version: 66.03
glider: 16
mission: 9
dive: 327
start: 8 7 108 23 15 39
data:
$ID,16
$MISSION,9
$DIVE,327
$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,-2100441.5
$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,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
$GPS1,225955,6444.234,-1051.397,31,1.2,48,-11.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-58.7
$GPS2,231520,6444.359,-1051.528,12,1.5,17,-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,38.4,20020,-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,-146.6,0.0,0.0,0,142,0.00,0.00,-115.72,0.000,2,0.000,0.000,72,2235,2766
$GC,145,-0.85,-146.6,3.5,-2.7,6,181,11.75,2.67,-16.85,0.000,4,0.172,0.071,2141,816,3381
$GC,261,-0.79,-146.6,16.5,-9.1,11,265,0.00,2.58,0.00,0.000,6,0.000,0.048,2141,2232,3380
$GC,583,-0.68,-146.6,44.5,-8.5,27,588,0.17,2.60,0.00,0.000,4,0.095,0.064,2179,3637,3381
$GC,628,-0.74,-146.6,47.9,-7.3,29,632,0.00,2.58,0.00,0.000,6,0.000,0.051,2179,2224,3381
$GC,949,-0.74,-146.6,69.0,-7.0,45,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2224,3382
$GC,1260,-0.74,-146.6,91.8,-6.8,60,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2225,3382
$GC,1567,-0.74,-146.6,112.7,-6.9,75,1572,0.00,2.67,0.00,0.000,4,0.000,0.076,2179,3637,3382
$GC,1601,-0.78,-146.6,115.4,-7.5,76,1607,0.00,2.58,0.00,0.000,6,0.000,0.054,2179,2230,3382
$GC,1919,-0.83,-146.6,140.4,-8.4,92,1921,0.15,0.00,0.00,0.000,6,0.045,0.000,2134,2230,3382
$GC,2227,-0.75,-146.6,168.9,-8.5,107,2232,0.15,2.67,0.00,0.000,4,0.088,0.077,2166,3634,3382
$GC,2271,-0.75,-146.6,172.6,-7.7,109,2275,0.00,2.58,0.00,0.000,6,0.000,0.055,2166,2231,3382
$GC,2592,-0.75,-146.6,193.3,-6.2,125,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3382
$GC,2901,-0.75,-146.6,213.9,-7.0,140,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3382
$GC,3210,-0.75,-146.6,238.0,-8.2,155,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3382
$GC,3520,-0.75,-146.6,264.9,-8.5,170,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3381
$GC,3829,-0.75,-146.6,288.0,-6.8,185,3833,0.00,2.72,0.00,0.000,4,0.000,0.083,2166,3638,3381
$GC,3868,-0.75,-146.6,291.0,-7.5,187,3872,0.00,2.62,0.00,0.000,6,0.000,0.061,2166,2228,3381
$GC,4195,-0.75,-146.6,313.2,-6.8,203,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3380
$GC,4504,-0.75,-146.6,332.6,-5.8,218,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3379
$GC,4813,-0.75,-146.6,351.6,-7.1,233,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3377
$GC,5123,-0.79,-146.6,373.9,-6.7,248,5127,0.00,2.75,0.00,0.000,4,0.000,0.090,2166,3634,3376
$GC,5156,-0.79,-146.6,376.3,-6.7,249,5162,0.00,2.62,0.00,0.000,6,0.000,0.065,2166,2233,3376
$GC,5472,-0.84,-146.6,396.9,-7.1,265,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2233,3375
$GC,5781,-0.89,-146.6,416.5,-7.0,280,5783,0.15,0.00,0.00,0.000,6,0.056,0.000,2127,2233,3374
$GC,6090,-1.12,-146.6,427.0,-0.1,295,6096,0.17,2.67,0.00,0.000,4,0.071,0.072,2084,817,3373
$STATE,6106,end dive,NO_VERTICAL_VELOCITY
$STATE,6106,begin apogee
$GC,6116,-0.31,0.0,427.0,0.0,296,6248,0.88,0.00,127.38,0.994,6,0.087,0.000,2263,2240,2781
$STATE,6249,end apogee,CONTROL_FINISHED_OK
$STATE,6249,begin climb
$GC,6252,0.85,146.6,426.9,0.0,303,6383,1.17,0.00,127.18,0.974,6,0.075,0.000,2509,2240,2183
$GC,6686,0.82,183.6,412.3,5.0,324,6724,0.00,0.00,33.45,0.943,6,0.000,0.000,2509,2240,2032
$GC,7035,0.83,187.5,391.4,5.9,341,7042,0.00,0.00,5.03,0.717,6,0.000,0.000,2509,2240,2015
$GC,7343,0.83,187.5,371.2,6.6,356,7348,0.00,2.72,0.00,0.000,4,0.000,0.074,2509,827,2015
$GC,7388,0.83,187.5,368.3,6.4,358,7393,0.00,2.65,0.00,0.000,6,0.000,0.062,2509,2240,2014
$GC,7710,0.83,187.5,347.6,6.0,374,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,2014
$GC,8019,0.91,266.3,331.7,3.8,389,8089,0.00,0.00,68.32,0.941,6,0.000,0.000,2509,2240,1695
$GC,8390,0.97,272.9,308.9,5.8,407,8404,0.15,2.78,7.07,0.774,4,0.074,0.077,2544,828,1668
$GC,8438,0.92,272.9,305.2,7.4,409,8443,0.00,2.67,0.00,0.000,6,0.000,0.062,2545,2242,1667
$GC,8760,0.87,272.9,282.2,6.9,425,8762,0.12,0.00,0.00,0.000,6,0.110,0.000,2521,2242,1667
$GC,9069,0.87,272.9,263.5,6.1,440,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2242,1667
$GC,9378,0.87,272.9,245.0,6.2,455,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2242,1667
$GC,9687,0.87,272.9,223.6,7.6,470,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2242,1666
$GC,9997,0.92,272.9,198.7,8.5,485,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2242,1666
$GC,10306,0.96,272.9,173.4,7.9,500,10311,0.00,2.72,0.00,0.000,4,0.000,0.077,2521,820,1666
$GC,10374,1.02,272.9,168.0,8.1,503,10379,0.15,2.65,0.00,0.000,6,0.065,0.061,2552,2241,1666
$GC,10696,1.02,272.9,140.9,8.1,519,10697,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2241,1666
$GC,11006,1.02,272.9,115.5,7.5,534,11010,0.00,2.70,0.00,0.000,4,0.000,0.082,2552,3648,1666
$GC,11073,0.96,272.9,110.1,7.6,537,11078,0.00,2.65,0.00,0.000,6,0.000,0.067,2552,2240,1666
$GC,11397,0.91,272.9,88.0,6.9,553,11402,0.12,2.72,0.00,0.000,4,0.110,0.081,2530,3650,1666
$GC,11441,0.91,272.9,84.5,7.3,555,11445,0.00,2.65,0.00,0.000,6,0.000,0.064,2530,2238,1666
$GC,11763,0.94,298.8,65.4,5.3,571,11792,0.00,2.75,22.65,0.729,4,0.000,0.068,2530,828,1562
$GC,11829,0.94,298.8,61.8,6.0,574,11833,0.00,2.62,0.00,0.000,6,0.000,0.057,2530,2246,1561
$GC,12156,0.95,311.4,43.1,5.7,590,12177,0.00,2.75,11.70,0.673,4,0.000,0.073,2530,3652,1511
$GC,12217,0.95,311.4,39.2,6.3,592,12224,0.00,2.65,0.00,0.000,6,0.000,0.062,2530,2240,1511
$GC,12533,0.95,311.4,20.3,6.5,608,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2239,1511
$STATE,12799,end climb,SURFACE_DEPTH_REACHED
$STATE,12799,begin surface coast
$FINISH,0.7,1.027036
$STATE,12821,end surface coast,CONTROL_FINISHED_OK
$STATE,12821,begin surface
$SM_CCo,12843,127.03,0.654,1,0,508,557.32
$SM_GC,1.30,0.00,0.00,127.03,0.000,0.000,0.654,76,2237,508,-10.36,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,1956
$TCM_TEMP,16.50
$XPDR_PINGS,46
$ALTIM_TOP_PING,18.9,17.7
$24V_AH,23.5,53.046
$10V_AH,10.1,26.242
$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,26.025,74.725,402.775,127.025,0.000,90.489,133.985,318.398,14.750,0.000,0.000,17.213,1114.214,10067.914,684.571,1250.513,789.629,0.000,1311.705,0.000,1227.849,0.000,22.372
$DEVICE_MAMPS,171.808,89.739,994.032,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.849,423.593,496.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31735,622
$CAP_FILE_SIZE,92144,0
$CFSIZE,260165632,240279552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,080808,025307,6446.419,-1048.445,33,1.6,33,-11.5