version: 66.03
glider: 16
mission: 9
dive: 323
start: 8 7 108 8 52 40
data:
$ID,16
$MISSION,9
$DIVE,323
$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,-2100363
$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,18
$R_STBD_OVSHOOT,25
$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
$GPS1,084728,6437.309,-1055.542,38,3.4,57,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-55.9
$GPS2,085223,6437.320,-1055.628,8,2.8,27,-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,33.2,33242,-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,-121.07,0.000,2,0.000,0.000,68,2244,2809
$GC,151,-0.85,-146.6,3.2,-2.3,6,182,11.85,0.00,-16.10,0.000,6,0.172,0.000,2141,2244,3381
$GC,479,-0.72,-146.6,36.4,-8.8,22,481,0.15,0.00,0.00,0.000,6,0.097,0.000,2170,2244,3381
$GC,787,-0.72,-146.6,60.8,-8.4,37,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2244,3381
$GC,1096,-0.72,-146.6,87.7,-8.1,52,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2244,3382
$GC,1405,-0.72,-146.6,110.9,-7.5,67,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2244,3383
$GC,1715,-0.72,-146.6,132.5,-6.3,82,1719,0.00,2.60,0.00,0.000,4,0.000,0.070,2170,3634,3383
$GC,1755,-0.72,-146.6,135.2,-6.4,84,1759,0.00,2.58,0.00,0.000,6,0.000,0.051,2170,2219,3384
$GC,2081,-0.72,-146.6,152.8,-4.4,100,2086,0.00,2.67,0.00,0.000,4,0.000,0.073,2169,3638,3384
$GC,2115,-0.72,-146.6,154.3,-4.4,101,2121,0.00,2.58,0.00,0.000,6,0.000,0.052,2170,2230,3384
$GC,2431,-0.72,-146.6,165.0,-3.7,117,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3384
$GC,2740,-0.72,-146.6,183.4,-8.1,132,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3384
$GC,3050,-0.72,-146.6,209.4,-8.1,147,3054,0.00,2.67,0.00,0.000,4,0.000,0.077,2170,3633,3384
$GC,3089,-0.72,-146.6,212.7,-9.1,149,3094,0.00,2.60,0.00,0.000,6,0.000,0.054,2170,2223,3384
$GC,3416,-0.72,-146.6,240.0,-8.3,165,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2223,3384
$GC,3726,-0.72,-146.6,262.3,-7.1,180,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2223,3383
$GC,4035,-0.76,-146.6,283.3,-6.3,195,4039,0.00,2.70,0.00,0.000,4,0.000,0.082,2170,3631,3382
$GC,4079,-0.76,-146.6,286.3,-7.2,197,4083,0.00,2.60,0.00,0.000,6,0.000,0.058,2170,2228,3382
$GC,4400,-0.76,-146.6,305.2,-5.5,213,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,4709,-0.81,-146.6,323.9,-6.2,228,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,5018,-0.87,-146.6,343.1,-6.4,243,5020,0.15,0.00,0.00,0.000,6,0.053,0.000,2128,2228,3380
$GC,5328,-0.77,-146.6,370.7,-9.5,258,5330,0.17,0.00,0.00,0.000,6,0.094,0.000,2162,2228,3379
$GC,5636,-0.77,-146.6,394.1,-8.1,273,5641,0.00,2.72,0.00,0.000,4,0.000,0.087,2162,3632,3377
$GC,5681,-0.77,-146.6,396.8,-6.0,275,5686,0.00,2.62,0.00,0.000,6,0.000,0.062,2162,2227,3377
$STATE,5938,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5938,begin apogee
$GC,5945,-0.31,0.0,413.1,6.6,288,6076,0.50,0.00,128.02,0.984,6,0.100,0.000,2261,2227,2781
$STATE,6076,end apogee,CONTROL_FINISHED_OK
$STATE,6077,begin climb
$GC,6079,0.85,146.6,418.4,0.0,294,6215,1.17,2.88,126.88,0.963,4,0.079,0.087,2508,3638,2183
$GC,6475,0.76,150.5,416.4,5.9,312,6485,0.00,2.62,4.85,0.691,6,0.000,0.063,2508,2239,2167
$GC,6802,0.72,173.0,398.0,5.4,328,6825,0.00,0.00,20.83,0.920,6,0.000,0.000,2507,2239,2075
$GC,7133,0.74,239.2,382.2,4.2,344,7193,0.00,0.00,58.15,0.955,6,0.000,0.000,2508,2239,1807
$GC,7503,0.74,239.2,358.1,6.9,362,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2239,1806
$GC,7812,0.76,257.5,338.5,5.5,377,7831,0.00,0.00,17.33,0.897,6,0.000,0.000,2507,2239,1731
$GC,8141,0.83,280.8,319.2,5.4,393,8164,0.00,0.00,21.25,0.904,6,0.000,0.000,2507,2239,1636
$GC,8471,0.89,280.8,298.1,6.8,409,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2239,1635
$GC,8780,0.95,280.8,278.0,6.3,424,8785,0.15,2.70,0.00,0.000,4,0.065,0.076,2546,824,1634
$GC,8820,0.89,280.8,275.1,8.0,426,8826,0.12,2.62,0.00,0.000,6,0.104,0.060,2523,2235,1634
$GC,9148,0.89,280.8,253.5,6.7,442,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2234,1634
$GC,9456,0.89,280.8,227.8,9.4,457,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2234,1634
$GC,9766,0.89,280.8,198.5,9.5,472,9771,0.00,2.72,0.00,0.000,4,0.000,0.082,2523,3650,1634
$GC,9800,0.89,280.8,195.1,10.0,473,9805,0.00,2.65,0.00,0.000,6,0.000,0.064,2523,2235,1634
$GC,10115,0.89,280.8,169.6,7.6,489,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2235,1633
$GC,10424,0.89,280.8,148.8,6.4,504,10429,0.00,2.65,0.00,0.000,4,0.000,0.071,2521,820,1633
$GC,10465,0.89,280.8,146.3,6.8,506,10470,0.00,2.62,0.00,0.000,6,0.000,0.057,2523,2239,1633
$GC,10793,0.93,313.1,128.4,5.1,522,10823,0.00,0.00,27.80,0.790,6,0.000,0.000,2523,2240,1504
$GC,11125,0.98,320.8,111.7,5.8,538,11135,0.00,0.00,8.15,0.692,6,0.000,0.000,2523,2240,1472
$GC,11433,1.08,364.2,95.7,4.8,553,11473,0.20,0.00,36.88,0.760,6,0.051,0.000,2572,2240,1296
$GC,11782,1.03,364.2,69.3,7.3,570,11787,0.00,2.67,0.00,0.000,4,0.000,0.066,2572,823,1295
$GC,11827,1.03,364.2,65.9,6.7,572,11831,0.00,2.60,0.00,0.000,6,0.000,0.051,2572,2243,1295
$GC,12148,1.03,364.2,40.0,8.8,588,12152,0.00,2.67,0.00,0.000,4,0.000,0.064,2572,820,1295
$GC,12214,1.03,364.2,33.3,10.6,591,12219,0.00,2.60,0.00,0.000,6,0.000,0.049,2572,2246,1295
$GC,12538,1.03,364.2,4.6,8.6,607,12539,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2245,1295
$STATE,12574,end climb,SURFACE_DEPTH_REACHED
$STATE,12574,begin surface coast
$FINISH,0.6,1.026294
$STATE,12596,end surface coast,CONTROL_FINISHED_OK
$STATE,12596,begin surface
$SM_CCo,12619,101.20,0.654,1,0,509,557.32
$SM_GC,1.35,0.00,0.00,101.20,0.000,0.000,0.654,73,2247,509,-10.38,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1947
$TCM_TEMP,16.40
$XPDR_PINGS,45
$ALTIM_TOP_PING,18.6,18.1
$ALTIM_BOTTOM_PING,351.4,70.6
$24V_AH,23.5,52.437
$10V_AH,10.1,25.986
$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,25.475,58.375,450.125,101.200,0.000,18.055,30.177,115.822,14.000,0.000,0.000,30.564,1087.872,9618.438,692.307,1241.212,386.810,0.000,1300.875,0.000,1210.711,0.000,20.174
$DEVICE_MAMPS,171.808,87.438,984.061,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.025,415.065,489.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31621,610
$CAP_FILE_SIZE,82000,0
$CFSIZE,260165632,240467968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,070808,122608,6440.207,-1054.572,42,1.6,42,-11.5