version: 66.03
glider: 16
mission: 9
dive: 350
start: 8 11 108 8 15 40
data:
$ID,16
$MISSION,9
$DIVE,350
$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,-2100991.5
$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,22
$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
$GPS1,080957,6448.791,-1031.532,41,2.2,60,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-52.6
$GPS2,081523,6448.826,-1031.637,16,2.6,35,-11.3
$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,159.9,79899,-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,-120.93,0.000,2,0.000,0.000,71,2228,2766
$GC,151,-0.85,-146.6,3.2,-2.6,6,186,11.60,2.62,-17.45,0.000,4,0.168,0.067,2142,802,3381
$GC,309,-0.77,-146.6,20.1,-8.9,13,313,0.00,2.60,0.00,0.000,6,0.000,0.046,2142,2232,3381
$GC,638,-0.64,-146.6,47.1,-7.4,29,643,0.20,2.62,0.00,0.000,4,0.096,0.064,2185,3646,3381
$GC,688,-0.64,-146.6,50.0,-4.6,31,692,0.00,2.55,0.00,0.000,6,0.000,0.044,2185,2227,3381
$GC,1006,-0.64,-146.6,70.3,-8.8,46,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2227,3383
$GC,1313,-0.64,-146.6,98.8,-7.6,61,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2228,3383
$GC,1622,-0.64,-146.6,120.1,-7.3,76,1627,0.00,2.65,0.00,0.000,4,0.000,0.069,2185,3638,3383
$GC,1673,-0.64,-146.6,124.2,-7.9,78,1678,0.00,2.55,0.00,0.000,6,0.000,0.048,2185,2233,3383
$GC,1990,-0.69,-146.6,148.0,-7.4,93,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2232,3383
$GC,2299,-0.74,-146.6,169.9,-7.2,108,2303,0.00,2.65,0.00,0.000,4,0.000,0.071,2185,3638,3383
$GC,2333,-0.79,-146.6,172.5,-7.6,109,2339,0.12,2.58,0.00,0.000,6,0.051,0.049,2149,2222,3383
$GC,2649,-0.72,-146.6,198.6,-7.5,125,2654,0.12,2.67,0.00,0.000,4,0.090,0.072,2173,3638,3383
$GC,2682,-0.72,-146.6,201.0,-6.4,126,2688,0.00,2.58,0.00,0.000,6,0.000,0.050,2173,2227,3383
$GC,2998,-0.72,-146.6,217.2,-4.8,142,3003,0.00,2.62,0.00,0.000,4,0.000,0.063,2173,818,3383
$GC,3027,-0.78,-146.6,218.7,-5.2,143,3031,0.00,2.60,0.00,0.000,6,0.000,0.051,2173,2235,3383
$GC,3343,-0.78,-146.6,234.8,-5.3,158,3348,0.00,2.67,0.00,0.000,4,0.000,0.077,2174,3645,3383
$GC,3383,-0.78,-146.6,237.2,-6.3,160,3387,0.00,2.60,0.00,0.000,6,0.000,0.053,2173,2230,3383
$GC,3710,-0.78,-146.6,255.8,-5.9,176,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3383
$GC,4020,-0.78,-146.6,274.7,-6.3,191,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2229,3382
$GC,4328,-0.78,-146.6,293.3,-6.1,206,4333,0.00,2.72,0.00,0.000,4,0.000,0.081,2173,3641,3382
$GC,4361,-0.78,-146.6,295.7,-6.8,207,4368,0.00,2.62,0.00,0.000,6,0.000,0.057,2173,2224,3382
$GC,4678,-0.82,-146.6,317.0,-6.8,223,4680,0.12,0.00,0.00,0.000,6,0.055,0.000,2137,2225,3381
$GC,4987,-0.74,-146.6,343.9,-8.6,238,4992,0.15,2.72,0.00,0.000,4,0.097,0.082,2164,3641,3380
$GC,5027,-0.74,-146.6,347.2,-8.1,240,5032,0.00,2.62,0.00,0.000,6,0.000,0.059,2166,2231,3380
$GC,5355,-0.74,-146.6,372.0,-7.5,256,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2231,3379
$GC,5664,-0.74,-146.6,394.6,-7.1,271,5668,0.00,2.72,0.00,0.000,4,0.000,0.084,2166,3637,3377
$GC,5691,-0.74,-146.6,396.7,-6.9,272,5695,0.00,2.62,0.00,0.000,6,0.000,0.059,2166,2228,3377
$GC,6007,-0.74,-146.6,419.2,-6.8,287,6012,0.00,2.67,0.00,0.000,4,0.000,0.073,2166,819,3375
$GC,6037,-0.80,-146.6,421.5,-8.3,288,6041,0.00,2.62,0.00,0.000,6,0.000,0.059,2166,2229,3376
$STATE,6082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6082,begin apogee
$GC,6088,-0.31,0.0,425.1,7.5,290,6223,0.47,0.00,128.12,0.991,6,0.098,0.000,2261,2229,2781
$STATE,6224,end apogee,CONTROL_FINISHED_OK
$STATE,6224,begin climb
$GC,6228,0.85,146.6,430.9,0.0,297,6364,1.20,2.78,127.32,0.970,4,0.085,0.068,2510,832,2183
$GC,6423,0.84,217.4,429.7,4.1,306,6493,0.00,2.65,62.58,0.948,6,0.000,0.058,2510,2241,1893
$GC,6813,0.85,229.6,407.6,5.7,325,6835,0.00,2.80,11.60,0.864,4,0.000,0.071,2510,829,1845
$GC,6863,0.85,229.6,404.5,6.0,327,6867,0.00,2.67,0.00,0.000,6,0.000,0.060,2510,2245,1845
$GC,7184,0.85,229.6,384.5,6.1,343,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2245,1845
$GC,7493,0.87,243.4,366.7,5.6,358,7514,0.00,2.80,13.35,0.884,4,0.000,0.074,2510,829,1787
$GC,7525,0.87,243.4,364.7,6.2,359,7530,0.00,2.67,0.00,0.000,6,0.000,0.059,2510,2245,1787
$GC,7842,0.87,246.7,345.6,5.9,374,7851,0.00,2.72,4.47,0.676,4,0.000,0.073,2510,829,1775
$GC,7868,0.91,246.7,343.8,6.2,375,7873,0.00,2.65,0.00,0.000,6,0.000,0.059,2510,2237,1775
$GC,8184,0.96,246.7,324.5,6.3,390,8189,0.12,2.72,0.00,0.000,4,0.065,0.083,2543,3650,1775
$GC,8213,0.90,246.7,322.4,8.3,391,8217,0.00,2.65,0.00,0.000,6,0.000,0.063,2542,2240,1775
$GC,8529,0.86,246.7,298.6,7.7,406,8534,0.12,2.70,0.00,0.000,4,0.104,0.074,2519,824,1774
$GC,8575,0.86,246.7,295.4,7.2,408,8579,0.00,2.65,0.00,0.000,6,0.000,0.059,2519,2243,1773
$GC,8896,0.86,246.7,272.8,7.4,424,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2243,1773
$GC,9205,0.86,246.7,246.1,9.1,439,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2244,1773
$GC,9514,0.86,246.7,215.7,10.3,454,9518,0.00,2.70,0.00,0.000,4,0.000,0.071,2519,825,1772
$GC,9542,0.86,246.7,212.8,10.7,455,9546,0.00,2.62,0.00,0.000,6,0.000,0.057,2519,2241,1772
$GC,9857,0.86,246.7,183.4,8.7,470,9862,0.00,2.70,0.00,0.000,4,0.000,0.081,2519,3652,1772
$GC,9892,0.86,246.7,180.7,7.7,471,9898,0.00,2.62,0.00,0.000,6,0.000,0.061,2519,2240,1771
$GC,10208,0.88,272.1,162.0,5.3,487,10238,0.00,2.75,22.23,0.815,4,0.000,0.069,2519,829,1670
$GC,10267,0.93,315.2,159.2,4.8,489,10313,0.00,2.62,36.92,0.820,6,0.000,0.055,2520,2241,1496
$GC,10625,1.03,352.7,143.3,5.0,507,10668,0.15,2.78,32.25,0.802,4,0.054,0.067,2562,820,1341
$GC,10703,1.03,352.7,137.4,8.5,510,10707,0.00,2.65,0.00,0.000,6,0.000,0.053,2561,2244,1341
$GC,11020,0.99,352.7,111.8,8.2,525,11025,0.00,2.65,0.00,0.000,4,0.000,0.072,2561,3647,1341
$GC,11049,0.99,352.7,109.2,8.7,526,11053,0.00,2.62,0.00,0.000,6,0.000,0.057,2562,2234,1341
$GC,11365,0.99,352.7,83.6,8.6,541,11369,0.00,2.62,0.00,0.000,4,0.000,0.066,2561,827,1341
$GC,11451,0.99,352.7,76.8,8.1,545,11456,0.00,2.60,0.00,0.000,6,0.000,0.051,2562,2249,1341
$GC,11779,0.93,352.7,50.4,8.0,561,11784,0.15,2.67,0.00,0.000,4,0.092,0.064,2529,826,1342
$GC,11835,0.98,352.7,46.3,7.0,563,11841,0.00,2.58,0.00,0.000,6,0.000,0.049,2529,2240,1341
$GC,12152,1.03,352.7,23.1,7.3,579,12157,0.12,2.65,0.00,0.000,4,0.053,0.062,2565,826,1342
$GC,12193,0.97,352.7,19.3,9.7,581,12198,0.12,2.58,0.00,0.000,6,0.094,0.049,2541,2241,1342
$STATE,12414,end climb,SURFACE_DEPTH_REACHED
$STATE,12414,begin surface coast
$FINISH,0.5,1.019070
$STATE,12436,end surface coast,CONTROL_FINISHED_OK
$STATE,12436,begin surface
$SM_CCo,12458,105.95,0.660,0,0,509,557.32
$SM_GC,1.03,0.00,0.00,105.95,0.000,0.000,0.660,73,2243,509,-10.38,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1961
$TCM_TEMP,16.50
$XPDR_PINGS,58
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,400.1,34.9
$24V_AH,23.4,56.394
$10V_AH,10.1,27.694
$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,25.650,132.825,438.850,105.950,0.000,18.331,32.497,133.826,17.750,0.000,0.000,36.028,1118.460,9264.368,693.552,1374.245,442.893,0.000,1426.689,0.000,1321.785,0.000,23.328
$DEVICE_MAMPS,167.973,83.603,990.964,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.754,402.250,463.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31643,593
$CAP_FILE_SIZE,99639,0
$CFSIZE,260165632,239214592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,110808,114625,6447.565,-1033.309,23,1.8,41,-11.3