version: 66.03
glider: 16
mission: 9
dive: 320
start: 8 6 108 22 22 16
data:
$ID,16
$MISSION,9
$DIVE,320
$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,-2100263.8
$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,18
$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
$GPS1,221555,6432.723,-1054.214,26,1.5,43,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-58.8
$GPS2,222159,6432.779,-1054.210,12,2.4,31,-11.4
$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,27.3,40857,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.97,0.000,2,0.000,0.000,65,2235,2828
$GC,153,-0.85,-146.6,3.8,-3.0,6,182,11.95,0.00,-14.10,0.000,6,0.175,0.000,2140,2235,3380
$GC,481,-0.74,-146.6,40.5,-10.6,22,486,0.15,2.65,0.00,0.000,4,0.098,0.071,2172,3640,3380
$GC,525,-0.74,-146.6,45.8,-10.6,24,529,0.00,2.58,0.00,0.000,6,0.000,0.050,2172,2229,3380
$GC,846,-0.74,-146.6,66.3,-6.4,40,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2229,3381
$GC,1156,-0.74,-146.6,83.2,-5.6,55,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2229,3382
$GC,1465,-0.74,-146.6,108.6,-8.1,70,1469,0.00,2.70,0.00,0.000,4,0.000,0.075,2172,3644,3382
$GC,1498,-0.74,-146.6,111.5,-8.3,71,1504,0.00,2.60,0.00,0.000,6,0.000,0.053,2172,2223,3382
$GC,1816,-0.74,-146.6,134.2,-7.1,87,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2223,3382
$GC,2122,-0.74,-146.6,157.3,-8.3,102,2127,0.00,2.70,0.00,0.000,4,0.000,0.078,2172,3640,3382
$GC,2173,-0.79,-146.6,162.0,-9.1,104,2177,0.00,2.60,0.00,0.000,6,0.000,0.055,2172,2231,3383
$GC,2490,-0.79,-146.6,188.4,-8.0,119,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2231,3383
$GC,2798,-0.79,-146.6,209.3,-5.8,134,2803,0.00,2.70,0.00,0.000,4,0.000,0.081,2172,3642,3383
$GC,2826,-0.84,-146.6,211.0,-6.3,135,2831,0.12,2.62,0.00,0.000,6,0.051,0.057,2136,2225,3382
$GC,3143,-0.76,-146.6,234.9,-8.2,150,3148,0.15,2.65,0.00,0.000,4,0.091,0.067,2169,814,3382
$GC,3183,-0.85,-146.6,238.1,-7.3,152,3188,0.12,2.65,0.00,0.000,6,0.051,0.057,2131,2237,3382
$GC,3510,-0.77,-146.6,268.9,-9.6,168,3516,0.15,2.67,0.00,0.000,4,0.090,0.081,2163,3638,3382
$GC,3555,-0.77,-146.6,273.1,-8.8,170,3559,0.00,2.62,0.00,0.000,6,0.000,0.059,2163,2228,3382
$GC,3876,-0.77,-146.6,297.0,-7.6,186,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2228,3382
$GC,4186,-0.77,-146.6,319.8,-7.4,201,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2228,3381
$GC,4494,-0.77,-146.6,341.2,-6.8,216,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2228,3380
$GC,4804,-0.77,-146.6,362.1,-7.0,231,4808,0.00,2.78,0.00,0.000,4,0.000,0.090,2163,3642,3379
$GC,4837,-0.77,-146.6,364.7,-7.9,232,4843,0.00,2.65,0.00,0.000,6,0.000,0.065,2164,2231,3379
$GC,5152,-0.77,-146.6,386.5,-7.0,248,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2231,3378
$STATE,5418,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5418,begin apogee
$GC,5425,-0.31,0.0,405.5,7.6,261,5555,0.47,0.00,127.43,0.969,6,0.096,0.000,2258,2231,2781
$STATE,5556,end apogee,CONTROL_FINISHED_OK
$STATE,5556,begin climb
$GC,5560,0.85,146.6,410.2,0.0,267,5691,1.17,0.00,127.65,0.954,6,0.075,0.000,2505,2231,2183
$GC,5998,0.88,220.1,399.0,4.0,289,6068,0.00,2.75,63.80,0.942,4,0.000,0.075,2506,836,1883
$GC,6137,0.88,220.1,390.9,6.5,295,6141,0.00,2.67,0.00,0.000,6,0.000,0.063,2506,2245,1882
$GC,6452,0.88,220.1,369.6,7.0,310,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2245,1881
$GC,6762,0.88,220.1,349.0,6.9,325,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2245,1881
$GC,7071,0.88,220.1,329.1,6.4,340,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2245,1881
$GC,7380,0.88,222.8,310.2,5.9,355,7385,0.00,2.72,0.00,0.000,4,0.000,0.077,2506,824,1879
$GC,7420,0.88,222.8,307.8,6.2,357,7425,0.00,2.67,0.00,0.000,6,0.000,0.062,2506,2247,1879
$GC,7748,0.90,233.1,288.7,5.7,373,7766,0.00,0.00,12.38,0.850,6,0.000,0.000,2506,2247,1830
$GC,8076,0.90,233.1,269.2,6.2,389,8081,0.00,2.72,0.00,0.000,4,0.000,0.077,2506,829,1829
$GC,8138,0.90,233.1,265.1,7.0,392,8142,0.00,2.65,0.00,0.000,6,0.000,0.063,2506,2238,1828
$GC,8465,0.96,254.5,246.8,5.4,408,8493,0.15,2.83,19.38,0.863,4,0.072,0.084,2538,3648,1743
$GC,8528,0.89,254.5,242.6,7.9,411,8533,0.00,2.70,0.00,0.000,6,0.000,0.071,2538,2243,1743
$GC,8856,0.84,254.5,218.4,8.2,427,8857,0.12,0.00,0.00,0.000,6,0.110,0.000,2515,2243,1742
$GC,9165,0.84,254.5,194.7,7.7,442,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2243,1742
$GC,9474,0.84,254.5,173.6,6.7,457,9478,0.00,2.67,0.00,0.000,4,0.000,0.073,2515,825,1741
$GC,9535,0.84,254.5,169.3,6.6,460,9540,0.00,2.62,0.00,0.000,6,0.000,0.060,2515,2242,1741
$GC,9864,0.84,259.3,149.8,5.9,476,9871,0.00,0.00,5.47,0.657,6,0.000,0.000,2515,2242,1723
$GC,10173,0.84,259.3,131.0,6.3,491,10175,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2242,1723
$GC,10482,0.84,259.3,108.6,7.8,506,10486,0.00,2.70,0.00,0.000,4,0.000,0.072,2515,824,1723
$GC,10522,0.84,259.3,105.2,8.5,508,10526,0.00,2.62,0.00,0.000,6,0.000,0.057,2515,2245,1723
$GC,10848,0.84,259.3,81.0,6.7,524,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2245,1723
$GC,11159,0.91,264.1,62.3,5.9,539,11170,0.00,2.70,6.10,0.622,4,0.000,0.069,2515,824,1703
$GC,11216,0.98,274.9,58.9,5.7,541,11232,0.12,2.62,10.52,0.685,6,0.058,0.055,2543,2248,1659
$GC,11551,0.99,286.9,39.5,5.7,558,11572,0.00,2.75,11.48,0.676,4,0.000,0.074,2543,3651,1609
$GC,11668,0.99,286.9,31.6,6.8,563,11672,0.00,2.65,0.00,0.000,6,0.000,0.063,2543,2237,1609
$GC,11989,0.99,286.9,9.3,7.3,579,11991,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2237,1609
$STATE,12091,end climb,SURFACE_DEPTH_REACHED
$STATE,12091,begin surface coast
$FINISH,0.6,1.026950
$STATE,12111,end surface coast,CONTROL_FINISHED_OK
$STATE,12111,begin surface
$SM_CCo,12134,141.07,0.664,1,0,508,557.32
$SM_GC,1.28,0.00,0.00,141.07,0.000,0.000,0.664,75,2236,508,-10.37,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1941
$TCM_TEMP,16.00
$XPDR_PINGS,53
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,350.8,63.1
$24V_AH,23.5,51.987
$10V_AH,10.1,25.799
$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,25.525,80.250,384.200,141.075,0.000,18.326,28.533,187.174,16.000,0.000,0.000,32.151,1062.344,9214.577,698.262,1220.185,454.264,0.000,1297.252,0.000,1182.564,0.000,20.199
$DEVICE_MAMPS,174.876,89.739,969.488,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.063,398.143,487.993,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28522,585
$CAP_FILE_SIZE,84404,0
$CFSIZE,260165632,240603136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,070808,014828,6435.396,-1050.818,32,5.3,51,-11.4