version: 66.03
glider: 16
mission: 9
dive: 368
start: 8 14 108 8 37 13
data:
$ID,16
$MISSION,9
$DIVE,368
$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,-2101481
$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,23
$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
$GPS1,083058,6421.138,-952.508,28,2.5,47,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-58.8
$GPS2,083656,6421.164,-952.285,15,2.0,32,-10.8
$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,160.5,19649,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.78,0.000,2,0.000,0.000,68,2244,2927
$GC,153,-0.85,-146.6,3.6,-2.9,6,183,11.73,2.62,-11.02,0.000,4,0.171,0.072,2143,3637,3381
$GC,251,-0.73,-146.6,17.5,-9.7,10,256,0.12,2.55,0.00,0.000,6,0.098,0.044,2167,2223,3381
$GC,569,-0.67,-146.6,44.0,-8.6,25,573,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,3638,3381
$GC,602,-0.63,-146.6,47.2,-8.9,26,609,0.12,2.53,0.00,0.000,6,0.094,0.041,2191,2225,3381
$GC,920,-0.68,-146.6,66.9,-5.2,42,924,0.00,2.60,0.00,0.000,4,0.000,0.061,2191,3638,3382
$GC,947,-0.72,-146.6,68.5,-6.0,43,952,0.00,2.50,0.00,0.000,6,0.000,0.041,2191,2228,3382
$GC,1265,-0.77,-146.6,86.6,-5.8,58,1267,0.15,0.00,0.00,0.000,6,0.043,0.000,2143,2227,3382
$GC,1573,-0.66,-146.6,112.7,-9.0,73,1578,0.17,2.58,0.00,0.000,4,0.087,0.054,2182,819,3382
$GC,1595,-0.66,-146.6,114.5,-7.9,74,1599,0.00,2.55,0.00,0.000,6,0.000,0.044,2182,2234,3383
$GC,1917,-0.66,-146.6,136.6,-7.1,90,1921,0.00,2.60,0.00,0.000,4,0.000,0.065,2182,3639,3383
$GC,1957,-0.66,-146.6,139.4,-7.5,92,1961,0.00,2.53,0.00,0.000,6,0.000,0.044,2182,2229,3382
$GC,2283,-0.66,-146.6,161.6,-6.9,108,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2229,3382
$GC,2593,-0.66,-146.6,182.2,-6.4,123,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2228,3383
$GC,2902,-0.66,-146.6,204.0,-7.5,138,2906,0.00,2.62,0.00,0.000,4,0.000,0.066,2182,3641,3383
$GC,2935,-0.66,-146.6,206.7,-8.5,139,2940,0.00,2.53,0.00,0.000,6,0.000,0.044,2182,2230,3383
$GC,3251,-0.66,-146.6,230.3,-7.4,155,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2230,3382
$GC,3560,-0.66,-146.6,251.0,-6.5,170,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2230,3382
$GC,3869,-0.70,-146.6,272.8,-7.3,185,3873,0.00,2.62,0.00,0.000,4,0.000,0.067,2182,3637,3382
$GC,3916,-0.75,-146.6,276.6,-8.8,187,3920,0.00,2.53,0.00,0.000,6,0.000,0.044,2182,2229,3383
$GC,4237,-0.81,-146.6,299.6,-6.4,203,4242,0.15,2.58,0.00,0.000,4,0.044,0.055,2132,819,3382
$GC,4265,-0.75,-146.6,301.8,-8.2,204,4270,0.17,2.55,0.00,0.000,6,0.096,0.046,2164,2230,3382
$GC,4581,-0.75,-146.6,322.0,-6.6,219,4585,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,3640,3382
$GC,4626,-0.75,-146.6,325.3,-7.3,221,4630,0.00,2.55,0.00,0.000,6,0.000,0.046,2164,2223,3382
$GC,4946,-0.75,-146.6,347.9,-7.1,237,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2223,3382
$GC,5256,-0.75,-146.6,369.3,-6.5,252,5261,0.00,2.67,0.00,0.000,4,0.000,0.071,2164,3644,3382
$GC,5296,-0.75,-146.6,371.8,-6.8,254,5301,0.00,2.58,0.00,0.000,6,0.000,0.048,2164,2227,3382
$GC,5623,-0.75,-146.6,391.4,-6.1,270,5628,0.00,2.65,0.00,0.000,4,0.000,0.073,2164,3641,3382
$GC,5646,-0.75,-146.6,392.8,-5.9,271,5650,0.00,2.55,0.00,0.000,6,0.000,0.049,2164,2232,3381
$GC,5966,-0.75,-146.6,413.2,-6.8,287,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2232,3381
$GC,6275,-0.75,-146.6,433.9,-6.7,302,6280,0.00,2.67,0.00,0.000,4,0.000,0.076,2164,3638,3380
$GC,6316,-0.75,-146.6,436.8,-7.6,304,6320,0.00,2.60,0.00,0.000,6,0.000,0.052,2164,2221,3380
$GC,6642,-0.75,-146.6,460.5,-7.7,320,6647,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,819,3380
$GC,6665,-0.80,-146.6,462.3,-7.5,321,6669,0.00,2.60,0.00,0.000,6,0.000,0.054,2164,2229,3379
$GC,6986,-0.80,-146.6,486.3,-7.8,337,6990,0.00,2.67,0.00,0.000,4,0.000,0.080,2164,3641,3378
$GC,7019,-0.80,-146.6,489.2,-8.8,338,7025,0.00,2.60,0.00,0.000,6,0.000,0.055,2164,2230,3377
$GC,7334,-0.80,-146.6,512.6,-7.0,354,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3376
$GC,7644,-0.80,-146.6,534.2,-6.6,369,7649,0.00,2.70,0.00,0.000,4,0.000,0.080,2164,3641,3375
$GC,7677,-0.80,-146.6,536.8,-7.5,370,7684,0.00,2.60,0.00,0.000,6,0.000,0.055,2164,2224,3374
$GC,7994,-0.80,-146.6,557.3,-6.3,386,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2224,3373
$GC,8304,-0.80,-146.6,577.9,-6.9,401,8308,0.00,2.72,0.00,0.000,4,0.000,0.081,2164,3641,3372
$GC,8343,-0.80,-146.6,580.9,-8.4,403,8347,0.00,2.60,0.00,0.000,6,0.000,0.055,2164,2225,3372
$GC,8669,-0.80,-146.6,603.8,-7.4,419,8673,0.00,2.65,0.00,0.000,4,0.000,0.071,2164,819,3371
$GC,8697,-0.86,-146.6,605.9,-7.9,420,8702,0.12,2.60,0.00,0.000,6,0.059,0.056,2131,2230,3371
$STATE,8825,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8825,begin apogee
$GC,8832,-0.31,0.0,616.8,8.5,426,8967,0.65,0.00,130.18,1.116,6,0.099,0.000,2259,2230,2780
$STATE,8968,end apogee,CONTROL_FINISHED_OK
$STATE,8968,begin climb
$GC,8971,0.85,146.6,622.4,0.0,433,9110,1.20,2.75,130.38,1.098,4,0.079,0.065,2508,824,2182
$GC,9119,0.87,233.5,622.1,3.6,439,9204,0.00,2.67,77.12,1.074,6,0.000,0.054,2508,2245,1829
$GC,9526,0.87,233.5,596.8,6.5,459,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2245,1827
$GC,9836,0.87,233.5,576.9,6.6,474,9840,0.00,2.72,0.00,0.000,4,0.000,0.071,2508,827,1827
$GC,9868,0.87,233.5,574.7,6.9,475,9875,0.00,2.62,0.00,0.000,6,0.000,0.056,2508,2242,1826
$GC,10185,0.87,233.5,554.3,6.4,491,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2242,1826
$GC,10494,0.87,233.5,532.4,7.3,506,10498,0.00,2.70,0.00,0.000,4,0.000,0.071,2508,824,1826
$GC,10521,0.87,233.5,530.2,7.7,507,10525,0.00,2.62,0.00,0.000,6,0.000,0.055,2508,2240,1826
$GC,10837,0.87,233.5,509.8,6.0,522,10841,0.00,2.67,0.00,0.000,4,0.000,0.071,2508,830,1825
$GC,10864,0.87,233.5,508.2,6.3,523,10868,0.00,2.60,0.00,0.000,6,0.000,0.055,2508,2241,1825
$GC,11180,0.87,240.5,490.2,5.8,538,11189,0.00,0.00,7.20,0.875,6,0.000,0.000,2508,2241,1800
$GC,11489,0.87,240.5,470.5,6.5,553,11490,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1799
$GC,11798,0.88,242.0,451.5,6.0,568,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1798
$GC,12107,0.88,242.0,431.3,6.6,583,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1798
$GC,12417,0.88,242.0,410.5,7.1,598,12421,0.00,2.67,0.00,0.000,4,0.000,0.070,2508,830,1798
$GC,12438,0.88,242.0,408.8,7.6,599,12443,0.00,2.60,0.00,0.000,6,0.000,0.054,2508,2241,1797
$GC,12760,0.88,242.0,385.3,6.8,615,12764,0.00,2.67,0.00,0.000,4,0.000,0.068,2508,830,1797
$GC,12799,0.88,242.0,382.5,6.7,617,12803,0.00,2.60,0.00,0.000,6,0.000,0.053,2508,2240,1797
$GC,13127,0.94,259.6,363.0,5.5,633,13148,0.12,0.00,17.23,0.923,6,0.077,0.000,2534,2240,1722
$GC,13457,0.94,259.6,339.1,7.6,649,13462,0.00,2.65,0.00,0.000,4,0.000,0.074,2534,3650,1722
$GC,13491,0.94,259.6,336.1,8.7,650,13498,0.00,2.60,0.00,0.000,6,0.000,0.056,2535,2234,1722
$GC,13807,0.94,259.6,310.6,7.8,666,13808,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2234,1722
$GC,14116,0.94,259.6,287.0,7.4,681,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2234,1722
$GC,14426,0.94,259.6,265.6,7.1,696,14428,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2234,1722
$GC,14735,0.94,259.6,243.0,7.3,711,14736,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2234,1722
$GC,15044,0.95,268.8,223.6,5.7,726,15056,0.00,0.00,9.70,0.745,6,0.000,0.000,2535,2234,1685
$GC,15354,0.95,268.8,202.0,7.6,741,15355,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2234,1685
$GC,15663,0.95,268.8,177.4,8.2,756,15664,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2234,1686
$GC,15972,0.95,268.8,152.1,7.9,771,15973,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2234,1687
$GC,16282,0.95,268.8,128.2,7.3,786,16283,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2233,1687
$GC,16591,0.95,268.8,104.8,8.1,801,16592,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2234,1689
$GC,16901,0.95,268.8,79.5,7.8,816,16902,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2234,1690
$GC,17209,0.95,268.8,56.2,7.7,831,17210,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2234,1690
$GC,17519,0.95,268.8,35.2,6.8,846,17523,0.00,2.60,0.00,0.000,4,0.000,0.058,2535,819,1690
$GC,17574,0.95,268.8,31.2,6.4,848,17581,0.00,2.55,0.00,0.000,6,0.000,0.043,2535,2248,1691
$GC,17892,0.95,268.8,11.4,6.4,864,17894,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2249,1692
$STATE,18054,end climb,SURFACE_DEPTH_REACHED
$STATE,18054,begin surface coast
$FINISH,0.6,1.021688
$STATE,18074,end surface coast,CONTROL_FINISHED_OK
$STATE,18074,begin surface
$SM_CCo,18096,142.48,0.622,0,0,508,557.32
$SM_GC,1.33,0.00,0.00,142.48,0.000,0.000,0.622,69,2251,508,-10.40,0.59,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1863
$TCM_TEMP,17.60
$XPDR_PINGS,51
$ALTIM_TOP_PING,19.3,18.9
$ALTIM_BOTTOM_PING,600.8,24.9
$24V_AH,23.4,59.114
$10V_AH,10.1,28.959
$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,25.400,130.650,371.800,142.475,0.000,18.024,29.613,162.386,18.000,0.000,0.000,32.789,1551.400,14089.188,682.998,1745.294,528.140,0.000,1562.798,0.000,1691.207,0.000,36.291
$DEVICE_MAMPS,171.041,80.535,1115.985,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,648.051,595.870,577.379,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44179,873
$CAP_FILE_SIZE,122167,0
$CFSIZE,260165632,238215168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140808,134252,6417.695,-950.123,40,3.4,59,-10.7