version: 66.03
glider: 16
mission: 9
dive: 365
start: 8 13 108 18 52 22
data:
$ID,16
$MISSION,9
$DIVE,365
$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,-2101390.5
$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,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
$GPS1,184637,6426.747,-1010.002,37,2.0,48,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-58.6
$GPS2,185205,6426.755,-1009.776,13,2.1,32,-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,149.7,36371,-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,-121.00,0.000,2,0.000,0.000,74,2236,2883
$GC,151,-0.85,-146.6,3.7,-2.9,6,181,11.73,2.62,-12.43,0.000,4,0.173,0.067,2140,827,3381
$GC,397,-0.78,-146.6,31.6,-9.8,17,401,0.00,2.55,0.00,0.000,6,0.000,0.044,2140,2235,3381
$GC,724,-0.66,-146.6,64.1,-10.4,33,729,0.20,2.62,0.00,0.000,4,0.095,0.064,2182,3647,3382
$GC,775,-0.66,-146.6,69.0,-9.2,35,779,0.00,2.55,0.00,0.000,6,0.000,0.043,2182,2224,3383
$GC,1091,-0.66,-146.6,98.1,-9.4,50,1095,0.00,2.58,0.00,0.000,4,0.000,0.055,2182,820,3382
$GC,1113,-0.71,-146.6,100.1,-8.9,51,1117,0.00,2.55,0.00,0.000,6,0.000,0.044,2182,2232,3383
$GC,1436,-0.71,-146.6,129.2,-8.9,67,1441,0.00,2.62,0.00,0.000,4,0.000,0.066,2182,3644,3383
$GC,1464,-0.71,-146.6,132.1,-9.5,68,1468,0.00,2.55,0.00,0.000,6,0.000,0.044,2182,2228,3383
$GC,1779,-0.71,-146.6,159.0,-8.2,83,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2228,3383
$GC,2089,-0.71,-146.6,179.9,-6.2,98,2094,0.00,2.62,0.00,0.000,4,0.000,0.064,2182,3637,3383
$GC,2118,-0.71,-146.6,182.0,-7.0,99,2123,0.00,2.53,0.00,0.000,6,0.000,0.044,2183,2230,3383
$GC,2434,-0.76,-146.6,203.3,-7.0,114,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2230,3382
$GC,2745,-0.81,-146.6,226.2,-7.2,129,2747,0.15,0.00,0.00,0.000,6,0.044,0.000,2136,2230,3383
$GC,3053,-0.71,-146.6,248.8,-6.5,144,3058,0.15,2.62,0.00,0.000,4,0.090,0.068,2169,3637,3383
$GC,3086,-0.71,-146.6,250.8,-6.0,145,3093,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,2227,3383
$GC,3403,-0.71,-146.6,269.7,-6.4,161,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2227,3383
$GC,3712,-0.71,-146.6,287.7,-5.5,176,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2227,3383
$GC,4021,-0.71,-146.6,303.4,-5.2,191,4026,0.00,2.67,0.00,0.000,4,0.000,0.074,2169,3636,3383
$GC,4067,-0.71,-146.6,306.2,-5.8,193,4071,0.00,2.58,0.00,0.000,6,0.000,0.051,2169,2225,3382
$GC,4387,-0.71,-146.6,327.7,-7.3,209,4392,0.00,2.62,0.00,0.000,4,0.000,0.064,2168,816,3382
$GC,4421,-0.79,-146.6,330.4,-7.8,210,4428,0.00,2.58,0.00,0.000,6,0.000,0.052,2169,2227,3382
$GC,4738,-0.79,-146.6,355.3,-8.4,226,4742,0.00,2.67,0.00,0.000,4,0.000,0.077,2169,3640,3381
$GC,4770,-0.79,-146.6,358.4,-9.5,227,4777,0.00,2.60,0.00,0.000,6,0.000,0.052,2169,2224,3381
$GC,5086,-0.79,-146.6,385.0,-8.1,243,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2224,3380
$GC,5396,-0.79,-146.6,406.3,-6.5,258,5400,0.00,2.72,0.00,0.000,4,0.000,0.079,2169,3640,3379
$GC,5429,-0.79,-146.6,408.7,-7.8,259,5435,0.00,2.60,0.00,0.000,6,0.000,0.054,2169,2229,3379
$GC,5744,-0.79,-146.6,429.6,-7.1,275,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3378
$GC,6055,-0.83,-146.6,451.9,-7.4,290,6059,0.00,2.72,0.00,0.000,4,0.000,0.081,2169,3643,3377
$GC,6076,-0.83,-146.6,453.7,-7.3,291,6081,0.00,2.62,0.00,0.000,6,0.000,0.055,2169,2225,3376
$GC,6402,-0.88,-146.6,475.8,-7.0,307,6404,0.15,0.00,0.00,0.000,6,0.058,0.000,2131,2224,3375
$GC,6711,-0.80,-146.6,501.1,-8.0,322,6712,0.12,0.00,0.00,0.000,6,0.104,0.000,2153,2225,3374
$GC,7016,-0.80,-146.6,523.5,-7.0,337,7020,0.00,2.72,0.00,0.000,4,0.000,0.082,2153,3638,3373
$GC,7072,-0.80,-146.6,527.9,-7.8,339,7078,0.00,2.60,0.00,0.000,6,0.000,0.056,2153,2229,3373
$STATE,7178,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7179,begin apogee
$GC,7185,-0.31,0.0,535.5,6.9,345,7321,0.52,0.00,129.73,1.078,6,0.097,0.000,2258,2228,2781
$STATE,7322,end apogee,CONTROL_FINISHED_OK
$STATE,7322,begin climb
$GC,7325,0.85,146.6,541.6,0.0,352,7462,1.20,2.80,129.00,1.055,4,0.079,0.078,2508,3648,2184
$GC,7606,0.80,176.7,533.5,5.2,364,7643,0.00,2.65,28.23,1.009,6,0.000,0.058,2508,2234,2059
$GC,7953,0.83,206.8,514.1,5.2,381,7983,0.00,0.00,27.55,1.010,6,0.000,0.000,2508,2234,1936
$GC,8281,0.83,211.9,496.1,5.9,397,8289,0.00,0.00,5.88,0.811,6,0.000,0.000,2508,2234,1917
$GC,8591,0.85,228.7,479.8,5.5,412,8610,0.00,0.00,16.40,0.979,6,0.000,0.000,2508,2234,1848
$GC,8921,0.87,240.7,460.9,5.7,428,8935,0.00,0.00,12.12,0.943,6,0.000,0.000,2508,2234,1799
$GC,9246,0.87,240.7,441.6,6.1,443,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2234,1798
$GC,9556,0.87,243.3,423.3,5.9,458,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2234,1797
$GC,9866,0.87,246.0,405.2,5.9,473,9874,0.00,0.00,5.95,0.811,6,0.000,0.000,2508,2234,1776
$GC,10176,0.87,247.8,386.4,6.0,488,10180,0.00,2.75,0.00,0.000,4,0.000,0.081,2508,3653,1777
$GC,10209,0.87,247.8,384.1,6.6,489,10215,0.00,2.65,0.00,0.000,6,0.000,0.058,2508,2233,1776
$GC,10525,0.87,247.8,364.5,6.6,505,10529,0.00,2.67,0.00,0.000,4,0.000,0.073,2508,829,1776
$GC,10564,0.87,247.8,361.7,7.1,507,10569,0.00,2.62,0.00,0.000,6,0.000,0.056,2508,2241,1776
$GC,10892,0.92,247.8,336.1,7.8,523,10893,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1776
$GC,11201,0.92,247.8,314.3,6.3,538,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1776
$GC,11510,1.02,304.0,299.6,4.5,553,11567,0.17,2.78,50.03,0.940,4,0.080,0.066,2550,823,1540
$GC,11597,0.98,304.0,293.9,7.4,556,11601,0.00,2.65,0.00,0.000,6,0.000,0.054,2550,2241,1539
$GC,11917,0.98,304.0,265.1,10.1,572,11922,0.00,2.67,0.00,0.000,4,0.000,0.075,2550,3650,1539
$GC,11957,0.98,304.0,260.7,12.2,574,11962,0.00,2.62,0.00,0.000,6,0.000,0.056,2550,2239,1539
$GC,12285,0.93,304.0,228.6,9.1,590,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2239,1539
$GC,12593,0.89,304.0,198.6,9.6,605,12595,0.15,0.00,0.00,0.000,6,0.101,0.000,2522,2239,1539
$GC,12902,0.93,304.0,175.7,6.6,620,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2239,1539
$GC,13212,0.98,304.0,151.9,8.4,635,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2239,1539
$GC,13521,1.03,304.0,129.8,6.5,650,13526,0.15,2.62,0.00,0.000,4,0.050,0.058,2560,818,1540
$GC,13549,1.03,304.0,127.7,7.5,651,13553,0.00,2.58,0.00,0.000,6,0.000,0.045,2560,2244,1540
$GC,13867,0.96,304.0,104.8,7.4,666,13868,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2244,1541
$GC,14174,0.90,304.0,78.2,8.9,681,14179,0.15,2.62,0.00,0.000,4,0.091,0.058,2527,826,1542
$GC,14193,0.90,304.0,76.8,8.3,682,14198,0.00,2.55,0.00,0.000,6,0.000,0.044,2527,2242,1542
$GC,14522,0.97,304.0,55.2,6.5,698,14526,0.00,2.62,0.00,0.000,4,0.000,0.058,2528,826,1543
$GC,14555,1.06,304.0,52.5,6.8,699,14562,0.15,2.55,0.00,0.000,6,0.048,0.044,2562,2245,1543
$GC,14871,1.02,304.0,25.2,8.8,715,14875,0.00,2.62,0.00,0.000,4,0.000,0.057,2562,826,1544
$GC,14898,1.02,304.0,22.7,8.3,716,14903,0.00,2.55,0.00,0.000,6,0.000,0.043,2562,2243,1544
$STATE,15170,end climb,SURFACE_DEPTH_REACHED
$STATE,15170,begin surface coast
$FINISH,0.6,1.014065
$STATE,15192,end surface coast,CONTROL_FINISHED_OK
$STATE,15192,begin surface
$SM_CCo,15215,126.90,0.640,0,0,507,557.32
$SM_GC,1.30,0.00,0.00,126.90,0.000,0.000,0.640,71,2244,507,-10.39,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1905
$TCM_TEMP,17.40
$XPDR_PINGS,54
$ALTIM_TOP_PING,18.6,17.2
$ALTIM_BOTTOM_PING,525.4,18.9
$24V_AH,23.4,58.651
$10V_AH,10.1,28.722
$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,25.925,110.300,404.875,126.900,0.000,18.105,28.278,138.168,18.500,0.000,0.000,33.143,1326.467,11661.118,689.947,1537.503,456.474,0.000,1467.682,0.000,1484.907,0.000,37.520
$DEVICE_MAMPS,172.575,82.069,1077.635,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,544.248,497.723,488.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37937,730
$CAP_FILE_SIZE,108121,0
$CFSIZE,260165632,238403584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,130808,230926,6425.141,-1002.686,42,1.8,42,-10.9