version: 66.03
glider: 16
mission: 9
dive: 370
start: 8 14 108 19 17 39
data:
$ID,16
$MISSION,9
$DIVE,370
$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,-2101534.5
$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,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
$GPS1,190808,6415.533,-948.012,32,1.8,33,-10.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-52.0
$GPS2,191720,6415.633,-947.820,10,1.8,15,-10.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$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,133.4,104969,-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,-121.05,0.000,2,0.000,0.000,70,2235,2959
$GC,152,-0.85,-146.6,4.2,-3.5,6,182,11.70,2.62,-9.50,0.000,4,0.171,0.073,2140,3643,3379
$GC,309,-0.72,-146.6,25.5,-11.2,13,315,0.17,2.55,0.00,0.000,6,0.093,0.043,2174,2222,3379
$GC,639,-0.72,-146.6,55.2,-9.4,29,643,0.00,2.62,0.00,0.000,4,0.000,0.062,2174,3637,3380
$GC,688,-0.72,-146.6,59.9,-9.0,31,693,0.00,2.53,0.00,0.000,6,0.000,0.042,2174,2224,3379
$GC,1006,-0.72,-146.6,84.9,-7.6,46,1010,0.00,2.58,0.00,0.000,4,0.000,0.056,2174,817,3380
$GC,1039,-0.72,-146.6,87.6,-7.3,47,1045,0.00,2.55,0.00,0.000,6,0.000,0.044,2174,2232,3380
$GC,1355,-0.72,-146.6,111.3,-8.2,63,1359,0.00,2.60,0.00,0.000,4,0.000,0.065,2174,3638,3381
$GC,1388,-0.72,-146.6,114.3,-8.7,64,1394,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,2227,3380
$GC,1705,-0.72,-146.6,137.9,-7.1,80,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2227,3380
$GC,2013,-0.72,-146.6,158.8,-7.0,95,2017,0.00,2.62,0.00,0.000,4,0.000,0.065,2174,3637,3380
$GC,2046,-0.72,-146.6,161.4,-7.7,96,2052,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,2227,3380
$GC,2361,-0.72,-146.6,184.1,-7.3,112,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2227,3380
$GC,2671,-0.72,-146.6,207.8,-7.7,127,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2227,3381
$GC,2980,-0.72,-146.6,233.6,-8.6,142,2984,0.00,2.62,0.00,0.000,4,0.000,0.066,2174,3638,3380
$GC,3024,-0.72,-146.6,237.6,-9.0,144,3028,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,2229,3381
$GC,3345,-0.72,-146.6,261.0,-7.0,160,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2229,3380
$GC,3653,-0.72,-146.6,281.9,-6.7,175,3658,0.00,2.62,0.00,0.000,4,0.000,0.067,2174,3637,3380
$GC,3687,-0.72,-146.6,284.2,-7.0,176,3693,0.00,2.53,0.00,0.000,6,0.000,0.045,2174,2230,3380
$GC,4003,-0.72,-146.6,306.2,-7.0,192,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3381
$GC,4312,-0.72,-146.6,326.9,-6.7,207,4316,0.00,2.62,0.00,0.000,4,0.000,0.068,2174,3637,3380
$GC,4344,-0.72,-146.6,329.5,-7.7,208,4350,0.00,2.53,0.00,0.000,6,0.000,0.046,2174,2230,3380
$GC,4660,-0.72,-146.6,352.5,-7.5,224,4665,0.00,2.58,0.00,0.000,4,0.000,0.058,2174,819,3380
$GC,4683,-0.78,-146.6,354.3,-7.6,225,4687,0.00,2.55,0.00,0.000,6,0.000,0.048,2174,2227,3380
$GC,5004,-0.78,-146.6,377.7,-6.8,241,5008,0.00,2.65,0.00,0.000,4,0.000,0.071,2174,3644,3380
$GC,5049,-0.78,-146.6,381.1,-7.6,243,5053,0.00,2.55,0.00,0.000,6,0.000,0.048,2174,2232,3380
$GC,5370,-0.78,-146.6,400.1,-5.3,259,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2231,3380
$GC,5679,-0.82,-146.6,417.2,-5.9,274,5684,0.12,2.67,0.00,0.000,4,0.049,0.074,2135,3641,3379
$GC,5713,-0.72,-146.6,419.8,-8.6,275,5720,0.17,2.58,0.00,0.000,6,0.090,0.051,2169,2226,3379
$GC,6030,-0.72,-146.6,443.0,-7.9,291,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2226,3378
$GC,6339,-0.72,-146.6,465.4,-6.8,306,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2226,3377
$GC,6648,-0.72,-146.6,483.3,-5.6,321,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2226,3376
$GC,6958,-0.72,-146.6,500.6,-5.9,336,6963,0.00,2.70,0.00,0.000,4,0.000,0.080,2169,3640,3375
$GC,6999,-0.72,-146.6,503.5,-7.2,338,7003,0.00,2.60,0.00,0.000,6,0.000,0.054,2169,2228,3375
$GC,7327,-0.77,-146.6,526.1,-7.0,354,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3373
$GC,7635,-0.81,-146.6,547.8,-6.8,369,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3373
$GC,7945,-0.86,-146.6,568.6,-6.6,384,7950,0.12,2.72,0.00,0.000,4,0.058,0.081,2134,3641,3372
$GC,7986,-0.76,-146.6,571.9,-8.9,386,7991,0.15,2.60,0.00,0.000,6,0.103,0.057,2162,2228,3372
$GC,8312,-0.76,-146.6,593.6,-6.4,402,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3371
$GC,8622,-0.76,-146.6,613.5,-6.5,417,8627,0.00,2.72,0.00,0.000,4,0.000,0.084,2162,3642,3369
$GC,8650,-0.76,-146.6,615.6,-7.4,418,8654,0.00,2.60,0.00,0.000,6,0.000,0.056,2162,2230,3369
$GC,8967,-0.76,-146.6,636.5,-6.7,433,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2230,3368
$GC,9275,-0.76,-146.6,656.7,-6.3,448,9280,0.00,2.72,0.00,0.000,4,0.000,0.084,2162,3641,3367
$GC,9302,-0.76,-146.6,658.8,-7.3,449,9307,0.00,2.60,0.00,0.000,6,0.000,0.057,2162,2230,3366
$GC,9618,-0.76,-146.6,679.0,-6.5,464,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2229,3365
$GC,9932,-0.76,-146.6,700.1,-7.1,479,9937,0.00,2.72,0.00,0.000,4,0.000,0.084,2162,3638,3364
$GC,9977,-0.76,-146.6,703.6,-7.6,481,9981,0.00,2.60,0.00,0.000,6,0.000,0.058,2162,2230,3364
$GC,10300,-1.05,-146.6,713.9,-0.1,497,10302,0.30,0.00,0.00,0.000,6,0.063,0.000,2097,2230,3363
$STATE,10336,end dive,NO_VERTICAL_VELOCITY
$STATE,10336,begin apogee
$GC,10343,-0.31,0.0,713.9,0.0,499,10484,0.77,0.00,132.50,1.171,6,0.078,0.000,2259,2230,2781
$STATE,10485,end apogee,CONTROL_FINISHED_OK
$STATE,10485,begin climb
$GC,10488,0.85,146.6,713.8,0.0,506,10629,1.23,2.78,131.77,1.164,4,0.082,0.070,2508,827,2182
$GC,10754,0.79,170.5,705.6,5.3,519,10783,0.00,2.65,22.73,1.096,6,0.000,0.058,2508,2238,2085
$GC,11110,0.75,182.6,685.9,5.7,536,11125,0.00,0.00,12.43,1.039,6,0.000,0.000,2508,2238,2036
$GC,11437,0.78,204.8,667.6,5.4,551,11465,0.00,2.78,21.25,1.096,4,0.000,0.081,2508,3647,1945
$GC,11488,0.78,204.8,664.3,6.3,553,11492,0.00,2.65,0.00,0.000,6,0.000,0.058,2508,2237,1945
$GC,11804,0.78,204.8,644.9,6.3,568,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2237,1945
$GC,12113,0.78,204.8,625.6,6.3,583,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2237,1944
$GC,12422,0.78,204.8,605.6,6.5,598,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2237,1943
$GC,12732,0.78,204.8,584.7,6.7,613,12736,0.00,2.70,0.00,0.000,4,0.000,0.073,2508,825,1943
$GC,12759,0.78,204.8,582.9,6.6,614,12763,0.00,2.62,0.00,0.000,6,0.000,0.058,2508,2240,1943
$GC,13075,0.78,204.8,562.3,6.5,629,13076,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2239,1943
$GC,13385,0.78,204.8,542.6,6.3,644,13389,0.00,2.70,0.00,0.000,4,0.000,0.083,2508,3648,1943
$GC,13412,0.78,204.8,540.7,6.8,645,13416,0.00,2.62,0.00,0.000,6,0.000,0.058,2508,2237,1943
$GC,13727,0.78,204.8,521.8,6.0,660,13728,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2237,1943
$GC,14039,0.78,204.8,502.7,6.1,675,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2238,1942
$GC,14347,0.82,243.8,486.3,4.9,690,14385,0.00,0.00,34.78,1.046,6,0.000,0.000,2508,2237,1787
$GC,14695,0.87,287.9,468.9,4.8,707,14742,0.00,2.75,39.83,1.040,4,0.000,0.071,2508,830,1606
$GC,14756,0.97,319.6,465.8,5.1,710,14792,0.17,2.65,28.90,1.009,6,0.087,0.057,2542,2240,1477
$GC,15111,0.97,319.6,439.7,8.1,727,15115,0.00,2.70,0.00,0.000,4,0.000,0.071,2542,830,1476
$GC,15138,0.97,319.6,437.1,8.9,728,15142,0.00,2.62,0.00,0.000,6,0.000,0.057,2542,2242,1476
$GC,15454,0.97,319.6,408.7,9.3,743,15455,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2242,1476
$GC,15763,0.97,319.6,380.8,8.9,758,15764,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2242,1476
$GC,16072,0.97,319.6,352.8,9.2,773,16076,0.00,2.67,0.00,0.000,4,0.000,0.069,2542,830,1476
$GC,16135,0.97,319.6,347.1,9.6,776,16140,0.00,2.60,0.00,0.000,6,0.000,0.054,2542,2241,1475
$GC,16462,0.97,319.6,319.5,8.5,792,16466,0.00,2.67,0.00,0.000,4,0.000,0.067,2542,822,1476
$GC,16501,0.97,319.6,316.3,8.3,794,16506,0.00,2.62,0.00,0.000,6,0.000,0.053,2542,2246,1475
$GC,16828,0.97,319.6,289.7,8.6,810,16830,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2246,1476
$GC,17137,0.97,319.6,262.7,8.9,825,17141,0.00,2.67,0.00,0.000,4,0.000,0.064,2542,821,1477
$GC,17170,0.97,319.6,259.8,8.7,826,17176,0.00,2.60,0.00,0.000,6,0.000,0.050,2542,2247,1477
$GC,17486,0.97,319.6,236.1,7.0,842,17490,0.00,2.65,0.00,0.000,4,0.000,0.062,2542,829,1478
$GC,17519,0.97,319.6,233.7,7.5,843,17525,0.00,2.58,0.00,0.000,6,0.000,0.048,2542,2247,1479
$GC,17834,0.97,319.6,213.0,6.6,859,17838,0.00,2.65,0.00,0.000,4,0.000,0.062,2543,824,1478
$GC,17862,0.97,319.6,211.1,6.3,860,17866,0.00,2.58,0.00,0.000,6,0.000,0.048,2542,2243,1478
$GC,18177,0.97,319.6,188.9,7.3,875,18179,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2243,1480
$GC,18487,0.97,319.6,163.6,8.9,890,18491,0.00,2.62,0.00,0.000,4,0.000,0.061,2542,828,1481
$GC,18527,0.97,319.6,160.3,9.1,892,18531,0.00,2.58,0.00,0.000,6,0.000,0.047,2541,2246,1481
$GC,18855,0.97,319.6,130.4,9.0,908,18856,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2246,1481
$GC,19163,0.97,319.6,103.0,8.6,923,19167,0.00,2.65,0.00,0.000,4,0.000,0.061,2543,821,1483
$GC,19208,0.97,319.6,99.0,9.6,925,19212,0.00,2.58,0.00,0.000,6,0.000,0.047,2542,2246,1482
$GC,19529,0.97,319.6,71.6,8.1,941,19530,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2246,1482
$GC,19838,0.97,319.6,47.4,7.5,956,19842,0.00,2.62,0.00,0.000,4,0.000,0.059,2543,828,1484
$GC,19871,0.97,319.6,44.8,7.7,957,19877,0.00,2.55,0.00,0.000,6,0.000,0.047,2542,2245,1484
$GC,20189,1.00,342.5,24.0,5.4,973,20216,0.00,2.67,21.33,0.640,4,0.000,0.058,2542,825,1383
$GC,20238,1.07,342.5,20.5,6.1,975,20245,0.00,2.55,0.00,0.000,6,0.000,0.044,2542,2241,1382
$STATE,20510,end climb,SURFACE_DEPTH_REACHED
$STATE,20510,begin surface coast
$FINISH,0.5,1.026241
$STATE,20532,end surface coast,CONTROL_FINISHED_OK
$STATE,20532,begin surface
$SM_CCo,20555,107.07,0.619,0,0,509,557.57
$SM_GC,1.25,0.00,0.00,107.07,0.000,0.000,0.619,71,2242,509,-10.39,0.34,557.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1882
$TCM_TEMP,17.60
$XPDR_PINGS,53
$ALTIM_TOP_PING,18.7,17.6
$24V_AH,23.3,59.458
$10V_AH,10.1,29.138
$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,25.625,162.700,445.500,107.075,0.000,36.043,121.719,199.809,19.500,0.000,0.000,15.782,1768.227,15988.729,748.482,1987.970,720.510,0.000,1766.111,0.000,1947.520,0.000,42.727
$DEVICE_MAMPS,171.041,84.370,1171.209,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,741.549,675.926,590.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50525,990
$CAP_FILE_SIZE,141652,0
$CFSIZE,260165632,238055424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150808,010308,6413.439,-944.368,25,2.0,26,-10.6