version: 66.03
glider: 16
mission: 9
dive: 336
start: 8 9 108 7 29 28
data:
$ID,16
$MISSION,9
$DIVE,336
$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,-2100638.5
$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,19
$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
$GPS1,072338,6451.092,-1035.739,29,1.6,29,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-56.3
$GPS2,072909,6451.154,-1035.894,15,1.7,15,-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,159.5,85370,-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,-120.60,0.000,2,0.000,0.000,72,2243,2890
$GC,150,-0.85,-146.6,3.9,-3.2,6,180,11.70,2.67,-12.07,0.000,4,0.171,0.069,2141,814,3382
$GC,239,-0.80,-146.6,15.6,-8.7,10,243,0.00,2.58,0.00,0.000,6,0.000,0.048,2141,2230,3382
$GC,566,-0.69,-146.6,44.1,-8.4,26,571,0.15,2.62,0.00,0.000,4,0.096,0.067,2174,3638,3382
$GC,606,-0.69,-146.6,47.1,-6.8,28,611,0.00,2.58,0.00,0.000,6,0.000,0.048,2173,2221,3383
$GC,933,-0.69,-146.6,73.0,-8.7,44,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2221,3383
$GC,1242,-0.69,-146.6,101.1,-8.8,59,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2221,3383
$GC,1553,-0.69,-146.6,125.1,-7.1,74,1557,0.00,2.67,0.00,0.000,4,0.000,0.070,2174,3641,3383
$GC,1592,-0.69,-146.6,128.0,-7.5,76,1597,0.00,2.58,0.00,0.000,6,0.000,0.049,2174,2226,3383
$GC,1921,-0.69,-146.6,147.1,-5.7,92,1925,0.00,2.65,0.00,0.000,4,0.000,0.070,2174,3644,3383
$GC,1948,-0.69,-146.6,149.0,-6.4,93,1952,0.00,2.58,0.00,0.000,6,0.000,0.048,2173,2226,3384
$GC,2264,-0.69,-146.6,171.7,-7.6,108,2268,0.00,2.65,0.00,0.000,4,0.000,0.070,2174,3638,3383
$GC,2297,-0.69,-146.6,174.6,-8.4,109,2306,0.00,2.55,0.00,0.000,6,0.000,0.048,2174,2230,3384
$GC,2612,-0.69,-146.6,198.3,-7.2,125,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3384
$GC,2922,-0.69,-146.6,218.6,-5.9,140,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3384
$GC,3232,-0.69,-146.6,232.3,-3.7,155,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3384
$GC,3540,-0.69,-146.6,248.2,-6.0,170,3545,0.00,2.67,0.00,0.000,4,0.000,0.076,2174,3638,3384
$GC,3570,-0.69,-146.6,250.0,-6.9,171,3575,0.00,2.58,0.00,0.000,6,0.000,0.052,2174,2230,3384
$GC,3887,-0.73,-146.6,271.2,-6.3,186,3892,0.00,2.70,0.00,0.000,4,0.000,0.077,2174,3642,3384
$GC,3945,-0.73,-146.6,275.3,-6.5,188,3951,0.00,2.60,0.00,0.000,6,0.000,0.054,2174,2226,3384
$GC,4262,-0.73,-146.6,295.3,-6.5,204,4266,0.00,2.62,0.00,0.000,4,0.000,0.065,2174,817,3383
$GC,4302,-0.84,-146.6,298.0,-7.1,206,4307,0.15,2.62,0.00,0.000,6,0.052,0.054,2131,2234,3383
$GC,4632,-0.77,-146.6,325.1,-8.8,222,4637,0.15,2.67,0.00,0.000,4,0.093,0.079,2159,3638,3382
$GC,4672,-0.77,-146.6,328.8,-7.7,224,4677,0.00,2.60,0.00,0.000,6,0.000,0.057,2159,2231,3382
$GC,4999,-0.77,-146.6,353.1,-7.4,240,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2231,3381
$GC,5309,-0.77,-146.6,376.2,-7.3,255,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2231,3381
$GC,5618,-0.77,-146.6,399.0,-7.9,270,5623,0.00,2.67,0.00,0.000,4,0.000,0.071,2159,816,3379
$GC,5663,-0.84,-146.6,402.8,-8.5,272,5667,0.00,2.62,0.00,0.000,6,0.000,0.059,2159,2229,3379
$STATE,5898,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5898,begin apogee
$GC,5906,-0.31,0.0,421.6,7.9,284,6041,0.50,0.00,127.43,0.971,6,0.094,0.000,2260,2229,2781
$STATE,6041,end apogee,CONTROL_FINISHED_OK
$STATE,6041,begin climb
$GC,6044,0.85,146.6,428.2,0.0,291,6180,1.17,2.88,126.15,0.956,4,0.075,0.082,2507,3650,2183
$GC,6217,0.89,276.0,430.0,2.5,299,6335,0.00,2.67,110.72,0.941,6,0.000,0.061,2507,2235,1656
$GC,6644,1.08,276.0,401.4,7.9,320,6649,0.22,2.72,0.00,0.000,4,0.074,0.081,2558,3648,1654
$GC,6672,1.08,276.0,398.8,9.6,321,6676,0.00,2.65,0.00,0.000,6,0.000,0.061,2559,2240,1654
$GC,6989,1.00,276.0,367.9,9.7,336,6993,0.00,2.70,0.00,0.000,4,0.000,0.076,2559,828,1653
$GC,7061,0.92,276.0,360.3,10.5,339,7066,0.15,2.62,0.00,0.000,6,0.104,0.058,2532,2240,1652
$GC,7377,0.92,276.0,332.8,8.8,354,7382,0.00,2.70,0.00,0.000,4,0.000,0.074,2532,828,1651
$GC,7405,0.92,276.0,330.0,9.8,355,7409,0.00,2.62,0.00,0.000,6,0.000,0.058,2533,2240,1651
$GC,7720,0.92,276.0,304.5,7.5,370,7725,0.00,2.70,0.00,0.000,4,0.000,0.073,2531,828,1651
$GC,7748,0.92,276.0,302.5,7.1,371,7752,0.00,2.62,0.00,0.000,6,0.000,0.057,2532,2240,1651
$GC,8065,0.92,276.0,280.0,7.9,386,8069,0.00,2.70,0.00,0.000,4,0.000,0.081,2532,3653,1651
$GC,8097,0.92,276.0,277.0,9.0,387,8103,0.00,2.65,0.00,0.000,6,0.000,0.061,2532,2235,1651
$GC,8413,0.92,276.0,252.1,7.6,403,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2235,1650
$GC,8724,0.92,276.0,227.6,8.1,418,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2235,1650
$GC,9031,0.92,279.6,206.7,5.9,433,9040,0.00,2.72,3.45,0.528,4,0.000,0.075,2532,3646,1641
$GC,9070,0.92,279.6,204.5,6.2,434,9076,0.00,2.62,0.00,0.000,6,0.000,0.056,2532,2231,1641
$GC,9386,0.97,321.8,188.6,4.8,450,9425,0.00,0.00,36.80,0.815,6,0.000,0.000,2532,2232,1469
$GC,9735,0.97,321.8,167.1,7.0,467,9739,0.00,2.62,0.00,0.000,4,0.000,0.066,2532,823,1467
$GC,9762,1.01,321.8,165.0,7.9,468,9766,0.00,2.60,0.00,0.000,6,0.000,0.049,2532,2245,1467
$GC,10079,1.01,321.8,142.2,6.8,483,10083,0.00,2.65,0.00,0.000,4,0.000,0.063,2532,828,1467
$GC,10100,1.01,321.8,140.6,7.0,484,10104,0.00,2.58,0.00,0.000,6,0.000,0.048,2532,2241,1467
$GC,10421,1.01,321.8,119.4,6.7,500,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2242,1467
$GC,10731,1.01,321.8,98.1,6.6,515,10735,0.00,2.65,0.00,0.000,4,0.000,0.061,2532,820,1468
$GC,10786,1.07,321.8,94.5,6.6,517,10793,0.15,2.58,0.00,0.000,6,0.051,0.046,2565,2243,1468
$GC,11103,1.00,321.8,69.6,7.6,533,11107,0.00,2.65,0.00,0.000,4,0.000,0.061,2565,820,1469
$GC,11131,0.95,321.8,67.2,8.0,534,11136,0.15,2.58,0.00,0.000,6,0.087,0.046,2536,2243,1469
$GC,11449,0.95,321.8,45.4,6.7,549,11453,0.00,2.62,0.00,0.000,4,0.000,0.061,2536,827,1470
$GC,11481,0.95,321.8,42.9,7.2,550,11487,0.00,2.55,0.00,0.000,6,0.000,0.046,2536,2242,1471
$GC,11798,1.00,321.8,16.3,8.6,566,11803,0.00,2.62,0.00,0.000,4,0.000,0.061,2536,826,1472
$GC,11821,1.06,321.8,14.4,8.3,567,11826,0.12,2.55,0.00,0.000,6,0.049,0.047,2568,2241,1471
$STATE,11974,end climb,SURFACE_DEPTH_REACHED
$STATE,11974,begin surface coast
$FINISH,0.5,1.027035
$STATE,11998,end surface coast,CONTROL_FINISHED_OK
$STATE,11998,begin surface
$SM_CCo,12020,118.55,0.632,0,0,508,557.32
$SM_GC,1.24,0.00,0.00,118.55,0.000,0.000,0.632,70,2241,508,-10.39,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1915
$TCM_TEMP,17.10
$XPDR_PINGS,44
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,400.1,30.8
$24V_AH,23.5,54.309
$10V_AH,10.1,26.804
$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,25.500,121.350,404.550,118.550,0.000,18.265,51.187,136.708,14.250,0.000,0.000,15.275,1072.600,9007.200,673.704,1264.531,457.974,0.000,1349.955,0.000,1236.840,0.000,23.326
$DEVICE_MAMPS,171.041,82.069,971.022,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.365,390.761,463.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28518,576
$CAP_FILE_SIZE,92024,0
$CFSIZE,260165632,239882240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090808,105308,6450.536,-1037.586,41,1.6,41,-11.4