version: 66.03
glider: 16
mission: 9
dive: 364
start: 8 13 108 14 22 58
data:
$ID,16
$MISSION,9
$DIVE,364
$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,-2101356.5
$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,21
$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
$GPS1,141731,6427.504,-1015.680,38,1.8,43,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.2
$GPS2,142239,6427.509,-1015.612,15,1.9,15,-11.0
$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,146.0,40607,-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,-120.53,0.000,2,0.000,0.000,72,2243,2844
$GC,150,-0.85,-146.6,3.8,-3.1,6,182,11.73,2.62,-13.80,0.000,4,0.172,0.066,2140,813,3380
$GC,270,-0.79,-146.6,18.2,-9.9,11,274,0.00,2.58,0.00,0.000,6,0.000,0.044,2140,2233,3380
$GC,586,-0.66,-146.6,51.0,-9.5,26,591,0.20,2.60,0.00,0.000,4,0.096,0.063,2182,3638,3380
$GC,636,-0.66,-146.6,55.0,-7.0,28,640,0.00,2.53,0.00,0.000,6,0.000,0.041,2182,2226,3381
$GC,952,-0.66,-146.6,77.0,-6.6,43,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2226,3381
$GC,1261,-0.66,-146.6,94.7,-5.5,58,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2226,3382
$GC,1571,-0.66,-146.6,110.0,-4.8,73,1575,0.00,2.62,0.00,0.000,4,0.000,0.064,2182,3637,3382
$GC,1616,-0.66,-146.6,112.7,-5.8,75,1620,0.00,2.53,0.00,0.000,6,0.000,0.043,2182,2231,3382
$GC,1937,-0.66,-146.6,135.8,-8.1,91,1941,0.00,2.58,0.00,0.000,4,0.000,0.054,2182,818,3382
$GC,1970,-0.75,-146.6,138.6,-8.2,92,1976,0.00,2.55,0.00,0.000,6,0.000,0.044,2182,2233,3382
$GC,2286,-0.75,-146.6,159.6,-7.2,108,2291,0.00,2.60,0.00,0.000,4,0.000,0.065,2182,3638,3382
$GC,2327,-0.79,-146.6,163.3,-9.6,110,2332,0.12,2.53,0.00,0.000,6,0.046,0.043,2139,2230,3382
$GC,2654,-0.71,-146.6,193.6,-9.1,126,2656,0.17,0.00,0.00,0.000,6,0.084,0.000,2173,2228,3383
$GC,2964,-0.71,-146.6,212.6,-4.9,141,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3383
$GC,3272,-0.71,-146.6,230.1,-6.8,156,3276,0.00,2.65,0.00,0.000,4,0.000,0.068,2173,3637,3383
$GC,3317,-0.71,-146.6,234.1,-8.8,158,3321,0.00,2.55,0.00,0.000,6,0.000,0.047,2173,2231,3383
$GC,3637,-0.71,-146.6,260.5,-8.7,174,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2231,3383
$GC,3946,-0.71,-146.6,285.7,-7.9,189,3951,0.00,2.67,0.00,0.000,4,0.000,0.073,2173,3641,3382
$GC,3988,-0.71,-146.6,289.0,-8.4,191,3992,0.00,2.58,0.00,0.000,6,0.000,0.051,2173,2233,3382
$GC,4314,-0.71,-146.6,312.6,-6.7,207,4318,0.00,2.65,0.00,0.000,4,0.000,0.064,2173,819,3382
$GC,4347,-0.79,-146.6,314.7,-6.4,208,4353,0.00,2.60,0.00,0.000,6,0.000,0.052,2173,2233,3382
$GC,4664,-0.84,-146.6,331.3,-5.1,224,4669,0.12,2.67,0.00,0.000,4,0.052,0.076,2136,3642,3382
$GC,4742,-0.75,-146.6,337.0,-7.7,227,4749,0.15,2.60,0.00,0.000,6,0.097,0.054,2164,2231,3382
$GC,5058,-0.75,-146.6,359.2,-7.7,243,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2231,3381
$GC,5367,-0.75,-146.6,383.8,-7.8,258,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2231,3379
$GC,5676,-0.75,-146.6,408.0,-8.0,273,5681,0.00,2.70,0.00,0.000,4,0.000,0.081,2164,3636,3378
$GC,5704,-0.75,-146.6,410.4,-8.9,274,5708,0.00,2.60,0.00,0.000,6,0.000,0.056,2164,2230,3378
$GC,6020,-0.75,-146.6,435.9,-8.1,289,6024,0.00,2.65,0.00,0.000,4,0.000,0.070,2164,822,3377
$GC,6048,-0.81,-146.6,438.1,-8.3,290,6052,0.00,2.62,0.00,0.000,6,0.000,0.057,2164,2235,3377
$GC,6363,-0.81,-146.6,462.1,-7.6,305,6368,0.00,2.70,0.00,0.000,4,0.000,0.081,2164,3641,3376
$GC,6404,-0.81,-146.6,465.0,-8.2,307,6408,0.00,2.62,0.00,0.000,6,0.000,0.058,2164,2232,3375
$GC,6730,-0.81,-146.6,485.0,-5.8,323,6735,0.00,2.67,0.00,0.000,4,0.000,0.070,2163,817,3374
$GC,6759,-0.88,-146.6,486.7,-5.8,324,6764,0.12,2.62,0.00,0.000,6,0.058,0.057,2130,2231,3374
$GC,7075,-0.78,-146.6,510.8,-7.6,339,7080,0.15,2.70,0.00,0.000,4,0.103,0.081,2158,3638,3373
$GC,7108,-0.78,-146.6,513.4,-7.5,340,7114,0.00,2.60,0.00,0.000,6,0.000,0.057,2158,2230,3374
$STATE,7318,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7319,begin apogee
$GC,7326,-0.31,0.0,529.3,7.7,351,7461,0.52,0.00,128.82,1.071,6,0.105,0.000,2261,2230,2781
$STATE,7461,end apogee,CONTROL_FINISHED_OK
$STATE,7462,begin climb
$GC,7465,0.85,146.6,535.8,0.0,358,7601,1.17,2.75,128.65,1.055,4,0.081,0.070,2507,825,2183
$GC,7762,0.81,174.0,526.1,5.2,371,7793,0.00,2.65,25.40,0.999,6,0.000,0.057,2507,2241,2071
$GC,8114,0.81,175.9,506.5,5.9,389,8119,0.00,2.72,0.00,0.000,4,0.000,0.081,2507,3654,2070
$GC,8145,0.77,175.9,504.9,6.3,390,8149,0.00,2.65,0.00,0.000,6,0.000,0.058,2507,2237,2070
$GC,8461,0.79,233.5,488.8,4.4,405,8520,0.00,0.00,53.38,1.029,6,0.000,0.000,2507,2237,1828
$GC,8829,0.79,233.5,463.1,7.3,423,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2237,1827
$GC,9140,0.79,236.5,442.9,5.9,438,9144,0.00,2.70,0.00,0.000,4,0.000,0.074,2507,824,1826
$GC,9167,0.79,236.5,441.1,6.4,439,9171,0.00,2.65,0.00,0.000,6,0.000,0.056,2507,2248,1825
$GC,9483,0.79,236.7,422.6,6.0,454,9488,0.00,0.00,4.00,0.676,6,0.000,0.000,2507,2248,1816
$GC,9792,0.79,236.7,404.0,6.0,469,9797,0.00,2.70,0.00,0.000,4,0.000,0.071,2507,828,1815
$GC,9814,0.79,236.7,402.5,6.4,470,9819,0.00,2.62,0.00,0.000,6,0.000,0.057,2507,2241,1814
$GC,10135,0.79,236.7,381.9,6.6,486,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,1814
$GC,10445,0.79,236.7,361.4,6.6,501,10450,0.00,2.70,0.00,0.000,4,0.000,0.072,2506,827,1814
$GC,10490,0.79,236.7,358.1,7.3,503,10494,0.00,2.62,0.00,0.000,6,0.000,0.058,2507,2240,1812
$GC,10811,0.79,236.7,334.2,7.4,519,10815,0.00,2.70,0.00,0.000,4,0.000,0.082,2507,3647,1814
$GC,10833,0.79,236.7,332.4,7.8,520,10837,0.00,2.62,0.00,0.000,6,0.000,0.061,2507,2235,1813
$GC,11154,0.79,236.7,311.6,6.2,536,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2235,1814
$GC,11464,0.85,251.8,292.8,5.6,551,11482,0.00,0.00,14.00,0.891,6,0.000,0.000,2507,2235,1754
$GC,11793,0.93,276.7,275.3,5.3,567,11823,0.12,2.80,22.27,0.901,4,0.068,0.079,2535,3644,1653
$GC,11873,0.93,276.7,269.3,8.0,570,11880,0.00,2.62,0.00,0.000,6,0.000,0.059,2535,2241,1653
$GC,12190,0.93,276.7,245.6,7.6,586,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2241,1653
$GC,12499,0.93,276.7,225.0,6.8,601,12503,0.00,2.70,0.00,0.000,4,0.000,0.076,2536,3650,1653
$GC,12516,0.93,276.7,223.6,7.2,602,12521,0.00,2.62,0.00,0.000,6,0.000,0.055,2535,2232,1653
$GC,12843,0.93,276.7,200.9,7.5,618,12847,0.00,2.65,0.00,0.000,4,0.000,0.067,2535,826,1653
$GC,12906,0.93,276.7,195.9,8.0,621,12911,0.00,2.60,0.00,0.000,6,0.000,0.051,2535,2242,1652
$GC,13232,0.93,276.7,172.4,6.4,637,13237,0.00,2.65,0.00,0.000,4,0.000,0.071,2535,3650,1653
$GC,13260,0.93,276.7,170.3,7.8,638,13264,0.00,2.60,0.00,0.000,6,0.000,0.051,2535,2233,1653
$GC,13576,0.93,276.7,149.0,7.2,653,13577,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2233,1653
$GC,13886,0.93,276.7,125.6,7.4,668,13891,0.00,2.67,0.00,0.000,4,0.000,0.067,2535,3656,1654
$GC,13909,0.93,276.7,123.7,7.9,669,13914,0.00,2.58,0.00,0.000,6,0.000,0.049,2535,2240,1654
$GC,14232,0.93,276.7,99.8,7.5,685,14233,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2241,1656
$GC,14542,0.93,276.7,75.4,7.9,700,14543,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2240,1656
$GC,14849,0.93,276.7,50.6,7.7,715,14854,0.00,2.62,0.00,0.000,4,0.000,0.065,2535,3649,1658
$GC,14891,0.93,276.7,47.5,7.6,717,14895,0.00,2.55,0.00,0.000,6,0.000,0.048,2535,2240,1658
$GC,15217,0.93,276.7,23.6,7.3,733,15218,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2240,1659
$GC,15527,0.93,276.7,2.3,6.8,748,15528,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2239,1660
$STATE,15544,end climb,SURFACE_DEPTH_REACHED
$STATE,15544,begin surface coast
$FINISH,0.6,1.026958
$STATE,15566,end surface coast,CONTROL_FINISHED_OK
$STATE,15566,begin surface
$SM_CCo,15589,141.93,0.647,0,0,509,557.32
$SM_GC,1.25,0.00,0.00,141.93,0.000,0.000,0.647,74,2236,509,-10.38,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1893
$TCM_TEMP,16.70
$XPDR_PINGS,63
$ALTIM_TOP_PING,19.2,17.8
$ALTIM_BOTTOM_PING,475.4,63.4
$24V_AH,23.4,58.497
$10V_AH,10.1,28.650
$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,25.325,136.975,376.525,141.925,0.000,18.357,27.884,137.987,20.000,0.000,0.000,15.372,1372.835,11909.528,700.289,1586.849,472.631,0.000,1509.661,0.000,1551.700,0.000,31.540
$DEVICE_MAMPS,171.808,82.069,1071.499,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.745,511.232,530.902,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38093,750
$CAP_FILE_SIZE,113334,0
$CFSIZE,260165632,238456832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130808,184637,6426.747,-1010.002,37,2.0,48,-11.0