version: 66.03
glider: 16
mission: 9
dive: 339
start: 8 9 108 17 50 58
data:
$ID,16
$MISSION,9
$DIVE,339
$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,-2100704.8
$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,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
$GPS1,174607,6451.509,-1036.497,41,1.0,52,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-56.1
$GPS2,175039,6451.569,-1036.555,16,1.6,16,-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,159.5,86304,-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,-120.70,0.000,2,0.000,0.000,72,2243,2845
$GC,150,-0.85,-146.6,3.9,-3.1,6,181,11.73,2.65,-13.45,0.000,4,0.173,0.070,2139,811,3379
$GC,250,-0.78,-146.6,16.8,-8.3,10,256,0.00,2.58,0.00,0.000,6,0.000,0.048,2139,2229,3380
$GC,566,-0.67,-146.6,45.8,-9.8,26,571,0.17,2.65,0.00,0.000,4,0.098,0.067,2177,3643,3380
$GC,629,-0.67,-146.6,51.3,-8.8,29,633,0.00,2.58,0.00,0.000,6,0.000,0.048,2177,2225,3380
$GC,958,-0.67,-146.6,79.4,-8.9,45,962,0.00,2.60,0.00,0.000,4,0.000,0.057,2177,813,3380
$GC,986,-0.72,-146.6,82.1,-8.8,46,990,0.00,2.58,0.00,0.000,6,0.000,0.045,2177,2235,3380
$GC,1301,-0.72,-146.6,109.4,-8.4,61,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2235,3381
$GC,1611,-0.72,-146.6,132.8,-7.2,76,1616,0.00,2.62,0.00,0.000,4,0.000,0.067,2177,3643,3381
$GC,1633,-0.72,-146.6,134.6,-7.4,77,1638,0.00,2.55,0.00,0.000,6,0.000,0.046,2177,2230,3381
$GC,1954,-0.72,-146.6,155.3,-6.6,93,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2230,3381
$GC,2264,-0.72,-146.6,177.1,-7.3,108,2268,0.00,2.65,0.00,0.000,4,0.000,0.068,2177,3638,3382
$GC,2297,-0.72,-146.6,179.8,-8.1,109,2303,0.00,2.55,0.00,0.000,6,0.000,0.046,2177,2226,3382
$GC,2613,-0.72,-146.6,203.6,-7.1,125,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2225,3382
$GC,2925,-0.76,-146.6,225.8,-7.1,140,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2225,3382
$GC,3233,-0.81,-146.6,248.2,-7.6,155,3234,0.12,0.00,0.00,0.000,6,0.049,0.000,2138,2225,3383
$GC,3541,-0.73,-146.6,277.2,-9.4,170,3543,0.15,0.00,0.00,0.000,6,0.091,0.000,2167,2225,3383
$GC,3853,-0.73,-146.6,301.2,-7.3,185,3857,0.00,2.70,0.00,0.000,4,0.000,0.078,2166,3636,3382
$GC,3892,-0.73,-146.6,304.6,-8.4,187,3897,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2227,3382
$GC,4222,-0.73,-146.6,326.1,-6.3,203,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3382
$GC,4529,-0.73,-146.6,345.7,-6.3,218,4534,0.00,2.72,0.00,0.000,4,0.000,0.082,2167,3636,3381
$GC,4573,-0.73,-146.6,349.1,-7.4,220,4577,0.00,2.60,0.00,0.000,6,0.000,0.056,2168,2230,3381
$GC,4894,-0.73,-146.6,372.0,-7.8,236,4898,0.00,2.67,0.00,0.000,4,0.000,0.069,2167,813,3380
$GC,4922,-0.81,-146.6,374.3,-8.2,237,4927,0.00,2.62,0.00,0.000,6,0.000,0.057,2167,2227,3380
$GC,5238,-0.81,-146.6,398.8,-8.1,252,5242,0.00,2.70,0.00,0.000,4,0.000,0.082,2167,3640,3378
$GC,5270,-0.81,-146.6,401.4,-8.2,253,5276,0.00,2.62,0.00,0.000,6,0.000,0.058,2167,2227,3377
$STATE,5583,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5583,begin apogee
$GC,5590,-0.31,0.0,423.6,6.6,269,5725,0.47,0.00,127.72,0.984,6,0.098,0.000,2262,2227,2781
$STATE,5726,end apogee,CONTROL_FINISHED_OK
$STATE,5726,begin climb
$GC,5729,0.85,146.6,429.9,0.0,276,5865,1.17,2.78,126.80,0.966,4,0.081,0.071,2507,830,2182
$GC,5959,0.80,181.1,426.0,5.1,286,5995,0.00,2.65,30.98,0.925,6,0.000,0.058,2507,2244,2042
$GC,6311,0.84,211.2,408.0,5.2,304,6340,0.00,0.00,27.08,0.923,6,0.000,0.000,2507,2244,1919
$GC,6641,0.84,218.6,388.8,5.8,320,6651,0.00,0.00,8.20,0.816,6,0.000,0.000,2507,2244,1889
$GC,6950,0.84,219.0,371.1,6.0,335,6954,0.00,2.72,0.00,0.000,4,0.000,0.071,2507,828,1888
$GC,6989,0.84,219.0,368.5,7.3,337,6993,0.00,2.62,0.00,0.000,6,0.000,0.058,2507,2242,1888
$GC,7316,0.84,219.0,347.3,6.3,353,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2242,1887
$GC,7624,0.84,219.0,327.0,6.1,368,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2242,1887
$GC,7934,0.84,219.0,307.8,6.3,383,7938,0.00,2.70,0.00,0.000,4,0.000,0.084,2507,3647,1886
$GC,7956,0.84,219.0,306.2,7.4,384,7960,0.00,2.62,0.00,0.000,6,0.000,0.063,2507,2242,1885
$GC,8276,0.84,219.0,284.1,6.9,400,8281,0.00,2.70,0.00,0.000,4,0.000,0.075,2507,827,1885
$GC,8298,0.84,219.0,282.7,6.3,401,8303,0.00,2.65,0.00,0.000,6,0.000,0.060,2507,2246,1885
$GC,8621,0.85,224.8,262.8,5.8,417,8629,0.00,0.00,6.05,0.744,6,0.000,0.000,2507,2246,1864
$GC,8929,0.85,224.8,242.6,7.0,432,8933,0.00,2.72,0.00,0.000,4,0.000,0.072,2507,823,1863
$GC,8956,0.85,224.8,240.7,6.9,433,8960,0.00,2.62,0.00,0.000,6,0.000,0.058,2507,2240,1863
$GC,9272,0.85,224.8,219.1,6.5,448,9276,0.00,2.70,0.00,0.000,4,0.000,0.082,2507,3653,1863
$GC,9322,0.89,224.8,215.3,7.3,450,9327,0.00,2.65,0.00,0.000,6,0.000,0.062,2507,2237,1863
$GC,9638,0.97,263.4,198.8,4.9,465,9678,0.15,0.00,33.83,0.852,6,0.077,0.000,2538,2237,1706
$GC,9988,0.93,263.4,178.9,6.1,482,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2237,1704
$GC,10297,0.93,267.2,160.9,5.9,497,10303,0.00,0.00,4.80,0.621,6,0.000,0.000,2538,2237,1690
$GC,10606,0.93,267.2,142.0,6.7,512,10610,0.00,2.67,0.00,0.000,4,0.000,0.073,2538,3648,1690
$GC,10628,0.93,267.2,140.3,7.5,513,10633,0.00,2.60,0.00,0.000,6,0.000,0.055,2539,2238,1690
$GC,10949,0.93,267.2,114.5,8.9,529,10954,0.00,2.62,0.00,0.000,4,0.000,0.064,2539,827,1690
$GC,10977,0.93,267.2,111.9,9.1,530,10982,0.00,2.60,0.00,0.000,6,0.000,0.051,2539,2250,1691
$GC,11294,0.93,267.2,85.4,8.0,545,11298,0.00,2.60,0.00,0.000,4,0.000,0.067,2539,3645,1691
$GC,11327,0.93,267.2,82.7,8.0,546,11333,0.00,2.58,0.00,0.000,6,0.000,0.054,2539,2239,1691
$GC,11644,0.93,267.2,59.6,6.8,562,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2240,1692
$GC,11952,0.93,267.2,39.5,6.8,577,11957,0.00,2.62,0.00,0.000,4,0.000,0.061,2539,819,1693
$GC,11974,0.93,267.2,37.8,7.4,578,11978,0.00,2.58,0.00,0.000,6,0.000,0.048,2539,2241,1693
$GC,12295,0.93,267.2,16.2,7.2,594,12299,0.00,2.62,0.00,0.000,4,0.000,0.068,2539,3651,1694
$GC,12328,0.93,267.2,13.7,7.0,595,12334,0.00,2.58,0.00,0.000,6,0.000,0.054,2539,2239,1695
$STATE,12518,end climb,SURFACE_DEPTH_REACHED
$STATE,12518,begin surface coast
$FINISH,0.5,1.012834
$STATE,12541,end surface coast,CONTROL_FINISHED_OK
$STATE,12541,begin surface
$SM_CCo,12563,148.95,0.650,0,0,509,557.32
$SM_GC,1.28,0.00,0.00,148.95,0.000,0.000,0.650,71,2236,509,-10.39,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1907
$TCM_TEMP,16.60
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.0,18.4
$ALTIM_BOTTOM_PING,400.5,32.2
$24V_AH,23.5,54.723
$10V_AH,10.1,26.991
$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,24.850,105.475,365.450,148.950,0.000,18.053,25.818,108.947,16.750,0.000,0.000,16.748,1107.155,9551.429,679.500,1258.814,393.712,0.000,1329.333,0.000,1234.009,0.000,23.319
$DEVICE_MAMPS,172.575,84.370,984.061,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.150,412.160,470.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31666,606
$CAP_FILE_SIZE,89926,0
$CFSIZE,260165632,239742976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090808,212408,6451.190,-1036.508,38,2.0,38,-11.4