version: 66.03
glider: 16
mission: 9
dive: 362
start: 8 13 108 5 41 22
data:
$ID,16
$MISSION,9
$DIVE,362
$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,-2101307.2
$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,18
$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
$GPS1,053602,6432.721,-1023.660,40,2.0,40,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-56.3
$GPS2,054103,6432.685,-1023.552,12,1.4,12,-11.1
$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,148.6,51960,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.60,0.000,2,0.000,0.000,73,2245,2736
$GC,150,-0.85,-146.6,3.4,-2.8,6,186,11.75,2.67,-18.48,0.000,4,0.173,0.068,2141,813,3379
$GC,322,-0.77,-146.6,23.0,-10.9,13,327,0.00,2.60,0.00,0.000,6,0.000,0.047,2141,2235,3380
$GC,650,-0.65,-146.6,60.7,-10.7,29,655,0.20,2.62,0.00,0.000,4,0.120,0.067,2180,3642,3381
$GC,683,-0.65,-146.6,63.9,-8.9,30,690,0.00,2.55,0.00,0.000,6,0.000,0.045,2180,2225,3381
$GC,1000,-0.65,-146.6,83.9,-6.1,46,1004,0.00,2.60,0.00,0.000,4,0.000,0.058,2180,813,3381
$GC,1033,-0.71,-146.6,86.4,-7.0,47,1039,0.00,2.58,0.00,0.000,6,0.000,0.047,2180,2232,3381
$GC,1350,-0.71,-146.6,111.1,-8.3,63,1355,0.00,2.62,0.00,0.000,4,0.000,0.068,2180,3638,3381
$GC,1419,-0.75,-146.6,116.8,-8.3,66,1423,0.00,2.55,0.00,0.000,6,0.000,0.046,2180,2230,3381
$GC,1740,-0.75,-146.6,141.0,-7.5,82,1744,0.00,2.60,0.00,0.000,4,0.000,0.058,2180,819,3382
$GC,1773,-0.83,-146.6,143.7,-7.8,83,1780,0.15,2.58,0.00,0.000,6,0.048,0.048,2134,2234,3382
$GC,2089,-0.71,-146.6,170.2,-8.0,99,2094,0.15,2.62,0.00,0.000,4,0.094,0.071,2167,3639,3381
$GC,2139,-0.71,-146.6,173.7,-6.6,101,2144,0.00,2.55,0.00,0.000,6,0.000,0.048,2167,2225,3381
$GC,2456,-0.71,-146.6,192.3,-6.6,116,2460,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,819,3382
$GC,2488,-0.71,-146.6,194.9,-7.9,117,2494,0.00,2.58,0.00,0.000,6,0.000,0.049,2167,2230,3382
$GC,2804,-0.71,-146.6,220.5,-8.0,133,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3382
$GC,3114,-0.71,-146.6,241.5,-7.0,148,3118,0.00,2.67,0.00,0.000,4,0.000,0.074,2167,3644,3382
$GC,3180,-0.71,-146.6,247.2,-8.1,151,3185,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2225,3381
$GC,3502,-0.71,-146.6,270.0,-6.1,167,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2225,3382
$GC,3812,-0.71,-146.6,289.3,-6.1,182,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2225,3381
$GC,4120,-0.71,-146.6,311.7,-7.3,197,4124,0.00,2.62,0.00,0.000,4,0.000,0.066,2167,819,3381
$GC,4160,-0.77,-146.6,314.5,-6.9,199,4164,0.00,2.60,0.00,0.000,6,0.000,0.053,2167,2229,3381
$GC,4487,-0.77,-146.6,337.1,-7.3,215,4491,0.00,2.67,0.00,0.000,4,0.000,0.078,2167,3644,3381
$GC,4519,-0.77,-146.6,339.8,-7.9,216,4525,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2230,3380
$GC,4835,-0.77,-146.6,363.2,-7.2,232,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3380
$GC,5145,-0.77,-146.6,384.7,-6.9,247,5149,0.00,2.70,0.00,0.000,4,0.000,0.080,2167,3636,3379
$GC,5172,-0.77,-146.6,386.8,-7.9,248,5176,0.00,2.60,0.00,0.000,6,0.000,0.056,2167,2228,3379
$GC,5487,-0.77,-146.6,407.7,-6.5,263,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3378
$GC,5800,-0.77,-146.6,425.7,-5.7,278,5805,0.00,2.72,0.00,0.000,4,0.000,0.082,2167,3643,3377
$GC,5834,-0.77,-146.6,428.2,-6.8,279,5840,0.00,2.60,0.00,0.000,6,0.000,0.057,2167,2231,3376
$GC,6149,-0.77,-146.6,448.8,-6.9,295,6154,0.00,2.67,0.00,0.000,4,0.000,0.071,2167,819,3376
$GC,6184,-0.84,-146.6,451.2,-6.6,296,6190,0.00,2.62,0.00,0.000,6,0.000,0.058,2167,2229,3376
$GC,6499,-0.84,-146.6,474.8,-7.6,312,6504,0.00,2.67,0.00,0.000,4,0.000,0.083,2167,3635,3375
$GC,6544,-0.84,-146.6,478.4,-8.5,314,6548,0.00,2.60,0.00,0.000,6,0.000,0.057,2167,2230,3375
$GC,6874,-0.84,-146.6,500.7,-6.5,330,6878,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,820,3374
$GC,6901,-0.92,-146.6,502.9,-7.0,331,6906,0.17,2.62,0.00,0.000,6,0.055,0.058,2124,2232,3374
$STATE,7070,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7070,begin apogee
$GC,7076,-0.31,0.0,517.7,9.4,339,7213,0.70,0.00,129.15,1.069,6,0.118,0.000,2257,2232,2781
$STATE,7214,end apogee,CONTROL_FINISHED_OK
$STATE,7214,begin climb
$GC,7217,0.85,146.6,523.4,0.0,346,7355,1.23,2.75,129.25,1.049,4,0.086,0.067,2510,826,2183
$GC,7426,0.84,212.3,520.6,4.2,355,7491,0.00,2.65,58.35,1.025,6,0.000,0.058,2511,2241,1914
$GC,7819,0.86,228.0,498.2,5.6,374,7838,0.00,0.00,15.32,0.961,6,0.000,0.000,2510,2241,1851
$GC,8149,0.87,243.9,479.9,5.6,390,8171,0.00,2.75,15.23,0.963,4,0.000,0.071,2510,831,1785
$GC,8195,0.88,252.4,477.3,5.8,392,8209,0.00,2.67,9.10,0.891,6,0.000,0.058,2510,2247,1752
$GC,8526,0.88,252.4,457.7,6.0,408,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2248,1751
$GC,8836,0.88,252.4,438.0,6.5,423,8840,0.00,2.72,0.00,0.000,4,0.000,0.071,2510,824,1751
$GC,8880,0.88,252.4,434.9,6.7,425,8885,0.00,2.65,0.00,0.000,6,0.000,0.058,2510,2242,1750
$GC,9203,0.89,258.5,415.2,5.8,441,9211,0.00,0.00,6.90,0.847,6,0.000,0.000,2510,2241,1727
$GC,9512,0.94,265.1,396.7,5.8,456,9522,0.12,0.00,7.57,0.860,6,0.071,0.000,2540,2242,1700
$GC,9821,0.94,265.1,374.3,7.1,471,9826,0.00,2.70,0.00,0.000,4,0.000,0.072,2540,829,1699
$GC,9861,0.94,265.1,371.2,7.9,473,9866,0.00,2.62,0.00,0.000,6,0.000,0.058,2540,2240,1699
$GC,10188,0.94,265.1,345.3,8.7,489,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2240,1698
$GC,10498,0.94,265.1,316.3,9.3,504,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2240,1698
$GC,10807,0.94,265.1,288.7,8.4,519,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2240,1698
$GC,11116,0.94,265.1,263.5,8.9,534,11120,0.00,2.67,0.00,0.000,4,0.000,0.071,2540,827,1697
$GC,11157,0.94,265.1,259.8,9.3,536,11161,0.00,2.62,0.00,0.000,6,0.000,0.057,2540,2240,1697
$GC,11483,0.94,265.1,234.3,6.8,552,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2241,1697
$GC,11792,0.94,265.1,214.0,6.1,567,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2240,1698
$GC,12102,0.94,265.1,195.2,6.7,582,12106,0.00,2.65,0.00,0.000,4,0.000,0.067,2540,829,1697
$GC,12157,0.94,265.1,191.2,7.4,584,12163,0.00,2.60,0.00,0.000,6,0.000,0.054,2540,2241,1697
$GC,12473,0.94,265.1,167.4,9.0,600,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2241,1697
$GC,12783,0.94,265.1,137.6,9.4,615,12788,0.00,2.65,0.00,0.000,4,0.000,0.073,2540,3650,1697
$GC,12810,0.94,265.1,135.1,9.1,616,12814,0.00,2.60,0.00,0.000,6,0.000,0.054,2540,2235,1698
$GC,13128,0.94,265.1,113.0,6.1,631,13132,0.00,2.62,0.00,0.000,4,0.000,0.064,2540,827,1698
$GC,13161,0.94,265.1,110.8,6.0,632,13167,0.00,2.58,0.00,0.000,6,0.000,0.050,2540,2242,1698
$GC,13477,0.95,277.8,91.0,5.7,648,13499,0.00,2.72,11.75,0.717,4,0.000,0.069,2540,3648,1648
$GC,13545,0.95,279.0,86.8,6.0,651,13550,0.00,2.60,0.00,0.000,6,0.000,0.051,2540,2234,1648
$GC,13874,0.95,279.0,65.5,6.7,667,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2235,1648
$GC,14181,0.95,279.0,42.8,7.0,682,14186,0.00,2.62,0.00,0.000,4,0.000,0.061,2540,820,1649
$GC,14231,0.95,279.0,39.1,6.6,684,14236,0.00,2.58,0.00,0.000,6,0.000,0.047,2540,2249,1649
$GC,14549,0.95,279.0,19.4,6.1,699,14550,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2249,1649
$STATE,14814,end climb,SURFACE_DEPTH_REACHED
$STATE,14814,begin surface coast
$FINISH,0.6,1.011792
$STATE,14835,end surface coast,CONTROL_FINISHED_OK
$STATE,14835,begin surface
$SM_CCo,14856,145.12,0.652,1,0,509,557.32
$SM_GC,1.31,0.00,0.00,145.12,0.000,0.000,0.652,74,2250,509,-10.38,0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.020709
$HUMID,1883
$TCM_TEMP,16.80
$XPDR_PINGS,72
$ALTIM_TOP_PING,19.4,18.8
$ALTIM_BOTTOM_PING,500.7,25.3
$24V_AH,23.4,58.186
$10V_AH,10.1,28.501
$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,25.325,131.600,382.625,145.125,0.000,18.036,27.673,132.860,22.250,0.000,0.000,12.761,1301.600,11305.952,709.542,1537.951,457.333,0.000,1505.508,0.000,1504.513,0.000,29.803
$DEVICE_MAMPS,172.575,82.836,1069.198,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,528.231,485.114,510.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34824,713
$CAP_FILE_SIZE,107235,0
$CFSIZE,260165632,238575616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130808,095255,6430.349,-1018.076,28,1.7,45,-11.1