version: 66.03
glider: 16
mission: 9
dive: 363
start: 8 13 108 9 58 49
data:
$ID,16
$MISSION,9
$DIVE,363
$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,-2101340.5
$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,23
$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
$GPS1,095255,6430.349,-1018.076,28,1.7,45,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-58.0
$GPS2,095832,6430.298,-1018.010,15,1.8,32,-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,149.0,45686,-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,-120.78,0.000,2,0.000,0.000,74,2251,2807
$GC,151,-0.85,-146.6,3.6,-2.8,6,186,11.73,2.70,-15.20,0.000,4,0.173,0.067,2141,813,3380
$GC,286,-0.79,-146.6,18.9,-9.3,12,291,0.00,2.58,0.00,0.000,6,0.000,0.045,2141,2233,3380
$GC,614,-0.66,-146.6,54.9,-10.9,28,616,0.22,0.00,0.00,0.000,6,0.099,0.000,2184,2233,3380
$GC,923,-0.66,-146.6,80.6,-8.0,43,927,0.00,2.62,0.00,0.000,4,0.000,0.066,2184,3643,3381
$GC,990,-0.71,-146.6,86.0,-8.1,46,994,0.00,2.55,0.00,0.000,6,0.000,0.044,2184,2227,3381
$GC,1311,-0.71,-146.6,107.0,-6.0,62,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2227,3382
$GC,1620,-0.71,-146.6,129.5,-7.9,77,1625,0.00,2.65,0.00,0.000,4,0.000,0.067,2184,3640,3382
$GC,1666,-0.77,-146.6,133.1,-7.6,79,1670,0.00,2.53,0.00,0.000,6,0.000,0.044,2184,2228,3382
$GC,1988,-0.82,-146.6,147.1,-4.3,95,1993,0.15,2.60,0.00,0.000,4,0.046,0.056,2134,816,3382
$GC,2031,-0.76,-146.6,150.1,-8.5,97,2036,0.15,2.58,0.00,0.000,6,0.091,0.048,2163,2230,3382
$GC,2358,-0.76,-146.6,184.0,-10.1,113,2362,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,3642,3382
$GC,2424,-0.76,-146.6,190.6,-10.0,116,2429,0.00,2.55,0.00,0.000,6,0.000,0.046,2163,2233,3382
$GC,2746,-0.76,-146.6,212.2,-5.7,132,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2233,3382
$GC,3054,-0.76,-146.6,235.2,-8.1,147,3058,0.00,2.67,0.00,0.000,4,0.000,0.072,2163,3641,3381
$GC,3087,-0.76,-146.6,237.9,-8.4,148,3093,0.00,2.58,0.00,0.000,6,0.000,0.050,2163,2230,3382
$GC,3403,-0.76,-146.6,259.8,-6.3,164,3407,0.00,2.62,0.00,0.000,4,0.000,0.061,2163,817,3382
$GC,3436,-0.76,-146.6,262.3,-7.0,165,3442,0.00,2.58,0.00,0.000,6,0.000,0.051,2163,2231,3382
$GC,3752,-0.76,-146.6,281.1,-5.7,181,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3382
$GC,4062,-0.76,-146.6,297.2,-5.5,196,4067,0.00,2.65,0.00,0.000,4,0.000,0.063,2163,817,3382
$GC,4090,-0.76,-146.6,299.0,-6.3,197,4094,0.00,2.60,0.00,0.000,6,0.000,0.054,2163,2230,3382
$GC,4406,-0.89,-146.6,322.2,-8.5,212,4411,0.15,2.67,0.00,0.000,4,0.053,0.077,2125,3639,3381
$GC,4526,-0.76,-146.6,334.2,-10.8,217,4532,0.20,2.60,0.00,0.000,6,0.100,0.054,2164,2227,3381
$GC,4842,-0.76,-146.6,359.1,-6.8,232,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2227,3379
$GC,5152,-0.76,-146.6,377.0,-5.5,247,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2227,3379
$GC,5460,-0.76,-146.6,395.5,-6.1,262,5465,0.00,2.70,0.00,0.000,4,0.000,0.081,2163,3637,3378
$GC,5494,-0.76,-146.6,397.7,-6.6,263,5500,0.00,2.60,0.00,0.000,6,0.000,0.056,2163,2229,3378
$GC,5810,-0.76,-146.6,418.6,-7.0,279,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2228,3377
$GC,6118,-0.76,-146.6,439.7,-6.6,294,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2228,3376
$GC,6428,-0.76,-146.6,459.2,-6.3,309,6432,0.00,2.72,0.00,0.000,4,0.000,0.082,2163,3641,3375
$GC,6455,-0.76,-146.6,461.2,-7.4,310,6460,0.00,2.62,0.00,0.000,6,0.000,0.056,2163,2224,3374
$GC,6771,-0.76,-146.6,481.3,-6.4,325,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2224,3374
$GC,7080,-0.76,-146.6,502.4,-7.0,340,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2224,3373
$GC,7390,-0.76,-146.6,523.5,-6.9,355,7395,0.00,2.72,0.00,0.000,4,0.000,0.082,2163,3637,3373
$GC,7418,-0.76,-146.6,525.5,-7.8,356,7422,0.00,2.60,0.00,0.000,6,0.000,0.057,2163,2228,3373
$STATE,7442,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7442,begin apogee
$GC,7449,-0.31,0.0,527.5,7.3,357,7585,0.47,0.00,129.43,1.078,6,0.098,0.000,2257,2228,2781
$STATE,7586,end apogee,CONTROL_FINISHED_OK
$STATE,7586,begin climb
$GC,7589,0.85,146.6,534.1,0.0,364,7726,1.23,2.72,129.43,1.055,4,0.083,0.068,2510,829,2182
$GC,7802,0.81,188.3,531.0,4.9,373,7846,0.00,2.65,38.05,1.019,6,0.000,0.057,2510,2239,2013
$GC,8169,0.81,188.3,510.3,6.3,391,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2240,2012
$GC,8478,0.84,212.1,493.3,5.3,406,8502,0.00,0.00,21.88,1.002,6,0.000,0.000,2510,2240,1916
$GC,8807,0.84,212.1,472.8,6.4,422,8811,0.00,2.70,0.00,0.000,4,0.000,0.070,2510,823,1915
$GC,8847,0.84,212.1,470.1,6.9,424,8852,0.00,2.65,0.00,0.000,6,0.000,0.058,2510,2243,1914
$GC,9173,0.84,212.1,448.8,6.5,440,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2243,1914
$GC,9483,0.85,224.2,430.6,5.7,455,9504,0.00,2.80,11.73,0.938,4,0.000,0.069,2510,826,1867
$GC,9522,0.88,250.3,428.4,5.3,456,9551,0.00,2.67,24.25,0.986,6,0.000,0.057,2510,2246,1760
$GC,9880,0.89,260.3,407.7,5.7,474,9892,0.00,0.00,10.23,0.905,6,0.000,0.000,2510,2246,1720
$GC,10190,0.93,260.3,388.9,6.1,489,10195,0.10,2.70,0.00,0.000,4,0.070,0.071,2538,830,1720
$GC,10231,0.89,260.3,385.9,7.8,491,10235,0.00,2.65,0.00,0.000,6,0.000,0.058,2537,2246,1719
$GC,10557,0.89,260.3,361.8,6.9,507,10562,0.00,2.72,0.00,0.000,4,0.000,0.071,2538,827,1719
$GC,10580,0.89,260.3,360.2,7.1,508,10584,0.00,2.62,0.00,0.000,6,0.000,0.057,2537,2239,1719
$GC,10901,0.89,260.3,338.2,6.6,524,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2239,1719
$GC,11210,0.89,260.3,316.8,7.3,539,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2239,1719
$GC,11520,0.89,260.3,292.7,7.6,554,11524,0.00,2.70,0.00,0.000,4,0.000,0.072,2537,826,1718
$GC,11541,0.89,260.3,290.9,7.7,555,11546,0.00,2.62,0.00,0.000,6,0.000,0.058,2538,2239,1718
$GC,11862,0.89,260.3,269.3,6.1,571,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2239,1718
$GC,12172,0.89,260.3,249.2,6.9,586,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1718
$GC,12481,0.89,260.3,226.5,7.5,601,12485,0.00,2.70,0.00,0.000,4,0.000,0.067,2537,822,1718
$GC,12542,0.89,260.3,221.1,8.6,604,12547,0.00,2.62,0.00,0.000,6,0.000,0.054,2538,2246,1718
$GC,12870,0.89,260.3,191.7,9.2,620,12874,0.00,2.65,0.00,0.000,4,0.000,0.076,2538,3648,1718
$GC,12903,0.89,260.3,188.6,8.8,621,12908,0.00,2.60,0.00,0.000,6,0.000,0.056,2538,2240,1718
$GC,13218,0.95,319.0,168.3,4.4,637,13273,0.00,2.75,49.40,0.839,4,0.000,0.074,2538,3650,1480
$GC,13298,1.02,381.8,165.3,4.3,640,13360,0.00,2.65,53.03,0.822,6,0.000,0.054,2537,2235,1222
$GC,13672,1.07,382.7,145.1,6.0,658,13677,0.12,2.65,0.00,0.000,4,0.061,0.064,2569,826,1222
$GC,13713,1.07,382.7,142.0,7.9,660,13718,0.00,2.60,0.00,0.000,6,0.000,0.050,2569,2242,1222
$GC,14041,1.02,382.7,112.8,9.6,676,14045,0.00,2.65,0.00,0.000,4,0.000,0.062,2569,828,1222
$GC,14068,1.02,382.7,110.2,9.2,677,14072,0.00,2.58,0.00,0.000,6,0.000,0.048,2569,2243,1222
$GC,14386,1.02,382.7,82.9,8.3,692,14391,0.00,2.65,0.00,0.000,4,0.000,0.061,2569,823,1223
$GC,14436,1.02,382.7,78.2,9.1,694,14441,0.00,2.58,0.00,0.000,6,0.000,0.046,2569,2242,1223
$GC,14754,1.02,382.7,46.4,9.1,709,14758,0.00,2.65,0.00,0.000,4,0.000,0.060,2570,820,1223
$GC,14794,1.02,382.7,42.8,8.7,711,14798,0.00,2.58,0.00,0.000,6,0.000,0.045,2569,2243,1223
$GC,15121,1.02,382.7,17.2,7.2,727,15125,0.00,2.62,0.00,0.000,4,0.000,0.058,2569,827,1225
$GC,15171,1.02,382.7,13.1,8.4,729,15175,0.00,2.55,0.00,0.000,6,0.000,0.044,2569,2241,1225
$STATE,15298,end climb,SURFACE_DEPTH_REACHED
$STATE,15298,begin surface coast
$FINISH,0.6,1.026964
$STATE,15320,end surface coast,CONTROL_FINISHED_OK
$STATE,15320,begin surface
$SM_CCo,15342,91.38,0.641,1,0,508,557.32
$SM_GC,1.23,0.00,0.00,91.38,0.000,0.000,0.641,72,2241,508,-10.39,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1912
$TCM_TEMP,17.10
$XPDR_PINGS,64
$ALTIM_TOP_PING,18.6,17.7
$ALTIM_BOTTOM_PING,501.0,35.2
$24V_AH,23.4,58.348
$10V_AH,10.1,28.575
$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,25.450,137.225,467.400,91.375,0.000,18.036,36.061,138.493,20.500,0.000,0.000,32.539,1346.251,11620.157,707.987,1618.765,484.048,0.000,1552.395,0.000,1562.184,0.000,32.750
$DEVICE_MAMPS,172.575,82.069,1077.635,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,550.729,501.305,498.260,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37990,736
$CAP_FILE_SIZE,113056,0
$CFSIZE,260165632,238514176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,130808,141731,6427.504,-1015.680,38,1.8,43,-11.0