version: 66.03
glider: 16
mission: 9
dive: 331
start: 8 8 108 13 21 19
data:
$ID,16
$MISSION,9
$DIVE,331
$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,-2100542.5
$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
$GPS1,131607,6451.716,-1047.312,39,1.2,39,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.6
$GPS2,132102,6451.795,-1047.261,17,1.9,34,-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,65.9,7016,-11.7,-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,25,-0.87,-133.5,0.0,0.0,0,147,0.00,0.00,-120.70,0.000,2,0.000,0.000,73,2245,2860
$GC,151,-0.89,-146.6,3.3,-2.6,6,182,11.65,2.60,-13.65,0.000,4,0.171,0.078,2131,3637,3379
$GC,275,-0.76,-146.6,19.6,-11.3,11,282,0.17,2.58,0.00,0.000,6,0.094,0.054,2164,2230,3379
$GC,593,-0.76,-146.6,48.5,-8.6,27,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3380
$GC,900,-0.76,-146.6,73.9,-7.1,42,905,0.00,2.60,0.00,0.000,4,0.000,0.058,2164,815,3381
$GC,946,-0.83,-146.6,76.7,-5.8,44,951,0.00,2.60,0.00,0.000,6,0.000,0.051,2164,2237,3381
$GC,1268,-0.83,-146.6,93.7,-5.7,60,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2237,3381
$GC,1577,-0.83,-146.6,114.4,-7.2,75,1581,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,3641,3381
$GC,1627,-0.83,-146.6,118.2,-8.1,77,1632,0.00,2.60,0.00,0.000,6,0.000,0.054,2164,2225,3382
$GC,1943,-0.83,-146.6,140.0,-7.2,92,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3382
$GC,2252,-0.83,-146.6,163.2,-8.0,107,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2226,3382
$GC,2562,-0.83,-146.6,188.7,-8.6,122,2567,0.00,2.70,0.00,0.000,4,0.000,0.078,2164,3637,3382
$GC,2634,-0.83,-146.6,195.7,-9.7,125,2638,0.00,2.60,0.00,0.000,6,0.000,0.058,2164,2229,3382
$GC,2950,-0.83,-146.6,223.6,-8.5,140,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3382
$GC,3260,-0.83,-146.6,247.9,-7.9,155,3264,0.00,2.70,0.00,0.000,4,0.000,0.082,2164,3636,3382
$GC,3315,-0.83,-146.6,252.9,-9.2,157,3321,0.00,2.62,0.00,0.000,6,0.000,0.061,2164,2224,3382
$GC,3630,-0.83,-146.6,278.0,-7.7,173,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2224,3382
$GC,3942,-0.83,-146.6,300.9,-7.1,188,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2224,3381
$GC,4249,-0.87,-146.6,321.3,-6.1,203,4251,0.12,0.00,0.00,0.000,6,0.052,0.000,2128,2224,3381
$GC,4558,-0.81,-146.6,345.7,-8.2,218,4560,0.12,0.00,0.00,0.000,6,0.096,0.000,2151,2224,3380
$GC,4868,-0.81,-146.6,367.4,-6.9,233,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2224,3379
$GC,5176,-0.81,-146.6,388.4,-7.0,248,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2224,3378
$GC,5486,-0.81,-146.6,410.6,-7.1,263,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2224,3376
$GC,5797,-0.99,-146.6,430.0,-3.7,278,5798,0.17,0.00,0.00,0.000,6,0.058,0.000,2108,2224,3375
$STATE,5958,end dive,NO_VERTICAL_VELOCITY
$STATE,5958,begin apogee
$GC,5964,-0.31,0.0,430.1,0.0,286,6099,0.75,0.00,127.88,0.992,6,0.079,0.000,2263,2223,2781
$STATE,6100,end apogee,CONTROL_FINISHED_OK
$STATE,6100,begin climb
$GC,6103,0.89,146.6,430.0,0.0,293,6241,1.25,2.90,127.28,0.969,4,0.078,0.090,2520,3642,2183
$GC,6472,0.94,195.6,424.1,4.5,310,6522,0.00,2.67,43.70,0.950,6,0.000,0.069,2521,2241,1983
$GC,6842,0.97,218.2,405.3,5.3,328,6866,0.00,0.00,20.70,0.919,6,0.000,0.000,2521,2241,1891
$GC,7190,1.02,221.3,385.1,5.9,345,7200,0.15,2.72,4.38,0.671,4,0.070,0.075,2558,831,1877
$GC,7258,0.95,221.3,380.3,7.1,348,7262,0.00,2.65,0.00,0.000,6,0.000,0.064,2558,2237,1877
$GC,7579,0.88,221.3,356.8,7.7,364,7584,0.17,2.75,0.00,0.000,4,0.106,0.087,2522,3647,1876
$GC,7623,0.88,221.3,353.5,7.2,366,7628,0.00,2.67,0.00,0.000,6,0.000,0.071,2522,2243,1877
$GC,7944,0.89,227.3,333.6,5.8,382,7958,0.00,2.80,6.53,0.782,4,0.000,0.077,2522,826,1854
$GC,7992,0.89,227.3,330.5,6.8,384,7997,0.00,2.67,0.00,0.000,6,0.000,0.064,2522,2238,1854
$GC,8314,0.95,238.6,312.2,5.7,400,8332,0.00,0.00,11.55,0.863,6,0.000,0.000,2522,2238,1808
$GC,8643,1.02,249.3,293.6,5.7,416,8659,0.12,2.80,10.80,0.844,4,0.059,0.079,2554,821,1763
$GC,8753,0.96,249.3,285.7,7.4,420,8758,0.00,2.70,0.00,0.000,6,0.000,0.064,2555,2245,1761
$GC,9080,0.96,249.3,261.8,7.3,436,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2245,1761
$GC,9390,0.96,249.3,237.6,8.1,451,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2245,1761
$GC,9700,0.96,249.3,214.6,7.1,466,9704,0.00,2.78,0.00,0.000,4,0.000,0.081,2555,818,1762
$GC,9772,0.96,249.3,209.3,7.2,469,9776,0.00,2.67,0.00,0.000,6,0.000,0.064,2555,2241,1760
$GC,10087,0.98,261.9,190.2,5.6,484,10108,0.00,2.83,11.75,0.786,4,0.000,0.080,2555,824,1712
$GC,10148,0.98,261.9,186.4,6.9,486,10154,0.00,2.67,0.00,0.000,6,0.000,0.064,2554,2240,1712
$GC,10464,0.98,261.9,166.8,6.7,502,10468,0.00,2.72,0.00,0.000,4,0.000,0.084,2555,3654,1712
$GC,10526,0.98,261.9,162.0,7.8,505,10530,0.00,2.70,0.00,0.000,6,0.000,0.074,2554,2240,1713
$GC,10853,0.98,261.9,138.8,6.7,521,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2240,1713
$GC,11161,0.98,261.9,116.6,7.9,536,11163,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2240,1713
$GC,11471,0.98,261.9,92.1,7.7,551,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2241,1713
$GC,11781,0.98,261.9,67.5,8.4,566,11782,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2241,1714
$GC,12091,0.98,261.9,40.3,7.5,581,12092,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2241,1715
$GC,12399,0.98,261.9,20.4,6.3,596,12403,0.00,2.65,0.00,0.000,4,0.000,0.067,2554,823,1716
$GC,12440,1.02,261.9,17.8,6.5,598,12444,0.00,2.62,0.00,0.000,6,0.000,0.058,2555,2245,1716
$STATE,12681,end climb,SURFACE_DEPTH_REACHED
$STATE,12681,begin surface coast
$FINISH,0.7,1.014272
$STATE,12703,end surface coast,CONTROL_FINISHED_OK
$STATE,12703,begin surface
$SM_CCo,12725,148.38,0.642,0,0,509,557.32
$SM_GC,1.40,0.00,0.00,148.38,0.000,0.000,0.642,76,2245,509,-10.36,0.42,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1948
$TCM_TEMP,15.60
$XPDR_PINGS,41
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.5,53.607
$10V_AH,10.1,26.487
$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,25.650,75.225,364.550,148.375,0.000,18.055,28.620,114.935,14.000,0.000,0.000,34.214,1107.417,9670.984,666.381,1337.051,391.971,0.000,1322.180,0.000,1291.753,0.000,27.763
$DEVICE_MAMPS,171.041,89.739,992.498,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.771,416.270,482.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31715,611
$CAP_FILE_SIZE,86010,0
$CFSIZE,260165632,240115712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,080808,165708,6453.576,-1042.180,36,1.6,36,-11.4