version: 66.03
glider: 16
mission: 9
dive: 358
start: 8 12 108 14 0 28
data:
$ID,16
$MISSION,9
$DIVE,358
$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,-2101187
$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,22
$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
$GPS1,135508,6439.140,-1032.178,39,1.6,39,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-57.3
$GPS2,140009,6439.154,-1032.256,12,1.6,12,-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,151.4,65600,-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,-120.55,0.000,2,0.000,0.000,71,2249,2776
$GC,150,-0.85,-146.6,3.7,-2.9,6,185,11.73,2.70,-15.75,0.000,4,0.172,0.070,2142,819,3382
$GC,238,-0.78,-146.6,16.0,-10.5,10,243,0.00,2.58,0.00,0.000,6,0.000,0.048,2142,2229,3381
$GC,566,-0.67,-146.6,46.7,-8.5,26,571,0.17,2.62,0.00,0.000,4,0.097,0.066,2180,3637,3382
$GC,616,-0.67,-146.6,50.8,-7.9,28,620,0.00,2.55,0.00,0.000,6,0.000,0.046,2180,2221,3382
$GC,932,-0.67,-146.6,74.9,-7.3,43,937,0.00,2.65,0.00,0.000,4,0.000,0.067,2180,3643,3383
$GC,960,-0.67,-146.6,77.0,-7.4,44,964,0.00,2.58,0.00,0.000,6,0.000,0.046,2180,2223,3383
$GC,1276,-0.67,-146.6,96.6,-7.0,59,1280,0.00,2.60,0.00,0.000,4,0.000,0.058,2180,815,3383
$GC,1304,-0.72,-146.6,98.6,-7.8,60,1309,0.00,2.58,0.00,0.000,6,0.000,0.048,2180,2228,3383
$GC,1622,-0.72,-146.6,120.8,-6.0,75,1626,0.00,2.65,0.00,0.000,4,0.000,0.070,2180,3641,3383
$GC,1662,-0.72,-146.6,123.2,-5.8,77,1666,0.00,2.58,0.00,0.000,6,0.000,0.048,2180,2229,3383
$GC,1990,-0.72,-146.6,139.9,-5.3,93,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3383
$GC,2297,-0.72,-146.6,162.0,-7.8,108,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3384
$GC,2607,-0.72,-146.6,186.8,-7.8,123,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2228,3384
$GC,2917,-0.77,-146.6,209.7,-6.9,138,2921,0.00,2.67,0.00,0.000,4,0.000,0.075,2180,3637,3384
$GC,2957,-0.81,-146.6,212.3,-7.0,140,2962,0.12,2.58,0.00,0.000,6,0.052,0.051,2148,2230,3384
$GC,3284,-0.81,-146.6,234.9,-6.5,156,3288,0.00,2.65,0.00,0.000,4,0.000,0.064,2148,813,3383
$GC,3340,-0.81,-146.6,238.6,-6.5,158,3346,0.00,2.60,0.00,0.000,6,0.000,0.053,2148,2228,3383
$GC,3656,-0.76,-146.6,259.2,-7.0,174,3660,0.00,2.70,0.00,0.000,4,0.000,0.077,2148,3644,3383
$GC,3706,-0.70,-146.6,263.5,-9.5,176,3711,0.15,2.62,0.00,0.000,6,0.097,0.055,2176,2225,3383
$GC,4023,-0.76,-146.6,285.5,-6.7,191,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3383
$GC,4332,-0.80,-146.6,303.9,-5.8,206,4336,0.00,2.72,0.00,0.000,4,0.000,0.081,2176,3638,3383
$GC,4365,-0.80,-146.6,306.2,-6.6,207,4371,0.00,2.60,0.00,0.000,6,0.000,0.056,2176,2230,3383
$GC,4683,-0.86,-146.6,325.4,-6.2,223,4685,0.15,0.00,0.00,0.000,6,0.054,0.000,2141,2230,3382
$GC,4991,-0.80,-146.6,350.4,-8.2,238,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2230,3381
$GC,5301,-0.74,-146.6,375.5,-8.1,253,5303,0.15,0.00,0.00,0.000,6,0.100,0.000,2169,2230,3380
$GC,5608,-0.74,-146.6,396.7,-6.1,268,5613,0.00,2.72,0.00,0.000,4,0.000,0.084,2169,3644,3379
$GC,5636,-0.74,-146.6,398.9,-8.4,269,5640,0.00,2.62,0.00,0.000,6,0.000,0.058,2169,2231,3379
$GC,5952,-0.74,-146.6,420.3,-7.3,284,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3377
$STATE,6258,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6258,begin apogee
$GC,6265,-0.31,0.0,440.7,6.6,299,6401,0.45,0.00,128.57,1.015,6,0.095,0.000,2259,2231,2781
$STATE,6402,end apogee,CONTROL_FINISHED_OK
$STATE,6402,begin climb
$GC,6405,0.85,146.6,446.5,0.0,306,6542,1.23,2.83,127.72,0.992,4,0.077,0.081,2512,3650,2184
$GC,6621,0.78,183.4,444.2,5.0,316,6661,0.00,2.67,33.60,0.956,6,0.000,0.061,2512,2234,2033
$GC,6987,0.81,210.8,426.7,5.2,334,7017,0.00,2.78,24.73,0.947,4,0.000,0.074,2512,825,1921
$GC,7024,0.81,212.7,424.6,5.9,336,7028,0.00,2.70,0.00,0.000,6,0.000,0.057,2512,2246,1921
$GC,7350,0.81,212.7,403.8,6.1,352,7355,0.00,2.72,0.00,0.000,4,0.000,0.071,2512,828,1920
$GC,7378,0.83,233.8,402.2,5.4,353,7409,0.00,2.65,21.52,0.941,6,0.000,0.058,2512,2243,1827
$GC,7718,0.83,233.8,381.2,6.4,370,7723,0.00,2.72,0.00,0.000,4,0.000,0.072,2512,823,1825
$GC,7757,0.83,233.8,378.7,6.9,372,7762,0.00,2.67,0.00,0.000,6,0.000,0.059,2511,2246,1825
$GC,8084,0.83,233.8,358.7,6.1,388,8089,0.00,2.72,0.00,0.000,4,0.000,0.073,2512,827,1824
$GC,8117,0.83,233.8,356.5,6.2,389,8123,0.00,2.65,0.00,0.000,6,0.000,0.058,2512,2244,1824
$GC,8433,0.83,237.5,337.6,5.9,405,8442,0.00,2.72,4.50,0.690,4,0.000,0.072,2512,828,1812
$GC,8477,0.83,237.5,334.9,6.4,407,8481,0.00,2.65,0.00,0.000,6,0.000,0.059,2512,2241,1812
$GC,8798,0.86,263.3,317.4,5.3,423,8827,0.00,2.80,23.35,0.926,4,0.000,0.072,2512,826,1707
$GC,8840,0.94,288.0,315.1,5.3,425,8870,0.10,2.67,22.35,0.912,6,0.093,0.058,2530,2239,1605
$GC,9195,0.95,291.7,294.1,5.9,442,9205,0.00,2.75,4.93,0.705,4,0.000,0.074,2531,828,1591
$GC,9234,0.95,291.7,291.5,6.7,444,9239,0.00,2.67,0.00,0.000,6,0.000,0.059,2531,2247,1590
$GC,9562,0.95,291.7,270.7,7.0,460,9566,0.00,2.72,0.00,0.000,4,0.000,0.073,2531,828,1590
$GC,9601,0.95,291.7,267.9,7.5,462,9605,0.00,2.65,0.00,0.000,6,0.000,0.060,2531,2244,1590
$GC,9930,0.95,291.7,244.4,7.2,478,9934,0.00,2.72,0.00,0.000,4,0.000,0.073,2531,827,1590
$GC,9964,0.95,291.7,241.7,7.7,479,9970,0.00,2.65,0.00,0.000,6,0.000,0.058,2531,2247,1589
$GC,10280,0.95,291.7,219.0,7.5,495,10284,0.00,2.72,0.00,0.000,4,0.000,0.071,2531,824,1589
$GC,10302,0.95,291.7,217.1,8.4,496,10306,0.00,2.65,0.00,0.000,6,0.000,0.057,2531,2247,1589
$GC,10622,0.95,291.7,191.7,7.9,512,10627,0.00,2.70,0.00,0.000,4,0.000,0.071,2531,826,1589
$GC,10669,0.95,291.7,188.0,8.4,514,10673,0.00,2.62,0.00,0.000,6,0.000,0.056,2531,2240,1589
$GC,10990,0.95,291.7,163.5,6.9,530,10994,0.00,2.70,0.00,0.000,4,0.000,0.079,2531,3653,1588
$GC,11011,0.95,291.7,161.9,7.2,531,11015,0.00,2.62,0.00,0.000,6,0.000,0.060,2531,2239,1589
$GC,11333,0.99,333.0,144.2,4.9,547,11375,0.00,2.72,34.90,0.820,4,0.000,0.068,2531,828,1422
$GC,11415,1.05,333.0,138.9,6.9,550,11422,0.12,2.60,0.00,0.000,6,0.082,0.053,2555,2240,1422
$GC,11732,1.05,333.0,110.9,9.6,566,11733,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2239,1422
$GC,12040,1.05,333.0,84.8,8.4,581,12045,0.00,2.67,0.00,0.000,4,0.000,0.065,2555,824,1422
$GC,12102,1.05,333.0,79.2,9.5,584,12107,0.00,2.60,0.00,0.000,6,0.000,0.051,2555,2241,1422
$GC,12430,1.05,333.0,51.2,8.3,600,12435,0.00,2.67,0.00,0.000,4,0.000,0.063,2555,820,1423
$GC,12463,1.05,333.0,48.1,8.3,601,12470,0.00,2.60,0.00,0.000,6,0.000,0.051,2555,2243,1423
$GC,12781,1.05,333.0,24.7,6.5,617,12785,0.00,2.67,0.00,0.000,4,0.000,0.064,2555,823,1423
$GC,12798,1.05,333.0,23.3,6.8,618,12803,0.00,2.58,0.00,0.000,6,0.000,0.049,2555,2241,1423
$STATE,13082,end climb,SURFACE_DEPTH_REACHED
$STATE,13082,begin surface coast
$FINISH,0.5,1.026849
$STATE,13103,end surface coast,CONTROL_FINISHED_OK
$STATE,13106,begin surface
$SM_CCo,13128,115.65,0.677,0,0,509,557.32
$SM_GC,1.30,0.00,0.00,115.65,0.000,0.000,0.677,68,2243,509,-10.41,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1948
$TCM_TEMP,16.00
$XPDR_PINGS,64
$ALTIM_TOP_PING,19.0,18.4
$ALTIM_BOTTOM_PING,401.0,48.9
$24V_AH,23.4,57.576
$10V_AH,10.1,28.221
$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,25.325,143.875,426.175,115.650,0.000,18.064,33.982,128.528,19.250,0.000,0.000,12.905,1177.646,9825.667,712.468,1387.447,446.951,0.000,1454.894,0.000,1359.381,0.000,23.360
$DEVICE_MAMPS,171.808,83.603,1014.741,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.083,430.147,482.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31611,633
$CAP_FILE_SIZE,102108,0
$CFSIZE,260165632,238800896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,120808,174252,6438.479,-1030.948,40,2.5,59,-11.2