version: 66.03
glider: 16
mission: 9
dive: 326
start: 8 7 108 19 35 4
data:
$ID,16
$MISSION,9
$DIVE,326
$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,-2100423.5
$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,22
$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
$GPS1,192937,6442.439,-1052.164,42,1.4,53,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-59.6
$GPS2,193447,6442.420,-1052.276,11,2.8,30,-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,35.7,23515,-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,-146.6,0.0,0.0,0,132,0.00,0.00,-106.18,0.000,2,0.000,0.000,70,2232,2482
$GC,136,-0.85,-146.6,3.1,-1.9,6,185,11.77,0.00,-34.10,0.000,6,0.170,0.000,2141,2232,3379
$GC,483,-0.71,-146.6,39.5,-11.2,23,488,0.15,2.62,0.00,0.000,4,0.101,0.065,2173,3638,3380
$GC,511,-0.71,-146.6,42.8,-10.4,24,515,0.00,2.60,0.00,0.000,6,0.000,0.052,2173,2221,3380
$GC,827,-0.71,-146.6,64.9,-5.0,39,831,0.00,2.60,0.00,0.000,4,0.000,0.060,2173,814,3380
$GC,928,-0.78,-146.6,70.6,-6.1,43,934,0.00,2.58,0.00,0.000,6,0.000,0.050,2173,2228,3381
$GC,1245,-0.78,-146.6,91.1,-6.2,59,1250,0.00,2.65,0.00,0.000,4,0.000,0.070,2173,3641,3382
$GC,1301,-0.78,-146.6,94.8,-6.8,61,1307,0.00,2.60,0.00,0.000,6,0.000,0.055,2173,2228,3382
$GC,1618,-0.78,-146.6,113.1,-5.8,77,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3383
$GC,1926,-0.78,-146.6,132.3,-5.9,92,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3383
$GC,2236,-0.78,-146.6,150.4,-6.0,107,2241,0.00,2.67,0.00,0.000,4,0.000,0.075,2173,3640,3383
$GC,2288,-0.82,-146.6,153.7,-6.3,109,2293,0.12,2.60,0.00,0.000,6,0.060,0.056,2146,2226,3383
$GC,2604,-0.77,-146.6,177.0,-7.6,124,2608,0.00,2.62,0.00,0.000,4,0.000,0.064,2146,816,3383
$GC,2647,-0.77,-146.6,180.7,-8.3,126,2652,0.00,2.60,0.00,0.000,6,0.000,0.054,2146,2229,3383
$GC,2970,-0.72,-146.6,209.6,-9.1,142,2975,0.15,2.67,0.00,0.000,4,0.090,0.075,2179,3643,3383
$GC,3026,-0.79,-146.6,214.4,-8.2,144,3032,0.00,2.62,0.00,0.000,6,0.000,0.058,2179,2224,3383
$GC,3341,-0.85,-146.6,236.9,-6.9,160,3343,0.17,0.00,0.00,0.000,6,0.049,0.000,2137,2225,3382
$GC,3651,-0.78,-146.6,263.1,-8.6,175,3653,0.12,0.00,0.00,0.000,6,0.094,0.000,2160,2224,3383
$GC,3960,-0.78,-146.6,285.4,-7.1,190,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2225,3382
$GC,4270,-0.78,-146.6,306.2,-6.6,205,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2225,3382
$GC,4578,-0.78,-146.6,328.5,-7.3,220,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2224,3380
$GC,4890,-0.78,-146.6,351.2,-7.3,235,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2225,3380
$GC,5197,-0.78,-146.6,372.2,-6.9,250,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2225,3380
$GC,5506,-0.78,-146.6,392.3,-6.5,265,5510,0.00,2.75,0.00,0.000,4,0.000,0.088,2160,3636,3379
$GC,5555,-0.78,-146.6,395.9,-7.2,267,5560,0.00,2.62,0.00,0.000,6,0.000,0.065,2161,2228,3378
$GC,5872,-0.78,-146.6,417.6,-6.9,282,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2229,3377
$STATE,5930,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5930,begin apogee
$GC,5937,-0.31,0.0,421.8,6.6,285,6072,0.50,0.00,128.25,0.992,6,0.097,0.000,2260,2228,2781
$STATE,6073,end apogee,CONTROL_FINISHED_OK
$STATE,6073,begin climb
$GC,6076,0.85,146.6,424.3,0.0,292,6207,1.20,0.00,127.68,0.971,6,0.071,0.000,2510,2228,2183
$GC,6506,0.84,206.6,410.4,4.4,313,6568,0.00,2.85,52.38,0.951,4,0.000,0.086,2510,3638,1938
$GC,6602,0.84,206.6,404.4,7.6,317,6606,0.00,2.67,0.00,0.000,6,0.000,0.067,2510,2240,1938
$GC,6918,0.89,258.1,388.6,4.6,332,6966,0.00,0.00,45.83,0.943,6,0.000,0.000,2510,2240,1727
$GC,7267,0.89,258.1,366.3,8.1,349,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2240,1727
$GC,7579,0.94,258.1,344.1,7.8,364,7584,0.10,2.70,0.00,0.000,4,0.085,0.075,2532,830,1726
$GC,7619,0.94,258.1,340.9,7.1,366,7624,0.00,2.67,0.00,0.000,6,0.000,0.064,2532,2244,1725
$GC,7946,0.94,258.1,316.4,7.8,382,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2244,1725
$GC,8254,0.94,258.1,291.1,8.1,397,8259,0.00,2.72,0.00,0.000,4,0.000,0.079,2532,829,1724
$GC,8294,0.94,258.1,287.6,8.7,399,8298,0.00,2.65,0.00,0.000,6,0.000,0.063,2532,2240,1723
$GC,8621,0.94,258.1,256.6,10.1,415,8625,0.00,2.72,0.00,0.000,4,0.000,0.084,2532,3650,1723
$GC,8665,0.94,258.1,251.8,10.1,417,8669,0.00,2.67,0.00,0.000,6,0.000,0.071,2532,2240,1723
$GC,8985,0.94,258.1,219.9,10.2,433,8989,0.00,2.70,0.00,0.000,4,0.000,0.075,2532,823,1722
$GC,9030,0.94,258.1,215.6,9.9,435,9034,0.00,2.65,0.00,0.000,6,0.000,0.062,2532,2241,1722
$GC,9351,0.94,258.1,187.7,8.0,451,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2242,1722
$GC,9660,0.94,258.1,167.8,6.1,466,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2242,1722
$GC,9969,0.95,273.6,149.1,5.6,481,9988,0.00,0.00,13.60,0.778,6,0.000,0.000,2532,2242,1664
$GC,10300,0.95,273.6,130.2,6.0,497,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2242,1664
$GC,10608,0.95,273.6,111.0,6.0,512,10612,0.00,2.67,0.00,0.000,4,0.000,0.074,2532,3651,1664
$GC,10671,0.95,273.6,106.6,7.6,515,10675,0.00,2.65,0.00,0.000,6,0.000,0.061,2532,2234,1664
$GC,10999,0.95,273.6,80.3,9.2,531,11000,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2234,1664
$GC,11307,0.95,273.6,50.9,8.8,546,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2234,1665
$GC,11617,0.98,295.2,31.5,5.4,561,11642,0.00,2.78,19.20,0.691,4,0.000,0.074,2532,3663,1577
$GC,11677,1.03,295.2,27.8,6.2,563,11684,0.10,2.67,0.00,0.000,6,0.063,0.059,2559,2235,1577
$GC,11994,0.98,295.2,4.5,8.0,579,11998,0.00,2.62,0.00,0.000,4,0.000,0.063,2559,826,1577
$STATE,12018,end climb,SURFACE_DEPTH_REACHED
$STATE,12018,begin surface coast
$FINISH,0.8,1.027006
$STATE,12037,end surface coast,CONTROL_FINISHED_OK
$STATE,12037,begin surface
$SM_CCo,12061,136.57,0.659,1,0,508,557.32
$SM_GC,1.46,0.00,0.00,136.57,0.000,0.000,0.659,72,2235,508,-10.39,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1943
$TCM_TEMP,18.80
$XPDR_PINGS,48
$ALTIM_TOP_PING,19.2,18.2
$ALTIM_BOTTOM_PING,376.2,55.1
$24V_AH,23.4,52.885
$10V_AH,10.1,26.173
$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,25.400,79.850,386.925,136.575,0.000,18.055,27.675,132.143,15.000,0.000,0.000,31.489,1046.871,9160.404,710.384,1201.540,398.871,0.000,1300.150,0.000,1166.994,0.000,21.760
$DEVICE_MAMPS,169.507,88.205,992.498,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.961,394.642,486.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28532,581
$CAP_FILE_SIZE,81829,0
$CFSIZE,260165632,240345088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,070808,225955,6444.234,-1051.397,31,1.2,48,-11.5