version: 66.03
glider: 16
mission: 9
dive: 356
start: 8 12 108 6 36 7
data:
$ID,16
$MISSION,9
$DIVE,356
$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,-2101142.2
$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
$GPS1,063025,6442.731,-1029.888,41,1.1,41,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-57.7
$GPS2,063550,6442.760,-1030.050,16,1.1,33,-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,156.0,69806,-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,-120.85,0.000,2,0.000,0.000,73,2247,2787
$GC,151,-0.85,-146.6,3.7,-2.9,6,186,11.77,2.70,-15.57,0.000,4,0.175,0.069,2140,816,3380
$GC,296,-0.76,-146.6,20.6,-9.8,12,301,0.10,2.58,0.00,0.000,6,0.107,0.049,2158,2232,3381
$GC,612,-0.69,-146.6,49.6,-9.3,27,617,0.00,2.65,0.00,0.000,4,0.000,0.058,2158,810,3381
$GC,639,-0.69,-146.6,52.3,-9.8,28,644,0.00,2.60,0.00,0.000,6,0.000,0.049,2158,2233,3381
$GC,957,-0.63,-146.6,81.2,-9.3,43,958,0.17,0.00,0.00,0.000,6,0.097,0.000,2193,2233,3382
$GC,1266,-0.68,-146.6,101.6,-5.9,58,1270,0.00,2.62,0.00,0.000,4,0.000,0.070,2192,3635,3382
$GC,1299,-0.73,-146.6,103.6,-5.9,59,1306,0.00,2.55,0.00,0.000,6,0.000,0.048,2192,2228,3382
$GC,1617,-0.79,-146.6,121.9,-6.1,75,1618,0.17,0.00,0.00,0.000,6,0.044,0.000,2142,2229,3382
$GC,1926,-0.71,-146.6,151.1,-9.7,90,1931,0.17,2.67,0.00,0.000,4,0.088,0.071,2180,3640,3382
$GC,1954,-0.71,-146.6,153.7,-8.7,91,1959,0.00,2.58,0.00,0.000,6,0.000,0.048,2180,2226,3383
$GC,2270,-0.71,-146.6,176.6,-6.9,106,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2225,3383
$GC,2580,-0.71,-146.6,195.9,-6.0,121,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2226,3383
$GC,2890,-0.75,-146.6,214.8,-6.4,136,2894,0.00,2.70,0.00,0.000,4,0.000,0.075,2179,3640,3383
$GC,2917,-0.75,-146.6,216.9,-6.7,137,2921,0.00,2.60,0.00,0.000,6,0.000,0.051,2180,2222,3382
$GC,3233,-0.80,-146.6,235.7,-5.9,152,3235,0.12,0.00,0.00,0.000,6,0.052,0.000,2142,2222,3382
$GC,3543,-0.73,-146.6,260.1,-8.3,167,3548,0.15,2.72,0.00,0.000,4,0.092,0.078,2175,3638,3382
$GC,3570,-0.73,-146.6,262.4,-8.1,168,3575,0.00,2.60,0.00,0.000,6,0.000,0.054,2175,2227,3382
$GC,3886,-0.73,-146.6,285.4,-7.1,183,3890,0.00,2.65,0.00,0.000,4,0.000,0.067,2175,817,3382
$GC,3914,-0.80,-146.6,287.3,-7.2,184,3919,0.00,2.62,0.00,0.000,6,0.000,0.056,2175,2232,3382
$GC,4230,-0.80,-146.6,310.0,-7.1,199,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2233,3381
$GC,4539,-0.80,-146.6,331.8,-7.2,214,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2233,3380
$GC,4849,-0.85,-146.6,356.0,-8.1,229,4854,0.15,2.72,0.00,0.000,4,0.054,0.083,2135,3646,3380
$GC,4877,-0.78,-146.6,358.9,-10.9,230,4882,0.12,2.62,0.00,0.000,6,0.104,0.058,2158,2230,3380
$GC,5193,-0.78,-146.6,386.7,-8.6,245,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3378
$GC,5502,-0.78,-146.6,410.6,-6.9,260,5506,0.00,2.72,0.00,0.000,4,0.000,0.085,2158,3641,3378
$GC,5529,-0.78,-146.6,412.7,-7.0,261,5533,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2224,3377
$GC,5845,-0.78,-146.6,434.6,-7.1,276,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2225,3377
$STATE,6028,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6028,begin apogee
$GC,6035,-0.31,0.0,448.4,7.9,285,6170,0.50,0.00,128.77,1.016,6,0.097,0.000,2257,2225,2781
$STATE,6171,end apogee,CONTROL_FINISHED_OK
$STATE,6171,begin climb
$GC,6174,0.85,146.6,453.7,0.0,292,6312,1.25,2.75,127.80,0.992,4,0.088,0.071,2510,827,2182
$GC,6368,0.89,243.7,456.1,3.3,301,6460,0.00,2.67,84.55,0.978,6,0.000,0.058,2510,2243,1787
$GC,6771,0.93,274.9,432.2,5.1,321,6802,0.10,0.00,28.58,0.945,6,0.084,0.000,2530,2243,1660
$GC,7099,0.93,274.9,408.9,7.7,337,7103,0.00,2.70,0.00,0.000,4,0.000,0.072,2531,828,1658
$GC,7126,0.93,274.9,406.6,7.8,338,7130,0.00,2.65,0.00,0.000,6,0.000,0.058,2531,2242,1658
$GC,7441,0.93,274.9,383.6,7.4,353,7446,0.00,2.70,0.00,0.000,4,0.000,0.073,2531,828,1657
$GC,7463,0.93,274.9,382.0,7.1,354,7468,0.00,2.65,0.00,0.000,6,0.000,0.058,2531,2244,1657
$GC,7784,0.93,274.9,357.6,7.8,370,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2244,1656
$GC,8093,0.93,274.9,334.6,7.2,385,8097,0.00,2.72,0.00,0.000,4,0.000,0.073,2531,828,1655
$GC,8133,0.93,274.9,331.7,7.5,387,8137,0.00,2.65,0.00,0.000,6,0.000,0.059,2531,2240,1655
$GC,8459,0.93,274.9,309.2,6.8,403,8464,0.00,2.72,0.00,0.000,4,0.000,0.074,2531,822,1655
$GC,8488,0.93,274.9,307.3,7.2,404,8493,0.00,2.65,0.00,0.000,6,0.000,0.059,2531,2239,1655
$GC,8805,0.95,295.1,288.3,5.4,419,8829,0.00,2.78,17.90,0.893,4,0.000,0.073,2531,832,1577
$GC,8870,0.97,313.5,284.6,5.5,422,8894,0.00,2.65,17.17,0.881,6,0.000,0.061,2531,2242,1502
$GC,9223,0.97,313.5,263.5,6.2,439,9227,0.00,2.72,0.00,0.000,4,0.000,0.073,2531,820,1501
$GC,9251,1.01,313.5,261.6,6.9,440,9255,0.00,2.65,0.00,0.000,6,0.000,0.059,2531,2240,1500
$GC,9567,1.05,313.5,239.6,7.4,455,9569,0.15,0.00,0.00,0.000,6,0.077,0.000,2562,2239,1500
$GC,9876,1.00,313.5,211.9,9.1,470,9881,0.00,2.70,0.00,0.000,4,0.000,0.071,2563,826,1500
$GC,9917,0.95,313.5,208.1,9.5,472,9922,0.15,2.62,0.00,0.000,6,0.103,0.058,2535,2244,1500
$GC,10243,0.95,313.5,183.9,7.3,488,10248,0.00,2.70,0.00,0.000,4,0.000,0.070,2535,826,1500
$GC,10306,0.95,313.5,179.3,7.8,491,10311,0.00,2.62,0.00,0.000,6,0.000,0.055,2535,2248,1500
$GC,10633,0.95,313.5,150.6,9.4,507,10637,0.00,2.67,0.00,0.000,4,0.000,0.077,2535,3654,1500
$GC,10650,0.95,313.5,148.8,10.0,508,10655,0.00,2.62,0.00,0.000,6,0.000,0.058,2535,2234,1500
$GC,10978,0.95,313.5,120.7,8.1,524,10983,0.00,2.65,0.00,0.000,4,0.000,0.066,2536,820,1500
$GC,11011,0.95,313.5,117.8,7.6,525,11018,0.00,2.62,0.00,0.000,6,0.000,0.053,2535,2248,1500
$GC,11329,0.95,313.5,95.3,7.0,541,11333,0.00,2.65,0.00,0.000,4,0.000,0.073,2535,3653,1500
$GC,11352,0.95,313.5,93.4,8.0,542,11356,0.00,2.60,0.00,0.000,6,0.000,0.054,2534,2238,1500
$GC,11674,0.95,313.5,68.8,8.2,558,11678,0.00,2.62,0.00,0.000,4,0.000,0.064,2535,826,1501
$GC,11723,0.95,313.5,64.5,8.7,560,11728,0.00,2.58,0.00,0.000,6,0.000,0.050,2535,2241,1501
$GC,12039,0.95,313.5,39.4,7.5,575,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2241,1501
$GC,12349,0.95,313.5,15.2,8.6,590,12354,0.00,2.65,0.00,0.000,4,0.000,0.061,2535,822,1502
$GC,12412,0.99,313.5,10.7,7.4,593,12416,0.00,2.60,0.00,0.000,6,0.000,0.048,2535,2245,1502
$STATE,12550,end climb,SURFACE_DEPTH_REACHED
$STATE,12550,begin surface coast
$FINISH,0.5,1.020027
$STATE,12572,end surface coast,CONTROL_FINISHED_OK
$STATE,12572,begin surface
$SM_CCo,12594,123.93,0.666,0,0,508,557.32
$SM_GC,1.33,0.00,0.00,123.93,0.000,0.000,0.666,72,2247,508,-10.38,0.48,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1940
$TCM_TEMP,16.10
$XPDR_PINGS,57
$ALTIM_TOP_PING,18.5,17.4
$ALTIM_BOTTOM_PING,351.0,106.9
$24V_AH,23.4,57.280
$10V_AH,10.1,28.087
$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,25.975,122.150,404.775,123.925,0.000,18.028,34.110,131.953,17.000,0.000,0.000,33.123,1121.517,9476.522,689.015,1318.577,440.540,0.000,1375.697,0.000,1272.403,0.000,20.274
$DEVICE_MAMPS,174.876,85.137,1015.508,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.218,408.388,460.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31714,601
$CAP_FILE_SIZE,96130,0
$CFSIZE,260165632,238907392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,120808,100937,6440.824,-1030.142,41,1.0,52,-11.2