version: 66.03
glider: 16
mission: 9
dive: 357
start: 8 12 108 10 15 7
data:
$ID,16
$MISSION,9
$DIVE,357
$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,-2101173.2
$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
$GPS1,100937,6440.824,-1030.142,41,1.0,52,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-57.9
$GPS2,101450,6440.838,-1030.270,13,1.8,30,-11.2
$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,154.0,67040,-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,-146.6,0.0,0.0,0,148,0.00,0.00,-120.93,0.000,2,0.000,0.000,72,2249,2757
$GC,151,-0.85,-146.6,3.5,-2.7,6,186,11.70,2.67,-17.10,0.000,4,0.172,0.070,2140,825,3380
$GC,290,-0.75,-146.6,20.0,-9.8,12,296,0.12,2.58,0.00,0.000,6,0.101,0.048,2163,2236,3380
$GC,612,-0.68,-146.6,46.9,-7.7,28,617,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,3641,3381
$GC,668,-0.64,-146.6,52.1,-9.3,30,675,0.15,2.55,0.00,0.000,6,0.098,0.046,2192,2228,3381
$GC,986,-0.68,-146.6,80.5,-9.3,46,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2228,3382
$GC,1294,-0.74,-146.6,96.9,-3.1,61,1299,0.12,2.65,0.00,0.000,4,0.047,0.068,2152,3637,3382
$GC,1330,-0.67,-146.6,98.7,-5.8,62,1337,0.17,2.55,0.00,0.000,6,0.088,0.048,2186,2226,3383
$GC,1646,-0.71,-146.6,116.7,-6.9,78,1650,0.00,2.65,0.00,0.000,4,0.000,0.069,2186,3637,3382
$GC,1673,-0.75,-146.6,118.9,-7.5,79,1678,0.00,2.55,0.00,0.000,6,0.000,0.048,2186,2230,3382
$GC,1991,-0.81,-146.6,139.7,-6.5,94,1995,0.15,2.60,0.00,0.000,4,0.047,0.058,2138,819,3383
$GC,2012,-0.81,-146.6,141.5,-7.9,95,2017,0.00,2.58,0.00,0.000,6,0.000,0.048,2136,2232,3383
$GC,2334,-0.72,-146.6,170.6,-9.1,111,2339,0.15,2.65,0.00,0.000,4,0.093,0.071,2170,3640,3383
$GC,2362,-0.72,-146.6,173.1,-8.3,112,2366,0.00,2.58,0.00,0.000,6,0.000,0.049,2170,2225,3383
$GC,2677,-0.72,-146.6,196.3,-7.3,127,2682,0.00,2.67,0.00,0.000,4,0.000,0.073,2170,3638,3383
$GC,2706,-0.72,-146.6,198.4,-8.2,128,2710,0.00,2.58,0.00,0.000,6,0.000,0.050,2170,2225,3383
$GC,3022,-0.72,-146.6,221.1,-6.9,143,3026,0.00,2.62,0.00,0.000,4,0.000,0.064,2170,814,3383
$GC,3049,-0.76,-146.6,223.0,-7.6,144,3054,0.00,2.60,0.00,0.000,6,0.000,0.051,2170,2232,3383
$GC,3365,-0.76,-146.6,239.6,-4.7,159,3370,0.00,2.67,0.00,0.000,4,0.000,0.077,2169,3644,3383
$GC,3416,-0.76,-146.6,242.4,-5.7,161,3421,0.00,2.60,0.00,0.000,6,0.000,0.052,2169,2227,3383
$GC,3732,-0.76,-146.6,261.3,-6.4,176,3737,0.00,2.65,0.00,0.000,4,0.000,0.066,2170,814,3382
$GC,3760,-0.81,-146.6,263.3,-7.2,177,3765,0.00,2.62,0.00,0.000,6,0.000,0.054,2170,2236,3383
$GC,4077,-0.81,-146.6,285.1,-7.0,192,4081,0.00,2.65,0.00,0.000,4,0.000,0.081,2169,3637,3382
$GC,4116,-0.81,-146.6,288.2,-8.5,194,4120,0.00,2.58,0.00,0.000,6,0.000,0.056,2170,2231,3382
$GC,4442,-0.81,-146.6,312.2,-7.5,210,4446,0.00,2.65,0.00,0.000,4,0.000,0.069,2170,820,3381
$GC,4470,-0.87,-146.6,314.3,-7.4,211,4475,0.15,2.62,0.00,0.000,6,0.052,0.057,2128,2235,3381
$GC,4787,-0.77,-146.6,342.5,-8.9,226,4792,0.15,2.70,0.00,0.000,4,0.098,0.082,2159,3638,3379
$GC,4820,-0.77,-146.6,345.4,-8.1,227,4826,0.00,2.62,0.00,0.000,6,0.000,0.058,2161,2225,3380
$GC,5136,-0.77,-146.6,368.8,-7.4,243,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2225,3379
$GC,5445,-0.77,-146.6,390.7,-7.4,258,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2225,3378
$GC,5755,-0.77,-146.6,413.7,-8.0,273,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2225,3377
$STATE,6040,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6040,begin apogee
$GC,6047,-0.31,0.0,436.3,7.9,287,6183,0.50,0.00,128.60,1.006,6,0.097,0.000,2261,2225,2781
$STATE,6183,end apogee,CONTROL_FINISHED_OK
$STATE,6183,begin climb
$GC,6186,0.85,146.6,441.2,0.0,294,6322,1.20,2.75,127.70,0.984,4,0.082,0.070,2510,832,2184
$GC,6374,0.80,169.8,437.6,5.4,303,6402,0.00,2.65,21.73,0.923,6,0.000,0.059,2511,2238,2088
$GC,6728,0.76,169.8,419.1,6.5,320,6732,0.00,2.70,0.00,0.000,4,0.000,0.071,2511,830,2086
$GC,6813,0.72,176.0,413.4,5.8,324,6828,0.12,2.65,7.00,0.806,6,0.100,0.059,2487,2240,2063
$GC,7147,0.82,223.1,397.6,4.7,340,7190,0.00,0.00,41.53,0.962,6,0.000,0.000,2487,2241,1871
$GC,7495,0.93,245.4,379.4,5.4,357,7523,0.17,2.78,20.95,0.929,4,0.057,0.071,2533,827,1779
$GC,7552,0.89,245.4,375.6,6.8,359,7559,0.00,2.65,0.00,0.000,6,0.000,0.059,2533,2240,1777
$GC,7868,0.89,245.4,351.7,7.7,375,7873,0.00,2.70,0.00,0.000,4,0.000,0.074,2533,827,1778
$GC,7886,0.89,245.4,350.2,7.8,376,7891,0.00,2.65,0.00,0.000,6,0.000,0.060,2533,2240,1778
$GC,8212,0.89,245.4,326.1,7.2,392,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2240,1778
$GC,8522,0.89,245.4,305.8,6.2,407,8526,0.00,2.70,0.00,0.000,4,0.000,0.074,2533,830,1777
$GC,8562,0.89,245.4,303.3,7.1,409,8566,0.00,2.65,0.00,0.000,6,0.000,0.060,2533,2241,1776
$GC,8888,0.89,245.4,281.1,6.8,425,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2241,1776
$GC,9197,0.89,245.4,259.3,6.8,440,9202,0.00,2.70,0.00,0.000,4,0.000,0.073,2533,828,1776
$GC,9248,0.87,266.1,256.5,5.4,442,9272,0.00,2.65,18.40,0.876,6,0.000,0.059,2533,2247,1695
$GC,9589,0.90,292.4,237.8,5.3,459,9614,0.00,0.00,23.45,0.872,6,0.000,0.000,2533,2248,1588
$GC,9937,0.90,292.4,215.7,6.9,476,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2247,1587
$GC,10246,0.90,292.4,191.2,8.4,491,10250,0.00,2.70,0.00,0.000,4,0.000,0.069,2533,827,1587
$GC,10289,0.90,292.4,187.4,8.1,493,10294,0.00,2.62,0.00,0.000,6,0.000,0.057,2533,2241,1586
$GC,10611,0.90,292.4,162.1,7.4,509,10615,0.00,2.67,0.00,0.000,4,0.000,0.068,2533,829,1586
$GC,10644,0.90,292.4,159.6,7.5,510,10650,0.00,2.60,0.00,0.000,6,0.000,0.055,2533,2242,1586
$GC,10960,0.90,292.4,139.4,6.4,526,10964,0.00,2.67,0.00,0.000,4,0.000,0.067,2533,829,1586
$GC,10981,0.90,292.4,137.7,7.1,527,10986,0.00,2.60,0.00,0.000,6,0.000,0.054,2533,2240,1586
$GC,11304,0.90,292.4,114.7,7.5,543,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2239,1586
$GC,11612,0.90,292.4,93.4,6.4,558,11616,0.00,2.65,0.00,0.000,4,0.000,0.064,2533,828,1586
$GC,11645,0.90,292.4,91.1,6.1,559,11651,0.00,2.60,0.00,0.000,6,0.000,0.051,2533,2249,1586
$GC,11963,0.90,292.4,69.6,7.6,575,11964,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2249,1587
$GC,12270,0.90,292.4,45.2,8.1,590,12271,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2249,1588
$GC,12580,0.95,292.4,24.5,6.0,605,12584,0.00,2.67,0.00,0.000,4,0.000,0.063,2533,823,1589
$GC,12608,1.02,292.4,22.6,6.7,606,12612,0.00,2.60,0.00,0.000,6,0.000,0.049,2533,2246,1588
$GC,12924,1.09,292.4,2.4,6.6,621,12926,0.15,0.00,0.00,0.000,6,0.055,0.000,2572,2246,1588
$STATE,12941,end climb,SURFACE_DEPTH_REACHED
$STATE,12942,begin surface coast
$FINISH,0.6,1.018421
$STATE,12963,end surface coast,CONTROL_FINISHED_OK
$STATE,12964,begin surface
$SM_CCo,12987,135.48,0.670,0,0,509,557.32
$SM_GC,1.32,0.00,0.00,135.48,0.000,0.000,0.670,71,2248,509,-10.39,0.51,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1938
$TCM_TEMP,16.10
$XPDR_PINGS,62
$ALTIM_TOP_PING,19.5,18.4
$ALTIM_BOTTOM_PING,401.1,44.8
$24V_AH,23.4,57.424
$10V_AH,10.1,28.154
$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,26.025,126.700,389.350,135.475,0.000,18.024,32.490,125.474,19.000,0.000,0.000,30.260,1162.478,9776.683,699.839,1364.763,435.570,0.000,1405.462,0.000,1320.235,0.000,26.301
$DEVICE_MAMPS,171.808,82.069,1006.304,669.591,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.630,423.633,498.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31692,623
$CAP_FILE_SIZE,100128,0
$CFSIZE,260165632,238854144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120808,135508,6439.140,-1032.178,39,1.6,39,-11.3