version: 66.03
glider: 16
mission: 9
dive: 354
start: 8 11 108 23 5 16
data:
$ID,16
$MISSION,9
$DIVE,354
$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,-2101096.5
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,225931,6445.006,-1031.438,41,2.0,41,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-53.4
$GPS2,230459,6445.041,-1031.498,15,2.1,34,-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,157.1,73943,-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,-120.85,0.000,2,0.000,0.000,71,2244,2736
$GC,151,-0.85,-146.6,3.4,-2.6,6,187,11.70,2.65,-18.62,0.000,4,0.171,0.068,2141,816,3379
$GC,346,-0.79,-146.6,26.1,-11.1,14,350,0.00,2.58,0.00,0.000,6,0.000,0.048,2141,2230,3379
$GC,673,-0.67,-146.6,61.7,-10.3,30,678,0.17,2.62,0.00,0.000,4,0.098,0.066,2178,3646,3381
$GC,717,-0.67,-146.6,65.6,-8.3,32,722,0.00,2.58,0.00,0.000,6,0.000,0.044,2178,2221,3381
$GC,1040,-0.67,-146.6,86.7,-6.2,48,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2221,3382
$GC,1350,-0.67,-146.6,106.2,-6.9,63,1354,0.00,2.67,0.00,0.000,4,0.000,0.067,2178,3644,3382
$GC,1405,-0.67,-146.6,110.7,-8.0,65,1412,0.00,2.55,0.00,0.000,6,0.000,0.046,2178,2228,3382
$GC,1722,-0.67,-146.6,133.3,-6.9,81,1726,0.00,2.67,0.00,0.000,4,0.000,0.070,2178,3644,3383
$GC,1761,-0.67,-146.6,136.3,-7.3,83,1766,0.00,2.58,0.00,0.000,6,0.000,0.048,2178,2231,3383
$GC,2089,-0.67,-146.6,153.1,-4.5,99,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2231,3383
$GC,2397,-0.67,-146.6,172.3,-6.8,114,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2231,3383
$GC,2707,-0.67,-146.6,194.5,-6.5,129,2711,0.00,2.67,0.00,0.000,4,0.000,0.074,2178,3638,3382
$GC,2739,-0.67,-146.6,196.7,-6.5,130,2746,0.00,2.58,0.00,0.000,6,0.000,0.051,2178,2227,3383
$GC,3057,-0.67,-146.6,213.5,-5.6,146,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2227,3382
$GC,3365,-0.72,-146.6,232.6,-6.4,161,3369,0.00,2.70,0.00,0.000,4,0.000,0.076,2180,3637,3383
$GC,3415,-0.77,-146.6,236.5,-7.5,163,3419,0.00,2.60,0.00,0.000,6,0.000,0.054,2178,2227,3382
$GC,3732,-0.81,-146.6,259.7,-7.4,178,3733,0.12,0.00,0.00,0.000,6,0.052,0.000,2142,2227,3382
$GC,4040,-0.75,-146.6,287.7,-9.3,193,4045,0.12,2.72,0.00,0.000,4,0.097,0.080,2165,3641,3382
$GC,4085,-0.75,-146.6,291.8,-8.9,195,4090,0.00,2.62,0.00,0.000,6,0.000,0.055,2165,2225,3382
$GC,4406,-0.75,-146.6,318.0,-8.4,211,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2224,3381
$GC,4716,-0.75,-146.6,340.8,-6.7,226,4720,0.00,2.72,0.00,0.000,4,0.000,0.082,2165,3636,3380
$GC,4749,-0.75,-146.6,343.2,-7.5,227,4755,0.00,2.62,0.00,0.000,6,0.000,0.058,2165,2224,3380
$GC,5064,-0.75,-146.6,364.8,-7.1,243,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2223,3379
$GC,5374,-0.75,-146.6,386.7,-7.2,258,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2224,3378
$GC,5684,-0.75,-146.6,408.7,-6.8,273,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2223,3377
$GC,5992,-0.75,-146.6,430.1,-6.9,288,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2223,3376
$STATE,6010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6010,begin apogee
$GC,6017,-0.31,0.0,431.7,7.0,289,6148,0.47,0.00,127.95,1.002,6,0.097,0.000,2260,2223,2781
$STATE,6148,end apogee,CONTROL_FINISHED_OK
$STATE,6149,begin climb
$GC,6152,0.85,146.6,438.2,0.0,295,6289,1.20,2.75,127.07,0.981,4,0.082,0.071,2509,827,2182
$GC,6312,0.85,186.0,438.3,4.9,302,6353,0.00,2.67,35.60,0.946,6,0.000,0.058,2508,2238,2022
$GC,6663,0.85,186.0,418.8,6.2,319,6668,0.00,2.72,0.00,0.000,4,0.000,0.083,2509,3652,2020
$GC,6704,0.85,186.0,416.2,6.9,321,6709,0.00,2.67,0.00,0.000,6,0.000,0.061,2508,2234,2020
$GC,7030,0.86,198.6,397.3,5.7,337,7052,0.00,2.80,11.75,0.887,4,0.000,0.073,2509,826,1971
$GC,7069,0.87,203.1,394.9,5.9,338,7080,0.00,2.67,5.55,0.746,6,0.000,0.058,2509,2243,1953
$GC,7402,0.88,214.9,375.6,5.7,355,7415,0.00,0.00,12.00,0.890,6,0.000,0.000,2508,2243,1904
$GC,7712,0.90,234.8,357.7,5.5,370,7732,0.00,0.00,18.62,0.919,6,0.000,0.000,2509,2243,1822
$GC,8041,0.92,253.9,339.7,5.5,386,8065,0.00,2.80,17.73,0.910,4,0.000,0.071,2508,829,1745
$GC,8084,1.00,286.8,337.4,5.1,388,8119,0.17,2.65,29.27,0.923,6,0.062,0.058,2552,2240,1611
$GC,8434,1.00,286.8,309.6,8.7,404,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2240,1609
$GC,8739,1.00,286.8,281.1,9.6,419,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2240,1609
$GC,9050,0.96,286.8,252.3,9.0,434,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2240,1608
$GC,9358,0.96,286.8,227.4,7.6,449,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2240,1608
$GC,9667,0.96,286.8,200.9,8.9,464,9668,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2240,1608
$GC,9977,0.96,286.8,173.6,8.7,479,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2240,1608
$GC,10286,0.96,286.8,149.8,6.9,494,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2240,1608
$GC,10597,0.96,286.8,125.4,8.3,509,10601,0.00,2.67,0.00,0.000,4,0.000,0.075,2551,3653,1608
$GC,10629,0.96,286.8,122.2,8.5,510,10636,0.00,2.60,0.00,0.000,6,0.000,0.055,2552,2241,1608
$GC,10947,0.92,286.8,97.0,7.8,526,10952,0.12,2.65,0.00,0.000,4,0.098,0.066,2528,827,1608
$GC,10974,0.92,286.8,94.9,6.7,527,10978,0.00,2.60,0.00,0.000,6,0.000,0.051,2528,2245,1608
$GC,11291,0.92,286.8,73.8,6.7,542,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2246,1608
$GC,11600,0.92,286.8,52.3,6.8,557,11604,0.00,2.65,0.00,0.000,4,0.000,0.061,2528,826,1608
$GC,11628,0.96,286.8,50.3,7.1,558,11632,0.00,2.58,0.00,0.000,6,0.000,0.048,2528,2241,1608
$GC,11944,1.04,304.3,30.9,5.5,573,11964,0.12,0.00,15.60,0.680,6,0.053,0.000,2562,2241,1540
$GC,12274,1.04,304.3,7.0,7.4,589,12275,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2241,1539
$STATE,12353,end climb,SURFACE_DEPTH_REACHED
$STATE,12353,begin surface coast
$FINISH,0.5,1.016796
$STATE,12377,end surface coast,CONTROL_FINISHED_OK
$STATE,12377,begin surface
$SM_CCo,12400,132.52,0.663,1,0,508,557.32
$SM_GC,1.14,0.00,0.00,132.52,0.000,0.000,0.663,73,2243,508,-10.38,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1927
$TCM_TEMP,16.10
$XPDR_PINGS,51
$ALTIM_TOP_PING,19.1,18.6
$ALTIM_BOTTOM_PING,425.8,15.5
$24V_AH,23.4,56.993
$10V_AH,10.1,27.957
$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,25.225,79.650,401.150,132.525,0.000,18.026,35.637,128.795,16.750,0.000,0.000,35.796,1078.081,9428.996,679.130,1258.091,424.931,0.000,1313.938,0.000,1211.408,0.000,30.674
$DEVICE_MAMPS,171.041,82.836,1001.702,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.581,403.428,473.892,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31718,594
$CAP_FILE_SIZE,86516,0
$CFSIZE,260165632,239013888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,120808,023532,6443.752,-1031.108,38,1.3,38,-11.3