version: 66.03
glider: 16
mission: 9
dive: 361
start: 8 13 108 1 47 16
data:
$ID,16
$MISSION,9
$DIVE,361
$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,-2101293.8
$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,22
$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
$GPS1,013846,6434.599,-1026.906,40,3.1,59,-11.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-58.7
$GPS2,014659,6434.547,-1026.806,18,3.0,37,-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,149.1,56277,-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,-121.05,0.000,2,0.000,0.000,73,2236,2774
$GC,151,-0.85,-146.6,3.7,-3.0,6,186,11.82,2.65,-15.88,0.000,4,0.176,0.067,2142,826,3380
$GC,329,-0.78,-146.6,24.6,-9.6,14,333,0.00,2.58,0.00,0.000,6,0.000,0.047,2142,2234,3380
$GC,657,-0.65,-146.6,59.0,-10.0,30,662,0.20,2.62,0.00,0.000,4,0.100,0.066,2184,3640,3381
$GC,690,-0.65,-146.6,62.4,-8.6,31,696,0.00,2.55,0.00,0.000,6,0.000,0.045,2184,2226,3382
$GC,1007,-0.65,-146.6,86.9,-7.5,47,1012,0.00,2.60,0.00,0.000,4,0.000,0.058,2184,815,3382
$GC,1048,-0.73,-146.6,90.0,-7.6,49,1052,0.00,2.58,0.00,0.000,6,0.000,0.047,2184,2230,3382
$GC,1376,-0.73,-146.6,111.3,-6.0,65,1380,0.00,2.65,0.00,0.000,4,0.000,0.071,2184,3641,3382
$GC,1431,-0.79,-146.6,115.1,-7.2,67,1438,0.12,2.55,0.00,0.000,6,0.051,0.048,2148,2229,3382
$GC,1748,-0.73,-146.6,139.9,-8.1,83,1753,0.12,2.62,0.00,0.000,4,0.094,0.060,2173,814,3382
$GC,1776,-0.77,-146.6,142.3,-7.8,84,1780,0.00,2.58,0.00,0.000,6,0.000,0.049,2172,2229,3382
$GC,2092,-0.77,-146.6,166.6,-7.5,99,2096,0.00,2.65,0.00,0.000,4,0.000,0.071,2173,3640,3382
$GC,2142,-0.77,-146.6,170.4,-7.6,101,2146,0.00,2.55,0.00,0.000,6,0.000,0.048,2173,2228,3382
$GC,2458,-0.77,-146.6,192.4,-6.6,116,2462,0.00,2.62,0.00,0.000,4,0.000,0.061,2173,816,3382
$GC,2485,-0.83,-146.6,194.2,-6.2,117,2490,0.00,2.60,0.00,0.000,6,0.000,0.050,2173,2236,3382
$GC,2802,-0.83,-146.6,214.5,-6.7,132,2806,0.00,2.65,0.00,0.000,4,0.000,0.074,2173,3639,3382
$GC,2847,-0.83,-146.6,217.8,-7.4,134,2851,0.00,2.58,0.00,0.000,6,0.000,0.051,2172,2231,3382
$GC,3168,-0.83,-146.6,242.7,-8.1,150,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2231,3382
$GC,3478,-0.83,-146.6,269.4,-8.9,165,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2231,3382
$GC,3786,-0.83,-146.6,294.8,-7.5,180,3790,0.00,2.70,0.00,0.000,4,0.000,0.078,2173,3637,3381
$GC,3825,-0.83,-146.6,297.6,-7.2,182,3831,0.12,2.60,0.00,0.000,6,0.058,0.054,2145,2227,3381
$GC,4153,-0.77,-146.6,319.6,-6.8,198,4158,0.00,2.67,0.00,0.000,4,0.000,0.070,2145,814,3380
$GC,4198,-0.77,-146.6,323.0,-8.0,200,4202,0.00,2.62,0.00,0.000,6,0.000,0.057,2144,2227,3380
$GC,4520,-0.72,-146.6,348.8,-9.0,216,4525,0.15,2.72,0.00,0.000,4,0.100,0.081,2176,3644,3379
$GC,4547,-0.72,-146.6,351.4,-8.6,217,4552,0.00,2.62,0.00,0.000,6,0.000,0.057,2176,2230,3379
$GC,4864,-0.78,-146.6,375.9,-7.7,232,4869,0.00,2.67,0.00,0.000,4,0.000,0.071,2176,818,3378
$GC,4892,-0.87,-146.6,378.2,-7.9,233,4897,0.17,2.62,0.00,0.000,6,0.051,0.058,2132,2230,3378
$GC,5208,-0.78,-146.6,407.7,-9.3,248,5213,0.15,2.70,0.00,0.000,4,0.099,0.082,2159,3640,3376
$GC,5264,-0.78,-146.6,412.6,-7.9,250,5270,0.00,2.62,0.00,0.000,6,0.000,0.058,2159,2225,3376
$GC,5581,-0.78,-146.6,436.8,-7.8,266,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2224,3376
$GC,5889,-0.78,-146.6,458.1,-6.5,281,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2224,3375
$GC,6198,-0.78,-146.6,480.1,-7.5,296,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2224,3374
$STATE,6257,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6257,begin apogee
$GC,6265,-0.31,0.0,484.9,7.8,299,6400,0.50,0.00,129.27,1.051,6,0.101,0.000,2257,2224,2781
$STATE,6401,end apogee,CONTROL_FINISHED_OK
$STATE,6401,begin climb
$GC,6404,0.85,146.6,491.6,0.0,306,6540,1.23,2.75,128.38,1.029,4,0.084,0.071,2510,824,2184
$GC,6589,0.87,244.0,491.3,3.3,314,6680,0.00,2.67,85.40,1.012,6,0.000,0.057,2510,2244,1786
$GC,7002,0.93,257.0,469.5,5.6,335,7025,0.10,2.78,13.10,0.924,4,0.091,0.070,2531,833,1732
$GC,7042,0.93,257.0,466.9,6.2,336,7048,0.00,2.65,0.00,0.000,6,0.000,0.058,2531,2240,1731
$GC,7358,0.93,257.4,446.9,6.0,352,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2239,1731
$GC,7667,0.95,279.9,428.5,5.4,367,7695,0.00,2.78,21.15,0.969,4,0.000,0.071,2531,825,1637
$GC,7710,0.96,287.5,425.9,5.8,369,7724,0.00,2.67,8.23,0.854,6,0.000,0.058,2531,2245,1607
$GC,8041,0.96,287.5,405.6,6.1,385,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2244,1607
$GC,8350,0.96,287.5,385.1,7.3,400,8354,0.00,2.72,0.00,0.000,4,0.000,0.073,2531,824,1606
$GC,8383,0.96,287.5,382.7,6.9,401,8389,0.00,2.65,0.00,0.000,6,0.000,0.058,2530,2242,1606
$GC,8699,0.96,287.5,361.0,7.1,417,8703,0.00,2.70,0.00,0.000,4,0.000,0.073,2531,827,1606
$GC,8738,0.96,287.5,358.1,7.8,419,8743,0.00,2.62,0.00,0.000,6,0.000,0.058,2531,2240,1606
$GC,9065,0.96,287.5,334.7,7.1,435,9070,0.00,2.70,0.00,0.000,4,0.000,0.072,2531,827,1606
$GC,9098,0.96,287.5,332.1,7.8,436,9104,0.00,2.65,0.00,0.000,6,0.000,0.058,2531,2247,1606
$GC,9413,0.96,287.5,308.2,7.7,452,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2247,1606
$GC,9723,0.96,287.5,285.7,7.1,467,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2247,1605
$GC,10033,0.96,287.5,263.5,7.1,482,10038,0.00,2.70,0.00,0.000,4,0.000,0.071,2531,827,1606
$GC,10068,0.96,287.5,260.9,7.6,483,10074,0.00,2.62,0.00,0.000,6,0.000,0.058,2531,2240,1606
$GC,10384,0.96,287.5,236.7,8.2,499,10388,0.00,2.70,0.00,0.000,4,0.000,0.081,2531,3650,1606
$GC,10411,0.96,287.5,234.2,9.1,500,10416,0.00,2.62,0.00,0.000,6,0.000,0.060,2531,2239,1606
$GC,10727,0.99,318.0,212.4,5.2,515,10759,0.00,2.72,26.27,0.872,4,0.000,0.069,2531,827,1483
$GC,10812,1.04,318.1,207.9,6.0,519,10817,0.12,2.62,0.00,0.000,6,0.083,0.055,2554,2243,1482
$GC,11138,1.04,318.1,186.7,7.0,535,11143,0.00,2.70,0.00,0.000,4,0.000,0.068,2555,824,1482
$GC,11172,1.00,318.1,184.1,7.5,536,11178,0.00,2.62,0.00,0.000,6,0.000,0.054,2555,2243,1482
$GC,11488,0.96,318.1,156.9,9.0,552,11493,0.00,2.67,0.00,0.000,4,0.000,0.067,2555,826,1482
$GC,11521,0.96,318.1,153.5,9.4,553,11528,0.00,2.62,0.00,0.000,6,0.000,0.053,2555,2249,1482
$GC,11838,0.92,318.1,125.4,8.6,569,11843,0.15,2.70,0.00,0.000,4,0.105,0.065,2523,824,1482
$GC,11879,0.98,318.1,122.6,6.1,571,11884,0.00,2.60,0.00,0.000,6,0.000,0.052,2524,2240,1482
$GC,12207,1.05,331.1,104.5,5.6,587,12227,0.15,0.00,12.32,0.737,6,0.052,0.000,2559,2240,1430
$GC,12539,1.00,331.1,77.0,9.1,603,12543,0.00,2.67,0.00,0.000,4,0.000,0.064,2560,824,1431
$GC,12561,0.96,331.1,74.6,9.0,604,12565,0.00,2.60,0.00,0.000,6,0.000,0.050,2560,2243,1430
$GC,12882,0.89,331.1,43.9,9.9,620,12884,0.20,0.00,0.00,0.000,6,0.090,0.000,2521,2243,1431
$GC,13194,0.96,331.1,20.8,6.6,635,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2243,1432
$STATE,13477,end climb,SURFACE_DEPTH_REACHED
$STATE,13477,begin surface coast
$FINISH,0.6,1.014635
$STATE,13499,end surface coast,CONTROL_FINISHED_OK
$STATE,13499,begin surface
$SM_CCo,13520,119.43,0.668,1,0,508,557.32
$SM_GC,1.23,0.00,0.00,119.43,0.000,0.000,0.668,73,2244,508,-10.38,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1932
$TCM_TEMP,16.10
$XPDR_PINGS,62
$ALTIM_TOP_PING,19.4,18.2
$ALTIM_BOTTOM_PING,451.4,43.1
$24V_AH,23.4,58.035
$10V_AH,10.1,28.429
$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,26.200,137.750,424.125,119.425,0.000,36.317,62.742,179.156,19.500,0.000,0.000,38.049,1207.326,10209.157,707.696,1456.916,560.067,0.000,1473.207,0.000,1399.152,0.000,29.497
$DEVICE_MAMPS,176.410,82.069,1050.790,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.083,441.646,477.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31656,650
$CAP_FILE_SIZE,106727,0
$CFSIZE,260165632,238637056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,130808,053602,6432.721,-1023.660,40,2.0,40,-11.1