version: 66.03
glider: 16
mission: 9
dive: 333
start: 8 8 108 20 49 21
data:
$ID,16
$MISSION,9
$DIVE,333
$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,-2100574.2
$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,19
$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
$GPS1,204408,6452.744,-1040.162,35,1.7,35,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-60.7
$GPS2,204902,6452.782,-1040.126,13,1.5,13,-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,158.7,89741,-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,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.68,0.000,2,0.000,0.000,71,2245,3012
$GC,150,-0.85,-146.6,4.4,-3.6,6,175,11.75,2.62,-7.97,0.000,4,0.173,0.078,2139,3638,3381
$GC,240,-0.71,-146.6,19.6,-10.3,10,245,0.17,2.60,0.00,0.000,6,0.098,0.053,2173,2228,3381
$GC,567,-0.66,-146.6,46.4,-7.8,26,572,0.00,2.65,0.00,0.000,4,0.000,0.068,2172,3638,3381
$GC,589,-0.66,-146.6,48.5,-8.6,27,593,0.00,2.58,0.00,0.000,6,0.000,0.049,2172,2225,3382
$GC,911,-0.66,-146.6,72.7,-7.3,43,915,0.00,2.60,0.00,0.000,4,0.000,0.058,2173,811,3382
$GC,951,-0.72,-146.6,75.8,-7.7,45,956,0.00,2.58,0.00,0.000,6,0.000,0.046,2172,2232,3382
$GC,1278,-0.72,-146.6,100.1,-7.4,61,1283,0.00,2.62,0.00,0.000,4,0.000,0.067,2172,3643,3382
$GC,1334,-0.72,-146.6,104.5,-7.9,63,1340,0.00,2.55,0.00,0.000,6,0.000,0.048,2172,2228,3382
$GC,1650,-0.72,-146.6,127.8,-7.8,79,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2228,3382
$GC,1958,-0.72,-146.6,152.3,-7.9,94,1963,0.00,2.65,0.00,0.000,4,0.000,0.069,2171,3640,3382
$GC,2015,-0.72,-146.6,156.8,-8.1,96,2021,0.00,2.55,0.00,0.000,6,0.000,0.048,2173,2230,3383
$GC,2331,-0.72,-146.6,180.5,-7.4,112,2335,0.00,2.58,0.00,0.000,4,0.000,0.058,2173,816,3383
$GC,2365,-0.79,-146.6,183.2,-7.8,113,2371,0.00,2.58,0.00,0.000,6,0.000,0.048,2173,2237,3383
$GC,2681,-0.79,-146.6,203.7,-6.3,129,2685,0.00,2.60,0.00,0.000,4,0.000,0.069,2173,3636,3383
$GC,2736,-0.79,-146.6,207.3,-7.1,131,2742,0.00,2.55,0.00,0.000,6,0.000,0.050,2173,2228,3382
$GC,3052,-0.83,-146.6,228.0,-6.6,147,3057,0.12,2.65,0.00,0.000,4,0.047,0.071,2131,3635,3383
$GC,3075,-0.79,-146.6,229.9,-8.6,148,3080,0.12,2.53,0.00,0.000,6,0.087,0.050,2156,2229,3383
$GC,3396,-0.79,-146.6,255.8,-8.2,164,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2229,3383
$GC,3705,-0.79,-146.6,280.4,-7.5,179,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2229,3382
$GC,4015,-0.79,-146.6,304.0,-7.9,194,4019,0.00,2.67,0.00,0.000,4,0.000,0.074,2155,3637,3381
$GC,4044,-0.79,-146.6,306.3,-8.3,195,4048,0.00,2.58,0.00,0.000,6,0.000,0.052,2155,2227,3381
$GC,4359,-0.79,-146.6,331.7,-8.4,210,4363,0.00,2.60,0.00,0.000,4,0.000,0.064,2155,819,3379
$GC,4400,-0.83,-146.6,335.1,-8.6,212,4404,0.00,2.60,0.00,0.000,6,0.000,0.052,2155,2235,3380
$GC,4726,-0.83,-146.6,361.0,-7.6,228,4730,0.00,2.65,0.00,0.000,4,0.000,0.077,2155,3637,3379
$GC,4758,-0.83,-146.6,363.7,-8.3,229,4764,0.00,2.58,0.00,0.000,6,0.000,0.055,2155,2231,3378
$GC,5075,-0.83,-146.6,386.8,-7.5,245,5079,0.00,2.65,0.00,0.000,4,0.000,0.064,2155,815,3377
$GC,5108,-0.88,-146.6,389.3,-7.7,246,5114,0.00,2.60,0.00,0.000,6,0.000,0.054,2155,2229,3377
$GC,5423,-0.88,-146.6,411.7,-7.3,262,5428,0.00,2.67,0.00,0.000,4,0.000,0.079,2155,3637,3375
$GC,5457,-0.88,-146.6,414.2,-7.0,263,5463,0.00,2.60,0.00,0.000,6,0.000,0.058,2155,2231,3375
$STATE,5584,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5585,begin apogee
$GC,5591,-0.31,0.0,423.9,7.5,270,5720,0.52,0.00,126.28,0.985,6,0.087,0.000,2262,2231,2781
$STATE,5721,end apogee,CONTROL_FINISHED_OK
$STATE,5721,begin climb
$GC,5724,0.85,146.6,428.5,0.0,276,5860,1.17,2.83,125.88,0.961,4,0.073,0.077,2509,3649,2183
$GC,5913,0.81,217.3,426.4,4.1,285,5980,0.00,2.62,61.30,0.940,6,0.000,0.057,2509,2239,1895
$GC,6301,0.81,217.3,402.8,6.6,304,6306,0.00,2.72,0.00,0.000,4,0.000,0.079,2509,3648,1894
$GC,6342,0.81,217.3,400.0,7.0,306,6346,0.00,2.65,0.00,0.000,6,0.000,0.058,2509,2234,1894
$GC,6668,0.81,220.2,379.5,5.9,322,6672,0.00,2.67,0.00,0.000,4,0.000,0.071,2509,828,1892
$GC,6701,0.81,220.2,377.4,6.1,323,6710,0.00,2.62,3.85,0.612,6,0.000,0.057,2509,2238,1883
$GC,7039,0.81,220.2,357.1,6.0,340,7043,0.00,2.70,0.00,0.000,4,0.000,0.071,2509,828,1881
$GC,7066,0.81,220.2,355.5,6.0,341,7070,0.00,2.62,0.00,0.000,6,0.000,0.057,2509,2240,1881
$GC,7382,0.83,239.7,338.4,5.5,356,7405,0.00,2.75,17.92,0.902,4,0.000,0.081,2509,3648,1803
$GC,7445,0.83,239.7,334.2,6.3,358,7451,0.00,2.67,0.00,0.000,6,0.000,0.064,2509,2238,1803
$GC,7760,0.83,239.7,314.5,6.3,374,7765,0.00,2.67,0.00,0.000,4,0.000,0.074,2509,828,1802
$GC,7800,0.83,239.7,311.9,6.7,376,7805,0.00,2.65,0.00,0.000,6,0.000,0.061,2509,2240,1801
$GC,8128,0.88,241.3,292.2,6.0,392,8133,0.00,2.70,0.00,0.000,4,0.000,0.075,2509,827,1801
$GC,8168,0.92,241.7,289.8,6.0,394,8173,0.00,2.62,0.00,0.000,6,0.000,0.060,2509,2240,1801
$GC,8495,0.98,293.9,272.4,4.6,410,8544,0.15,0.00,46.47,0.903,6,0.073,0.000,2543,2240,1582
$GC,8844,0.98,293.9,247.8,7.4,427,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2240,1581
$GC,9153,0.98,293.9,224.8,7.0,442,9157,0.00,2.70,0.00,0.000,4,0.000,0.075,2543,827,1580
$GC,9220,0.98,293.9,220.3,6.3,445,9224,0.00,2.65,0.00,0.000,6,0.000,0.061,2543,2243,1579
$GC,9541,0.98,293.9,198.8,7.0,461,9546,0.00,2.72,0.00,0.000,4,0.000,0.084,2543,3652,1579
$GC,9586,0.98,293.9,194.8,8.6,463,9590,0.00,2.65,0.00,0.000,6,0.000,0.066,2543,2241,1580
$GC,9907,0.98,293.9,171.5,6.7,479,9912,0.00,2.67,0.00,0.000,4,0.000,0.074,2543,830,1580
$GC,9970,0.98,293.9,167.1,6.5,482,9974,0.00,2.65,0.00,0.000,6,0.000,0.058,2543,2249,1579
$GC,10297,0.98,294.2,146.9,6.0,498,10301,0.00,2.67,0.00,0.000,4,0.000,0.080,2543,3649,1580
$GC,10324,0.98,294.2,144.8,7.1,499,10329,0.00,2.65,0.00,0.000,6,0.000,0.064,2543,2234,1580
$GC,10640,0.98,294.2,124.4,6.8,514,10645,0.00,2.65,0.00,0.000,4,0.000,0.070,2544,828,1580
$GC,10668,0.98,294.2,122.4,7.1,515,10672,0.00,2.62,0.00,0.000,6,0.000,0.057,2543,2245,1580
$GC,10986,0.98,294.2,100.3,7.1,530,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2245,1581
$GC,11293,0.98,294.2,77.7,7.7,545,11294,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2245,1583
$GC,11603,0.98,294.2,52.9,8.2,560,11607,0.00,2.67,0.00,0.000,4,0.000,0.067,2544,823,1583
$GC,11643,0.98,294.2,49.8,7.7,562,11648,0.00,2.60,0.00,0.000,6,0.000,0.052,2543,2242,1583
$GC,11970,0.98,294.2,28.0,6.7,578,11974,0.00,2.65,0.00,0.000,4,0.000,0.071,2543,3648,1584
$GC,11991,1.03,294.2,26.3,7.4,579,11996,0.00,2.60,0.00,0.000,6,0.000,0.058,2543,2239,1585
$GC,12314,1.08,294.2,4.6,6.6,595,12318,0.00,2.65,0.00,0.000,4,0.000,0.065,2543,818,1585
$GC,12347,1.19,316.9,2.4,5.4,596,12358,0.22,2.58,4.65,0.479,2,0.071,0.051,2590,2240,1553
$STATE,12359,end climb,SURFACE_DEPTH_REACHED
$STATE,12359,begin surface coast
$FINISH,0.7,1.026997
$STATE,12368,end surface coast,CONTROL_FINISHED_OK
$STATE,12368,begin surface
$SM_CCo,12390,127.72,0.638,0,0,508,557.32
$SM_GC,1.46,0.00,0.00,127.72,0.000,0.000,0.638,71,2241,508,-10.39,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1933
$TCM_TEMP,18.50
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.8,18.6
$ALTIM_BOTTOM_PING,401.2,31.7
$24V_AH,23.5,53.887
$10V_AH,10.1,26.617
$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,25.375,147.600,386.350,127.725,0.000,18.343,26.791,132.753,16.250,0.000,0.000,13.924,1129.259,9217.783,683.927,1350.295,436.831,0.000,1400.434,0.000,1322.076,0.000,23.325
$DEVICE_MAMPS,173.342,83.603,984.828,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.448,405.314,473.739,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31648,597
$CAP_FILE_SIZE,99423,0
$CFSIZE,260165632,240013312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090808,001928,6452.633,-1037.328,28,5.2,47,-11.4