version: 66.03
glider: 16
mission: 9
dive: 359
start: 8 12 108 17 48 40
data:
$ID,16
$MISSION,9
$DIVE,359
$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,-2101220.2
$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,19
$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
$GPS1,174252,6438.479,-1030.948,40,2.5,59,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-55.9
$GPS2,174823,6438.479,-1030.981,12,3.4,31,-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,151.2,63981,-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,-120.88,0.000,2,0.000,0.000,67,2244,2727
$GC,151,-0.85,-146.6,3.0,-2.3,6,188,11.77,2.67,-18.90,0.000,4,0.173,0.067,2139,814,3378
$GC,362,-0.79,-146.6,26.3,-8.4,14,368,0.00,2.58,0.00,0.000,6,0.000,0.048,2140,2233,3380
$GC,678,-0.68,-146.6,59.9,-11.5,30,680,0.20,0.00,0.00,0.000,6,0.101,0.000,2177,2234,3380
$GC,990,-0.68,-146.6,85.5,-7.7,45,994,0.00,2.65,0.00,0.000,4,0.000,0.058,2177,811,3381
$GC,1023,-0.73,-146.6,88.4,-8.3,46,1029,0.00,2.60,0.00,0.000,6,0.000,0.050,2177,2237,3381
$GC,1339,-0.73,-146.6,109.8,-5.7,62,1343,0.00,2.62,0.00,0.000,4,0.000,0.070,2177,3638,3381
$GC,1379,-0.73,-146.6,112.3,-6.6,64,1383,0.00,2.55,0.00,0.000,6,0.000,0.048,2178,2225,3381
$GC,1706,-0.73,-146.6,134.0,-6.9,80,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2223,3381
$GC,2015,-0.73,-146.6,154.0,-5.8,95,2019,0.00,2.67,0.00,0.000,4,0.000,0.072,2177,3637,3381
$GC,2048,-0.73,-146.6,156.1,-5.5,96,2054,0.00,2.58,0.00,0.000,6,0.000,0.049,2177,2223,3381
$GC,2365,-0.73,-146.6,169.4,-4.2,112,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2223,3381
$GC,2673,-0.73,-146.6,185.3,-6.1,127,2677,0.00,2.70,0.00,0.000,4,0.000,0.074,2178,3638,3381
$GC,2706,-0.73,-146.6,187.6,-7.1,128,2711,0.00,2.58,0.00,0.000,6,0.000,0.051,2177,2230,3381
$GC,3022,-0.73,-146.6,210.4,-7.2,144,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2229,3382
$GC,3331,-0.77,-146.6,229.7,-6.0,159,3335,0.00,2.62,0.00,0.000,4,0.000,0.064,2178,818,3381
$GC,3358,-0.85,-146.6,231.5,-6.2,160,3363,0.17,2.60,0.00,0.000,6,0.048,0.054,2130,2229,3381
$GC,3675,-0.75,-146.6,257.0,-8.4,175,3677,0.17,0.00,0.00,0.000,6,0.093,0.000,2163,2229,3381
$GC,3983,-0.75,-146.6,278.0,-7.1,190,3987,0.00,2.70,0.00,0.000,4,0.000,0.082,2163,3637,3381
$GC,4011,-0.75,-146.6,280.3,-8.3,191,4015,0.00,2.60,0.00,0.000,6,0.000,0.057,2162,2231,3381
$GC,4327,-0.75,-146.6,304.5,-7.6,206,4331,0.00,2.65,0.00,0.000,4,0.000,0.069,2163,820,3381
$GC,4354,-0.75,-146.6,306.6,-7.1,207,4359,0.00,2.60,0.00,0.000,6,0.000,0.058,2163,2227,3380
$GC,4670,-0.75,-146.6,332.1,-8.5,222,4675,0.00,2.72,0.00,0.000,4,0.000,0.084,2163,3643,3379
$GC,4704,-0.75,-146.6,335.1,-9.1,223,4710,0.00,2.62,0.00,0.000,6,0.000,0.058,2163,2231,3379
$GC,5019,-0.75,-146.6,361.3,-8.1,239,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2231,3378
$GC,5329,-0.75,-146.6,385.2,-7.7,254,5333,0.00,2.72,0.00,0.000,4,0.000,0.084,2163,3640,3377
$GC,5356,-0.75,-146.6,387.5,-8.1,255,5360,0.00,2.62,0.00,0.000,6,0.000,0.059,2163,2229,3377
$GC,5672,-0.75,-146.6,411.6,-7.6,270,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2229,3376
$GC,5982,-0.75,-146.6,435.5,-6.9,285,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2229,3376
$GC,6290,-0.75,-146.6,457.4,-6.8,300,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2229,3374
$STATE,6370,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6370,begin apogee
$GC,6377,-0.31,0.0,463.4,7.2,304,6513,0.50,0.00,128.48,1.036,6,0.123,0.000,2256,2229,2781
$STATE,6514,end apogee,CONTROL_FINISHED_OK
$STATE,6514,begin climb
$GC,6517,0.85,146.6,469.4,0.0,311,6653,1.23,2.75,128.07,1.013,4,0.085,0.071,2509,827,2183
$GC,6769,0.80,184.7,465.9,5.0,322,6808,0.00,2.67,34.33,0.977,6,0.000,0.059,2509,2247,2028
$GC,7126,0.82,200.7,446.5,5.6,340,7148,0.00,2.78,15.73,0.933,4,0.000,0.082,2509,3652,1961
$GC,7165,0.82,200.7,444.0,6.2,341,7171,0.00,2.67,0.00,0.000,6,0.000,0.060,2509,2239,1962
$GC,7481,0.85,225.9,426.7,5.3,357,7506,0.00,0.00,23.20,0.963,6,0.000,0.000,2509,2239,1859
$GC,7811,0.86,238.8,408.2,5.6,373,7832,0.00,2.80,12.80,0.918,4,0.000,0.074,2509,826,1807
$GC,7856,0.89,260.0,405.6,5.4,375,7880,0.00,2.65,19.33,0.945,6,0.000,0.058,2509,2241,1722
$GC,8210,0.93,260.0,383.7,6.5,392,8212,0.12,0.00,0.00,0.000,6,0.066,0.000,2542,2241,1720
$GC,8518,0.93,260.0,359.0,8.1,407,8522,0.00,2.72,0.00,0.000,4,0.000,0.073,2541,825,1720
$GC,8539,0.93,260.0,357.1,8.6,408,8544,0.00,2.65,0.00,0.000,6,0.000,0.058,2541,2240,1720
$GC,8861,0.89,260.0,331.8,7.9,424,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2240,1720
$GC,9170,0.89,260.0,307.2,7.8,439,9174,0.00,2.70,0.00,0.000,4,0.000,0.073,2541,825,1720
$GC,9210,0.89,260.0,304.0,8.4,441,9214,0.00,2.65,0.00,0.000,6,0.000,0.059,2541,2248,1720
$GC,9537,0.89,260.0,278.5,7.8,457,9541,0.00,2.72,0.00,0.000,4,0.000,0.072,2541,827,1719
$GC,9558,0.89,260.0,276.6,8.4,458,9562,0.00,2.65,0.00,0.000,6,0.000,0.059,2541,2246,1719
$GC,9878,0.89,260.0,251.4,7.9,474,9883,0.00,2.72,0.00,0.000,4,0.000,0.072,2541,822,1719
$GC,9918,0.89,260.0,248.0,8.8,476,9923,0.00,2.65,0.00,0.000,6,0.000,0.058,2541,2241,1719
$GC,10246,0.89,260.0,221.6,7.7,492,10250,0.00,2.70,0.00,0.000,4,0.000,0.071,2541,828,1719
$GC,10273,0.89,260.0,219.2,8.5,493,10277,0.00,2.62,0.00,0.000,6,0.000,0.058,2541,2240,1719
$GC,10588,0.89,260.0,195.6,7.1,508,10593,0.00,2.70,0.00,0.000,4,0.000,0.070,2541,820,1719
$GC,10622,0.89,260.0,193.3,6.8,509,10628,0.00,2.62,0.00,0.000,6,0.000,0.057,2541,2240,1718
$GC,10938,0.89,260.0,171.2,7.1,525,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2240,1718
$GC,11247,0.89,260.0,149.2,7.1,540,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2240,1718
$GC,11559,0.89,260.0,126.7,7.1,555,11563,0.00,2.67,0.00,0.000,4,0.000,0.065,2541,823,1718
$GC,11599,0.89,260.0,123.7,7.0,557,11603,0.00,2.62,0.00,0.000,6,0.000,0.054,2541,2249,1718
$GC,11925,0.89,260.0,99.0,7.6,573,11930,0.00,2.65,0.00,0.000,4,0.000,0.074,2541,3652,1719
$GC,11954,0.89,260.0,96.7,8.8,574,11958,0.00,2.60,0.00,0.000,6,0.000,0.056,2542,2237,1719
$GC,12271,0.89,260.0,75.5,7.4,589,12276,0.00,2.67,0.00,0.000,4,0.000,0.072,2541,3648,1719
$GC,12304,0.89,260.0,72.7,7.6,590,12310,0.00,2.58,0.00,0.000,6,0.000,0.054,2541,2240,1719
$GC,12620,0.89,260.0,47.2,7.5,606,12625,0.00,2.67,0.00,0.000,4,0.000,0.071,2541,3653,1720
$GC,12647,0.89,260.0,44.9,7.6,607,12652,0.00,2.60,0.00,0.000,6,0.000,0.052,2541,2235,1720
$GC,12965,0.89,260.0,23.3,6.8,622,12966,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2235,1720
$GC,13273,0.89,260.0,4.1,6.5,637,13278,0.00,2.60,0.00,0.000,4,0.000,0.061,2541,827,1720
$STATE,13304,end climb,SURFACE_DEPTH_REACHED
$STATE,13304,begin surface coast
$FINISH,0.7,1.026931
$STATE,13327,end surface coast,CONTROL_FINISHED_OK
$STATE,13328,begin surface
$SM_CCo,13352,153.62,0.676,0,0,509,557.32
$SM_GC,1.39,0.00,0.00,153.62,0.000,0.000,0.676,74,2233,509,-10.37,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1930
$TCM_TEMP,18.60
$XPDR_PINGS,60
$ALTIM_TOP_PING,19.4,18.2
$ALTIM_BOTTOM_PING,400.5,71.8
$24V_AH,23.4,57.721
$10V_AH,10.1,28.288
$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,25.100,127.400,361.925,153.625,0.000,18.054,30.759,137.666,18.250,0.000,0.000,32.445,1173.836,10117.671,691.026,1403.392,453.738,0.000,1413.418,0.000,1357.307,0.000,23.421
$DEVICE_MAMPS,173.342,83.603,1036.217,676.494,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.464,434.871,482.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31567,639
$CAP_FILE_SIZE,98291,0
$CFSIZE,260165632,238751744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120808,213508,6437.172,-1028.135,42,1.3,42,-11.2