version: 66.03
glider: 16
mission: 9
dive: 341
start: 8 10 108 0 59 10
data:
$ID,16
$MISSION,9
$DIVE,341
$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,-2100753.2
$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,20
$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
$GPS1,005338,6451.508,-1036.231,31,1.6,31,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-55.3
$GPS2,005851,6451.575,-1036.295,14,1.3,14,-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,159.6,86203,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,167,0.00,0.00,-140.57,0.000,2,0.000,0.000,70,2243,3217
$GC,170,-0.85,-146.6,6.1,-5.4,7,193,11.75,2.65,-3.08,0.000,4,0.173,0.074,2142,814,3382
$GC,289,-0.80,-146.6,27.4,-9.4,12,293,0.00,2.60,0.00,0.000,6,0.000,0.049,2142,2236,3382
$GC,612,-0.68,-146.6,59.5,-10.2,28,617,0.15,2.62,0.00,0.000,4,0.100,0.067,2175,3638,3383
$GC,639,-0.68,-146.6,62.4,-9.2,29,644,0.00,2.58,0.00,0.000,6,0.000,0.051,2175,2228,3382
$GC,956,-0.68,-146.6,87.8,-7.7,44,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2227,3383
$GC,1265,-0.68,-146.6,106.1,-5.3,59,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2227,3383
$GC,1574,-0.68,-146.6,119.2,-4.3,74,1579,0.00,2.65,0.00,0.000,4,0.000,0.069,2175,3638,3384
$GC,1602,-0.68,-146.6,120.5,-5.5,75,1607,0.00,2.55,0.00,0.000,6,0.000,0.048,2175,2227,3384
$GC,1920,-0.68,-146.6,136.8,-5.5,90,1924,0.00,2.67,0.00,0.000,4,0.000,0.071,2175,3643,3384
$GC,1948,-0.68,-146.6,138.5,-6.0,91,1952,0.00,2.58,0.00,0.000,6,0.000,0.048,2174,2224,3384
$GC,2265,-0.68,-146.6,152.1,-3.9,106,2269,0.00,2.60,0.00,0.000,4,0.000,0.060,2175,817,3385
$GC,2293,-0.73,-146.6,153.3,-4.6,107,2297,0.00,2.58,0.00,0.000,6,0.000,0.050,2175,2229,3385
$GC,2608,-0.73,-146.6,165.3,-3.9,122,2613,0.00,2.65,0.00,0.000,4,0.000,0.072,2175,3637,3385
$GC,2637,-0.73,-146.6,166.8,-5.6,123,2641,0.00,2.58,0.00,0.000,6,0.000,0.051,2175,2226,3385
$GC,2953,-0.73,-146.6,183.9,-6.2,138,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2226,3384
$GC,3262,-0.73,-146.6,203.4,-5.7,153,3267,0.00,2.70,0.00,0.000,4,0.000,0.075,2175,3642,3385
$GC,3308,-0.78,-146.6,206.6,-6.8,155,3312,0.00,2.58,0.00,0.000,6,0.000,0.052,2175,2231,3385
$GC,3630,-0.82,-146.6,226.1,-5.6,171,3635,0.12,2.67,0.00,0.000,4,0.051,0.075,2137,3637,3385
$GC,3652,-0.78,-146.6,227.7,-6.5,172,3657,0.12,2.58,0.00,0.000,6,0.095,0.053,2161,2227,3385
$GC,3974,-0.78,-146.6,246.6,-6.1,188,3978,0.00,2.65,0.00,0.000,4,0.000,0.065,2161,814,3384
$GC,4018,-0.83,-146.6,249.7,-6.5,190,4026,0.00,2.60,0.00,0.000,6,0.000,0.054,2160,2229,3384
$GC,4348,-0.83,-146.6,271.9,-7.2,206,4353,0.00,2.67,0.00,0.000,4,0.000,0.079,2161,3637,3384
$GC,4398,-0.83,-146.6,276.0,-8.1,208,4402,0.00,2.60,0.00,0.000,6,0.000,0.056,2161,2226,3383
$GC,4713,-0.83,-146.6,303.8,-9.8,223,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2226,3383
$GC,5023,-0.83,-146.6,335.6,-10.0,238,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2226,3382
$GC,5332,-0.83,-146.6,364.0,-8.7,253,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2226,3381
$GC,5641,-0.83,-146.6,387.8,-7.5,268,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2226,3381
$GC,5951,-0.83,-146.6,410.3,-7.8,283,5955,0.00,2.72,0.00,0.000,4,0.000,0.084,2161,3635,3379
$GC,5995,-0.83,-146.6,414.0,-7.4,285,5999,0.00,2.62,0.00,0.000,6,0.000,0.059,2160,2225,3379
$GC,6317,-1.04,-146.6,431.9,-1.0,301,6322,0.25,2.67,0.00,0.000,4,0.061,0.070,2101,810,3379
$STATE,6432,end dive,NO_VERTICAL_VELOCITY
$STATE,6432,begin apogee
$GC,6442,-0.31,0.0,431.9,0.0,306,6574,0.75,0.00,127.75,0.992,6,0.086,0.000,2258,2237,2781
$STATE,6574,end apogee,CONTROL_FINISHED_OK
$STATE,6574,begin climb
$GC,6577,0.85,146.6,432.0,0.0,313,6714,1.17,2.90,126.50,0.974,4,0.069,0.093,2509,3652,2183
$GC,6974,1.33,368.5,431.8,-0.1,331,7173,0.50,2.62,188.82,0.974,6,0.058,0.051,2619,2224,1278
$GC,7490,0.99,368.5,388.3,13.5,356,7495,0.35,2.65,0.00,0.000,4,0.107,0.066,2550,828,1277
$GC,7518,0.83,368.5,385.2,10.0,357,7524,0.20,2.67,0.00,0.000,6,0.099,0.061,2512,2245,1277
$GC,7834,0.83,368.5,358.2,8.2,372,7838,0.00,2.72,0.00,0.000,4,0.000,0.087,2513,3648,1276
$GC,8092,0.76,368.5,336.2,8.3,383,8098,0.00,2.60,0.00,0.000,6,0.000,0.058,2512,2247,1276
$GC,8408,0.76,368.5,313.1,6.5,399,8412,0.00,2.67,0.00,0.000,4,0.000,0.067,2512,827,1275
$GC,8492,0.76,368.5,307.6,6.8,403,8497,0.00,2.67,0.00,0.000,6,0.000,0.063,2512,2245,1275
$GC,8819,0.76,368.5,287.5,6.3,419,8824,0.00,2.72,0.00,0.000,4,0.000,0.088,2512,3648,1275
$GC,9078,0.69,368.5,267.8,7.6,430,9084,0.17,2.60,0.00,0.000,6,0.101,0.058,2478,2239,1274
$GC,9395,0.83,425.7,252.9,4.4,446,9450,0.15,2.72,48.83,0.895,4,0.058,0.064,2520,827,1045
$GC,9536,0.83,425.7,244.1,6.7,452,9541,0.00,2.65,0.00,0.000,6,0.000,0.060,2520,2240,1045
$GC,9853,0.85,445.8,225.4,5.4,467,9877,0.00,2.72,18.62,0.839,4,0.000,0.064,2520,835,963
$GC,9945,0.85,445.8,219.2,7.4,471,9949,0.00,2.65,0.00,0.000,6,0.000,0.058,2520,2247,963
$GC,10266,0.85,445.8,193.7,8.5,487,10270,0.00,2.67,0.00,0.000,4,0.000,0.062,2520,825,963
$GC,10360,0.85,445.8,185.6,8.5,491,10365,0.00,2.65,0.00,0.000,6,0.000,0.058,2520,2249,962
$GC,10676,0.85,445.8,160.7,8.1,506,10681,0.00,2.65,0.00,0.000,4,0.000,0.061,2520,827,962
$GC,10773,0.93,445.8,152.6,9.1,510,10777,0.00,2.62,0.00,0.000,6,0.000,0.056,2520,2247,962
$GC,11089,0.93,445.8,127.5,8.2,525,11093,0.00,2.67,0.00,0.000,4,0.000,0.060,2520,820,963
$GC,11168,1.01,445.8,120.3,9.3,528,11175,0.12,2.62,0.00,0.000,6,0.057,0.054,2554,2242,962
$GC,11486,0.91,445.8,86.1,10.1,544,11491,0.15,2.62,0.00,0.000,4,0.095,0.057,2521,825,963
$GC,11564,0.91,445.8,80.0,6.7,547,11570,0.00,2.60,0.00,0.000,6,0.000,0.052,2521,2243,963
$GC,11880,0.91,445.8,59.3,6.7,563,11885,0.00,2.62,0.00,0.000,4,0.000,0.054,2521,821,963
$GC,11970,0.91,445.8,52.7,7.6,567,11974,0.00,2.60,0.00,0.000,6,0.000,0.050,2521,2247,963
$GC,12293,0.91,445.8,26.9,8.8,583,12297,0.00,2.62,0.00,0.000,4,0.000,0.054,2521,821,964
$GC,12379,0.98,445.8,18.6,8.7,587,12384,0.10,2.58,0.00,0.000,6,0.055,0.048,2551,2239,964
$STATE,12559,end climb,SURFACE_DEPTH_REACHED
$STATE,12559,begin surface coast
$FINISH,0.5,1.027038
$STATE,12581,end surface coast,CONTROL_FINISHED_OK
$STATE,12581,begin surface
$SM_CCo,12603,56.78,0.653,0,0,509,557.32
$SM_GC,1.21,0.00,0.00,56.78,0.000,0.000,0.653,66,2241,509,-10.41,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1954
$TCM_TEMP,16.70
$XPDR_PINGS,57
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,23.5,55.063
$10V_AH,10.1,27.125
$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,26.925,132.300,510.525,56.775,0.000,18.126,29.330,143.979,17.750,0.000,0.000,14.582,1156.005,9102.296,686.483,1586.962,446.654,0.000,1520.298,0.000,1547.374,0.000,24.912
$DEVICE_MAMPS,173.342,92.807,992.498,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.104,404.696,466.586,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31693,597
$CAP_FILE_SIZE,103523,0
$CFSIZE,260165632,239632384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,100808,043137,6452.362,-1034.657,41,1.2,47,-11.4