version: 66.03
glider: 16
mission: 9
dive: 349
start: 8 11 108 4 13 18
data:
$ID,16
$MISSION,9
$DIVE,349
$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,-2100954.8
$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
$GPS1,040437,6450.094,-1031.248,39,1.4,39,-11.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-54.7
$GPS2,041257,6450.142,-1031.478,11,1.9,11,-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,160.9,81924,-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,-146.6,0.0,0.0,0,167,0.00,0.00,-140.82,0.000,2,0.000,0.000,73,2251,3212
$GC,171,-0.85,-146.6,5.4,-4.5,7,194,11.60,2.65,-3.25,0.000,4,0.170,0.072,2141,814,3381
$GC,295,-0.77,-146.6,27.6,-9.7,12,299,0.00,2.58,0.00,0.000,6,0.000,0.046,2141,2232,3381
$GC,612,-0.66,-146.6,55.2,-8.6,27,617,0.17,2.60,0.00,0.000,4,0.094,0.066,2180,3638,3381
$GC,652,-0.66,-146.6,58.6,-8.1,29,657,0.00,2.55,0.00,0.000,6,0.000,0.048,2180,2222,3382
$GC,979,-0.66,-146.6,82.8,-7.4,45,984,0.00,2.60,0.00,0.000,4,0.000,0.058,2180,812,3382
$GC,1014,-0.73,-146.6,85.5,-7.3,46,1020,0.00,2.58,0.00,0.000,6,0.000,0.046,2180,2237,3382
$GC,1330,-0.73,-146.6,107.3,-6.4,62,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2236,3382
$GC,1639,-0.73,-146.6,125.1,-5.3,77,1644,0.00,2.62,0.00,0.000,4,0.000,0.068,2180,3644,3382
$GC,1668,-0.73,-146.6,126.7,-5.4,78,1672,0.00,2.55,0.00,0.000,6,0.000,0.047,2180,2229,3383
$GC,1986,-0.73,-146.6,140.3,-4.3,93,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2229,3383
$GC,2293,-0.73,-146.6,159.5,-7.6,108,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3383
$GC,2604,-0.73,-146.6,183.1,-6.7,123,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3383
$GC,2912,-0.78,-146.6,197.2,-3.4,138,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3383
$GC,3221,-0.82,-146.6,208.7,-4.1,153,3223,0.15,0.00,0.00,0.000,6,0.047,0.000,2135,2228,3383
$GC,3531,-0.73,-146.6,229.3,-6.8,168,3533,0.17,0.00,0.00,0.000,6,0.091,0.000,2169,2228,3383
$GC,3841,-0.73,-146.6,244.0,-4.4,183,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3382
$GC,4149,-0.73,-146.6,259.9,-5.7,198,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3381
$GC,4458,-0.73,-146.6,280.8,-7.6,213,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3380
$GC,4767,-0.73,-146.6,305.4,-7.9,228,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3380
$GC,5077,-0.73,-146.6,328.9,-7.3,243,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3378
$GC,5385,-0.73,-146.6,349.4,-6.5,258,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3378
$GC,5695,-0.73,-146.6,368.2,-6.1,273,5699,0.00,2.72,0.00,0.000,4,0.000,0.083,2169,3638,3377
$GC,5735,-0.73,-146.6,370.8,-7.0,275,5739,0.00,2.60,0.00,0.000,6,0.000,0.058,2169,2232,3376
$GC,6061,-0.73,-146.6,391.0,-6.3,291,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2233,3376
$GC,6371,-0.73,-146.6,411.0,-6.5,306,6375,0.00,2.72,0.00,0.000,4,0.000,0.084,2169,3635,3375
$GC,6398,-0.73,-146.6,413.1,-7.4,307,6403,0.00,2.62,0.00,0.000,6,0.000,0.058,2169,2223,3375
$GC,6714,-0.73,-146.6,434.7,-6.8,322,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2223,3374
$STATE,6917,end dive,NO_VERTICAL_VELOCITY
$STATE,6917,begin apogee
$GC,6924,-0.31,0.0,435.3,0.0,332,7055,0.45,0.00,128.00,1.002,6,0.084,0.000,2263,2223,2781
$STATE,7056,end apogee,CONTROL_FINISHED_OK
$STATE,7056,begin climb
$GC,7059,0.85,146.6,435.2,0.0,338,7192,1.17,0.00,128.52,0.979,6,0.081,0.000,2508,2223,2182
$GC,7498,0.88,233.5,424.1,3.6,360,7581,0.00,2.85,76.03,0.968,4,0.000,0.083,2509,3645,1828
$GC,7652,0.88,233.5,415.8,6.7,367,7657,0.00,2.65,0.00,0.000,6,0.000,0.061,2509,2238,1828
$GC,7978,0.88,233.5,395.8,6.1,383,7983,0.00,2.70,0.00,0.000,4,0.000,0.074,2509,826,1828
$GC,8024,0.88,233.5,392.9,6.7,385,8029,0.00,2.65,0.00,0.000,6,0.000,0.060,2509,2237,1827
$GC,8347,0.88,233.5,373.4,6.4,401,8351,0.00,2.72,0.00,0.000,4,0.000,0.084,2509,3646,1827
$GC,8379,0.88,233.5,371.1,6.9,402,8385,0.00,2.65,0.00,0.000,6,0.000,0.063,2509,2240,1827
$GC,8695,0.90,252.3,352.8,5.5,418,8719,0.00,2.83,17.25,0.908,4,0.000,0.074,2509,823,1751
$GC,8740,0.95,258.4,350.3,5.8,420,8755,0.12,2.67,7.07,0.790,6,0.074,0.059,2536,2240,1727
$GC,9071,0.95,258.4,326.7,7.1,436,9076,0.00,2.72,0.00,0.000,4,0.000,0.074,2536,826,1725
$GC,9121,0.95,258.4,322.8,7.9,438,9126,0.00,2.65,0.00,0.000,6,0.000,0.059,2536,2242,1725
$GC,9437,0.95,258.4,300.9,6.5,453,9442,0.00,2.70,0.00,0.000,4,0.000,0.074,2536,828,1725
$GC,9504,0.95,258.4,296.7,6.5,456,9508,0.00,2.65,0.00,0.000,6,0.000,0.060,2536,2245,1725
$GC,9825,0.95,258.4,275.7,6.8,472,9830,0.00,2.72,0.00,0.000,4,0.000,0.073,2536,822,1724
$GC,9869,0.95,258.4,272.7,6.8,474,9873,0.00,2.65,0.00,0.000,6,0.000,0.061,2536,2240,1725
$GC,10190,0.95,258.4,253.6,6.6,490,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2240,1724
$GC,10500,0.95,258.4,232.7,6.3,505,10504,0.00,2.70,0.00,0.000,4,0.000,0.073,2536,827,1725
$GC,10561,0.95,258.4,228.7,6.5,508,10566,0.00,2.65,0.00,0.000,6,0.000,0.059,2536,2244,1724
$GC,10888,0.95,263.3,209.8,5.9,524,10899,0.00,2.72,5.62,0.697,4,0.000,0.071,2536,826,1706
$GC,10945,0.95,263.3,206.4,6.2,526,10951,0.00,2.65,0.00,0.000,6,0.000,0.058,2536,2246,1705
$GC,11260,0.95,263.3,185.3,7.5,542,11261,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2246,1706
$GC,11569,0.95,263.3,162.7,7.0,557,11570,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2246,1706
$GC,11880,0.95,263.3,141.5,6.7,572,11881,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2246,1706
$GC,12188,0.95,263.3,120.4,7.0,587,12193,0.00,2.67,0.00,0.000,4,0.000,0.067,2536,826,1706
$GC,12216,0.95,263.3,118.2,7.6,588,12220,0.00,2.60,0.00,0.000,6,0.000,0.052,2536,2242,1706
$GC,12534,0.90,263.3,95.8,6.3,603,12539,0.00,2.65,0.00,0.000,4,0.000,0.072,2536,3650,1707
$GC,12585,0.86,263.3,92.1,6.8,605,12589,0.00,2.60,0.00,0.000,6,0.000,0.056,2536,2239,1708
$GC,12903,0.86,301.5,75.6,5.0,620,12946,0.00,2.72,32.90,0.737,4,0.000,0.064,2536,833,1550
$GC,12986,0.86,301.5,71.0,6.3,623,12992,0.00,2.60,0.00,0.000,6,0.000,0.051,2536,2247,1550
$GC,13301,0.86,301.5,48.9,7.4,639,13303,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2247,1550
$GC,13611,0.86,301.5,24.5,8.0,654,13615,0.00,2.62,0.00,0.000,4,0.000,0.068,2536,3650,1550
$GC,13644,0.86,301.5,21.6,8.9,655,13652,0.00,2.60,0.00,0.000,6,0.000,0.051,2536,2232,1551
$STATE,13916,end climb,SURFACE_DEPTH_REACHED
$STATE,13916,begin surface coast
$FINISH,0.6,1.013741
$STATE,13938,end surface coast,CONTROL_FINISHED_OK
$STATE,13938,begin surface
$SM_CCo,13960,132.38,0.652,1,0,509,557.32
$SM_GC,1.13,0.00,0.00,132.38,0.000,0.000,0.652,71,2228,509,-10.39,-0.06,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1938
$TCM_TEMP,15.30
$XPDR_PINGS,51
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.4,56.246
$10V_AH,10.1,27.629
$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,24.725,101.025,395.400,132.375,0.000,36.186,57.919,222.303,16.500,0.000,0.000,11.387,1211.937,10723.351,706.295,1383.812,578.168,0.000,1410.277,0.000,1361.494,0.000,27.778
$DEVICE_MAMPS,169.507,84.370,1002.469,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.713,455.148,514.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34822,670
$CAP_FILE_SIZE,98581,0
$CFSIZE,260165632,239255552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,110808,080957,6448.791,-1031.532,41,2.2,60,-11.3