version: 66.03
glider: 16
mission: 9
dive: 367
start: 8 14 108 3 54 18
data:
$ID,16
$MISSION,9
$DIVE,367
$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,-2101447.5
$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,22
$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
$GPS1,034538,6422.721,-958.918,41,1.3,41,-10.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.9
$GPS2,035401,6422.727,-958.751,36,1.8,40,-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,153.5,24963,-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,-120.90,0.000,2,0.000,0.000,72,2242,2889
$GC,152,-0.85,-146.6,3.2,-2.6,6,182,11.70,2.62,-12.38,0.000,4,0.171,0.073,2139,3637,3380
$GC,323,-0.72,-146.6,25.0,-10.9,13,330,0.17,2.53,0.00,0.000,6,0.094,0.044,2172,2227,3381
$GC,641,-0.72,-146.6,53.9,-7.7,29,645,0.00,2.58,0.00,0.000,4,0.000,0.054,2172,816,3380
$GC,668,-0.72,-146.6,56.1,-6.6,30,672,0.00,2.55,0.00,0.000,6,0.000,0.042,2172,2233,3380
$GC,984,-0.72,-146.6,78.7,-7.3,45,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2233,3381
$GC,1293,-0.72,-146.6,104.0,-7.8,60,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2233,3381
$GC,1603,-0.72,-146.6,123.9,-6.4,75,1608,0.00,2.60,0.00,0.000,4,0.000,0.064,2172,3640,3382
$GC,1637,-0.72,-146.6,126.4,-7.0,76,1643,0.00,2.53,0.00,0.000,6,0.000,0.044,2172,2225,3382
$GC,1954,-0.72,-146.6,148.7,-7.1,92,1958,0.00,2.58,0.00,0.000,4,0.000,0.055,2172,815,3382
$GC,1988,-0.76,-146.6,151.2,-7.2,93,1994,0.00,2.53,0.00,0.000,6,0.000,0.044,2172,2227,3382
$GC,2303,-0.76,-146.6,173.8,-7.8,109,2308,0.00,2.60,0.00,0.000,4,0.000,0.064,2172,3643,3382
$GC,2331,-0.76,-146.6,176.2,-8.4,110,2335,0.00,2.55,0.00,0.000,6,0.000,0.044,2172,2221,3382
$GC,2650,-0.76,-146.6,200.3,-6.9,125,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2222,3382
$GC,2956,-0.76,-146.6,220.0,-5.9,140,2961,0.00,2.62,0.00,0.000,4,0.000,0.064,2172,3638,3382
$GC,2996,-0.76,-146.6,222.4,-6.3,142,3001,0.00,2.53,0.00,0.000,6,0.000,0.044,2172,2228,3382
$GC,3324,-0.76,-146.6,243.1,-7.6,158,3328,0.00,2.62,0.00,0.000,4,0.000,0.065,2173,3639,3382
$GC,3363,-0.76,-146.6,246.6,-8.4,160,3367,0.00,2.55,0.00,0.000,6,0.000,0.045,2172,2225,3382
$GC,3690,-0.76,-146.6,271.7,-7.2,176,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2225,3382
$GC,4000,-0.76,-146.6,295.9,-8.3,191,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2225,3382
$GC,4309,-0.76,-146.6,315.7,-5.8,206,4313,0.00,2.65,0.00,0.000,4,0.000,0.069,2172,3640,3382
$GC,4348,-0.76,-146.6,318.6,-7.1,208,4353,0.00,2.55,0.00,0.000,6,0.000,0.048,2172,2225,3381
$GC,4675,-0.76,-146.6,342.3,-7.5,224,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2225,3381
$GC,4986,-0.76,-146.6,361.7,-6.0,239,4990,0.00,2.67,0.00,0.000,4,0.000,0.072,2172,3640,3381
$GC,5026,-0.76,-146.6,364.5,-6.9,241,5030,0.00,2.58,0.00,0.000,6,0.000,0.049,2172,2225,3380
$GC,5353,-0.80,-146.6,386.2,-6.6,257,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2225,3380
$GC,5662,-0.85,-146.6,404.5,-5.4,272,5664,0.15,0.00,0.00,0.000,6,0.052,0.000,2135,2225,3379
$GC,5972,-0.78,-146.6,429.1,-8.4,287,5977,0.12,2.70,0.00,0.000,4,0.099,0.077,2158,3641,3378
$GC,6012,-0.78,-146.6,432.4,-7.9,289,6016,0.00,2.58,0.00,0.000,6,0.000,0.053,2158,2233,3378
$GC,6338,-0.78,-146.6,454.5,-6.8,305,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2233,3377
$GC,6648,-0.78,-146.6,478.0,-8.1,320,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2233,3376
$GC,6959,-0.78,-146.6,500.3,-7.1,335,6963,0.00,2.70,0.00,0.000,4,0.000,0.081,2158,3636,3374
$GC,6998,-0.78,-146.6,503.3,-7.3,337,7002,0.00,2.60,0.00,0.000,6,0.000,0.056,2158,2230,3374
$GC,7327,-0.78,-146.6,526.0,-6.9,353,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2230,3373
$GC,7633,-0.78,-146.6,547.5,-7.8,368,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3372
$STATE,7878,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7878,begin apogee
$GC,7885,-0.31,0.0,567.3,7.9,380,8021,0.50,0.00,129.45,1.090,6,0.098,0.000,2258,2230,2781
$STATE,8022,end apogee,CONTROL_FINISHED_OK
$STATE,8022,begin climb
$GC,8026,0.85,146.6,573.9,0.0,387,8163,1.20,2.72,129.40,1.069,4,0.084,0.069,2507,831,2182
$GC,8273,0.85,213.5,570.8,4.2,397,8341,0.00,2.62,59.25,1.044,6,0.000,0.056,2507,2238,1910
$GC,8654,0.86,219.4,549.8,5.8,416,8662,0.00,0.00,6.95,0.858,6,0.000,0.000,2507,2238,1886
$GC,8958,0.86,219.4,529.5,6.1,431,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2238,1885
$GC,9268,0.86,219.4,511.2,6.1,446,9273,0.00,2.67,0.00,0.000,4,0.000,0.070,2506,830,1884
$GC,9296,0.86,226.9,509.6,5.8,447,9310,0.00,2.62,8.05,0.892,6,0.000,0.056,2507,2241,1854
$GC,9638,0.86,226.9,488.6,6.4,464,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,1854
$GC,9948,0.86,226.9,469.1,6.4,479,9953,0.00,2.70,0.00,0.000,4,0.000,0.071,2507,829,1853
$GC,9989,0.86,226.9,466.4,6.8,481,9993,0.00,2.62,0.00,0.000,6,0.000,0.057,2506,2239,1853
$GC,10315,0.88,244.1,446.8,5.5,497,10334,0.00,0.00,16.15,0.972,6,0.000,0.000,2507,2239,1785
$GC,10645,0.92,281.5,428.9,5.0,513,10684,0.12,0.00,33.67,1.002,6,0.084,0.000,2533,2240,1633
$GC,10993,0.92,281.5,404.5,7.9,530,10998,0.00,2.70,0.00,0.000,4,0.000,0.071,2534,829,1632
$GC,11012,0.92,281.5,403.0,8.2,531,11016,0.00,2.62,0.00,0.000,6,0.000,0.055,2534,2240,1632
$GC,11338,0.92,281.5,376.0,7.7,547,11342,0.00,2.70,0.00,0.000,4,0.000,0.079,2534,3652,1632
$GC,11382,0.92,281.5,372.4,8.0,549,11386,0.00,2.62,0.00,0.000,6,0.000,0.060,2534,2240,1632
$GC,11703,0.92,281.5,349.5,7.7,565,11708,0.00,2.67,0.00,0.000,4,0.000,0.071,2534,826,1631
$GC,11721,0.92,281.5,348.1,7.6,566,11726,0.00,2.62,0.00,0.000,6,0.000,0.054,2534,2242,1631
$GC,12048,0.92,281.5,323.1,7.7,582,12049,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2242,1630
$GC,12358,0.95,303.4,303.7,5.4,597,12384,0.00,2.75,19.67,0.895,4,0.000,0.065,2534,832,1543
$GC,12413,0.95,303.4,300.4,6.3,599,12417,0.00,2.62,0.00,0.000,6,0.000,0.051,2534,2245,1543
$GC,12728,0.95,303.4,277.3,8.6,614,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2245,1543
$GC,13038,0.95,303.4,251.0,6.8,629,13043,0.00,2.67,0.00,0.000,4,0.000,0.062,2534,821,1543
$GC,13061,0.95,306.0,249.6,5.9,630,13070,0.00,2.60,4.03,0.594,6,0.000,0.048,2534,2246,1533
$GC,13387,0.95,306.0,229.6,6.9,646,13392,0.00,2.67,0.00,0.000,4,0.000,0.061,2534,821,1533
$GC,13421,0.95,306.0,227.1,7.2,647,13427,0.00,2.58,0.00,0.000,6,0.000,0.047,2534,2241,1533
$GC,13737,0.95,306.0,201.7,8.6,663,13741,0.00,2.65,0.00,0.000,4,0.000,0.060,2534,820,1534
$GC,13769,0.95,306.0,198.7,8.3,664,13775,0.00,2.58,0.00,0.000,6,0.000,0.046,2534,2241,1534
$GC,14085,0.95,306.0,173.4,8.2,680,14089,0.00,2.62,0.00,0.000,4,0.000,0.058,2534,825,1535
$GC,14107,0.95,306.0,171.6,7.8,681,14112,0.00,2.55,0.00,0.000,6,0.000,0.044,2534,2242,1534
$GC,14428,0.95,306.0,143.7,9.1,697,14429,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2242,1536
$GC,14737,0.95,306.0,116.8,8.2,712,14742,0.00,2.65,0.00,0.000,4,0.000,0.058,2534,819,1537
$GC,14781,0.99,306.0,113.4,7.7,714,14786,0.00,2.58,0.00,0.000,6,0.000,0.044,2533,2248,1536
$GC,15110,0.99,306.0,90.9,6.7,730,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2248,1537
$GC,15418,0.99,306.0,69.8,6.5,745,15422,0.00,2.65,0.00,0.000,4,0.000,0.057,2534,820,1538
$GC,15474,1.05,306.0,66.2,6.1,747,15481,0.12,2.55,0.00,0.000,6,0.076,0.044,2558,2243,1538
$GC,15790,1.05,306.0,44.6,6.9,763,15791,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2243,1539
$GC,16100,1.05,306.0,21.4,8.1,778,16101,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2243,1540
$STATE,16346,end climb,SURFACE_DEPTH_REACHED
$STATE,16346,begin surface coast
$FINISH,0.6,1.026952
$STATE,16366,end surface coast,CONTROL_FINISHED_OK
$STATE,16366,begin surface
$SM_CCo,16388,123.95,0.623,0,0,508,557.32
$SM_GC,1.19,0.00,0.00,123.95,0.000,0.000,0.623,68,2243,508,-10.40,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1882
$TCM_TEMP,17.60
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,550.7,25.5
$24V_AH,23.4,58.961
$10V_AH,10.1,28.876
$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,24.925,125.650,406.625,123.950,0.000,36.015,58.419,185.943,18.250,0.000,0.000,40.457,1426.587,12653.147,692.839,1652.183,591.340,0.000,1528.026,0.000,1592.474,0.000,33.043
$DEVICE_MAMPS,171.041,80.535,1089.907,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,589.352,539.122,536.388,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41159,791
$CAP_FILE_SIZE,114181,0
$CFSIZE,260165632,238284800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140808,083058,6421.138,-952.508,28,2.5,47,-10.8