version: 66.03
glider: 16
mission: 9
dive: 343
start: 8 10 108 6 29 49
data:
$ID,16
$MISSION,9
$DIVE,343
$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,-2100820.5
$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,20
$R_STBD_OVSHOOT,27
$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
$GPS1,062459,6452.661,-1035.212,13,2.5,32,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-53.2
$GPS2,062929,6452.705,-1035.335,12,3.7,31,-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,160.8,87592,-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,-146.6,0.0,0.0,0,157,0.00,0.00,-130.77,0.000,2,0.000,0.000,69,2239,3143
$GC,160,-0.85,-146.6,5.1,-4.6,7,183,11.73,2.62,-4.75,0.000,4,0.171,0.069,2142,815,3379
$GC,329,-0.78,-146.6,30.2,-9.6,14,334,0.00,2.58,0.00,0.000,6,0.000,0.047,2142,2230,3380
$GC,646,-0.67,-146.6,61.1,-9.7,29,651,0.17,2.62,0.00,0.000,4,0.094,0.054,2180,813,3380
$GC,674,-0.67,-146.6,63.5,-8.3,30,678,0.00,2.58,0.00,0.000,6,0.000,0.046,2180,2230,3380
$GC,991,-0.67,-146.6,84.8,-6.4,45,995,0.00,2.62,0.00,0.000,4,0.000,0.066,2180,3640,3381
$GC,1019,-0.67,-146.6,86.7,-6.1,46,1023,0.00,2.55,0.00,0.000,6,0.000,0.044,2179,2224,3381
$GC,1335,-0.67,-146.6,105.3,-6.0,61,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2224,3381
$GC,1644,-0.67,-146.6,125.7,-6.7,76,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2225,3381
$GC,1954,-0.67,-146.6,146.2,-6.5,91,1958,0.00,2.65,0.00,0.000,4,0.000,0.066,2180,3640,3381
$GC,1981,-0.67,-146.6,148.1,-6.9,92,1986,0.00,2.55,0.00,0.000,6,0.000,0.044,2180,2224,3381
$GC,2297,-0.67,-146.6,166.7,-5.2,107,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2224,3381
$GC,2606,-0.67,-146.6,180.1,-3.8,122,2611,0.00,2.65,0.00,0.000,4,0.000,0.068,2180,3641,3381
$GC,2634,-0.67,-146.6,181.5,-4.9,123,2639,0.00,2.55,0.00,0.000,6,0.000,0.045,2181,2224,3381
$GC,2950,-0.72,-146.6,196.3,-5.3,138,2955,0.00,2.65,0.00,0.000,4,0.000,0.069,2180,3638,3381
$GC,2985,-0.76,-146.6,198.4,-6.2,139,2991,0.00,2.55,0.00,0.000,6,0.000,0.047,2181,2228,3381
$GC,3301,-0.82,-146.6,219.6,-7.3,155,3306,0.15,2.60,0.00,0.000,4,0.045,0.060,2130,820,3381
$GC,3334,-0.75,-146.6,222.7,-9.7,156,3341,0.17,2.58,0.00,0.000,6,0.087,0.051,2164,2229,3381
$GC,3650,-0.75,-146.6,249.4,-8.5,172,3655,0.00,2.65,0.00,0.000,4,0.000,0.074,2164,3637,3381
$GC,3678,-0.75,-146.6,251.9,-8.9,173,3682,0.00,2.58,0.00,0.000,6,0.000,0.051,2164,2230,3381
$GC,3994,-0.75,-146.6,278.6,-8.4,188,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3381
$GC,4303,-0.75,-146.6,302.1,-7.5,203,4307,0.00,2.70,0.00,0.000,4,0.000,0.078,2164,3638,3380
$GC,4342,-0.75,-146.6,305.4,-9.2,205,4346,0.00,2.60,0.00,0.000,6,0.000,0.054,2164,2230,3380
$GC,4670,-0.75,-146.6,336.1,-9.5,221,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3378
$GC,4978,-0.75,-146.6,364.4,-8.9,236,4982,0.00,2.70,0.00,0.000,4,0.000,0.081,2164,3641,3377
$GC,5017,-0.75,-146.6,368.3,-9.8,238,5022,0.00,2.60,0.00,0.000,6,0.000,0.057,2164,2231,3377
$GC,5345,-0.75,-146.6,394.3,-7.2,254,5349,0.00,2.67,0.00,0.000,4,0.000,0.071,2164,817,3376
$GC,5378,-0.81,-146.6,396.8,-7.6,255,5384,0.00,2.60,0.00,0.000,6,0.000,0.058,2164,2228,3376
$GC,5694,-0.81,-146.6,420.3,-7.3,271,5699,0.00,2.70,0.00,0.000,4,0.000,0.083,2164,3637,3374
$GC,5734,-0.81,-146.6,423.4,-7.8,273,5739,0.00,2.60,0.00,0.000,6,0.000,0.060,2164,2233,3374
$STATE,6059,end dive,NO_VERTICAL_VELOCITY
$STATE,6059,begin apogee
$GC,6065,-0.31,0.0,431.8,0.0,289,6196,0.45,0.00,128.00,0.983,6,0.074,0.000,2259,2232,2781
$STATE,6197,end apogee,CONTROL_FINISHED_OK
$STATE,6197,begin climb
$GC,6200,0.85,146.6,431.8,0.0,295,6336,1.20,2.78,126.80,0.965,4,0.078,0.072,2510,837,2182
$GC,6589,0.84,201.1,422.0,4.5,312,6643,0.00,2.62,47.78,0.946,6,0.000,0.058,2510,2240,1959
$GC,6970,0.86,220.3,400.8,5.5,331,6994,0.00,2.78,17.77,0.906,4,0.000,0.070,2509,832,1882
$GC,7007,0.86,220.3,398.5,6.3,333,7011,0.00,2.65,0.00,0.000,6,0.000,0.057,2509,2240,1882
$GC,7334,0.87,224.4,379.0,5.9,349,7341,0.00,0.00,4.97,0.712,6,0.000,0.000,2509,2240,1866
$GC,7644,0.87,224.4,359.3,6.9,364,7648,0.00,2.72,0.00,0.000,4,0.000,0.071,2510,824,1865
$GC,7678,0.87,224.4,356.9,6.7,365,7684,0.00,2.65,0.00,0.000,6,0.000,0.059,2509,2242,1865
$GC,7995,0.87,224.4,335.6,6.8,381,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2243,1865
$GC,8303,0.89,248.7,317.1,5.3,396,8332,0.00,2.83,22.08,0.908,4,0.000,0.083,2510,3648,1766
$GC,8346,0.93,281.5,314.9,5.1,398,8381,0.10,2.67,28.98,0.907,6,0.071,0.062,2535,2239,1633
$GC,8700,0.93,281.5,292.6,6.5,415,8704,0.00,2.70,0.00,0.000,4,0.000,0.074,2535,828,1632
$GC,8721,0.93,281.5,290.9,6.8,416,8726,0.00,2.65,0.00,0.000,6,0.000,0.060,2535,2243,1631
$GC,9042,0.93,281.5,268.0,7.6,432,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2243,1631
$GC,9352,0.93,281.5,242.3,8.4,447,9356,0.00,2.70,0.00,0.000,4,0.000,0.081,2535,3656,1631
$GC,9384,0.93,281.5,239.5,8.6,448,9390,0.00,2.65,0.00,0.000,6,0.000,0.062,2535,2239,1632
$GC,9700,0.93,281.5,218.7,6.1,464,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2239,1631
$GC,10011,0.93,281.5,200.3,6.3,479,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2239,1631
$GC,10318,0.93,281.5,176.7,8.6,494,10323,0.00,2.70,0.00,0.000,4,0.000,0.075,2535,3652,1630
$GC,10387,0.93,281.5,170.3,10.3,497,10391,0.00,2.60,0.00,0.000,6,0.000,0.056,2535,2237,1631
$GC,10709,0.93,281.5,140.7,9.1,513,10713,0.00,2.67,0.00,0.000,4,0.000,0.071,2535,3651,1631
$GC,10736,0.93,281.5,137.9,9.7,514,10740,0.00,2.60,0.00,0.000,6,0.000,0.054,2535,2236,1631
$GC,11052,0.93,281.5,110.3,8.8,529,11053,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2236,1631
$GC,11362,0.93,281.5,83.7,8.3,544,11366,0.00,2.60,0.00,0.000,4,0.000,0.062,2535,829,1631
$GC,11395,0.93,281.5,80.8,8.1,545,11401,0.00,2.58,0.00,0.000,6,0.000,0.049,2535,2250,1631
$GC,11712,0.93,281.5,55.4,7.6,561,11716,0.00,2.60,0.00,0.000,4,0.000,0.067,2535,3648,1632
$GC,11735,0.93,281.5,53.5,7.5,562,11739,0.00,2.58,0.00,0.000,6,0.000,0.051,2535,2237,1632
$GC,12056,0.93,281.5,32.2,6.1,578,12061,0.00,2.60,0.00,0.000,4,0.000,0.060,2535,826,1633
$GC,12112,0.95,304.7,28.8,5.4,580,12140,0.00,2.55,20.23,0.668,6,0.000,0.047,2535,2242,1539
$GC,12450,0.95,304.7,8.0,6.8,597,12454,0.00,2.62,0.00,0.000,4,0.000,0.060,2535,828,1539
$GC,12500,1.03,304.7,4.4,7.1,599,12504,0.00,2.55,0.00,0.000,6,0.000,0.045,2535,2240,1538
$STATE,12545,end climb,SURFACE_DEPTH_REACHED
$STATE,12545,begin surface coast
$FINISH,0.4,1.027022
$STATE,12568,end surface coast,CONTROL_FINISHED_OK
$STATE,12568,begin surface
$SM_CCo,12590,128.48,0.642,0,0,508,557.32
$SM_GC,1.11,0.00,0.00,128.48,0.000,0.000,0.642,66,2241,508,-10.41,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1913
$TCM_TEMP,17.20
$XPDR_PINGS,46
$ALTIM_TOP_PING,19.7,18.7
$24V_AH,23.5,55.323
$10V_AH,10.1,27.232
$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,24.725,126.400,396.600,128.475,0.000,18.128,33.786,96.694,14.750,0.000,0.000,32.727,1131.593,9418.697,674.948,1381.075,396.910,0.000,1396.632,0.000,1331.915,0.000,22.040
$DEVICE_MAMPS,171.041,82.836,983.294,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.744,408.936,465.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31689,602
$CAP_FILE_SIZE,95233,0
$CFSIZE,260165632,239554560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100808,100331,6452.161,-1035.813,63,1.1,63,-11.4