version: 66.03
glider: 16
mission: 9
dive: 355
start: 8 12 108 2 40 28
data:
$ID,16
$MISSION,9
$DIVE,355
$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,-2101108.5
$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,20
$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
$GPS1,023532,6443.752,-1031.108,38,1.3,38,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-56.6
$GPS2,024009,6443.757,-1031.149,11,1.8,11,-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,156.3,71825,-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,-120.65,0.000,2,0.000,0.000,72,2244,2738
$GC,150,-0.85,-146.6,3.1,-2.3,6,186,11.73,2.65,-18.17,0.000,4,0.173,0.068,2139,810,3381
$GC,296,-0.79,-146.6,20.5,-10.8,11,302,0.00,2.58,0.00,0.000,6,0.000,0.048,2139,2230,3381
$GC,614,-0.67,-146.6,54.0,-10.5,27,619,0.17,2.65,0.00,0.000,4,0.098,0.055,2177,810,3381
$GC,637,-0.67,-146.6,56.3,-9.1,28,642,0.00,2.60,0.00,0.000,6,0.000,0.048,2177,2237,3382
$GC,960,-0.67,-146.6,78.2,-6.6,44,964,0.00,2.62,0.00,0.000,4,0.000,0.067,2177,3640,3382
$GC,999,-0.67,-146.6,81.3,-7.8,46,1004,0.00,2.58,0.00,0.000,6,0.000,0.048,2177,2225,3382
$GC,1326,-0.67,-146.6,107.5,-8.1,62,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2225,3382
$GC,1636,-0.67,-146.6,129.2,-6.8,77,1641,0.00,2.67,0.00,0.000,4,0.000,0.068,2177,3645,3383
$GC,1658,-0.67,-146.6,131.0,-7.4,78,1663,0.00,2.58,0.00,0.000,6,0.000,0.047,2177,2225,3383
$GC,1979,-0.67,-146.6,155.1,-7.6,94,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2225,3383
$GC,2292,-0.67,-146.6,175.8,-6.1,109,2296,0.00,2.67,0.00,0.000,4,0.000,0.071,2177,3640,3383
$GC,2341,-0.67,-146.6,179.3,-6.7,111,2346,0.00,2.58,0.00,0.000,6,0.000,0.049,2177,2227,3383
$GC,2658,-0.67,-146.6,197.1,-5.3,126,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2227,3383
$GC,2968,-0.67,-146.6,212.2,-4.6,141,2972,0.00,2.67,0.00,0.000,4,0.000,0.074,2177,3637,3383
$GC,2997,-0.67,-146.6,213.8,-5.7,142,3001,0.00,2.58,0.00,0.000,6,0.000,0.051,2177,2231,3383
$GC,3313,-0.67,-146.6,231.0,-6.0,157,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2231,3383
$GC,3622,-0.67,-146.6,251.7,-7.1,172,3627,0.00,2.70,0.00,0.000,4,0.000,0.077,2177,3640,3383
$GC,3650,-0.67,-146.6,253.9,-8.3,173,3654,0.00,2.60,0.00,0.000,6,0.000,0.054,2176,2228,3383
$GC,3968,-0.71,-146.6,275.7,-6.8,188,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2228,3383
$GC,4276,-0.76,-146.6,294.2,-5.6,203,4281,0.00,2.72,0.00,0.000,4,0.000,0.081,2177,3641,3382
$GC,4304,-0.80,-146.6,296.1,-6.4,204,4309,0.00,2.60,0.00,0.000,6,0.000,0.055,2177,2231,3382
$GC,4620,-0.85,-146.6,315.9,-6.3,219,4622,0.15,0.00,0.00,0.000,6,0.052,0.000,2140,2231,3382
$GC,4930,-0.78,-146.6,340.5,-8.2,234,4935,0.00,2.65,0.00,0.000,4,0.000,0.070,2139,819,3381
$GC,4963,-0.78,-146.6,343.4,-8.2,235,4970,0.00,2.60,0.00,0.000,6,0.000,0.058,2139,2228,3381
$GC,5280,-0.71,-146.6,369.3,-8.2,251,5285,0.15,2.72,0.00,0.000,4,0.099,0.083,2171,3643,3380
$GC,5314,-0.71,-146.6,372.0,-7.8,252,5320,0.00,2.62,0.00,0.000,6,0.000,0.058,2171,2230,3379
$GC,5629,-0.71,-146.6,392.0,-6.2,268,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3379
$GC,5939,-0.75,-146.6,411.5,-6.3,283,5943,0.00,2.72,0.00,0.000,4,0.000,0.084,2171,3639,3378
$GC,5967,-0.75,-146.6,413.5,-7.1,284,5971,0.00,2.62,0.00,0.000,6,0.000,0.058,2170,2227,3378
$GC,6283,-0.80,-146.6,433.4,-6.2,299,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3377
$STATE,6403,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6403,begin apogee
$GC,6410,-0.31,0.0,441.3,6.5,305,6545,0.45,0.00,128.30,1.010,6,0.096,0.000,2261,2227,2781
$STATE,6546,end apogee,CONTROL_FINISHED_OK
$STATE,6546,begin climb
$GC,6550,0.85,146.6,447.0,0.0,312,6682,1.17,0.00,127.60,0.991,6,0.080,0.000,2506,2228,2182
$GC,6982,0.90,195.2,434.0,4.7,333,7031,0.00,2.75,43.00,0.966,4,0.000,0.072,2506,830,1985
$GC,7055,0.90,195.2,429.9,6.2,336,7059,0.00,2.67,0.00,0.000,6,0.000,0.058,2506,2247,1984
$GC,7371,0.91,207.3,413.0,5.7,351,7390,0.10,0.00,12.27,0.889,6,0.083,0.000,2527,2247,1935
$GC,7702,0.86,207.3,390.8,6.7,367,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2248,1934
$GC,8009,0.82,207.3,370.7,6.4,382,8013,0.00,2.70,0.00,0.000,4,0.000,0.083,2528,3649,1934
$GC,8064,0.78,207.3,366.7,7.5,384,8071,0.15,2.65,0.00,0.000,6,0.104,0.061,2500,2234,1934
$GC,8381,0.81,236.7,349.5,5.2,400,8415,0.00,2.75,26.58,0.937,4,0.000,0.073,2499,826,1814
$GC,8450,0.87,236.8,345.4,6.0,403,8455,0.00,2.67,0.00,0.000,6,0.000,0.058,2500,2245,1813
$GC,8772,0.93,236.8,326.3,6.2,419,8774,0.15,0.00,0.00,0.000,6,0.062,0.000,2533,2244,1813
$GC,9081,0.93,236.8,302.5,7.8,434,9086,0.00,2.72,0.00,0.000,4,0.000,0.073,2533,826,1812
$GC,9125,0.93,236.8,298.9,8.1,436,9130,0.00,2.65,0.00,0.000,6,0.000,0.058,2533,2243,1812
$GC,9446,0.93,236.8,274.8,7.3,452,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2243,1812
$GC,9756,0.93,236.8,254.0,6.4,467,9761,0.00,2.72,0.00,0.000,4,0.000,0.072,2534,824,1811
$GC,9801,0.93,236.8,250.8,7.5,469,9805,0.00,2.65,0.00,0.000,6,0.000,0.058,2533,2246,1811
$GC,10121,0.93,236.8,229.7,6.9,485,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2246,1811
$GC,10431,0.93,236.8,206.7,7.9,500,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2245,1811
$GC,10740,0.93,236.8,184.8,6.5,515,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2246,1811
$GC,11049,0.93,236.8,165.6,6.1,530,11054,0.00,2.67,0.00,0.000,4,0.000,0.066,2533,827,1811
$GC,11071,0.93,236.8,164.3,6.1,531,11076,0.00,2.62,0.00,0.000,6,0.000,0.054,2534,2249,1811
$GC,11392,0.93,236.8,143.3,6.9,547,11396,0.00,2.70,0.00,0.000,4,0.000,0.065,2533,819,1811
$GC,11419,0.93,236.8,141.3,6.8,548,11423,0.00,2.62,0.00,0.000,6,0.000,0.053,2533,2245,1811
$GC,11737,0.93,236.8,120.8,6.3,563,11742,0.00,2.65,0.00,0.000,4,0.000,0.074,2534,3649,1811
$GC,11765,0.93,236.8,118.7,7.2,564,11769,0.00,2.60,0.00,0.000,6,0.000,0.056,2533,2238,1811
$GC,12081,0.93,236.8,98.1,6.6,579,12085,0.00,2.62,0.00,0.000,4,0.000,0.064,2533,829,1811
$GC,12108,0.93,236.8,96.0,7.2,580,12112,0.00,2.58,0.00,0.000,6,0.000,0.051,2534,2240,1811
$GC,12426,0.93,236.8,71.6,7.9,595,12430,0.00,2.65,0.00,0.000,4,0.000,0.071,2533,3652,1811
$GC,12459,0.93,236.8,68.8,7.8,596,12465,0.00,2.58,0.00,0.000,6,0.000,0.052,2533,2240,1812
$GC,12775,0.93,236.8,47.3,7.0,612,12779,0.00,2.62,0.00,0.000,4,0.000,0.061,2534,824,1812
$GC,12815,0.93,236.8,44.5,6.9,614,12820,0.00,2.58,0.00,0.000,6,0.000,0.048,2534,2243,1812
$GC,13142,0.93,236.8,24.1,6.4,630,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2243,1813
$GC,13454,0.94,249.6,5.9,5.6,645,13475,0.00,2.72,11.80,0.641,4,0.000,0.061,2534,826,1761
$GC,13503,0.94,249.6,2.4,7.0,647,13508,0.00,2.60,0.00,0.000,6,0.000,0.048,2534,2244,1761
$STATE,13513,end climb,SURFACE_DEPTH_REACHED
$STATE,13513,begin surface coast
$FINISH,0.5,1.027268
$STATE,13535,end surface coast,CONTROL_FINISHED_OK
$STATE,13535,begin surface
$SM_CCo,13556,158.38,0.664,0,0,509,557.32
$SM_GC,1.23,0.00,0.00,158.38,0.000,0.000,0.664,74,2246,509,-10.38,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1911
$TCM_TEMP,16.10
$XPDR_PINGS,57
$ALTIM_TOP_PING,19.2,18.1
$ALTIM_BOTTOM_PING,401.0,50.1
$24V_AH,23.4,57.131
$10V_AH,10.1,28.023
$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,25.125,121.775,349.550,158.375,0.000,18.045,28.739,116.567,17.500,0.000,0.000,11.356,1201.997,10328.998,684.528,1358.667,425.657,0.000,1396.896,0.000,1336.572,0.000,23.366
$DEVICE_MAMPS,172.575,83.603,1010.139,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.662,441.675,494.602,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31683,649
$CAP_FILE_SIZE,98852,0
$CFSIZE,260165632,238956544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120808,063025,6442.731,-1029.888,41,1.1,41,-11.3