version: 66.03
glider: 16
mission: 9
dive: 334
start: 8 9 108 0 25 10
data:
$ID,16
$MISSION,9
$DIVE,334
$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,-2100608.2
$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,20
$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
$GPS1,001928,6452.633,-1037.328,28,5.2,47,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-58.6
$GPS2,002453,6452.672,-1037.272,13,5.4,32,-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,159.9,88346,-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,-105.93,0.000,2,0.000,0.000,71,2241,2624
$GC,136,-0.85,-146.6,3.1,-2.1,6,179,11.73,2.67,-24.48,0.000,4,0.172,0.071,2139,808,3379
$GC,252,-0.78,-146.6,14.7,-10.5,11,257,0.00,2.60,0.00,0.000,6,0.000,0.049,2139,2230,3379
$GC,574,-0.65,-146.6,49.1,-9.7,27,580,0.20,2.65,0.00,0.000,4,0.098,0.068,2182,3644,3380
$GC,664,-0.70,-146.6,56.2,-7.1,31,669,0.00,2.58,0.00,0.000,6,0.000,0.049,2182,2227,3380
$GC,986,-0.70,-146.6,79.1,-7.1,47,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2227,3380
$GC,1294,-0.70,-146.6,100.5,-6.7,62,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2227,3381
$GC,1604,-0.70,-146.6,122.3,-7.3,77,1608,0.00,2.65,0.00,0.000,4,0.000,0.067,2182,3640,3381
$GC,1654,-0.70,-146.6,126.4,-7.9,79,1658,0.00,2.55,0.00,0.000,6,0.000,0.048,2182,2230,3381
$GC,1970,-0.70,-146.6,149.6,-7.1,94,1977,0.00,2.65,0.00,0.000,4,0.000,0.069,2182,3649,3381
$GC,1995,-0.70,-146.6,151.5,-7.1,95,2000,0.00,2.58,0.00,0.000,6,0.000,0.048,2182,2227,3381
$GC,2324,-0.74,-146.6,172.9,-6.5,111,2328,0.00,2.65,0.00,0.000,4,0.000,0.068,2182,3640,3381
$GC,2351,-0.79,-146.6,174.9,-7.1,112,2356,0.12,2.55,0.00,0.000,6,0.049,0.048,2143,2229,3381
$GC,2674,-0.74,-146.6,200.5,-7.9,128,2675,0.12,0.00,0.00,0.000,6,0.087,0.000,2167,2228,3381
$GC,2982,-0.74,-146.6,219.9,-6.3,143,2987,0.00,2.58,0.00,0.000,4,0.000,0.059,2167,818,3381
$GC,3005,-0.80,-146.6,221.5,-6.8,144,3009,0.00,2.58,0.00,0.000,6,0.000,0.048,2167,2233,3381
$GC,3326,-0.80,-146.6,242.5,-6.8,160,3330,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,3637,3381
$GC,3365,-0.80,-146.6,245.4,-7.9,162,3370,0.00,2.55,0.00,0.000,6,0.000,0.051,2167,2230,3381
$GC,3692,-0.80,-146.6,268.1,-7.4,178,3696,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,819,3381
$GC,3720,-0.86,-146.6,270.2,-7.2,179,3725,0.12,2.58,0.00,0.000,6,0.048,0.051,2127,2229,3381
$GC,4036,-0.77,-146.6,298.4,-8.6,194,4041,0.15,2.65,0.00,0.000,4,0.089,0.073,2160,3638,3379
$GC,4087,-0.77,-146.6,302.3,-7.0,196,4091,0.00,2.58,0.00,0.000,6,0.000,0.054,2159,2231,3379
$GC,4403,-0.77,-146.6,323.8,-7.3,211,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2231,3378
$GC,4712,-0.77,-146.6,348.5,-8.3,226,4716,0.00,2.67,0.00,0.000,4,0.000,0.077,2160,3637,3377
$GC,4751,-0.77,-146.6,351.9,-8.7,228,4756,0.00,2.60,0.00,0.000,6,0.000,0.055,2159,2225,3377
$GC,5080,-0.77,-146.6,375.9,-7.0,244,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2225,3375
$GC,5387,-0.77,-146.6,398.5,-7.5,259,5392,0.00,2.70,0.00,0.000,4,0.000,0.079,2160,3637,3375
$GC,5415,-0.77,-146.6,400.7,-8.1,260,5419,0.00,2.60,0.00,0.000,6,0.000,0.057,2159,2228,3373
$GC,5731,-0.77,-146.6,423.4,-6.8,275,5736,0.00,2.67,0.00,0.000,4,0.000,0.081,2159,3636,3373
$GC,5755,-0.77,-146.6,425.1,-7.6,276,5760,0.00,2.60,0.00,0.000,6,0.000,0.055,2159,2225,3373
$STATE,6033,end dive,NO_VERTICAL_VELOCITY
$STATE,6033,begin apogee
$GC,6039,-0.31,0.0,431.6,0.0,290,6169,0.50,0.00,126.28,0.992,6,0.093,0.000,2260,2224,2781
$STATE,6169,end apogee,CONTROL_FINISHED_OK
$STATE,6169,begin climb
$GC,6173,0.85,146.6,431.5,0.0,296,6308,1.17,2.83,126.90,0.970,4,0.078,0.077,2508,3645,2184
$GC,6326,0.84,210.2,429.6,4.3,304,6387,0.00,2.65,55.62,0.943,6,0.000,0.055,2508,2235,1923
$GC,6711,0.85,216.3,408.9,5.8,323,6720,0.00,0.00,6.65,0.772,6,0.000,0.000,2508,2235,1899
$GC,7018,0.89,259.3,393.6,4.8,338,7062,0.00,2.75,37.72,0.939,4,0.000,0.071,2508,836,1723
$GC,7075,0.99,297.5,390.8,5.0,340,7116,0.17,2.62,34.03,0.928,6,0.054,0.056,2553,2238,1567
$GC,7434,0.99,297.5,366.7,7.3,358,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2237,1567
$GC,7741,0.99,297.5,341.8,8.3,373,7745,0.00,2.72,0.00,0.000,4,0.000,0.071,2554,825,1566
$GC,7774,0.99,297.5,338.9,8.4,374,7780,0.00,2.65,0.00,0.000,6,0.000,0.057,2554,2247,1565
$GC,8090,0.99,297.5,314.4,7.7,390,8094,0.00,2.70,0.00,0.000,4,0.000,0.081,2553,3650,1565
$GC,8122,0.99,297.5,311.8,8.3,391,8128,0.00,2.65,0.00,0.000,6,0.000,0.064,2553,2240,1565
$GC,8438,0.99,297.5,286.5,8.2,407,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2240,1564
$GC,8749,0.99,297.5,262.7,7.3,422,8754,0.00,2.72,0.00,0.000,4,0.000,0.084,2553,3647,1564
$GC,8783,0.99,297.5,259.9,8.0,423,8789,0.00,2.65,0.00,0.000,6,0.000,0.064,2553,2237,1564
$GC,9098,0.99,297.5,236.6,7.5,439,9103,0.00,2.67,0.00,0.000,4,0.000,0.074,2553,828,1563
$GC,9143,0.99,297.5,233.0,8.2,441,9148,0.00,2.62,0.00,0.000,6,0.000,0.059,2553,2242,1563
$GC,9464,0.99,297.5,206.3,8.7,457,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2242,1563
$GC,9774,0.99,297.5,180.2,8.5,472,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2242,1563
$GC,10084,0.99,297.5,156.1,7.4,487,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2242,1563
$GC,10393,0.99,297.5,135.4,6.5,502,10397,0.00,2.70,0.00,0.000,4,0.000,0.071,2553,821,1564
$GC,10420,0.99,297.5,133.6,6.8,503,10424,0.00,2.62,0.00,0.000,6,0.000,0.055,2553,2245,1564
$GC,10738,0.99,297.5,113.0,6.7,518,10742,0.00,2.70,0.00,0.000,4,0.000,0.068,2553,818,1564
$GC,10759,0.99,297.5,111.3,7.2,519,10764,0.00,2.62,0.00,0.000,6,0.000,0.053,2553,2247,1564
$GC,11081,0.99,297.5,86.8,8.4,535,11085,0.00,2.70,0.00,0.000,4,0.000,0.067,2553,820,1565
$GC,11121,0.99,297.5,83.4,8.9,537,11126,0.00,2.60,0.00,0.000,6,0.000,0.052,2553,2240,1566
$GC,11448,0.99,297.5,55.6,7.7,553,11452,0.00,2.67,0.00,0.000,4,0.000,0.066,2553,822,1566
$GC,11492,0.99,297.5,52.2,7.4,555,11496,0.00,2.60,0.00,0.000,6,0.000,0.051,2553,2242,1566
$GC,11813,0.99,297.5,27.8,8.1,571,11818,0.00,2.65,0.00,0.000,4,0.000,0.064,2553,826,1567
$GC,11859,1.04,297.5,24.1,7.9,573,11863,0.00,2.60,0.00,0.000,6,0.000,0.051,2553,2251,1567
$STATE,12156,end climb,SURFACE_DEPTH_REACHED
$STATE,12156,begin surface coast
$FINISH,0.7,1.027017
$STATE,12182,end surface coast,CONTROL_FINISHED_OK
$STATE,12182,begin surface
$SM_CCo,12205,128.40,0.630,0,0,509,557.32
$SM_GC,1.31,0.00,0.00,128.40,0.000,0.000,0.630,72,2251,509,-10.39,0.59,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1937
$TCM_TEMP,15.80
$XPDR_PINGS,41
$ALTIM_TOP_PING,18.5,18.0
$24V_AH,23.5,54.027
$10V_AH,10.1,26.680
$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,25.225,121.425,387.200,128.400,0.000,18.337,29.630,133.586,13.750,0.000,0.000,33.184,1086.060,9183.381,678.175,1283.216,431.293,0.000,1337.933,0.000,1237.841,0.000,24.921
$DEVICE_MAMPS,171.808,84.370,991.731,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.185,400.841,468.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28523,589
$CAP_FILE_SIZE,91695,0
$CFSIZE,260165632,239972352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090808,035201,6452.329,-1034.959,38,1.2,38,-11.4