version: 66.03
glider: 16
mission: 9
dive: 337
start: 8 9 108 10 58 21
data:
$ID,16
$MISSION,9
$DIVE,337
$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,-2100653.2
$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,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
$GPS1,105308,6450.536,-1037.586,41,1.6,41,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-56.3
$GPS2,105802,6450.602,-1037.672,13,1.8,13,-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,158.4,85276,-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,-120.60,0.000,2,0.000,0.000,70,2243,2851
$GC,150,-0.85,-146.6,3.2,-2.3,6,184,11.68,2.62,-13.85,0.000,4,0.170,0.067,2141,816,3380
$GC,275,-0.85,-146.6,18.2,-9.3,11,281,0.00,2.55,0.00,0.000,6,0.000,0.045,2141,2229,3380
$GC,592,-0.75,-146.6,45.9,-8.8,27,597,0.12,2.60,0.00,0.000,4,0.099,0.064,2165,3639,3380
$GC,642,-0.75,-146.6,49.8,-7.3,29,647,0.00,2.55,0.00,0.000,6,0.000,0.046,2165,2227,3381
$GC,960,-0.75,-146.6,72.6,-7.9,44,964,0.00,2.60,0.00,0.000,4,0.000,0.056,2165,812,3381
$GC,993,-0.75,-146.6,75.6,-7.5,45,1000,0.00,2.58,0.00,0.000,6,0.000,0.045,2165,2234,3381
$GC,1309,-0.75,-146.6,99.8,-7.4,61,1314,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,3637,3382
$GC,1349,-0.75,-146.6,102.9,-7.6,63,1354,0.00,2.53,0.00,0.000,6,0.000,0.047,2167,2231,3381
$GC,1677,-0.75,-146.6,128.1,-8.3,79,1681,0.00,2.60,0.00,0.000,4,0.000,0.057,2165,813,3381
$GC,1704,-0.75,-146.6,130.5,-8.5,80,1708,0.00,2.58,0.00,0.000,6,0.000,0.047,2165,2232,3381
$GC,2020,-0.75,-146.6,159.3,-9.3,95,2024,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,3636,3382
$GC,2064,-0.75,-146.6,163.6,-9.2,97,2069,0.00,2.55,0.00,0.000,6,0.000,0.047,2165,2225,3382
$GC,2385,-0.75,-146.6,188.1,-6.7,113,2389,0.00,2.60,0.00,0.000,4,0.000,0.058,2165,813,3382
$GC,2435,-0.82,-146.6,191.5,-6.5,115,2439,0.00,2.58,0.00,0.000,6,0.000,0.047,2165,2229,3382
$GC,2751,-0.82,-146.6,207.5,-4.3,130,2755,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,3641,3382
$GC,2807,-0.82,-146.6,210.7,-5.6,132,2813,0.00,2.58,0.00,0.000,6,0.000,0.049,2166,2224,3382
$GC,3123,-0.82,-146.6,231.8,-7.2,148,3127,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,3638,3382
$GC,3162,-0.82,-146.6,234.7,-7.4,150,3166,0.00,2.55,0.00,0.000,6,0.000,0.050,2166,2230,3382
$GC,3489,-0.82,-146.6,256.0,-6.6,166,3493,0.00,2.62,0.00,0.000,4,0.000,0.062,2166,818,3382
$GC,3545,-0.87,-146.6,260.0,-7.3,168,3551,0.12,2.60,0.00,0.000,6,0.050,0.051,2126,2235,3382
$GC,3861,-0.76,-146.6,289.9,-10.0,184,3866,0.15,2.65,0.00,0.000,4,0.092,0.074,2159,3638,3382
$GC,3883,-0.72,-146.6,292.2,-10.0,185,3888,0.00,2.58,0.00,0.000,6,0.000,0.053,2159,2231,3382
$GC,4205,-0.72,-146.6,322.2,-9.7,201,4209,0.00,2.65,0.00,0.000,4,0.000,0.065,2159,817,3381
$GC,4267,-0.78,-146.6,328.9,-11.3,204,4272,0.00,2.62,0.00,0.000,6,0.000,0.054,2159,2235,3381
$GC,4594,-0.78,-146.6,361.0,-9.2,220,4599,0.00,2.67,0.00,0.000,4,0.000,0.078,2159,3640,3381
$GC,4644,-0.78,-146.6,365.5,-8.7,222,4649,0.00,2.60,0.00,0.000,6,0.000,0.056,2159,2230,3380
$GC,4960,-0.78,-146.6,389.0,-7.0,237,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2230,3379
$GC,5270,-0.78,-146.6,410.8,-7.0,252,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3378
$STATE,5431,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5432,begin apogee
$GC,5438,-0.31,0.0,423.8,7.6,260,5568,0.50,0.00,127.28,0.970,6,0.100,0.000,2258,2229,2781
$STATE,5569,end apogee,CONTROL_FINISHED_OK
$STATE,5569,begin climb
$GC,5572,0.85,146.6,427.6,0.0,266,5708,1.20,2.78,125.78,0.950,4,0.081,0.070,2508,827,2183
$GC,5762,0.88,178.9,424.5,5.1,275,5797,0.00,2.65,29.10,0.906,6,0.000,0.057,2507,2242,2051
$GC,6114,0.88,178.9,403.6,6.8,292,6118,0.00,2.72,0.00,0.000,4,0.000,0.082,2507,3651,2050
$GC,6159,0.88,178.9,400.6,7.3,294,6163,0.00,2.65,0.00,0.000,6,0.000,0.061,2507,2240,2050
$GC,6479,0.88,178.9,379.4,7.1,310,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2240,2047
$GC,6788,0.88,178.9,353.6,8.8,325,6793,0.00,2.72,0.00,0.000,4,0.000,0.083,2507,3647,2047
$GC,6816,0.88,178.9,351.1,9.4,326,6820,0.00,2.62,0.00,0.000,6,0.000,0.061,2507,2241,2047
$GC,7133,0.88,178.9,322.7,9.0,341,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,2046
$GC,7443,0.88,178.9,296.5,7.8,356,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,2045
$GC,7752,0.90,195.1,276.8,5.6,371,7773,0.00,2.75,13.85,0.851,4,0.000,0.074,2507,827,1984
$GC,7797,0.90,197.9,274.1,5.9,373,7806,0.00,2.65,4.07,0.617,6,0.000,0.057,2507,2239,1974
$GC,8129,0.93,224.8,256.4,5.3,389,8159,0.12,2.75,24.25,0.866,4,0.077,0.070,2533,827,1863
$GC,8199,0.87,224.8,251.7,7.4,392,8204,0.00,2.62,0.00,0.000,6,0.000,0.057,2534,2240,1863
$GC,8515,0.82,224.8,228.9,7.7,407,8520,0.12,2.70,0.00,0.000,4,0.109,0.078,2511,3648,1863
$GC,8560,0.82,224.8,225.2,8.3,409,8564,0.00,2.62,0.00,0.000,6,0.000,0.060,2511,2237,1863
$GC,8881,0.82,224.8,202.4,6.8,425,8885,0.00,2.65,0.00,0.000,4,0.000,0.070,2511,827,1862
$GC,8930,0.82,224.8,199.2,6.7,427,8935,0.00,2.62,0.00,0.000,6,0.000,0.054,2510,2246,1862
$GC,9246,0.82,224.8,180.4,6.3,442,9250,0.00,2.65,0.00,0.000,4,0.000,0.075,2511,3648,1862
$GC,9273,0.82,224.8,178.5,7.1,443,9278,0.00,2.60,0.00,0.000,6,0.000,0.057,2510,2240,1862
$GC,9589,0.82,224.8,156.7,7.5,458,9593,0.00,2.65,0.00,0.000,4,0.000,0.067,2511,826,1862
$GC,9651,0.82,224.8,152.1,7.5,461,9656,0.00,2.62,0.00,0.000,6,0.000,0.052,2511,2249,1861
$GC,9979,0.82,224.8,127.5,7.6,477,9984,0.00,2.67,0.00,0.000,4,0.000,0.064,2511,829,1861
$GC,10042,0.82,224.8,122.8,7.2,480,10046,0.00,2.58,0.00,0.000,6,0.000,0.051,2510,2241,1861
$GC,10370,0.82,228.2,102.0,5.9,496,10376,0.00,0.00,4.32,0.555,6,0.000,0.000,2511,2240,1850
$GC,10680,0.84,245.0,84.9,5.5,511,10698,0.00,0.00,15.57,0.708,6,0.000,0.000,2510,2240,1781
$GC,11010,0.91,273.2,67.2,5.2,527,11036,0.00,0.00,24.23,0.703,6,0.000,0.000,2510,2240,1667
$GC,11339,0.97,273.2,48.0,6.1,543,11341,0.15,0.00,0.00,0.000,6,0.051,0.000,2545,2240,1667
$GC,11646,0.97,273.2,22.8,8.0,558,11650,0.00,2.62,0.00,0.000,4,0.000,0.066,2545,3652,1668
$GC,11679,0.97,273.2,19.9,8.4,559,11686,0.00,2.58,0.00,0.000,6,0.000,0.049,2545,2236,1668
$STATE,11932,end climb,SURFACE_DEPTH_REACHED
$STATE,11932,begin surface coast
$FINISH,0.5,1.026947
$STATE,11953,end surface coast,CONTROL_FINISHED_OK
$STATE,11953,begin surface
$SM_CCo,11975,143.90,0.635,1,0,509,557.32
$SM_GC,1.25,0.00,0.00,143.90,0.000,0.000,0.635,71,2232,509,-10.39,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1896
$TCM_TEMP,16.90
$XPDR_PINGS,48
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,375.9,56.7
$24V_AH,23.5,54.442
$10V_AH,10.1,26.867
$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,24.925,126.025,368.450,143.900,0.000,17.994,41.185,118.349,15.000,0.000,0.000,13.946,1087.234,8938.339,676.289,1305.168,417.060,0.000,1361.796,0.000,1275.352,0.000,21.769
$DEVICE_MAMPS,169.507,82.836,970.255,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.776,390.184,473.380,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28533,573
$CAP_FILE_SIZE,93252,0
$CFSIZE,260165632,239833088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,090808,142155,6451.349,-1037.403,33,1.8,50,-11.4