version: 66.03
glider: 16
mission: 9
dive: 345
start: 8 10 108 13 48 49
data:
$ID,16
$MISSION,9
$DIVE,345
$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,-2100883.8
$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,23
$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
$GPS1,134328,6452.390,-1035.133,40,2.9,59,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-55.4
$GPS2,134832,6452.465,-1035.167,15,1.4,32,-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,160.7,87141,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-120.82,0.000,2,0.000,0.000,75,2252,2798
$GC,151,-0.85,-146.6,3.2,-2.5,6,186,11.57,2.70,-16.40,0.000,4,0.168,0.068,2140,820,3379
$GC,350,-0.77,-146.6,25.0,-10.0,15,355,0.10,2.58,0.00,0.000,6,0.102,0.045,2158,2235,3379
$GC,678,-0.70,-146.6,57.8,-9.7,31,682,0.00,2.60,0.00,0.000,4,0.000,0.064,2158,3637,3380
$GC,779,-0.65,-146.6,68.5,-11.2,35,786,0.15,2.55,0.00,0.000,6,0.094,0.045,2188,2221,3381
$GC,1095,-0.70,-146.6,94.5,-7.8,51,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2221,3381
$GC,1405,-0.74,-146.6,115.3,-6.2,66,1409,0.00,2.65,0.00,0.000,4,0.000,0.064,2188,3640,3382
$GC,1433,-0.79,-146.6,117.1,-6.2,67,1438,0.15,2.55,0.00,0.000,6,0.044,0.044,2146,2225,3382
$GC,1751,-0.70,-146.6,136.6,-5.5,82,1753,0.15,0.00,0.00,0.000,6,0.087,0.000,2175,2225,3382
$GC,2059,-0.70,-146.6,147.4,-3.3,97,2063,0.00,2.65,0.00,0.000,4,0.000,0.066,2175,3641,3382
$GC,2087,-0.70,-146.6,148.2,-2.9,98,2091,0.00,2.55,0.00,0.000,6,0.000,0.046,2175,2228,3383
$GC,2403,-0.70,-146.6,159.8,-4.1,113,2407,0.00,2.65,0.00,0.000,4,0.000,0.067,2176,3641,3383
$GC,2430,-0.70,-146.6,161.1,-5.1,114,2434,0.00,2.53,0.00,0.000,6,0.000,0.046,2176,2230,3383
$GC,2747,-0.70,-146.6,177.2,-5.8,129,2751,0.00,2.62,0.00,0.000,4,0.000,0.059,2176,810,3383
$GC,2787,-0.78,-146.6,179.9,-6.6,131,2791,0.00,2.58,0.00,0.000,6,0.000,0.049,2176,2227,3383
$GC,3115,-0.78,-146.6,201.0,-6.7,147,3119,0.00,2.65,0.00,0.000,4,0.000,0.073,2176,3638,3383
$GC,3154,-0.78,-146.6,204.1,-7.8,149,3158,0.00,2.58,0.00,0.000,6,0.000,0.051,2176,2227,3383
$GC,3480,-0.78,-146.6,230.0,-8.6,165,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2227,3383
$GC,3790,-0.78,-146.6,254.5,-7.8,180,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2227,3383
$GC,4099,-0.83,-146.6,279.2,-8.0,195,4104,0.12,2.65,0.00,0.000,4,0.051,0.065,2138,811,3382
$GC,4143,-0.83,-146.6,283.5,-10.0,197,4148,0.00,2.60,0.00,0.000,6,0.000,0.054,2138,2229,3381
$GC,4466,-0.75,-146.6,314.8,-9.6,213,4471,0.15,2.67,0.00,0.000,4,0.093,0.077,2166,3644,3380
$GC,4515,-0.75,-146.6,319.3,-8.1,215,4520,0.00,2.62,0.00,0.000,6,0.000,0.056,2167,2225,3380
$GC,4831,-0.75,-146.6,342.0,-7.2,230,4835,0.00,2.65,0.00,0.000,4,0.000,0.070,2166,820,3379
$GC,4871,-0.82,-146.6,344.9,-8.1,232,4876,0.00,2.62,0.00,0.000,6,0.000,0.055,2167,2235,3379
$GC,5198,-0.82,-146.6,367.9,-7.0,248,5202,0.00,2.67,0.00,0.000,4,0.000,0.081,2167,3639,3378
$GC,5226,-0.82,-146.6,370.0,-7.9,249,5231,0.00,2.62,0.00,0.000,6,0.000,0.058,2166,2225,3378
$GC,5542,-0.82,-146.6,394.4,-7.6,264,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2225,3377
$GC,5851,-0.82,-146.6,417.2,-7.6,279,5855,0.00,2.72,0.00,0.000,4,0.000,0.082,2167,3637,3376
$GC,5873,-0.82,-146.6,419.0,-7.7,280,5877,0.00,2.62,0.00,0.000,6,0.000,0.059,2166,2228,3375
$GC,6195,-1.01,-146.6,432.3,0.1,296,6200,0.25,2.65,0.00,0.000,4,0.054,0.067,2107,814,3374
$STATE,6248,end dive,NO_VERTICAL_VELOCITY
$STATE,6248,begin apogee
$GC,6258,-0.31,0.0,432.3,0.0,298,6388,0.75,0.00,127.12,0.994,6,0.103,0.000,2257,2232,2781
$STATE,6389,end apogee,CONTROL_FINISHED_OK
$STATE,6389,begin climb
$GC,6393,0.85,146.6,432.2,0.0,305,6529,1.20,2.88,126.85,0.971,4,0.076,0.087,2509,3651,2183
$GC,6788,1.29,371.4,432.1,-0.2,323,6994,0.47,2.65,191.70,0.968,6,0.053,0.061,2617,2234,1266
$GC,7302,1.06,371.4,383.7,12.9,348,7307,0.28,2.67,0.00,0.000,4,0.099,0.072,2563,827,1264
$GC,7434,1.01,371.4,370.1,9.8,354,7439,0.00,2.67,0.00,0.000,6,0.000,0.058,2562,2255,1264
$GC,7762,0.96,371.4,338.7,9.4,370,7767,0.12,2.70,0.00,0.000,4,0.105,0.083,2540,3650,1263
$GC,7779,0.96,371.4,336.7,10.3,371,7784,0.00,2.65,0.00,0.000,6,0.000,0.061,2540,2241,1263
$GC,8106,0.96,371.4,309.5,8.1,387,8111,0.00,2.75,0.00,0.000,4,0.000,0.084,2540,3653,1262
$GC,8156,0.96,371.4,305.2,8.7,389,8161,0.00,2.65,0.00,0.000,6,0.000,0.063,2540,2241,1262
$GC,8473,0.96,371.4,282.0,7.7,404,8477,0.00,2.72,0.00,0.000,4,0.000,0.083,2540,3648,1262
$GC,8499,0.96,371.4,280.1,6.4,405,8504,0.00,2.65,0.00,0.000,6,0.000,0.063,2540,2237,1262
$GC,8817,0.99,394.6,262.1,5.4,420,8842,0.00,2.80,20.30,0.859,4,0.000,0.081,2540,3650,1172
$GC,8901,1.03,394.6,256.9,6.8,424,8905,0.00,2.65,0.00,0.000,6,0.000,0.063,2540,2240,1172
$GC,9227,1.07,394.6,231.3,8.7,440,9232,0.10,2.72,0.00,0.000,4,0.064,0.081,2566,3648,1172
$GC,9250,1.07,394.6,229.0,10.1,441,9254,0.00,2.65,0.00,0.000,6,0.000,0.062,2566,2239,1172
$GC,9570,1.07,394.6,197.0,9.6,457,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2239,1171
$GC,9879,1.07,394.6,167.0,10.4,472,9884,0.00,2.72,0.00,0.000,4,0.000,0.080,2566,3651,1171
$GC,9907,1.07,394.6,163.8,11.5,473,9912,0.00,2.65,0.00,0.000,6,0.000,0.061,2566,2236,1171
$GC,10223,1.07,394.6,128.7,11.0,488,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2235,1171
$GC,10534,1.07,394.6,96.6,9.9,503,10538,0.00,2.72,0.00,0.000,4,0.000,0.077,2566,3654,1171
$GC,10551,1.07,394.6,94.7,9.5,504,10556,0.00,2.62,0.00,0.000,6,0.000,0.060,2566,2241,1171
$GC,10879,1.07,394.6,66.2,8.3,520,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2241,1172
$GC,11187,1.07,394.6,41.2,8.1,535,11192,0.00,2.67,0.00,0.000,4,0.000,0.070,2566,820,1172
$GC,11209,1.07,394.6,39.3,7.9,536,11214,0.00,2.62,0.00,0.000,6,0.000,0.051,2566,2251,1172
$GC,11532,1.07,394.6,14.9,7.9,552,11536,0.00,2.62,0.00,0.000,4,0.000,0.072,2566,3647,1174
$GC,11565,1.13,394.6,12.0,7.8,553,11571,0.00,2.60,0.00,0.000,6,0.000,0.057,2566,2233,1174
$STATE,11694,end climb,SURFACE_DEPTH_REACHED
$STATE,11694,begin surface coast
$FINISH,0.7,1.026906
$STATE,11714,end surface coast,CONTROL_FINISHED_OK
$STATE,11714,begin surface
$SM_CCo,11737,82.70,0.648,0,0,509,557.32
$SM_GC,1.29,0.00,0.00,82.70,0.000,0.000,0.648,75,2230,509,-10.37,0.00,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1977
$TCM_TEMP,15.10
$XPDR_PINGS,50
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,23.5,55.631
$10V_AH,10.1,27.361
$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,26.725,127.450,465.975,82.700,0.000,18.034,27.639,120.090,16.000,0.000,0.000,32.373,1073.531,8593.481,666.316,1381.891,412.646,0.000,1401.485,0.000,1330.363,0.000,24.902
$DEVICE_MAMPS,167.973,88.972,994.032,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.365,380.267,444.324,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28548,561
$CAP_FILE_SIZE,95832,0
$CFSIZE,260165632,239460352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,100808,170731,6452.569,-1032.866,62,1.6,62,-11.3