version: 66.03
glider: 16
mission: 9
dive: 338
start: 8 9 108 14 30 3
data:
$ID,16
$MISSION,9
$DIVE,338
$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,-2100687.2
$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,21
$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
$GPS1,142155,6451.349,-1037.403,33,1.8,50,-11.4
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-56.8
$GPS2,142944,6451.483,-1037.565,14,1.8,31,-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,159.0,86602,-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,-120.95,0.000,2,0.000,0.000,70,2231,2897
$GC,151,-0.85,-146.6,4.2,-3.5,6,181,11.75,2.67,-11.35,0.000,4,0.172,0.067,2142,813,3380
$GC,255,-0.80,-146.6,18.6,-9.0,10,261,0.00,2.58,0.00,0.000,6,0.000,0.047,2142,2229,3380
$GC,571,-0.70,-146.6,47.1,-9.2,26,576,0.15,2.62,0.00,0.000,4,0.100,0.067,2175,3638,3381
$GC,635,-0.70,-146.6,52.0,-7.6,29,639,0.00,2.58,0.00,0.000,6,0.000,0.047,2175,2221,3381
$GC,963,-0.70,-146.6,75.7,-6.8,45,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2222,3381
$GC,1270,-0.70,-146.6,95.3,-6.6,60,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2222,3381
$GC,1580,-0.70,-146.6,119.0,-8.0,75,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2222,3381
$GC,1889,-0.70,-146.6,138.6,-5.7,90,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2222,3382
$GC,2198,-0.70,-146.6,153.0,-4.9,105,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2221,3382
$GC,2509,-0.74,-146.6,176.7,-9.3,120,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2222,3382
$GC,2816,-0.74,-146.6,205.6,-8.4,135,2821,0.00,2.67,0.00,0.000,4,0.000,0.071,2175,3640,3382
$GC,2844,-0.74,-146.6,207.9,-7.8,136,2848,0.00,2.58,0.00,0.000,6,0.000,0.049,2175,2224,3382
$GC,3161,-0.78,-146.6,230.7,-7.2,151,3165,0.00,2.60,0.00,0.000,4,0.000,0.062,2175,818,3382
$GC,3194,-0.86,-146.6,233.4,-7.3,152,3201,0.15,2.58,0.00,0.000,6,0.048,0.051,2130,2228,3382
$GC,3510,-0.78,-146.6,267.3,-11.5,168,3512,0.15,0.00,0.00,0.000,6,0.092,0.000,2159,2229,3382
$GC,3820,-0.78,-146.6,302.1,-11.2,183,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2229,3382
$GC,4128,-0.78,-146.6,336.1,-10.1,198,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2229,3381
$GC,4438,-0.78,-146.6,363.2,-8.5,213,4442,0.00,2.70,0.00,0.000,4,0.000,0.081,2158,3638,3380
$GC,4482,-0.78,-146.6,366.9,-7.9,215,4486,0.00,2.62,0.00,0.000,6,0.000,0.058,2159,2227,3380
$GC,4803,-0.78,-146.6,391.3,-7.9,231,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2227,3378
$GC,5113,-0.78,-146.6,412.4,-5.9,246,5118,0.00,2.72,0.00,0.000,4,0.000,0.083,2159,3637,3376
$GC,5158,-0.78,-146.6,415.7,-8.0,248,5162,0.00,2.62,0.00,0.000,6,0.000,0.060,2159,2230,3377
$STATE,5249,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5249,begin apogee
$GC,5256,-0.31,0.0,422.9,7.6,253,5386,0.50,0.00,127.62,0.980,6,0.093,0.000,2259,2230,2781
$STATE,5387,end apogee,CONTROL_FINISHED_OK
$STATE,5387,begin climb
$GC,5391,0.85,146.6,428.1,0.0,259,5527,1.17,2.78,126.20,0.955,4,0.076,0.070,2507,828,2183
$GC,5555,0.83,202.7,428.3,4.5,267,5610,0.00,2.65,49.40,0.935,6,0.000,0.057,2506,2240,1954
$GC,5930,0.83,202.7,412.3,6.0,286,5934,0.00,2.72,0.00,0.000,4,0.000,0.081,2507,3653,1952
$GC,5947,0.85,219.3,411.0,5.5,287,5968,0.00,2.67,15.48,0.890,6,0.000,0.061,2507,2235,1886
$GC,6278,0.86,229.1,391.3,5.7,303,6289,0.00,0.00,9.75,0.846,6,0.000,0.000,2507,2234,1846
$GC,6588,0.88,251.9,372.6,5.4,318,6611,0.00,0.00,21.10,0.917,6,0.000,0.000,2507,2234,1753
$GC,6916,0.91,276.6,356.0,5.3,334,6945,0.00,2.85,22.08,0.916,4,0.000,0.083,2507,3645,1653
$GC,6961,0.98,286.8,353.7,5.7,336,6977,0.17,2.67,10.50,0.843,6,0.064,0.062,2548,2234,1611
$GC,7287,0.98,286.8,328.1,8.4,351,7291,0.00,2.70,0.00,0.000,4,0.000,0.076,2548,821,1610
$GC,7308,0.98,286.8,326.1,9.1,352,7312,0.00,2.65,0.00,0.000,6,0.000,0.060,2548,2239,1610
$GC,7629,0.98,286.8,298.3,8.6,368,7634,0.00,2.72,0.00,0.000,4,0.000,0.074,2548,823,1610
$GC,7652,0.93,286.8,296.2,8.9,369,7656,0.00,2.62,0.00,0.000,6,0.000,0.059,2548,2239,1610
$GC,7972,0.93,286.8,268.6,8.3,385,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2240,1609
$GC,8282,0.93,286.8,241.6,8.7,400,8287,0.00,2.70,0.00,0.000,4,0.000,0.073,2548,828,1609
$GC,8340,0.88,286.8,236.4,9.2,402,8347,0.12,2.62,0.00,0.000,6,0.104,0.058,2525,2238,1609
$GC,8655,0.88,286.8,211.6,7.3,418,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2238,1609
$GC,8965,0.88,286.8,191.9,6.4,433,8970,0.00,2.67,0.00,0.000,4,0.000,0.069,2525,827,1608
$GC,8993,0.88,286.8,190.0,6.5,434,8997,0.00,2.62,0.00,0.000,6,0.000,0.056,2525,2245,1607
$GC,9309,0.93,286.8,166.8,8.0,449,9313,0.00,2.67,0.00,0.000,4,0.000,0.075,2525,3653,1607
$GC,9354,0.98,286.8,163.0,8.2,451,9358,0.00,2.60,0.00,0.000,6,0.000,0.057,2525,2238,1608
$GC,9675,0.98,286.8,138.0,7.5,467,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2238,1608
$GC,9984,0.99,297.5,117.6,5.7,482,9999,0.00,2.67,9.73,0.705,4,0.000,0.062,2525,818,1567
$GC,10017,1.00,305.9,115.8,5.8,482,10032,0.12,2.60,8.95,0.690,6,0.055,0.049,2555,2240,1533
$GC,10356,0.95,305.9,93.6,7.1,499,10361,0.00,2.65,0.00,0.000,4,0.000,0.061,2555,820,1532
$GC,10384,0.91,305.9,91.1,8.1,500,10390,0.15,2.60,0.00,0.000,6,0.088,0.047,2525,2249,1533
$GC,10703,0.95,305.9,69.6,7.3,515,10707,0.00,2.65,0.00,0.000,4,0.000,0.061,2525,825,1533
$GC,10726,1.01,305.9,67.7,7.5,516,10731,0.12,2.58,0.00,0.000,6,0.052,0.048,2559,2240,1533
$GC,11049,0.97,305.9,38.3,9.3,532,11050,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2240,1534
$GC,11358,0.97,305.9,12.5,8.0,547,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2240,1535
$STATE,11499,end climb,SURFACE_DEPTH_REACHED
$STATE,11499,begin surface coast
$FINISH,0.6,1.026925
$STATE,11522,end surface coast,CONTROL_FINISHED_OK
$STATE,11522,begin surface
$SM_CCo,11544,127.68,0.642,0,0,508,557.32
$SM_GC,1.23,0.00,0.00,127.68,0.000,0.000,0.642,73,2241,508,-10.38,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1912
$TCM_TEMP,16.80
$XPDR_PINGS,51
$ALTIM_TOP_PING,19.2,18.1
$ALTIM_BOTTOM_PING,400.2,31.9
$24V_AH,23.3,54.588
$10V_AH,10.1,26.928
$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,25.425,90.250,400.800,127.675,0.000,36.456,52.439,181.472,16.000,0.000,0.000,33.355,1017.222,8785.545,660.608,1182.631,501.292,0.000,1270.668,0.000,1141.451,0.000,23.324
$DEVICE_MAMPS,171.808,82.836,980.226,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.616,377.149,463.241,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28583,555
$CAP_FILE_SIZE,86874,0
$CFSIZE,260165632,239792128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,090808,174607,6451.509,-1036.497,41,1.0,52,-11.4