version: 66.03
glider: 16
mission: 9
dive: 377
start: 8 16 108 16 45 52
data:
$ID,16
$MISSION,9
$DIVE,377
$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,-2101705.5
$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,24
$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
$GPS1,163938,6359.999,-933.752,27,1.7,27,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-57.9
$GPS2,164533,6359.987,-933.863,14,1.7,14,-10.4
$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,120.3,81742,-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,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.97,0.000,2,0.000,0.000,70,2241,2988
$GC,153,-0.85,-146.6,4.2,-3.5,6,180,11.68,2.60,-8.77,0.000,4,0.170,0.074,2141,3637,3380
$GC,254,-0.72,-146.6,20.1,-10.5,10,261,0.15,2.53,0.00,0.000,6,0.095,0.044,2170,2229,3380
$GC,570,-0.68,-146.6,48.4,-9.0,26,575,0.00,2.58,0.00,0.000,4,0.000,0.054,2170,817,3380
$GC,611,-0.68,-146.6,51.9,-8.9,28,615,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,2228,3380
$GC,938,-0.68,-146.6,79.2,-7.9,44,942,0.00,2.62,0.00,0.000,4,0.000,0.064,2170,3647,3380
$GC,982,-0.68,-146.6,82.9,-8.1,46,986,0.00,2.55,0.00,0.000,6,0.000,0.043,2169,2225,3380
$GC,1303,-0.68,-146.6,106.1,-6.9,62,1308,0.00,2.58,0.00,0.000,4,0.000,0.055,2170,814,3380
$GC,1332,-0.68,-146.6,108.2,-7.1,63,1336,0.00,2.55,0.00,0.000,6,0.000,0.045,2170,2230,3380
$GC,1649,-0.68,-146.6,131.3,-7.5,78,1654,0.00,2.62,0.00,0.000,4,0.000,0.065,2170,3647,3381
$GC,1677,-0.68,-146.6,133.7,-8.3,79,1681,0.00,2.55,0.00,0.000,6,0.000,0.044,2170,2225,3381
$GC,1993,-0.68,-146.6,157.5,-7.5,94,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3381
$GC,2302,-0.68,-146.6,180.2,-7.1,109,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3381
$GC,2611,-0.68,-146.6,201.9,-7.0,124,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3381
$GC,2921,-0.68,-146.6,223.3,-6.9,139,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3381
$GC,3230,-0.68,-146.6,245.4,-7.5,154,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3381
$GC,3539,-0.68,-146.6,269.3,-7.8,169,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2224,3382
$GC,3849,-0.68,-146.6,292.3,-7.0,184,3854,0.00,2.62,0.00,0.000,4,0.000,0.068,2170,3638,3381
$GC,3877,-0.68,-146.6,294.5,-7.8,185,3881,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,2228,3381
$GC,4192,-0.68,-146.6,315.2,-6.0,200,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3381
$GC,4503,-0.68,-146.6,333.8,-6.0,215,4507,0.00,2.60,0.00,0.000,4,0.000,0.057,2170,813,3381
$GC,4553,-0.74,-146.6,337.2,-6.6,217,4557,0.00,2.55,0.00,0.000,6,0.000,0.047,2170,2229,3381
$GC,4868,-0.74,-146.6,356.3,-6.4,232,4872,0.00,2.65,0.00,0.000,4,0.000,0.071,2170,3644,3381
$GC,4918,-0.74,-146.6,359.8,-7.1,234,4923,0.00,2.55,0.00,0.000,6,0.000,0.048,2170,2230,3381
$GC,5234,-0.74,-146.6,381.6,-6.6,249,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3381
$GC,5543,-0.74,-146.6,402.2,-6.6,264,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3380
$GC,5853,-0.74,-146.6,424.4,-7.5,279,5858,0.00,2.67,0.00,0.000,4,0.000,0.075,2170,3640,3379
$GC,5875,-0.74,-146.6,426.0,-7.0,280,5880,0.00,2.55,0.00,0.000,6,0.000,0.050,2170,2232,3379
$GC,6197,-0.74,-146.6,449.9,-7.2,296,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2232,3378
$GC,6507,-0.74,-146.6,471.5,-6.9,311,6512,0.00,2.65,0.00,0.000,4,0.000,0.064,2170,815,3377
$GC,6535,-0.80,-146.6,473.6,-7.5,312,6540,0.00,2.58,0.00,0.000,6,0.000,0.054,2170,2227,3377
$GC,6851,-0.80,-146.6,494.1,-6.2,327,6855,0.00,2.67,0.00,0.000,4,0.000,0.077,2170,3640,3375
$GC,6884,-0.80,-146.6,496.4,-7.2,328,6890,0.00,2.58,0.00,0.000,6,0.000,0.053,2170,2230,3375
$GC,7200,-0.84,-146.6,516.3,-6.2,344,7202,0.12,0.00,0.00,0.000,6,0.056,0.000,2134,2230,3374
$GC,7509,-0.77,-146.6,542.2,-8.9,359,7514,0.15,2.65,0.00,0.000,4,0.097,0.067,2162,822,3373
$GC,7560,-0.83,-146.6,546.5,-8.4,361,7565,0.00,2.58,0.00,0.000,6,0.000,0.055,2162,2232,3373
$GC,7876,-0.83,-146.6,570.2,-7.1,376,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2232,3372
$GC,8187,-0.83,-146.6,590.5,-6.4,391,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2232,3371
$GC,8495,-0.83,-146.6,610.4,-6.5,406,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2232,3371
$GC,8804,-0.83,-146.6,631.5,-7.1,421,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2232,3370
$GC,9115,-0.83,-146.6,652.2,-5.8,436,9119,0.00,2.70,0.00,0.000,4,0.000,0.069,2162,816,3368
$GC,9148,-0.89,-146.6,654.9,-7.3,437,9154,0.12,2.62,0.00,0.000,6,0.058,0.058,2129,2235,3368
$GC,9464,-0.81,-146.6,681.4,-8.1,453,9469,0.12,2.67,0.00,0.000,4,0.102,0.083,2151,3641,3366
$GC,9492,-0.81,-146.6,683.8,-8.6,454,9496,0.00,2.60,0.00,0.000,6,0.000,0.056,2151,2230,3366
$GC,9807,-0.81,-146.6,706.8,-7.3,469,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2230,3365
$GC,10117,-0.81,-146.6,730.6,-8.9,484,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2230,3364
$STATE,10320,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10320,begin apogee
$GC,10327,-0.31,0.0,746.1,7.5,494,10468,0.55,0.00,132.95,1.197,6,0.104,0.000,2260,2230,2781
$STATE,10469,end apogee,CONTROL_FINISHED_OK
$STATE,10469,begin climb
$GC,10472,0.85,146.6,752.4,0.0,501,10615,1.23,2.83,132.23,1.190,4,0.091,0.081,2508,3638,2183
$GC,10871,0.75,146.6,742.3,6.9,519,10875,0.00,2.60,0.00,0.000,6,0.000,0.058,2508,2239,2183
$GC,11193,0.73,197.5,726.4,4.6,535,11247,0.00,2.80,46.95,1.164,4,0.000,0.080,2508,3653,1975
$GC,11278,0.68,197.5,721.5,6.4,539,11283,0.15,2.65,0.00,0.000,6,0.107,0.058,2480,2240,1975
$GC,11606,0.71,221.6,704.1,5.3,555,11630,0.00,0.00,22.77,1.125,6,0.000,0.000,2480,2240,1877
$GC,11936,0.76,221.6,684.7,6.6,571,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2240,1876
$GC,12244,0.76,221.6,665.7,6.1,586,12249,0.00,2.70,0.00,0.000,4,0.000,0.081,2480,3649,1877
$GC,12267,0.80,221.6,664.3,6.4,587,12272,0.12,2.62,0.00,0.000,6,0.061,0.057,2510,2231,1876
$GC,12589,0.75,221.6,642.1,7.3,603,12593,0.00,2.65,0.00,0.000,4,0.000,0.072,2513,832,1875
$GC,12611,0.70,221.6,640.2,8.4,604,12616,0.15,2.60,0.00,0.000,6,0.100,0.055,2483,2242,1875
$GC,12932,0.70,221.6,620.4,6.6,620,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2243,1875
$GC,13241,0.70,221.6,599.8,6.7,635,13242,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2242,1875
$GC,13550,0.70,221.6,578.9,6.6,650,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2242,1875
$GC,13861,0.71,227.5,559.9,5.8,665,13874,0.00,2.72,6.72,0.911,4,0.000,0.071,2483,824,1852
$GC,13892,0.71,227.5,558.0,6.3,666,13896,0.00,2.65,0.00,0.000,6,0.000,0.056,2483,2244,1852
$GC,14208,0.72,242.9,540.4,5.6,681,14227,0.00,0.00,14.93,1.025,6,0.000,0.000,2483,2244,1790
$GC,14538,0.76,242.9,520.5,6.3,697,14542,0.00,2.70,0.00,0.000,4,0.000,0.070,2482,825,1789
$GC,14577,0.81,242.9,517.8,6.3,699,14582,0.10,2.62,0.00,0.000,6,0.067,0.057,2508,2240,1789
$GC,14904,0.81,242.9,494.2,7.0,715,14905,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1788
$GC,15214,0.81,242.9,473.9,6.2,730,15215,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,1789
$GC,15523,0.81,248.6,455.6,5.8,745,15536,0.00,2.75,6.75,0.863,4,0.000,0.071,2509,830,1767
$GC,15571,0.81,248.6,452.6,6.6,747,15576,0.00,2.62,0.00,0.000,6,0.000,0.056,2509,2241,1767
$GC,15893,0.81,248.6,432.7,6.3,763,15898,0.00,2.70,0.00,0.000,4,0.000,0.070,2509,825,1766
$GC,15937,0.81,248.6,429.3,7.8,765,15941,0.00,2.62,0.00,0.000,6,0.000,0.056,2509,2243,1767
$GC,16258,0.81,248.6,407.6,6.6,781,16262,0.00,2.67,0.00,0.000,4,0.000,0.080,2509,3652,1766
$GC,16280,0.81,248.6,406.1,6.2,782,16285,0.00,2.60,0.00,0.000,6,0.000,0.058,2509,2240,1766
$GC,16601,0.81,248.6,385.7,6.3,798,16605,0.00,2.65,0.00,0.000,4,0.000,0.070,2509,830,1767
$GC,16634,0.81,248.6,383.2,6.9,799,16640,0.00,2.60,0.00,0.000,6,0.000,0.054,2509,2242,1766
$GC,16950,0.81,248.6,362.5,6.6,815,16951,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1767
$GC,17258,0.81,248.6,342.0,6.5,830,17260,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1767
$GC,17568,0.83,264.3,323.6,5.6,845,17588,0.00,0.00,15.20,0.877,6,0.000,0.000,2509,2242,1702
$GC,17898,0.83,264.3,302.3,7.2,861,17903,0.00,2.67,0.00,0.000,4,0.000,0.064,2509,821,1703
$GC,17949,0.83,264.3,298.1,7.9,863,17953,0.00,2.60,0.00,0.000,6,0.000,0.051,2509,2242,1702
$GC,18264,0.83,264.3,271.9,8.4,878,18265,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1702
$GC,18574,0.83,264.3,248.7,6.8,893,18575,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1703
$GC,18883,0.83,264.3,229.5,6.3,908,18884,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1704
$GC,19192,0.83,264.3,209.4,7.0,923,19193,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1704
$GC,19502,0.83,264.3,186.2,7.5,938,19503,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1705
$GC,19810,0.83,264.3,163.5,7.3,953,19815,0.00,2.62,0.00,0.000,4,0.000,0.059,2509,821,1706
$GC,19850,0.83,264.3,160.6,7.3,955,19855,0.00,2.58,0.00,0.000,6,0.000,0.047,2509,2243,1706
$GC,20178,0.83,264.3,137.7,7.0,971,20180,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2243,1707
$GC,20487,0.83,264.3,116.0,6.6,986,20491,0.00,2.62,0.00,0.000,4,0.000,0.058,2509,827,1708
$GC,20531,0.83,264.3,113.2,6.4,988,20535,0.00,2.58,0.00,0.000,6,0.000,0.047,2509,2251,1708
$GC,20853,0.83,264.3,93.8,6.0,1004,20854,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2251,1708
$GC,21163,0.83,264.3,73.0,7.0,1019,21164,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2251,1709
$GC,21471,0.83,264.3,53.6,6.0,1034,21475,0.00,2.62,0.00,0.000,4,0.000,0.058,2509,828,1709
$GC,21512,0.88,264.3,51.0,6.1,1036,21516,0.00,2.55,0.00,0.000,6,0.000,0.046,2509,2243,1710
$GC,21839,0.92,264.3,31.2,6.1,1052,21840,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2243,1710
$GC,22148,0.92,264.3,11.7,6.2,1067,22152,0.00,2.60,0.00,0.000,4,0.000,0.056,2509,826,1711
$GC,22182,0.98,264.3,9.3,6.5,1068,22189,0.17,2.53,0.00,0.000,6,0.076,0.046,2545,2240,1711
$STATE,22291,end climb,SURFACE_DEPTH_REACHED
$STATE,22291,begin surface coast
$FINISH,0.6,1.014215
$STATE,22311,end surface coast,CONTROL_FINISHED_OK
$STATE,22311,begin surface
$SM_CCo,22333,145.27,0.617,0,0,508,557.32
$SM_GC,1.22,0.00,0.00,145.27,0.000,0.000,0.617,74,2239,508,-10.37,0.25,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,1870
$TCM_TEMP,17.60
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,676.3,78.6
$24V_AH,23.3,60.717
$10V_AH,10.1,29.846
$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,25.625,152.075,378.500,145.275,0.000,18.143,32.132,161.842,19.500,0.000,0.000,14.345,1905.214,17483.471,718.519,2131.739,591.332,0.000,1782.914,0.000,2093.505,0.000,41.299
$DEVICE_MAMPS,169.507,82.836,1196.520,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,796.992,735.492,649.433,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53747,1075
$CAP_FILE_SIZE,147519,0
$CFSIZE,260165632,237539328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,160808,230210,6359.389,-929.208,44,1.5,58,-10.4