version: 66.03
glider: 16
mission: 9
dive: 340
start: 8 9 108 21 35 52
data:
$ID,16
$MISSION,9
$DIVE,340
$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,-2100738
$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,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
$GPS1,212408,6451.190,-1036.508,38,2.0,38,-11.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-55.2
$GPS2,213535,6451.379,-1036.598,12,3.6,31,-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,159.4,86024,-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,-120.95,0.000,2,0.000,0.000,69,2235,2881
$GC,151,-0.85,-146.6,3.8,-3.2,6,181,11.70,2.65,-12.27,0.000,4,0.172,0.068,2139,817,3380
$GC,287,-0.77,-146.6,19.9,-8.7,12,292,0.12,2.58,0.00,0.000,6,0.101,0.048,2162,2229,3381
$GC,614,-0.71,-146.6,47.0,-8.9,28,619,0.00,2.62,0.00,0.000,4,0.000,0.067,2162,3636,3382
$GC,648,-0.66,-146.6,50.4,-9.5,29,655,0.12,2.58,0.00,0.000,6,0.095,0.050,2187,2220,3382
$GC,966,-0.66,-146.6,79.2,-9.7,45,970,0.00,2.60,0.00,0.000,4,0.000,0.058,2187,813,3382
$GC,994,-0.73,-146.6,82.3,-10.6,46,998,0.00,2.60,0.00,0.000,6,0.000,0.048,2187,2235,3382
$GC,1310,-0.77,-146.6,111.6,-8.3,61,1315,0.12,2.62,0.00,0.000,4,0.045,0.067,2145,3638,3382
$GC,1374,-0.68,-146.6,117.5,-9.4,64,1379,0.17,2.55,0.00,0.000,6,0.087,0.049,2180,2230,3383
$GC,1702,-0.68,-146.6,135.2,-4.1,80,1706,0.00,2.60,0.00,0.000,4,0.000,0.057,2180,811,3382
$GC,1731,-0.74,-146.6,136.5,-4.6,81,1735,0.00,2.58,0.00,0.000,6,0.000,0.047,2180,2229,3382
$GC,2048,-0.74,-146.6,149.6,-5.2,96,2053,0.00,2.62,0.00,0.000,4,0.000,0.066,2180,3641,3382
$GC,2081,-0.74,-146.6,151.9,-6.5,97,2085,0.00,2.55,0.00,0.000,6,0.000,0.046,2180,2229,3382
$GC,2398,-0.74,-146.6,169.4,-5.5,112,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2229,3382
$GC,2706,-0.79,-146.6,189.8,-6.6,127,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3382
$GC,3015,-0.84,-146.6,211.8,-7.4,142,3017,0.15,0.00,0.00,0.000,6,0.051,0.000,2139,2228,3382
$GC,3325,-0.76,-146.6,240.9,-9.7,157,3330,0.12,2.67,0.00,0.000,4,0.095,0.071,2163,3638,3383
$GC,3365,-0.76,-146.6,244.7,-9.2,159,3369,0.00,2.58,0.00,0.000,6,0.000,0.051,2163,2231,3383
$GC,3692,-0.76,-146.6,272.2,-8.1,175,3696,0.00,2.62,0.00,0.000,4,0.000,0.063,2163,820,3383
$GC,3719,-0.76,-146.6,274.6,-8.9,176,3723,0.00,2.60,0.00,0.000,6,0.000,0.052,2163,2232,3382
$GC,4035,-0.76,-146.6,299.2,-8.0,191,4039,0.00,2.65,0.00,0.000,4,0.000,0.075,2163,3638,3382
$GC,4079,-0.76,-146.6,303.3,-9.2,193,4083,0.00,2.60,0.00,0.000,6,0.000,0.054,2163,2225,3382
$GC,4400,-0.76,-146.6,332.1,-9.0,209,4405,0.00,2.65,0.00,0.000,4,0.000,0.068,2163,820,3381
$GC,4429,-0.76,-146.6,334.7,-9.3,210,4434,0.00,2.62,0.00,0.000,6,0.000,0.054,2162,2238,3381
$GC,4745,-0.76,-146.6,360.5,-7.6,225,4749,0.00,2.67,0.00,0.000,4,0.000,0.079,2163,3640,3380
$GC,4795,-0.76,-146.6,364.3,-8.0,227,4799,0.00,2.60,0.00,0.000,6,0.000,0.056,2163,2227,3380
$GC,5110,-0.76,-146.6,385.8,-6.7,242,5115,0.00,2.67,0.00,0.000,4,0.000,0.071,2163,814,3379
$GC,5155,-0.82,-146.6,388.8,-6.8,244,5160,0.00,2.62,0.00,0.000,6,0.000,0.058,2163,2229,3379
$GC,5477,-0.82,-146.6,408.8,-6.1,260,5481,0.00,2.70,0.00,0.000,4,0.000,0.083,2162,3640,3377
$GC,5504,-0.82,-146.6,410.9,-7.2,261,5508,0.00,2.62,0.00,0.000,6,0.000,0.059,2163,2228,3377
$STATE,5673,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5673,begin apogee
$GC,5680,-0.31,0.0,421.9,6.5,269,5810,0.47,0.00,127.38,0.978,6,0.091,0.000,2258,2228,2781
$STATE,5811,end apogee,CONTROL_FINISHED_OK
$STATE,5811,begin climb
$GC,5814,0.85,146.6,427.4,0.0,275,5950,1.20,2.85,126.35,0.960,4,0.081,0.081,2508,3647,2183
$GC,6210,0.78,146.6,415.6,6.4,293,6214,0.00,2.65,0.00,0.000,6,0.000,0.060,2508,2240,2183
$GC,6536,0.75,167.2,397.8,5.4,309,6557,0.00,0.00,18.77,0.908,6,0.000,0.000,2508,2240,2099
$GC,6866,0.77,194.0,379.6,5.3,325,6896,0.00,2.75,24.33,0.919,4,0.000,0.074,2508,829,1989
$GC,6936,0.78,199.3,375.5,5.9,328,6951,0.00,2.65,6.20,0.752,6,0.000,0.058,2508,2240,1968
$GC,7261,0.83,245.5,358.7,4.7,344,7307,0.00,2.80,40.25,0.935,4,0.000,0.072,2508,826,1780
$GC,7330,0.86,271.3,355.2,5.3,347,7361,0.00,2.67,23.70,0.904,6,0.000,0.058,2508,2244,1674
$GC,7671,0.93,273.4,337.2,5.9,364,7676,0.12,2.70,0.00,0.000,4,0.079,0.082,2533,3648,1673
$GC,7689,0.93,273.4,336.0,6.3,365,7694,0.00,2.65,0.00,0.000,6,0.000,0.062,2534,2234,1672
$GC,8016,0.93,273.4,311.1,7.6,381,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2234,1672
$GC,8325,0.93,273.4,288.8,6.6,396,8329,0.00,2.67,0.00,0.000,4,0.000,0.074,2534,829,1672
$GC,8353,0.93,273.4,286.9,6.8,397,8357,0.00,2.62,0.00,0.000,6,0.000,0.058,2534,2240,1671
$GC,8668,0.94,288.0,267.9,5.6,412,8688,0.00,0.00,15.32,0.855,6,0.000,0.000,2534,2240,1606
$GC,8998,1.00,338.3,251.6,4.6,428,9046,0.00,2.75,43.25,0.885,4,0.000,0.072,2534,829,1401
$GC,9070,1.07,408.9,248.4,4.1,431,9137,0.15,2.65,59.55,0.874,6,0.081,0.056,2564,2241,1114
$GC,9447,1.16,487.2,231.4,3.9,450,9521,0.00,2.78,66.35,0.860,4,0.000,0.071,2564,824,793
$GC,9563,1.25,513.7,226.1,5.3,455,9595,0.17,2.65,23.98,0.821,6,0.087,0.056,2598,2241,685
$GC,9907,1.19,513.7,201.0,8.8,472,9911,0.00,2.70,0.00,0.000,4,0.000,0.071,2599,822,685
$GC,9992,1.19,513.7,191.9,10.8,476,9997,0.00,2.62,0.00,0.000,6,0.000,0.056,2599,2239,685
$GC,10319,1.13,513.7,153.3,12.5,492,10324,0.12,2.70,0.00,0.000,4,0.113,0.070,2577,826,685
$GC,10421,1.13,513.7,142.1,10.2,496,10427,0.00,2.60,0.00,0.000,6,0.000,0.054,2577,2240,685
$GC,10737,1.13,513.7,111.9,9.7,512,10741,0.00,2.67,0.00,0.000,4,0.000,0.068,2577,827,686
$GC,10821,1.13,513.7,103.5,10.5,516,10826,0.00,2.60,0.00,0.000,6,0.000,0.051,2577,2245,685
$GC,11151,1.13,513.7,63.8,12.5,532,11155,0.00,2.67,0.00,0.000,4,0.000,0.066,2577,827,686
$GC,11240,1.13,513.7,53.0,11.8,536,11244,0.00,2.58,0.00,0.000,6,0.000,0.049,2577,2242,686
$GC,11561,1.13,513.7,16.5,11.5,552,11565,0.00,2.67,0.00,0.000,4,0.000,0.067,2577,824,687
$GC,11634,1.19,513.7,8.7,10.4,555,11638,0.00,2.58,0.00,0.000,6,0.000,0.049,2577,2241,687
$STATE,11720,end climb,SURFACE_DEPTH_REACHED
$STATE,11720,begin surface coast
$FINISH,0.4,1.013183
$STATE,11742,end surface coast,CONTROL_FINISHED_OK
$STATE,11742,begin surface
$SM_CCo,11764,24.30,0.609,1,0,509,557.32
$SM_GC,1.09,0.00,0.00,24.30,0.000,0.000,0.609,71,2241,509,-10.39,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1981
$TCM_TEMP,16.30
$XPDR_PINGS,47
$ALTIM_TOP_PING,18.7,17.8
$ALTIM_BOTTOM_PING,401.2,30.4
$24V_AH,23.5,54.900
$10V_AH,10.1,27.057
$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,25.775,132.300,575.425,24.300,0.000,54.658,90.836,248.000,15.000,0.000,0.000,32.462,1072.912,8621.285,712.923,1399.921,678.445,0.000,1472.352,0.000,1345.273,0.000,23.330
$DEVICE_MAMPS,171.808,82.836,977.925,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.088,378.981,416.897,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28468,560
$CAP_FILE_SIZE,102428,0
$CFSIZE,260165632,239685632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,100808,005338,6451.508,-1036.231,31,1.6,31,-11.4