version: 66.03
glider: 16
mission: 9
dive: 353
start: 8 11 108 19 22 1
data:
$ID,16
$MISSION,9
$DIVE,353
$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,-2101060
$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
$GPS1,191638,6446.630,-1032.002,32,1.7,32,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-56.3
$GPS2,192144,6446.678,-1032.081,16,1.8,33,-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,158.1,76727,-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,25,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.85,0.000,2,0.000,0.000,71,2246,2766
$GC,151,-0.85,-146.6,3.4,-2.7,6,186,11.70,2.67,-17.35,0.000,4,0.172,0.068,2141,800,3381
$GC,296,-0.80,-146.6,19.8,-9.8,12,301,0.00,2.60,0.00,0.000,6,0.000,0.047,2141,2233,3381
$GC,613,-0.66,-146.6,54.4,-10.8,27,614,0.22,0.00,0.00,0.000,6,0.094,0.000,2185,2234,3382
$GC,922,-0.66,-146.6,75.4,-6.0,42,926,0.00,2.62,0.00,0.000,4,0.000,0.067,2185,3640,3382
$GC,955,-0.66,-146.6,77.4,-6.0,43,962,0.00,2.55,0.00,0.000,6,0.000,0.046,2185,2227,3382
$GC,1273,-0.66,-146.6,94.2,-5.5,59,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2227,3383
$GC,1581,-0.66,-146.6,113.1,-6.5,74,1585,0.00,2.65,0.00,0.000,4,0.000,0.068,2185,3638,3383
$GC,1608,-0.66,-146.6,115.0,-7.0,75,1613,0.00,2.55,0.00,0.000,6,0.000,0.046,2185,2230,3383
$GC,1924,-0.66,-146.6,136.0,-6.8,90,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2230,3383
$GC,2234,-0.71,-146.6,156.3,-6.2,105,2238,0.00,2.65,0.00,0.000,4,0.000,0.071,2185,3634,3383
$GC,2267,-0.76,-146.6,158.6,-7.2,106,2273,0.00,2.55,0.00,0.000,6,0.000,0.048,2185,2231,3383
$GC,2583,-0.81,-146.6,179.3,-6.6,122,2588,0.15,2.60,0.00,0.000,4,0.046,0.060,2136,819,3383
$GC,2617,-0.75,-146.6,181.9,-8.5,123,2623,0.15,2.58,0.00,0.000,6,0.089,0.050,2165,2229,3383
$GC,2933,-0.75,-146.6,201.7,-5.7,139,2938,0.00,2.65,0.00,0.000,4,0.000,0.074,2165,3637,3383
$GC,2978,-0.75,-146.6,204.6,-6.4,141,2982,0.00,2.58,0.00,0.000,6,0.000,0.051,2165,2228,3383
$GC,3298,-0.75,-146.6,222.7,-6.1,157,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2228,3383
$GC,3608,-0.75,-146.6,244.6,-7.7,172,3613,0.00,2.70,0.00,0.000,4,0.000,0.077,2165,3638,3383
$GC,3648,-0.75,-146.6,248.1,-8.7,174,3653,0.00,2.60,0.00,0.000,6,0.000,0.054,2165,2230,3383
$GC,3975,-0.75,-146.6,272.5,-7.2,190,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3382
$GC,4285,-0.75,-146.6,294.1,-7.1,205,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3382
$GC,4593,-0.75,-146.6,316.0,-7.0,220,4598,0.00,2.70,0.00,0.000,4,0.000,0.081,2165,3635,3382
$GC,4626,-0.75,-146.6,318.6,-8.1,221,4632,0.00,2.60,0.00,0.000,6,0.000,0.057,2165,2232,3382
$GC,4942,-0.75,-146.6,342.2,-7.6,237,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3380
$GC,5251,-0.75,-146.6,362.9,-6.6,252,5255,0.00,2.72,0.00,0.000,4,0.000,0.082,2165,3641,3379
$GC,5284,-0.75,-146.6,365.4,-7.4,253,5290,0.00,2.62,0.00,0.000,6,0.000,0.058,2165,2230,3379
$GC,5600,-0.75,-146.6,387.3,-7.2,269,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2230,3378
$GC,5908,-0.75,-146.6,408.8,-7.0,284,5913,0.00,2.72,0.00,0.000,4,0.000,0.084,2165,3636,3377
$GC,5936,-0.75,-146.6,410.8,-6.7,285,5940,0.00,2.62,0.00,0.000,6,0.000,0.059,2165,2228,3377
$STATE,6187,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6187,begin apogee
$GC,6194,-0.31,0.0,429.1,7.3,297,6330,0.47,0.00,128.38,1.003,6,0.096,0.000,2260,2228,2781
$STATE,6330,end apogee,CONTROL_FINISHED_OK
$STATE,6331,begin climb
$GC,6333,0.85,146.6,435.1,0.0,304,6470,1.20,2.78,127.35,0.980,4,0.082,0.071,2509,829,2183
$GC,6540,0.82,185.1,432.8,4.9,313,6581,0.00,2.65,34.67,0.946,6,0.000,0.057,2510,2239,2027
$GC,6894,0.83,194.5,415.6,5.7,330,6908,0.00,2.78,9.68,0.852,4,0.000,0.082,2509,3648,1988
$GC,6926,0.84,207.3,413.7,5.6,330,6946,0.00,2.65,13.00,0.882,6,0.000,0.060,2509,2240,1934
$GC,7263,0.87,228.5,394.8,5.4,347,7288,0.00,2.78,19.35,0.923,4,0.000,0.074,2509,827,1849
$GC,7311,0.88,238.8,392.2,5.7,349,7328,0.00,2.67,10.80,0.863,6,0.000,0.058,2509,2243,1807
$GC,7639,0.91,267.2,374.8,5.2,365,7669,0.00,0.00,25.52,0.936,6,0.000,0.000,2509,2243,1691
$GC,7987,0.97,270.1,354.0,5.9,382,7997,0.15,2.72,4.20,0.659,4,0.082,0.073,2543,829,1679
$GC,8021,0.93,270.1,351.6,7.0,383,8027,0.00,2.65,0.00,0.000,6,0.000,0.059,2543,2240,1678
$GC,8336,0.93,270.1,328.5,7.3,399,8341,0.00,2.70,0.00,0.000,4,0.000,0.074,2543,824,1678
$GC,8357,0.93,270.1,326.9,7.0,400,8362,0.00,2.65,0.00,0.000,6,0.000,0.058,2543,2241,1677
$GC,8680,0.93,270.1,305.3,6.4,416,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2241,1677
$GC,8989,0.94,280.5,287.1,5.7,431,9004,0.00,2.75,10.30,0.844,4,0.000,0.074,2543,826,1636
$GC,9038,0.94,280.5,284.0,6.2,432,9042,0.00,2.67,0.00,0.000,6,0.000,0.060,2542,2246,1635
$GC,9354,0.94,281.6,265.3,6.0,447,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2247,1635
$GC,9662,0.94,281.6,246.1,6.7,462,9667,0.00,2.70,0.00,0.000,4,0.000,0.073,2543,827,1635
$GC,9702,0.94,281.6,243.2,7.7,464,9707,0.00,2.62,0.00,0.000,6,0.000,0.059,2543,2240,1635
$GC,10029,0.94,281.6,219.5,7.4,480,10034,0.00,2.70,0.00,0.000,4,0.000,0.081,2542,3648,1635
$GC,10068,0.94,281.6,216.1,8.5,482,10073,0.00,2.62,0.00,0.000,6,0.000,0.061,2543,2239,1635
$GC,10395,0.94,281.6,188.5,9.1,498,10400,0.00,2.67,0.00,0.000,4,0.000,0.070,2543,820,1635
$GC,10452,0.94,281.6,183.1,9.7,500,10458,0.00,2.62,0.00,0.000,6,0.000,0.055,2542,2241,1634
$GC,10768,0.94,281.6,155.1,8.5,516,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2241,1634
$GC,11077,0.94,281.6,131.5,7.7,531,11081,0.00,2.67,0.00,0.000,4,0.000,0.067,2543,823,1634
$GC,11149,0.94,281.6,125.6,8.1,534,11154,0.00,2.62,0.00,0.000,6,0.000,0.053,2544,2249,1634
$GC,11465,0.94,281.6,97.7,8.9,549,11470,0.00,2.65,0.00,0.000,4,0.000,0.073,2544,3651,1635
$GC,11521,0.94,281.6,92.4,9.5,551,11528,0.00,2.60,0.00,0.000,6,0.000,0.054,2542,2238,1635
$GC,11839,0.94,281.6,67.1,7.7,567,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2238,1635
$GC,12147,0.97,312.8,49.6,5.1,582,12181,0.00,2.75,27.48,0.722,4,0.000,0.062,2542,824,1504
$GC,12205,1.05,334.9,46.5,5.4,584,12232,0.00,2.60,19.55,0.701,6,0.000,0.049,2543,2240,1414
$GC,12544,1.11,334.9,24.0,7.1,601,12549,0.15,2.65,0.00,0.000,4,0.066,0.062,2580,827,1414
$GC,12572,1.11,334.9,21.4,9.3,602,12576,0.00,2.58,0.00,0.000,6,0.000,0.049,2580,2241,1414
$STATE,12802,end climb,SURFACE_DEPTH_REACHED
$STATE,12802,begin surface coast
$FINISH,0.5,1.027022
$STATE,12824,end surface coast,CONTROL_FINISHED_OK
$STATE,12824,begin surface
$SM_CCo,12847,115.97,0.657,1,0,508,557.32
$SM_GC,1.24,0.00,0.00,115.97,0.000,0.000,0.657,72,2242,508,-10.39,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1937
$TCM_TEMP,16.30
$XPDR_PINGS,58
$ALTIM_TOP_PING,19.3,18.3
$ALTIM_BOTTOM_PING,400.4,38.4
$24V_AH,23.4,56.848
$10V_AH,10.1,27.894
$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,25.225,122.075,430.275,115.975,0.000,18.025,34.102,116.560,18.000,0.000,0.000,33.864,1132.334,9661.123,695.784,1369.213,419.911,0.000,1421.130,0.000,1320.725,0.000,26.234
$DEVICE_MAMPS,171.808,84.370,1003.236,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.096,416.418,478.972,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31592,614
$CAP_FILE_SIZE,96349,0
$CFSIZE,260165632,239058944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,110808,225931,6445.006,-1031.438,41,2.0,41,-11.3