version: 66.03
glider: 16
mission: 9
dive: 346
start: 8 10 108 17 12 34
data:
$ID,16
$MISSION,9
$DIVE,346
$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,-2100895.5
$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,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
$GPS1,170731,6452.569,-1032.866,62,1.6,62,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-53.4
$GPS2,171215,6452.615,-1032.907,11,1.7,11,-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,161.7,86467,-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,-120.72,0.000,2,0.000,0.000,74,2229,2820
$GC,150,-0.85,-146.6,3.8,-3.0,6,181,11.62,2.62,-13.68,0.000,4,0.171,0.071,2142,816,3379
$GC,285,-0.78,-146.6,21.8,-10.1,12,290,0.00,2.60,0.00,0.000,6,0.000,0.048,2143,2237,3380
$GC,607,-0.66,-146.6,58.7,-10.2,28,612,0.17,2.62,0.00,0.000,4,0.114,0.066,2177,3643,3380
$GC,685,-0.66,-146.6,64.8,-7.2,31,692,0.00,2.55,0.00,0.000,6,0.000,0.046,2177,2227,3380
$GC,1004,-0.66,-146.6,89.9,-8.7,47,1008,0.00,2.60,0.00,0.000,4,0.000,0.058,2177,813,3380
$GC,1031,-0.66,-146.6,92.9,-9.3,48,1036,0.00,2.58,0.00,0.000,6,0.000,0.047,2177,2231,3380
$GC,1347,-0.66,-146.6,123.3,-9.6,63,1352,0.00,2.62,0.00,0.000,4,0.000,0.067,2177,3640,3381
$GC,1388,-0.66,-146.6,127.2,-9.8,65,1393,0.00,2.55,0.00,0.000,6,0.000,0.046,2177,2226,3381
$GC,1715,-0.66,-146.6,154.8,-7.6,81,1720,0.00,2.65,0.00,0.000,4,0.000,0.067,2177,3640,3381
$GC,1737,-0.66,-146.6,156.6,-7.7,82,1741,0.00,2.55,0.00,0.000,6,0.000,0.046,2177,2228,3381
$GC,2059,-0.66,-146.6,175.8,-5.0,98,2064,0.00,2.60,0.00,0.000,4,0.000,0.058,2177,816,3381
$GC,2110,-0.74,-146.6,178.5,-4.9,100,2115,0.00,2.58,0.00,0.000,6,0.000,0.046,2177,2235,3382
$GC,2426,-0.74,-146.6,194.3,-5.6,115,2431,0.00,2.62,0.00,0.000,4,0.000,0.070,2177,3638,3382
$GC,2499,-0.74,-146.6,199.7,-8.0,118,2504,0.00,2.55,0.00,0.000,6,0.000,0.048,2177,2230,3382
$GC,2819,-0.74,-146.6,224.1,-8.7,134,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2230,3382
$GC,3130,-0.74,-146.6,250.5,-8.5,149,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2230,3383
$GC,3439,-0.79,-146.6,275.0,-7.4,164,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2230,3383
$GC,3748,-0.79,-146.6,296.6,-6.8,179,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2230,3382
$GC,4057,-0.84,-146.6,317.4,-6.6,194,4062,0.15,2.70,0.00,0.000,4,0.054,0.080,2134,3636,3382
$GC,4091,-0.72,-146.6,320.1,-8.8,195,4098,0.20,2.58,0.00,0.000,6,0.094,0.055,2172,2233,3381
$GC,4407,-0.72,-146.6,339.9,-6.2,211,4412,0.00,2.70,0.00,0.000,4,0.000,0.082,2172,3640,3380
$GC,4429,-0.72,-146.6,341.6,-6.9,212,4434,0.00,2.62,0.00,0.000,6,0.000,0.057,2173,2223,3380
$GC,4751,-0.72,-146.6,362.4,-6.5,228,4756,0.00,2.72,0.00,0.000,4,0.000,0.083,2173,3635,3379
$GC,4779,-0.76,-146.6,364.4,-7.2,229,4783,0.00,2.60,0.00,0.000,6,0.000,0.058,2173,2230,3379
$GC,5095,-0.80,-146.6,384.9,-6.4,244,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3377
$GC,5404,-0.84,-146.6,404.6,-6.7,259,5406,0.12,0.00,0.00,0.000,6,0.057,0.000,2137,2230,3376
$GC,5713,-0.77,-146.6,430.9,-8.7,274,5718,0.12,2.72,0.00,0.000,4,0.100,0.084,2160,3635,3375
$GC,5741,-0.77,-146.6,433.1,-7.6,275,5746,0.00,2.62,0.00,0.000,6,0.000,0.059,2161,2221,3375
$STATE,5930,end dive,NO_VERTICAL_VELOCITY
$STATE,5930,begin apogee
$GC,5937,-0.31,0.0,433.8,0.0,284,6068,0.50,0.00,127.62,0.997,6,0.097,0.000,2262,2223,2781
$STATE,6068,end apogee,CONTROL_FINISHED_OK
$STATE,6068,begin climb
$GC,6071,0.85,146.6,433.7,0.0,290,6203,1.17,0.00,128.27,0.974,6,0.075,0.000,2510,2223,2183
$GC,6511,0.81,167.5,419.8,5.4,312,6535,0.00,2.72,19.25,0.917,4,0.000,0.073,2510,829,2097
$GC,6668,0.81,201.5,411.7,5.1,319,6705,0.00,2.65,30.77,0.939,6,0.000,0.058,2510,2240,1959
$GC,7015,0.81,201.5,390.9,6.1,335,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2240,1959
$GC,7324,0.82,213.7,373.4,5.7,350,7337,0.00,0.00,11.82,0.878,6,0.000,0.000,2510,2240,1909
$GC,7635,0.84,236.6,355.7,5.4,365,7658,0.00,0.00,21.27,0.921,6,0.000,0.000,2510,2240,1816
$GC,7963,0.87,260.7,337.6,5.3,381,7986,0.00,0.00,21.95,0.915,6,0.000,0.000,2510,2240,1718
$GC,8292,0.97,306.5,321.4,4.7,397,8338,0.15,2.78,40.20,0.929,4,0.069,0.072,2543,829,1530
$GC,8374,0.97,306.5,316.6,6.8,401,8379,0.00,2.67,0.00,0.000,6,0.000,0.058,2543,2245,1529
$GC,8700,0.97,306.5,293.3,7.6,417,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2245,1529
$GC,9010,0.97,306.5,266.9,9.1,432,9015,0.00,2.72,0.00,0.000,4,0.000,0.072,2543,823,1528
$GC,9066,0.97,306.5,261.7,9.8,434,9072,0.00,2.65,0.00,0.000,6,0.000,0.058,2543,2245,1528
$GC,9381,0.97,306.5,235.4,7.8,450,9386,0.00,2.67,0.00,0.000,4,0.000,0.081,2543,3648,1528
$GC,9408,0.97,306.5,233.0,8.6,451,9413,0.00,2.60,0.00,0.000,6,0.000,0.061,2543,2240,1528
$GC,9725,0.97,306.5,207.7,7.9,466,9729,0.00,2.67,0.00,0.000,4,0.000,0.069,2543,821,1527
$GC,9769,0.97,306.5,204.1,8.0,468,9773,0.00,2.62,0.00,0.000,6,0.000,0.054,2543,2242,1527
$GC,10089,0.97,306.5,175.7,9.4,484,10094,0.00,2.65,0.00,0.000,4,0.000,0.075,2543,3649,1527
$GC,10111,0.97,306.5,173.4,10.2,485,10116,0.00,2.60,0.00,0.000,6,0.000,0.057,2544,2239,1527
$GC,10433,0.97,306.5,145.8,8.3,501,10437,0.00,2.62,0.00,0.000,4,0.000,0.064,2543,827,1526
$GC,10473,0.97,306.5,142.5,7.8,503,10477,0.00,2.58,0.00,0.000,6,0.000,0.050,2543,2242,1527
$GC,10800,0.97,306.5,115.3,8.3,519,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2242,1527
$GC,11109,0.97,306.5,92.4,7.0,534,11113,0.00,2.65,0.00,0.000,4,0.000,0.061,2543,818,1528
$GC,11158,0.97,306.5,88.9,7.3,536,11163,0.00,2.58,0.00,0.000,6,0.000,0.047,2543,2242,1528
$GC,11475,0.97,306.5,66.0,7.3,551,11479,0.00,2.65,0.00,0.000,4,0.000,0.060,2543,817,1529
$GC,11507,0.97,306.5,63.5,7.3,552,11514,0.00,2.58,0.00,0.000,6,0.000,0.047,2543,2243,1529
$GC,11825,0.97,306.5,41.0,7.3,568,11829,0.00,2.65,0.00,0.000,4,0.000,0.060,2543,817,1530
$GC,11858,0.97,306.5,38.3,7.9,569,11865,0.00,2.58,0.00,0.000,6,0.000,0.047,2543,2246,1530
$GC,12176,0.97,306.5,14.6,7.2,585,12180,0.00,2.65,0.00,0.000,4,0.000,0.059,2544,818,1530
$GC,12248,1.04,306.5,9.4,6.1,588,12253,0.00,2.58,0.00,0.000,6,0.000,0.045,2544,2242,1530
$STATE,12376,end climb,SURFACE_DEPTH_REACHED
$STATE,12376,begin surface coast
$FINISH,0.5,1.013728
$STATE,12398,end surface coast,CONTROL_FINISHED_OK
$STATE,12398,begin surface
$SM_CCo,12419,126.10,0.643,0,0,508,557.32
$SM_GC,1.13,0.00,0.00,126.10,0.000,0.000,0.643,70,2243,508,-10.39,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1913
$TCM_TEMP,17.20
$XPDR_PINGS,64
$ALTIM_TOP_PING,19.2,17.9
$24V_AH,23.5,55.775
$10V_AH,10.1,27.424
$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,25.050,115.700,401.175,126.100,0.000,18.126,26.359,126.331,19.250,0.000,0.000,11.078,1105.821,9333.443,700.727,1279.861,415.419,0.000,1361.927,0.000,1259.909,0.000,22.042
$DEVICE_MAMPS,171.041,84.370,997.100,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.529,404.338,444.491,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31669,595
$CAP_FILE_SIZE,92870,0
$CFSIZE,260165632,239419392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100808,204307,6451.774,-1031.510,43,1.4,48,-11.3