version: 66.03
glider: 16
mission: 9
dive: 366
start: 8 13 108 23 14 52
data:
$ID,16
$MISSION,9
$DIVE,366
$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,-2101406.2
$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,20
$R_STBD_OVSHOOT,24
$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
$GPS1,230926,6425.141,-1002.686,42,1.8,42,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-59.0
$GPS2,231433,6425.122,-1002.531,15,1.8,15,-10.9
$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,154.1,30339,-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,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.65,0.000,2,0.000,0.000,71,2244,2890
$GC,150,-0.85,-146.6,3.7,-3.1,6,180,11.73,2.67,-12.05,0.000,4,0.171,0.065,2140,813,3380
$GC,405,-0.79,-146.6,32.8,-10.5,17,410,0.00,2.55,0.00,0.000,6,0.000,0.043,2140,2228,3380
$GC,723,-0.65,-146.6,63.7,-8.7,32,728,0.20,2.60,0.00,0.000,4,0.097,0.061,2184,3640,3380
$GC,764,-0.65,-146.6,66.6,-6.1,34,768,0.00,2.55,0.00,0.000,6,0.000,0.041,2183,2220,3380
$GC,1091,-0.65,-146.6,83.6,-5.9,50,1095,0.00,2.62,0.00,0.000,4,0.000,0.061,2183,3640,3382
$GC,1118,-0.65,-146.6,85.6,-6.8,51,1122,0.00,2.53,0.00,0.000,6,0.000,0.042,2183,2230,3382
$GC,1435,-0.65,-146.6,108.2,-7.6,66,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2230,3382
$GC,1743,-0.65,-146.6,134.1,-8.5,81,1748,0.00,2.62,0.00,0.000,4,0.000,0.064,2183,3640,3383
$GC,1776,-0.65,-146.6,137.3,-8.8,82,1783,0.00,2.53,0.00,0.000,6,0.000,0.044,2183,2228,3383
$GC,2093,-0.65,-146.6,161.3,-7.1,98,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2228,3381
$GC,2401,-0.65,-146.6,182.5,-7.4,113,2406,0.00,2.62,0.00,0.000,4,0.000,0.064,2183,3641,3383
$GC,2429,-0.65,-146.6,184.7,-8.0,114,2433,0.00,2.53,0.00,0.000,6,0.000,0.043,2183,2230,3383
$GC,2745,-0.70,-146.6,208.4,-7.5,129,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2229,3382
$GC,3054,-0.74,-146.6,231.1,-7.4,144,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2230,3383
$GC,3363,-0.80,-146.6,254.0,-7.2,159,3368,0.12,2.65,0.00,0.000,4,0.047,0.067,2141,3646,3382
$GC,3409,-0.70,-146.6,258.2,-9.6,161,3414,0.17,2.55,0.00,0.000,6,0.087,0.046,2175,2229,3383
$GC,3730,-0.70,-146.6,277.6,-4.7,177,3734,0.00,2.65,0.00,0.000,4,0.000,0.069,2175,3640,3382
$GC,3770,-0.70,-146.6,279.7,-5.4,179,3774,0.00,2.55,0.00,0.000,6,0.000,0.048,2175,2231,3382
$GC,4097,-0.70,-146.6,296.1,-5.1,195,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3383
$GC,4406,-0.70,-146.6,311.7,-5.0,210,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3382
$GC,4715,-0.70,-146.6,329.9,-6.2,225,4719,0.00,2.67,0.00,0.000,4,0.000,0.074,2175,3640,3382
$GC,4748,-0.70,-146.6,332.2,-6.9,226,4754,0.00,2.55,0.00,0.000,6,0.000,0.049,2175,2232,3382
$GC,5067,-0.75,-146.6,350.2,-5.7,242,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2233,3381
$GC,5374,-0.80,-146.6,369.9,-6.8,257,5379,0.00,2.67,0.00,0.000,4,0.000,0.076,2176,3637,3381
$GC,5415,-0.85,-146.6,373.0,-7.8,259,5420,0.15,2.58,0.00,0.000,6,0.049,0.052,2134,2231,3380
$GC,5744,-0.77,-146.6,402.2,-9.0,275,5745,0.15,0.00,0.00,0.000,6,0.096,0.000,2162,2231,3379
$GC,6051,-0.77,-146.6,424.5,-7.2,290,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2231,3379
$GC,6360,-0.77,-146.6,447.1,-7.3,305,6364,0.00,2.70,0.00,0.000,4,0.000,0.081,2162,3635,3377
$GC,6400,-0.77,-146.6,450.2,-8.3,307,6404,0.00,2.58,0.00,0.000,6,0.000,0.056,2162,2233,3377
$GC,6728,-0.77,-146.6,475.9,-7.8,323,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2233,3375
$GC,7035,-0.77,-146.6,498.3,-7.0,338,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2233,3374
$GC,7345,-0.77,-146.6,519.3,-6.7,353,7349,0.00,2.70,0.00,0.000,4,0.000,0.083,2162,3635,3373
$GC,7367,-0.77,-146.6,520.9,-7.0,354,7371,0.00,2.60,0.00,0.000,6,0.000,0.056,2162,2228,3373
$STATE,7603,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7603,begin apogee
$GC,7609,-0.31,0.0,537.1,6.9,366,7745,0.50,0.00,129.52,1.073,6,0.097,0.000,2261,2227,2780
$STATE,7746,end apogee,CONTROL_FINISHED_OK
$STATE,7746,begin climb
$GC,7749,0.85,146.6,543.1,0.0,373,7886,1.17,2.80,128.88,1.049,4,0.082,0.080,2506,3645,2182
$GC,7946,0.84,196.5,541.1,4.6,381,7998,0.00,2.65,44.78,1.019,6,0.000,0.057,2506,2232,1979
$GC,8310,0.87,218.4,522.1,5.4,399,8336,0.00,2.72,20.52,0.990,4,0.000,0.071,2506,832,1889
$GC,8380,0.87,218.4,517.8,6.3,402,8385,0.00,2.62,0.00,0.000,6,0.000,0.058,2506,2239,1890
$GC,8696,0.87,220.6,500.0,5.9,417,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2239,1888
$GC,9006,0.87,223.6,481.5,5.9,432,9017,0.00,2.72,5.80,0.808,4,0.000,0.071,2506,828,1868
$GC,9051,0.88,227.3,478.6,5.9,434,9061,0.00,2.65,5.00,0.762,6,0.000,0.058,2506,2242,1854
$GC,9372,0.88,227.3,458.0,6.5,449,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2242,1854
$GC,9681,0.88,227.3,437.7,6.4,464,9685,0.00,2.70,0.00,0.000,4,0.000,0.071,2506,826,1853
$GC,9702,0.88,227.3,436.4,6.5,465,9706,0.00,2.62,0.00,0.000,6,0.000,0.057,2506,2240,1853
$GC,10023,0.89,236.8,417.1,5.7,481,10038,0.00,2.72,9.82,0.907,4,0.000,0.071,2506,828,1815
$GC,10073,0.89,236.8,414.1,6.4,482,10077,0.00,2.65,0.00,0.000,6,0.000,0.057,2506,2243,1814
$GC,10388,0.92,268.9,397.2,5.1,497,10424,0.12,2.75,28.90,0.983,4,0.081,0.072,2532,832,1684
$GC,10441,0.92,268.9,393.9,6.4,499,10445,0.00,2.65,0.00,0.000,6,0.000,0.056,2532,2241,1684
$GC,10757,0.92,268.9,373.9,6.3,514,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2241,1683
$GC,11066,0.92,268.9,353.4,6.4,529,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2241,1683
$GC,11376,0.92,268.9,332.9,7.1,544,11380,0.00,2.67,0.00,0.000,4,0.000,0.071,2532,830,1682
$GC,11408,0.92,268.9,330.2,7.6,545,11415,0.00,2.60,0.00,0.000,6,0.000,0.056,2532,2240,1682
$GC,11724,0.92,268.9,306.8,7.7,561,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2240,1682
$GC,12034,0.92,268.9,284.3,7.4,576,12039,0.00,2.67,0.00,0.000,4,0.000,0.076,2532,3649,1682
$GC,12056,0.92,268.9,282.4,7.4,577,12060,0.00,2.60,0.00,0.000,6,0.000,0.057,2532,2241,1682
$GC,12376,0.92,268.9,257.4,8.3,593,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2241,1682
$GC,12686,0.92,268.9,234.3,7.1,608,12690,0.00,2.62,0.00,0.000,4,0.000,0.066,2532,829,1682
$GC,12730,0.92,268.9,230.9,7.4,610,12735,0.00,2.58,0.00,0.000,6,0.000,0.051,2532,2242,1682
$GC,13052,0.92,268.9,205.2,8.4,626,13056,0.00,2.65,0.00,0.000,4,0.000,0.071,2532,3654,1682
$GC,13079,0.92,268.9,202.9,9.2,627,13083,0.00,2.60,0.00,0.000,6,0.000,0.052,2532,2235,1682
$GC,13395,0.92,268.9,181.3,6.3,642,13399,0.00,2.60,0.00,0.000,4,0.000,0.061,2532,828,1682
$GC,13417,0.95,290.9,180.0,5.4,643,13442,0.00,2.58,19.50,0.794,6,0.000,0.047,2532,2246,1594
$GC,13758,0.95,290.9,157.8,6.8,660,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2246,1594
$GC,14067,0.95,290.9,134.8,7.7,675,14072,0.00,2.65,0.00,0.000,4,0.000,0.058,2532,825,1596
$GC,14094,0.95,290.9,132.6,8.0,676,14099,0.00,2.58,0.00,0.000,6,0.000,0.045,2532,2247,1596
$GC,14412,0.95,290.9,109.4,7.0,691,14413,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2246,1596
$GC,14720,0.95,290.9,89.1,6.5,706,14724,0.00,2.65,0.00,0.000,4,0.000,0.058,2532,820,1597
$GC,14753,0.95,290.9,86.7,6.7,707,14759,0.00,2.55,0.00,0.000,6,0.000,0.045,2532,2239,1597
$GC,15070,0.95,290.9,63.8,6.8,723,15071,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2240,1599
$GC,15379,0.96,302.9,46.7,5.7,738,15401,0.00,2.67,12.20,0.645,4,0.000,0.058,2532,827,1545
$GC,15452,1.01,302.9,42.0,7.7,741,15456,0.00,2.55,0.00,0.000,6,0.000,0.044,2532,2240,1545
$GC,15775,1.07,302.9,19.9,7.1,757,15780,0.15,2.62,0.00,0.000,4,0.064,0.057,2572,818,1545
$GC,15802,1.07,302.9,17.5,8.4,758,15806,0.00,2.55,0.00,0.000,6,0.000,0.044,2572,2240,1545
$STATE,15991,end climb,SURFACE_DEPTH_REACHED
$STATE,15992,begin surface coast
$FINISH,0.5,1.013245
$STATE,16013,end surface coast,CONTROL_FINISHED_OK
$STATE,16014,begin surface
$SM_CCo,16035,128.55,0.636,0,0,509,557.32
$SM_GC,1.35,0.00,0.00,128.55,0.000,0.000,0.636,72,2241,509,-10.39,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1905
$TCM_TEMP,17.20
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,525.9,20.7
$24V_AH,23.4,58.802
$10V_AH,10.1,28.798
$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,25.400,136.550,404.925,128.550,0.000,18.045,31.851,134.836,17.750,0.000,0.000,15.088,1401.037,12280.028,685.843,1627.901,481.149,0.000,1530.980,0.000,1590.864,0.000,34.283
$DEVICE_MAMPS,171.041,82.836,1073.033,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.131,524.309,531.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38028,768
$CAP_FILE_SIZE,115609,0
$CFSIZE,260165632,238342144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,140808,034538,6422.721,-958.918,41,1.3,41,-10.8