version: 66.03
glider: 16
mission: 9
dive: 332
start: 8 8 108 17 2 15
data:
$ID,16
$MISSION,9
$DIVE,332
$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,-2100559.5
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,165708,6453.576,-1042.180,36,1.6,36,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-61.8
$GPS2,170156,6453.618,-1042.152,11,1.3,16,-11.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NS
$TGT_LATLONG,6412.000,-940.000
$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,158.4,91927,-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,-146.6,0.0,0.0,0,127,0.00,0.00,-100.68,0.000,2,0.000,0.000,76,2245,2522
$GC,130,-0.85,-146.6,3.0,-1.8,5,176,11.75,0.00,-31.52,0.000,6,0.173,0.000,2141,2245,3380
$GC,501,-0.71,-146.6,38.8,-9.6,23,503,0.17,0.00,0.00,0.000,6,0.101,0.000,2174,2245,3380
$GC,807,-0.71,-146.6,63.6,-7.8,38,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2245,3380
$GC,1118,-0.71,-146.6,86.5,-7.3,53,1122,0.00,2.62,0.00,0.000,4,0.000,0.074,2174,3640,3381
$GC,1158,-0.71,-146.6,89.6,-7.7,55,1162,0.00,2.62,0.00,0.000,6,0.000,0.055,2174,2218,3381
$GC,1485,-0.71,-146.6,113.1,-6.9,71,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2218,3381
$GC,1794,-0.71,-146.6,132.3,-5.8,86,1799,0.00,2.70,0.00,0.000,4,0.000,0.074,2174,3640,3381
$GC,1844,-0.71,-146.6,135.7,-6.7,88,1848,0.00,2.60,0.00,0.000,6,0.000,0.054,2174,2223,3381
$GC,2160,-0.71,-146.6,155.8,-6.3,103,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2222,3381
$GC,2469,-0.71,-146.6,177.5,-7.5,118,2473,0.00,2.70,0.00,0.000,4,0.000,0.074,2174,3645,3381
$GC,2496,-0.71,-146.6,179.9,-8.4,119,2500,0.00,2.60,0.00,0.000,6,0.000,0.054,2174,2225,3381
$GC,2812,-0.71,-146.6,201.6,-6.9,134,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2226,3381
$GC,3120,-0.71,-146.6,221.8,-6.6,149,3125,0.00,2.67,0.00,0.000,4,0.000,0.076,2174,3640,3381
$GC,3184,-0.75,-146.6,226.0,-6.6,152,3188,0.00,2.60,0.00,0.000,6,0.000,0.055,2174,2225,3381
$GC,3511,-0.79,-146.6,245.5,-6.3,168,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2225,3382
$GC,3820,-0.85,-146.6,266.3,-6.7,183,3825,0.15,2.70,0.00,0.000,4,0.046,0.077,2123,3639,3381
$GC,3865,-0.73,-146.6,270.6,-9.8,185,3870,0.25,2.60,0.00,0.000,6,0.087,0.058,2171,2231,3381
$GC,4187,-0.78,-146.6,293.3,-6.7,201,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2231,3381
$GC,4497,-0.84,-146.6,314.0,-6.8,216,4499,0.12,0.00,0.00,0.000,6,0.048,0.000,2132,2231,3380
$GC,4806,-0.77,-146.6,339.6,-7.9,231,4808,0.15,0.00,0.00,0.000,6,0.088,0.000,2161,2231,3379
$GC,5115,-0.77,-146.6,360.0,-6.8,246,5119,0.00,2.72,0.00,0.000,4,0.000,0.082,2161,3644,3378
$GC,5148,-0.77,-146.6,362.4,-7.6,247,5154,0.00,2.62,0.00,0.000,6,0.000,0.058,2161,2225,3378
$GC,5463,-0.77,-146.6,383.4,-6.6,263,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2225,3377
$GC,5773,-0.77,-146.6,404.2,-6.7,278,5777,0.00,2.75,0.00,0.000,4,0.000,0.085,2161,3644,3376
$GC,5817,-0.77,-146.6,407.5,-7.4,280,5822,0.00,2.62,0.00,0.000,6,0.000,0.060,2161,2230,3375
$STATE,6012,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6012,begin apogee
$GC,6019,-0.31,0.0,420.7,6.6,290,6149,0.50,0.00,127.18,0.984,6,0.094,0.000,2261,2230,2781
$STATE,6150,end apogee,CONTROL_FINISHED_OK
$STATE,6150,begin climb
$GC,6153,0.85,146.6,426.0,0.0,296,6284,1.17,0.00,127.20,0.959,6,0.076,0.000,2508,2230,2183
$GC,6592,0.83,193.2,412.7,4.7,318,6640,0.00,2.83,41.08,0.937,4,0.000,0.084,2508,3647,1993
$GC,6655,0.83,193.6,409.4,6.0,321,6659,0.00,2.67,0.00,0.000,6,0.000,0.063,2508,2242,1992
$GC,6982,0.86,214.6,391.7,5.4,337,7007,0.00,2.78,19.77,0.908,4,0.000,0.073,2508,823,1905
$GC,7046,0.86,214.6,387.9,6.2,340,7050,0.00,2.67,0.00,0.000,6,0.000,0.060,2508,2240,1904
$GC,7367,0.88,233.6,370.7,5.5,356,7387,0.00,0.00,17.73,0.905,6,0.000,0.000,2508,2240,1828
$GC,7697,0.88,233.6,350.9,6.3,372,7701,0.00,2.72,0.00,0.000,4,0.000,0.074,2508,822,1827
$GC,7718,0.88,233.6,349.4,6.9,373,7722,0.00,2.67,0.00,0.000,6,0.000,0.061,2507,2247,1827
$GC,8039,0.88,233.6,327.9,6.8,389,8043,0.00,2.75,0.00,0.000,4,0.000,0.076,2508,827,1826
$GC,8068,0.88,233.6,326.0,6.8,390,8072,0.00,2.65,0.00,0.000,6,0.000,0.061,2508,2242,1825
$GC,8384,0.92,233.6,304.0,7.0,405,8389,0.10,2.75,0.00,0.000,4,0.084,0.076,2528,824,1825
$GC,8417,0.92,233.6,301.3,8.0,406,8423,0.00,2.65,0.00,0.000,6,0.000,0.061,2528,2240,1825
$GC,8734,0.92,233.6,276.2,8.3,422,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2240,1825
$GC,9041,0.92,233.6,250.1,7.8,437,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2240,1824
$GC,9351,0.93,238.8,229.5,5.9,452,9358,0.00,0.00,5.53,0.693,6,0.000,0.000,2528,2240,1807
$GC,9661,0.93,245.5,212.3,5.8,467,9675,0.00,2.78,6.97,0.728,4,0.000,0.081,2528,3648,1781
$GC,9727,0.93,245.5,207.8,7.7,470,9732,0.00,2.65,0.00,0.000,6,0.000,0.068,2528,2239,1780
$GC,10054,0.96,265.2,187.6,5.5,486,10078,0.00,2.80,18.40,0.802,4,0.000,0.084,2528,3644,1699
$GC,10092,1.01,271.8,185.4,5.8,487,10106,0.10,2.67,6.90,0.694,6,0.079,0.065,2551,2240,1673
$GC,10428,1.01,271.8,164.3,6.5,504,10432,0.00,2.67,0.00,0.000,4,0.000,0.072,2552,827,1673
$GC,10461,1.01,271.8,162.0,6.4,505,10467,0.00,2.62,0.00,0.000,6,0.000,0.060,2552,2239,1672
$GC,10778,1.01,271.8,141.4,6.5,521,10782,0.00,2.70,0.00,0.000,4,0.000,0.080,2552,3652,1673
$GC,10844,1.01,271.8,136.5,7.6,524,10848,0.00,2.65,0.00,0.000,6,0.000,0.064,2552,2239,1673
$GC,11166,1.01,271.8,115.6,6.6,540,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2239,1673
$GC,11474,1.01,271.8,95.8,6.1,555,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2239,1674
$GC,11783,1.01,271.8,76.9,6.1,570,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2239,1674
$GC,12094,1.02,281.2,58.4,5.7,585,12106,0.00,0.00,10.05,0.637,6,0.000,0.000,2551,2239,1634
$GC,12403,1.04,294.3,41.5,5.6,600,12425,0.00,2.72,12.27,0.636,4,0.000,0.064,2552,826,1579
$GC,12459,1.06,317.8,38.3,5.4,602,12485,0.00,2.60,20.27,0.655,6,0.000,0.051,2551,2243,1485
$GC,12798,1.08,335.9,20.1,5.5,618,12820,0.00,0.00,15.88,0.627,6,0.000,0.000,2552,2243,1411
$STATE,13081,end climb,SURFACE_DEPTH_REACHED
$STATE,13081,begin surface coast
$FINISH,0.6,1.017377
$STATE,13103,end surface coast,CONTROL_FINISHED_OK
$STATE,13103,begin surface
$SM_CCo,13125,111.12,0.624,0,0,508,557.32
$SM_GC,1.36,0.00,0.00,111.12,0.000,0.000,0.624,71,2243,508,-10.39,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1941
$TCM_TEMP,16.40
$XPDR_PINGS,59
$ALTIM_TOP_PING,18.9,18.1
$ALTIM_BOTTOM_PING,375.2,55.4
$24V_AH,23.5,53.747
$10V_AH,10.1,26.552
$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,25.450,91.175,429.225,111.125,0.000,18.327,28.415,120.447,17.750,0.000,0.000,16.260,1140.627,9992.430,689.275,1298.386,411.170,0.000,1350.606,0.000,1275.387,0.000,21.782
$DEVICE_MAMPS,173.342,85.137,984.061,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.223,430.164,516.845,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31783,633
$CAP_FILE_SIZE,90810,0
$CFSIZE,260165632,240062464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080808,204408,6452.744,-1040.162,35,1.7,35,-11.4