version: 66.03
glider: 16
mission: 9
dive: 348
start: 8 11 108 0 13 54
data:
$ID,16
$MISSION,9
$DIVE,348
$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,-2100942.5
$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,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
$GPS1,000128,6450.782,-1031.459,32,3.0,51,-11.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-54.2
$GPS2,001335,6450.848,-1031.621,11,3.8,30,-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,161.3,83112,-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,-120.95,0.000,2,0.000,0.000,66,2248,2839
$GC,152,-0.85,-146.6,3.4,-2.8,6,184,11.60,2.65,-13.85,0.000,4,0.168,0.069,2141,816,3379
$GC,318,-0.85,-146.6,21.9,-8.6,13,325,0.00,2.58,0.00,0.000,6,0.000,0.046,2141,2232,3379
$GC,636,-0.74,-146.6,50.3,-9.5,29,641,0.15,2.62,0.00,0.000,4,0.098,0.064,2173,3644,3380
$GC,677,-0.74,-146.6,54.0,-8.9,31,681,0.00,2.58,0.00,0.000,6,0.000,0.047,2173,2223,3380
$GC,1004,-0.74,-146.6,77.2,-6.7,47,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2223,3380
$GC,1313,-0.74,-146.6,97.6,-6.4,62,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2223,3380
$GC,1623,-0.74,-146.6,118.7,-7.1,77,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2223,3380
$GC,1931,-0.74,-146.6,142.0,-7.7,92,1936,0.00,2.65,0.00,0.000,4,0.000,0.065,2173,3640,3380
$GC,1953,-0.74,-146.6,143.8,-7.7,93,1958,0.00,2.55,0.00,0.000,6,0.000,0.045,2173,2226,3381
$GC,2276,-0.74,-146.6,164.6,-5.2,109,2280,0.00,2.58,0.00,0.000,4,0.000,0.057,2173,817,3381
$GC,2309,-0.78,-146.6,166.4,-5.7,110,2315,0.00,2.55,0.00,0.000,6,0.000,0.046,2173,2231,3381
$GC,2625,-0.78,-146.6,185.6,-6.8,126,2630,0.00,2.62,0.00,0.000,4,0.000,0.068,2173,3640,3381
$GC,2643,-0.78,-146.6,186.9,-7.2,127,2648,0.00,2.55,0.00,0.000,6,0.000,0.048,2173,2233,3381
$GC,2970,-0.78,-146.6,206.9,-5.3,143,2975,0.00,2.62,0.00,0.000,4,0.000,0.059,2173,811,3381
$GC,3004,-0.84,-146.6,208.8,-5.1,144,3011,0.12,2.60,0.00,0.000,6,0.050,0.049,2133,2235,3381
$GC,3321,-0.73,-146.6,229.4,-6.2,160,3326,0.15,2.62,0.00,0.000,4,0.091,0.071,2166,3638,3381
$GC,3361,-0.73,-146.6,231.6,-5.1,162,3365,0.00,2.58,0.00,0.000,6,0.000,0.052,2166,2228,3381
$GC,3688,-0.73,-146.6,246.6,-4.5,178,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3381
$GC,3997,-0.73,-146.6,263.2,-5.7,193,4001,0.00,2.67,0.00,0.000,4,0.000,0.076,2166,3637,3380
$GC,4024,-0.73,-146.6,264.9,-6.4,194,4028,0.00,2.58,0.00,0.000,6,0.000,0.054,2166,2230,3380
$GC,4341,-0.73,-146.6,280.5,-4.9,209,4345,0.00,2.65,0.00,0.000,4,0.000,0.066,2166,812,3379
$GC,4368,-0.73,-146.6,281.9,-4.7,210,4372,0.00,2.62,0.00,0.000,6,0.000,0.054,2166,2235,3379
$GC,4684,-0.73,-146.6,297.3,-5.1,225,4688,0.00,2.67,0.00,0.000,4,0.000,0.077,2166,3640,3378
$GC,4724,-0.73,-146.6,299.4,-5.7,227,4729,0.00,2.62,0.00,0.000,6,0.000,0.056,2166,2224,3378
$GC,5052,-0.73,-146.6,315.0,-5.0,243,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2224,3377
$GC,5360,-0.73,-146.6,333.0,-6.2,258,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2225,3376
$GC,5671,-0.73,-146.6,348.9,-4.5,273,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2225,3375
$GC,5979,-0.73,-146.6,364.1,-5.3,288,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2224,3374
$GC,6288,-0.73,-146.6,383.8,-6.9,303,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2225,3373
$GC,6598,-0.73,-146.6,406.5,-7.6,318,6602,0.00,2.72,0.00,0.000,4,0.000,0.083,2166,3637,3372
$GC,6625,-0.73,-146.6,408.6,-7.7,319,6629,0.00,2.60,0.00,0.000,6,0.000,0.058,2166,2231,3372
$STATE,6876,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6877,begin apogee
$GC,6883,-0.31,0.0,426.7,6.9,331,7013,0.47,0.00,126.85,0.995,6,0.097,0.000,2261,2231,2781
$STATE,7014,end apogee,CONTROL_FINISHED_OK
$STATE,7014,begin climb
$GC,7017,0.85,146.6,432.4,0.0,337,7153,1.17,2.83,126.97,0.974,4,0.077,0.081,2508,3639,2183
$GC,7411,0.80,167.9,423.1,5.4,355,7436,0.00,2.62,19.88,0.917,6,0.000,0.061,2508,2237,2096
$GC,7758,0.81,183.1,405.0,5.6,372,7780,0.00,2.78,14.65,0.896,4,0.000,0.081,2508,3647,2034
$GC,7815,0.81,184.1,401.9,6.0,374,7819,0.00,2.65,0.00,0.000,6,0.000,0.061,2508,2243,2034
$GC,8130,0.83,195.8,384.7,5.7,389,8149,0.00,0.00,12.65,0.887,6,0.000,0.000,2508,2243,1982
$GC,8459,0.83,195.8,365.1,6.2,405,8463,0.00,2.70,0.00,0.000,4,0.000,0.075,2508,827,1981
$GC,8492,0.83,195.8,362.9,6.6,406,8498,0.00,2.65,0.00,0.000,6,0.000,0.058,2508,2246,1980
$GC,8807,0.83,195.8,341.0,7.3,422,8812,0.00,2.70,0.00,0.000,4,0.000,0.083,2508,3647,1980
$GC,8847,0.83,195.8,338.0,7.7,424,8851,0.00,2.65,0.00,0.000,6,0.000,0.061,2508,2239,1980
$GC,9174,0.84,207.1,317.9,5.7,440,9190,0.00,2.75,10.95,0.855,4,0.000,0.074,2508,821,1936
$GC,9224,0.85,216.3,314.9,5.7,441,9238,0.00,2.67,9.32,0.831,6,0.000,0.058,2508,2247,1899
$GC,9560,0.90,263.5,297.6,4.7,458,9604,0.00,0.00,41.95,0.920,6,0.000,0.000,2508,2247,1706
$GC,9911,1.03,324.4,280.9,4.3,475,9973,0.17,2.83,52.20,0.907,4,0.071,0.072,2551,827,1458
$GC,10001,1.03,324.4,275.5,6.6,479,10006,0.00,2.65,0.00,0.000,6,0.000,0.057,2550,2239,1457
$GC,10324,1.04,334.7,256.4,5.7,495,10336,0.00,0.00,10.25,0.808,6,0.000,0.000,2551,2240,1416
$GC,10632,1.08,368.1,239.5,5.1,510,10667,0.00,2.75,29.17,0.867,4,0.000,0.071,2551,827,1280
$GC,10707,1.08,368.1,235.3,6.1,513,10712,0.00,2.65,0.00,0.000,6,0.000,0.056,2551,2241,1279
$GC,11023,1.08,368.1,210.6,9.2,528,11028,0.00,2.70,0.00,0.000,4,0.000,0.071,2551,827,1279
$GC,11073,1.08,368.1,206.0,8.9,530,11078,0.00,2.62,0.00,0.000,6,0.000,0.055,2551,2242,1279
$GC,11389,1.08,368.1,182.7,7.3,545,11393,0.00,2.67,0.00,0.000,4,0.000,0.077,2551,3649,1279
$GC,11411,1.08,368.1,181.0,7.4,546,11416,0.00,2.62,0.00,0.000,6,0.000,0.060,2551,2238,1279
$GC,11732,1.09,376.2,159.4,5.8,562,11746,0.00,2.72,8.35,0.732,4,0.000,0.069,2551,830,1247
$GC,11826,1.09,376.2,154.1,6.2,566,11830,0.00,2.62,0.00,0.000,6,0.000,0.054,2551,2249,1246
$GC,12147,1.09,376.2,132.6,6.3,582,12151,0.00,2.67,0.00,0.000,4,0.000,0.067,2551,828,1246
$GC,12214,1.19,434.4,129.3,4.4,585,12272,0.17,2.60,49.47,0.792,6,0.072,0.051,2587,2246,1009
$GC,12582,1.13,434.4,101.9,8.9,603,12586,0.00,2.67,0.00,0.000,4,0.000,0.065,2588,827,1009
$GC,12645,1.09,434.4,95.8,9.3,606,12649,0.00,2.60,0.00,0.000,6,0.000,0.050,2588,2247,1009
$GC,12974,1.04,434.4,62.3,10.1,622,12979,0.15,2.67,0.00,0.000,4,0.102,0.064,2556,823,1009
$GC,13046,1.04,434.4,54.9,9.9,625,13051,0.00,2.58,0.00,0.000,6,0.000,0.048,2556,2241,1010
$GC,13362,1.04,434.4,26.1,8.6,640,13367,0.00,2.65,0.00,0.000,4,0.000,0.063,2555,824,1010
$GC,13418,1.10,434.4,21.0,9.4,642,13425,0.00,2.58,0.00,0.000,6,0.000,0.048,2556,2248,1010
$STATE,13649,end climb,SURFACE_DEPTH_REACHED
$STATE,13649,begin surface coast
$FINISH,0.5,1.027208
$STATE,13671,end surface coast,CONTROL_FINISHED_OK
$STATE,13671,begin surface
$SM_CCo,13694,64.22,0.641,1,0,509,557.32
$SM_GC,1.27,0.00,0.00,64.22,0.000,0.000,0.641,75,2250,509,-10.37,0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1981
$TCM_TEMP,15.30
$XPDR_PINGS,56
$ALTIM_TOP_PING,18.7,17.8
$ALTIM_BOTTOM_PING,425.5,10.2
$24V_AH,23.5,56.095
$10V_AH,10.1,27.559
$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,25.100,132.375,512.675,64.225,0.000,69.372,94.473,294.817,17.500,0.000,0.000,31.162,1219.951,10298.091,722.800,1520.023,736.184,0.000,1517.828,0.000,1469.063,0.000,24.880
$DEVICE_MAMPS,167.973,82.836,994.799,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.656,444.509,476.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31763,655
$CAP_FILE_SIZE,111099,0
$CFSIZE,260165632,239300608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,110808,040437,6450.094,-1031.248,39,1.4,39,-11.3