version: 66.03
glider: 16
mission: 9
dive: 330
start: 8 8 108 9 41 25
data:
$ID,16
$MISSION,9
$DIVE,330
$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,-2100507.5
$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,21
$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
$GPS1,093608,6448.877,-1050.346,37,1.4,37,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-60.9
$GPS2,094108,6448.932,-1050.426,13,1.5,30,-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,52.6,12458,-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,25,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.85,0.000,2,0.000,0.000,72,2237,2892
$GC,151,-0.85,-146.6,3.9,-3.0,6,181,11.70,2.67,-12.02,0.000,4,0.171,0.067,2141,812,3380
$GC,329,-0.85,-146.6,24.8,-9.0,14,333,0.00,2.58,0.00,0.000,6,0.000,0.048,2141,2229,3381
$GC,656,-0.72,-146.6,59.1,-10.8,30,661,0.15,2.62,0.00,0.000,4,0.094,0.064,2173,3640,3380
$GC,722,-0.72,-146.6,65.5,-8.5,33,727,0.00,2.58,0.00,0.000,6,0.000,0.048,2173,2221,3382
$GC,1045,-0.72,-146.6,85.9,-5.3,49,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2221,3382
$GC,1353,-0.72,-146.6,102.2,-5.6,64,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2221,3382
$GC,1662,-0.72,-146.6,123.3,-7.5,79,1666,0.00,2.67,0.00,0.000,4,0.000,0.071,2173,3637,3382
$GC,1707,-0.72,-146.6,127.2,-8.7,81,1711,0.00,2.58,0.00,0.000,6,0.000,0.051,2173,2227,3383
$GC,2027,-0.72,-146.6,155.0,-9.2,97,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2227,3383
$GC,2337,-0.72,-146.6,177.9,-5.8,112,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2226,3383
$GC,2647,-0.72,-146.6,191.3,-3.4,127,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2227,3383
$GC,2955,-0.72,-146.6,205.3,-5.0,142,2960,0.00,2.70,0.00,0.000,4,0.000,0.077,2172,3641,3383
$GC,3011,-0.78,-146.6,208.7,-6.0,144,3017,0.00,2.60,0.00,0.000,6,0.000,0.055,2173,2226,3382
$GC,3327,-0.78,-146.6,228.7,-7.1,160,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3382
$GC,3637,-0.82,-146.6,250.9,-6.7,175,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2224,3382
$GC,3947,-0.87,-146.6,268.9,-5.2,190,3952,0.15,2.72,0.00,0.000,4,0.048,0.082,2126,3638,3382
$GC,4003,-0.75,-146.6,273.4,-8.6,192,4009,0.20,2.62,0.00,0.000,6,0.091,0.061,2164,2231,3382
$GC,4318,-0.75,-146.6,291.5,-5.9,208,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3381
$GC,4628,-0.75,-146.6,310.0,-6.0,223,4633,0.00,2.72,0.00,0.000,4,0.000,0.086,2164,3632,3380
$GC,4673,-0.75,-146.6,313.2,-7.0,225,4677,0.00,2.62,0.00,0.000,6,0.000,0.063,2164,2230,3381
$GC,4995,-0.75,-146.6,335.6,-7.5,241,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3380
$GC,5304,-0.75,-146.6,357.6,-6.8,256,5308,0.00,2.75,0.00,0.000,4,0.000,0.089,2166,3637,3378
$GC,5343,-0.75,-146.6,360.5,-7.1,258,5348,0.00,2.65,0.00,0.000,6,0.000,0.064,2164,2229,3377
$GC,5669,-0.75,-146.6,383.3,-7.0,274,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3376
$GC,5979,-0.75,-146.6,404.8,-6.8,289,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3376
$STATE,6265,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6265,begin apogee
$GC,6271,-0.31,0.0,424.1,7.0,303,6402,0.47,0.00,127.32,0.998,6,0.099,0.000,2258,2228,2780
$STATE,6402,end apogee,CONTROL_FINISHED_OK
$STATE,6402,begin climb
$GC,6405,0.85,146.6,429.9,0.0,309,6541,1.20,2.85,126.88,0.973,4,0.084,0.085,2505,3640,2183
$GC,6626,0.83,212.6,428.0,4.2,320,6691,0.00,2.67,57.97,0.951,6,0.000,0.066,2506,2235,1914
$GC,7017,0.86,236.9,405.7,5.3,339,7041,0.00,0.00,22.45,0.913,6,0.000,0.000,2506,2235,1815
$GC,7343,0.86,236.9,383.9,6.9,355,7348,0.00,2.70,0.00,0.000,4,0.000,0.076,2506,822,1815
$GC,7377,0.86,236.9,381.7,6.9,356,7383,0.00,2.67,0.00,0.000,6,0.000,0.063,2506,2240,1814
$GC,7693,0.86,240.3,362.6,5.9,372,7699,0.00,0.00,4.30,0.661,6,0.000,0.000,2506,2240,1802
$GC,8002,0.89,265.0,345.6,5.3,387,8026,0.00,0.00,22.88,0.919,6,0.000,0.000,2506,2239,1699
$GC,8331,0.96,280.1,327.0,5.6,403,8351,0.17,0.00,14.27,0.881,6,0.082,0.000,2541,2240,1639
$GC,8661,0.96,280.1,303.5,7.2,419,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2240,1638
$GC,8969,0.96,280.1,279.4,8.2,434,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2240,1637
$GC,9279,0.96,280.1,255.9,7.2,449,9283,0.00,2.72,0.00,0.000,4,0.000,0.078,2541,824,1636
$GC,9323,0.96,280.1,252.6,7.8,451,9328,0.00,2.67,0.00,0.000,6,0.000,0.064,2541,2247,1636
$GC,9644,0.92,280.1,231.2,6.3,467,9648,0.00,2.70,0.00,0.000,4,0.000,0.083,2541,3647,1636
$GC,9683,0.92,280.1,228.3,7.3,469,9688,0.00,2.67,0.00,0.000,6,0.000,0.071,2541,2238,1636
$GC,10011,0.88,280.1,204.2,7.9,485,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2238,1636
$GC,10319,0.88,280.1,178.0,7.8,500,10324,0.00,2.75,0.00,0.000,4,0.000,0.084,2541,3653,1634
$GC,10381,0.88,280.1,173.5,7.6,503,10386,0.00,2.65,0.00,0.000,6,0.000,0.067,2541,2243,1636
$GC,10708,0.88,280.1,153.3,6.8,519,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2243,1636
$GC,11017,0.88,280.1,128.1,8.4,534,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2243,1636
$GC,11327,0.88,280.1,101.2,8.6,549,11331,0.00,2.70,0.00,0.000,4,0.000,0.078,2541,3651,1636
$GC,11389,0.88,280.1,95.7,9.1,552,11394,0.00,2.65,0.00,0.000,6,0.000,0.061,2541,2232,1636
$GC,11716,0.88,280.1,71.4,7.4,568,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2232,1636
$GC,12026,0.88,280.1,46.5,8.0,583,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2231,1636
$GC,12334,0.88,280.1,21.9,7.6,598,12339,0.00,2.62,0.00,0.000,4,0.000,0.063,2541,817,1638
$GC,12367,0.88,280.1,19.4,7.8,599,12375,0.00,2.60,0.00,0.000,6,0.000,0.051,2542,2243,1638
$STATE,12618,end climb,SURFACE_DEPTH_REACHED
$STATE,12619,begin surface coast
$FINISH,0.6,1.006802
$STATE,12640,end surface coast,CONTROL_FINISHED_OK
$STATE,12641,begin surface
$SM_CCo,12663,139.95,0.655,0,0,508,557.32
$SM_GC,1.35,0.00,0.00,139.95,0.000,0.000,0.655,73,2244,508,-10.38,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1924
$TCM_TEMP,16.80
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,400.6,32.1
$24V_AH,23.5,53.472
$10V_AH,10.1,26.423
$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,24.875,74.750,376.075,139.950,0.000,18.013,32.975,118.474,13.000,0.000,0.000,30.392,1095.974,9664.243,661.826,1289.226,398.138,0.000,1298.594,0.000,1252.141,0.000,23.321
$DEVICE_MAMPS,171.041,88.972,997.867,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.439,416.731,468.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31742,613
$CAP_FILE_SIZE,84148,0
$CFSIZE,260165632,240160768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080808,131607,6451.716,-1047.312,39,1.2,39,-11.5