.00,2.65,0.00,0.000,6,0.000,0.058,2554,2245,1408
$GC,10314,1.01,336.5,177.0,6.5,499,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2245,1408
$GC,10623,1.01,336.5,150.9,9.1,514,10627,0.00,2.70,0.00,0.000,4,0.000,0.071,2554,827,1408
$GC,10667,1.01,336.5,146.9,8.7,516,10671,0.00,2.62,0.00,0.000,6,0.000,0.054,2554,2247,1408
$GC,10988,1.01,336.5,118.1,9.0,532,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2247,1408
$GC,11297,1.01,336.5,89.5,9.7,547,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2247,1408
$GC,11606,1.01,336.5,60.7,8.5,562,11610,0.00,2.67,0.00,0.000,4,0.000,0.067,2554,827,1408
$GC,11662,1.01,336.5,55.9,7.6,564,11669,0.00,2.58,0.00,0.000,6,0.000,0.051,2554,2242,1408
$GC,11980,1.01,336.5,32.2,6.8,580,11984,0.00,2.65,0.00,0.000,4,0.000,0.070,2554,3653,1409
$GC,12023,1.01,336.5,29.1,6.4,582,12028,0.00,2.62,0.00,0.000,6,0.000,0.058,2554,2234,1410
$GC,12346,1.01,336.5,7.1,7.7,598,12350,0.00,2.62,0.00,0.000,4,0.000,0.065,2554,826,1410
$GC,12408,1.01,336.5,2.3,8.4,601,12412,0.00,2.10,0.00,0.000,3,0.000,0.049,2554,1990,1410
$STATE,12412,end climb,SURFACE_DEPTH_REACHED
$STATE,12412,begin surface coast
$FINISH,0.8,1.026968
$STATE,12433,end surface coast,CONTROL_FINISHED_OK
$STATE,12433,begin surface
$SM_CCo,12455,115.85,0.665,1,0,509,557.32
$SM_GC,1.41,0.00,0.00,115.85,0.000,0.000,0.665,73,2239,509,-10.38,0.25,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1953
$TCM_TEMP,18.60
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.2,17.8
$ALTIM_BOTTOM_PING,401.1,22.0
$24V_AH,23.5,52.588
$10V_AH,10.1,26.050
$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,25.500,95.125,429.475,115.850,0.000,18.286,29.543,181.904,16.750,0.000,0.000,12.420,1096.339,9393.931,708.311,1266.270,464.932,0.000,1365.665,0.000,1244.062,0.000,23.293
$DEVICE_MAMPS,171.808,85.137,991.731,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.866,409.101,460.042,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31715,602
$CAP_FILE_SIZE,90845,0
$CFSIZE,260165632,240414720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,070808,160307,6441.929,-1051.899,38,1.4,38,-11.5