version: 66.03
glider: 16
mission: 9
dive: 360
start: 8 12 108 21 41 19
data:
$ID,16
$MISSION,9
$DIVE,360
$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,-2101255
$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,21
$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
$GPS1,213508,6437.172,-1028.135,42,1.3,42,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-56.9
$GPS2,214102,6437.193,-1028.179,17,1.4,34,-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,151.4,60705,-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,-146.6,0.0,0.0,0,152,0.00,0.00,-125.80,0.000,2,0.000,0.000,74,2235,2874
$GC,156,-0.85,-146.6,4.1,-3.3,7,186,11.73,2.62,-12.30,0.000,4,0.173,0.068,2140,814,3381
$GC,268,-0.76,-146.6,19.7,-10.5,12,273,0.12,2.58,0.00,0.000,6,0.101,0.047,2163,2230,3381
$GC,597,-0.71,-146.6,48.9,-8.8,28,601,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,3638,3382
$GC,637,-0.66,-146.6,52.8,-9.0,30,642,0.12,2.55,0.00,0.000,6,0.099,0.046,2187,2228,3383
$GC,965,-0.66,-146.6,78.4,-8.1,46,969,0.00,2.65,0.00,0.000,4,0.000,0.067,2187,3638,3383
$GC,997,-0.66,-146.6,81.3,-8.6,47,1003,0.00,2.55,0.00,0.000,6,0.000,0.047,2187,2228,3383
$GC,1315,-0.70,-146.6,101.8,-6.2,63,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2228,3383
$GC,1623,-0.75,-146.6,120.7,-6.1,78,1628,0.00,2.67,0.00,0.000,4,0.000,0.070,2187,3644,3384
$GC,1651,-0.79,-146.6,122.6,-6.9,79,1656,0.15,2.58,0.00,0.000,6,0.045,0.048,2148,2225,3384
$GC,1967,-0.73,-146.6,148.6,-9.3,94,1972,0.12,2.60,0.00,0.000,4,0.093,0.060,2172,819,3384
$GC,2001,-0.77,-146.6,151.6,-8.5,95,2008,0.00,2.58,0.00,0.000,6,0.000,0.050,2171,2229,3384
$GC,2317,-0.77,-146.6,177.1,-7.7,111,2322,0.00,2.65,0.00,0.000,4,0.000,0.074,2172,3638,3384
$GC,2374,-0.77,-146.6,181.7,-8.1,113,2380,0.00,2.58,0.00,0.000,6,0.000,0.050,2172,2227,3384
$GC,2691,-0.77,-146.6,200.2,-5.3,129,2695,0.00,2.62,0.00,0.000,4,0.000,0.062,2171,815,3383
$GC,2724,-0.84,-146.6,202.0,-5.5,130,2731,0.12,2.60,0.00,0.000,6,0.050,0.051,2134,2235,3384
$GC,3042,-0.74,-146.6,224.7,-7.9,146,3047,0.17,2.65,0.00,0.000,4,0.091,0.075,2171,3638,3384
$GC,3092,-0.74,-146.6,228.6,-7.3,148,3096,0.00,2.58,0.00,0.000,6,0.000,0.053,2171,2231,3384
$GC,3413,-0.74,-146.6,250.3,-7.4,164,3418,0.00,2.62,0.00,0.000,4,0.000,0.066,2171,821,3383
$GC,3448,-0.81,-146.6,252.9,-7.8,165,3454,0.00,2.58,0.00,0.000,6,0.000,0.054,2171,2229,3383
$GC,3764,-0.81,-146.6,273.9,-6.2,181,3768,0.00,2.70,0.00,0.000,4,0.000,0.080,2171,3643,3383
$GC,3808,-0.81,-146.6,276.8,-6.7,183,3812,0.00,2.60,0.00,0.000,6,0.000,0.055,2171,2232,3383
$GC,4129,-0.81,-146.6,295.1,-5.7,199,4134,0.00,2.65,0.00,0.000,4,0.000,0.068,2171,820,3382
$GC,4159,-0.88,-146.6,296.8,-6.0,200,4164,0.17,2.62,0.00,0.000,6,0.050,0.056,2125,2235,3382
$GC,4476,-0.76,-146.6,323.2,-9.0,215,4481,0.15,2.70,0.00,0.000,4,0.098,0.081,2157,3641,3382
$GC,4509,-0.76,-146.6,326.3,-8.3,216,4515,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2226,3381
$GC,4827,-0.76,-146.6,351.1,-8.0,232,4831,0.00,2.67,0.00,0.000,4,0.000,0.072,2157,811,3381
$GC,4860,-0.76,-146.6,354.1,-8.0,233,4866,0.00,2.65,0.00,0.000,6,0.000,0.058,2157,2235,3381
$GC,5176,-0.76,-146.6,379.6,-8.1,249,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2235,3379
$GC,5485,-0.76,-146.6,402.2,-7.0,264,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2235,3378
$GC,5794,-0.76,-146.6,422.5,-6.3,279,5798,0.00,2.67,0.00,0.000,4,0.000,0.071,2157,819,3377
$GC,5827,-0.76,-146.6,424.7,-6.5,280,5835,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2235,3377
$GC,6143,-0.76,-146.6,445.0,-6.6,296,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2236,3377
$GC,6452,-0.76,-146.6,467.7,-7.6,311,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2236,3376
$STATE,6511,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6511,begin apogee
$GC,6519,-0.31,0.0,472.4,7.5,314,6654,0.52,0.00,128.98,1.045,6,0.104,0.000,2260,2235,2781
$STATE,6655,end apogee,CONTROL_FINISHED_OK
$STATE,6655,begin climb
$GC,6658,0.85,146.6,478.6,0.0,321,6794,1.17,2.75,128.30,1.022,4,0.084,0.068,2505,826,2183
$GC,6910,0.83,192.1,474.2,4.8,332,6957,0.00,2.65,41.12,0.989,6,0.000,0.058,2505,2240,1997
$GC,7267,0.84,196.2,454.5,5.9,350,7273,0.00,0.00,5.07,0.742,6,0.000,0.000,2505,2240,1980
$GC,7578,0.84,201.4,436.7,5.9,365,7586,0.00,0.00,6.30,0.811,6,0.000,0.000,2505,2240,1960
$GC,7911,0.84,202.6,416.8,6.0,381,7915,0.00,2.70,0.00,0.000,4,0.000,0.071,2504,827,1959
$GC,7954,0.84,202.6,414.0,6.2,383,7959,0.00,2.65,0.00,0.000,6,0.000,0.059,2505,2241,1958
$GC,8277,0.86,215.7,395.4,5.6,399,8295,0.00,0.00,14.02,0.933,6,0.000,0.000,2505,2241,1900
$GC,8605,0.88,237.2,377.3,5.4,415,8627,0.00,0.00,20.08,0.950,6,0.000,0.000,2505,2241,1813
$GC,8936,0.95,257.1,358.4,5.5,431,8961,0.15,2.78,18.55,0.934,4,0.071,0.072,2540,833,1732
$GC,8995,0.91,257.1,354.1,7.1,433,9001,0.00,2.65,0.00,0.000,6,0.000,0.059,2540,2239,1730
$GC,9311,0.86,257.1,331.4,7.3,449,9313,0.12,0.00,0.00,0.000,6,0.105,0.000,2517,2239,1731
$GC,9621,0.86,257.1,311.5,6.3,464,9625,0.00,2.70,0.00,0.000,4,0.000,0.073,2517,827,1730
$GC,9661,0.86,257.1,308.7,7.2,466,9665,0.00,2.65,0.00,0.000,6,0.000,0.059,2517,2240,1730
$GC,9987,0.86,257.1,287.1,6.9,482,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2240,1730
$GC,10297,0.86,257.1,266.4,6.7,497,10301,0.00,2.70,0.00,0.000,4,0.000,0.084,2518,3650,1730
$GC,10324,0.86,257.1,264.3,6.7,498,10328,0.00,2.62,0.00,0.000,6,0.000,0.061,2517,2238,1729
$GC,10640,0.88,276.6,245.4,5.5,513,10659,0.00,0.00,17.45,0.877,6,0.000,0.000,2517,2238,1653
$GC,10970,0.97,311.0,228.8,5.1,529,11007,0.12,2.75,30.48,0.884,4,0.061,0.071,2547,823,1512
$GC,11030,0.97,311.0,224.7,7.0,531,11035,0.00,2.67,0.00,0.000,6,0.000,0.057,2548,2245,1511
$GC,11358,0.97,311.0,201.7,7.6,547,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2246,1511
$GC,11666,0.97,311.0,177.2,8.0,562,11671,0.00,2.67,0.00,0.000,4,0.000,0.067,2547,828,1511
$GC,11683,0.97,311.0,175.8,8.1,563,11688,0.00,2.60,0.00,0.000,6,0.000,0.054,2547,2241,1510
$GC,12011,0.97,311.0,147.4,8.7,579,12016,0.00,2.67,0.00,0.000,4,0.000,0.076,2547,3648,1510
$GC,12039,0.97,311.0,144.8,9.1,580,12043,0.00,2.60,0.00,0.000,6,0.000,0.056,2546,2239,1511
$GC,12356,0.97,311.0,120.2,7.8,595,12357,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2239,1510
$GC,12664,0.97,311.0,95.7,7.8,610,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2239,1511
$GC,12974,0.97,311.0,72.2,7.4,625,12978,0.00,2.67,0.00,0.000,4,0.000,0.072,2547,3649,1512
$GC,12991,0.97,311.0,70.8,7.8,626,12996,0.00,2.60,0.00,0.000,6,0.000,0.053,2547,2234,1512
$GC,13319,0.97,311.0,48.3,7.0,642,13323,0.00,2.62,0.00,0.000,4,0.000,0.064,2547,826,1512
$GC,13383,0.97,311.0,43.4,8.2,645,13388,0.00,2.60,0.00,0.000,6,0.000,0.050,2548,2249,1512
$GC,13710,0.97,311.0,18.2,7.7,661,13714,0.00,2.62,0.00,0.000,4,0.000,0.069,2547,3649,1513
$GC,13732,1.02,311.0,16.4,7.0,662,13737,0.00,2.58,0.00,0.000,6,0.000,0.051,2547,2238,1513
$STATE,13968,end climb,SURFACE_DEPTH_REACHED
$STATE,13968,begin surface coast
$FINISH,0.6,1.013113
$STATE,13990,end surface coast,CONTROL_FINISHED_OK
$STATE,13990,begin surface
$SM_CCo,14012,129.80,0.671,1,0,508,557.32
$SM_GC,1.28,0.00,0.00,129.80,0.000,0.000,0.671,74,2236,508,-10.38,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1934
$TCM_TEMP,16.00
$XPDR_PINGS,57
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,450.7,31.3
$24V_AH,23.4,57.875
$10V_AH,10.1,28.358
$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,25.875,131.925,410.350,129.800,0.000,33.329,45.212,132.785,18.000,0.000,0.000,34.031,1244.953,10602.096,712.905,1462.928,480.974,0.000,1475.698,0.000,1414.338,0.000,26.908
$DEVICE_MAMPS,173.342,83.603,1044.654,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.771,458.986,498.055,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34840,675
$CAP_FILE_SIZE,105876,0
$CFSIZE,260165632,238686208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,130808,013846,6434.599,-1026.906,40,3.1,59,-11.2