version: 66.03
glider: 16
mission: 9
dive: 351
start: 8 11 108 11 57 11
data:
$ID,16
$MISSION,9
$DIVE,351
$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,-2101007.5
$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
$GPS1,114625,6447.565,-1033.309,23,1.8,41,-11.3
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-56.3
$GPS2,115651,6447.634,-1033.542,15,1.9,15,-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,158.1,78853,-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,-120.82,0.000,2,0.000,0.000,71,2245,2782
$GC,150,-0.85,-146.6,3.4,-2.7,6,185,11.65,2.70,-16.23,0.000,4,0.170,0.067,2143,812,3380
$GC,289,-0.78,-146.6,18.9,-9.8,12,294,0.00,2.58,0.00,0.000,6,0.000,0.046,2142,2230,3380
$GC,611,-0.66,-146.6,49.6,-8.3,28,616,0.17,2.62,0.00,0.000,4,0.095,0.064,2181,3644,3381
$GC,667,-0.66,-146.6,53.6,-6.8,30,673,0.00,2.55,0.00,0.000,6,0.000,0.044,2181,2221,3381
$GC,983,-0.66,-146.6,78.6,-9.2,46,988,0.00,2.58,0.00,0.000,4,0.000,0.056,2181,819,3382
$GC,1017,-0.73,-146.6,82.0,-10.0,47,1023,0.00,2.58,0.00,0.000,6,0.000,0.047,2181,2238,3382
$GC,1335,-0.73,-146.6,108.6,-7.0,63,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2237,3382
$GC,1643,-0.73,-146.6,128.9,-6.7,78,1647,0.00,2.62,0.00,0.000,4,0.000,0.070,2181,3638,3382
$GC,1683,-0.73,-146.6,131.9,-7.4,80,1687,0.00,2.58,0.00,0.000,6,0.000,0.048,2181,2224,3382
$GC,2010,-0.73,-146.6,152.0,-5.9,96,2014,0.00,2.60,0.00,0.000,4,0.000,0.060,2181,818,3382
$GC,2037,-0.81,-146.6,153.8,-6.1,97,2042,0.12,2.58,0.00,0.000,6,0.048,0.049,2141,2229,3383
$GC,2354,-0.72,-146.6,179.2,-8.8,112,2359,0.15,2.65,0.00,0.000,4,0.088,0.072,2174,3644,3382
$GC,2394,-0.77,-146.6,182.7,-8.3,114,2398,0.00,2.55,0.00,0.000,6,0.000,0.050,2174,2230,3382
$GC,2721,-0.77,-146.6,207.5,-7.3,130,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3382
$GC,3029,-0.77,-146.6,228.8,-6.6,145,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3382
$GC,3339,-0.77,-146.6,248.4,-6.3,160,3343,0.00,2.67,0.00,0.000,4,0.000,0.078,2174,3637,3381
$GC,3369,-0.77,-146.6,250.2,-7.1,161,3373,0.00,2.58,0.00,0.000,6,0.000,0.054,2174,2231,3382
$GC,3685,-0.77,-146.6,269.2,-6.0,176,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2231,3381
$GC,3994,-0.77,-146.6,289.0,-6.8,191,3998,0.00,2.70,0.00,0.000,4,0.000,0.080,2174,3636,3380
$GC,4027,-0.77,-146.6,291.6,-7.7,192,4033,0.00,2.60,0.00,0.000,6,0.000,0.056,2174,2231,3380
$GC,4343,-0.77,-146.6,313.2,-7.1,208,4347,0.00,2.70,0.00,0.000,4,0.000,0.081,2174,3635,3379
$GC,4371,-0.77,-146.6,315.3,-7.6,209,4376,0.00,2.60,0.00,0.000,6,0.000,0.058,2173,2233,3379
$GC,4688,-0.77,-146.6,337.8,-7.2,224,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2233,3378
$GC,4996,-0.77,-146.6,358.7,-7.0,239,5001,0.00,2.72,0.00,0.000,4,0.000,0.083,2174,3640,3377
$GC,5029,-0.77,-146.6,361.2,-7.3,240,5036,0.00,2.62,0.00,0.000,6,0.000,0.058,2173,2225,3377
$GC,5346,-0.82,-146.6,381.8,-6.2,256,5350,0.00,2.65,0.00,0.000,4,0.000,0.073,2174,819,3375
$GC,5373,-0.90,-146.6,383.8,-7.3,257,5379,0.20,2.62,0.00,0.000,6,0.051,0.058,2123,2230,3375
$GC,5689,-0.79,-146.6,413.0,-8.8,272,5694,0.17,2.70,0.00,0.000,4,0.095,0.083,2156,3640,3374
$GC,5723,-0.79,-146.6,416.0,-7.8,273,5729,0.00,2.62,0.00,0.000,6,0.000,0.059,2156,2230,3374
$STATE,5850,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5851,begin apogee
$GC,5857,-0.31,0.0,426.2,7.8,280,5988,0.52,0.00,127.68,0.996,6,0.100,0.000,2261,2230,2781
$STATE,5988,end apogee,CONTROL_FINISHED_OK
$STATE,5989,begin climb
$GC,5992,0.85,146.6,431.2,0.0,286,6128,1.20,2.85,127.32,0.974,4,0.082,0.081,2510,3649,2183
$GC,6300,0.76,146.6,423.6,6.2,300,6304,0.00,2.65,0.00,0.000,6,0.000,0.059,2510,2236,2184
$GC,6622,0.71,146.6,406.5,6.1,316,6624,0.12,0.00,0.00,0.000,6,0.102,0.000,2486,2236,2183
$GC,6930,0.78,205.0,392.4,4.4,331,6991,0.00,2.83,51.38,0.956,4,0.000,0.073,2486,822,1944
$GC,7015,0.84,215.5,388.0,5.7,335,7032,0.12,2.67,10.73,0.850,6,0.060,0.058,2515,2249,1901
$GC,7344,0.84,216.2,368.6,6.0,350,7348,0.00,2.72,0.00,0.000,4,0.000,0.072,2516,821,1901
$GC,7377,0.84,216.2,366.3,6.2,351,7383,0.00,2.65,0.00,0.000,6,0.000,0.058,2516,2240,1901
$GC,7692,0.84,216.2,346.8,6.3,367,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2240,1901
$GC,8002,0.84,216.2,327.9,6.2,382,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2240,1900
$GC,8311,0.84,216.2,308.9,6.1,397,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2240,1899
$GC,8620,0.88,248.9,292.3,5.1,412,8655,0.00,2.80,29.52,0.910,4,0.000,0.082,2516,3652,1766
$GC,8673,0.90,267.3,289.6,5.5,413,8699,0.00,2.67,17.02,0.870,6,0.000,0.061,2516,2237,1691
$GC,9009,0.99,309.9,272.5,4.8,430,9054,0.15,2.80,37.42,0.897,4,0.070,0.073,2550,822,1517
$GC,9100,0.99,309.9,266.3,7.7,434,9105,0.00,2.67,0.00,0.000,6,0.000,0.058,2550,2245,1516
$GC,9421,0.95,309.9,242.4,8.0,450,9426,0.00,2.72,0.00,0.000,4,0.000,0.073,2550,823,1516
$GC,9460,0.95,309.9,239.1,8.4,452,9465,0.00,2.65,0.00,0.000,6,0.000,0.058,2550,2240,1516
$GC,9788,0.95,309.9,214.0,7.2,468,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2241,1516
$GC,10096,0.95,309.9,189.5,8.6,483,10101,0.00,2.67,0.00,0.000,4,0.000,0.071,2550,828,1515
$GC,10146,0.95,309.9,184.7,9.4,485,10151,0.00,2.62,0.00,0.000,6,0.000,0.057,2550,2241,1515
$GC,10463,0.91,309.9,154.8,9.1,500,10468,0.12,2.70,0.00,0.000,4,0.098,0.077,2526,3654,1515
$GC,10491,0.91,309.9,152.1,9.6,501,10496,0.00,2.62,0.00,0.000,6,0.000,0.059,2526,2239,1515
$GC,10807,0.91,309.9,125.8,8.1,516,10811,0.00,2.65,0.00,0.000,4,0.000,0.068,2526,827,1515
$GC,10840,0.91,309.9,122.9,8.0,517,10847,0.00,2.60,0.00,0.000,6,0.000,0.053,2526,2241,1515
$GC,11156,0.91,309.9,98.5,7.5,533,11161,0.00,2.67,0.00,0.000,4,0.000,0.066,2526,819,1515
$GC,11190,0.91,309.9,95.7,7.6,534,11196,0.00,2.60,0.00,0.000,6,0.000,0.051,2526,2243,1515
$GC,11508,0.91,309.9,72.6,6.8,550,11509,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2243,1515
$GC,11815,0.91,309.9,50.4,7.5,565,11819,0.00,2.65,0.00,0.000,4,0.000,0.064,2526,826,1516
$GC,11864,0.91,309.9,46.9,7.1,567,11869,0.00,2.58,0.00,0.000,6,0.000,0.049,2526,2240,1516
$GC,12181,0.91,309.9,24.6,7.1,582,12185,0.00,2.65,0.00,0.000,4,0.000,0.063,2526,821,1516
$GC,12202,0.91,309.9,22.9,7.4,583,12207,0.00,2.60,0.00,0.000,6,0.000,0.049,2526,2248,1516
$STATE,12501,end climb,SURFACE_DEPTH_REACHED
$STATE,12501,begin surface coast
$FINISH,0.5,1.018606
$STATE,12523,end surface coast,CONTROL_FINISHED_OK
$STATE,12525,begin surface
$SM_CCo,12547,125.80,0.661,0,0,509,557.32
$SM_GC,1.22,0.00,0.00,125.80,0.000,0.000,0.661,71,2250,509,-10.39,0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1926
$TCM_TEMP,15.20
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.2,18.7
$ALTIM_BOTTOM_PING,350.4,85.5
$24V_AH,23.4,56.549
$10V_AH,10.1,27.761
$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,25.550,127.300,401.075,125.800,0.000,54.033,81.003,233.863,15.750,0.000,0.000,15.366,1116.332,9521.785,679.204,1344.866,644.102,0.000,1400.295,0.000,1317.133,0.000,20.221
$DEVICE_MAMPS,169.507,82.836,996.333,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.245,406.281,472.099,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31697,599
$CAP_FILE_SIZE,99939,0
$CFSIZE,260165632,239161344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,110808,152938,6447.206,-1033.362,34,2.0,34,-11.3