version: 66.03
glider: 16
mission: 9
dive: 379
start: 8 17 108 5 17 49
data:
$ID,16
$MISSION,9
$DIVE,379
$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,-2101764.8
$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,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
$GPS1,050558,6356.165,-929.122,36,2.1,55,-10.4
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-55.7
$GPS2,051732,6356.221,-929.259,13,1.9,24,-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,116.3,76010,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-121.15,0.000,2,0.000,0.000,69,2227,2992
$GC,152,-0.85,-146.6,4.0,-3.3,6,175,11.80,0.00,-8.77,0.000,6,0.170,0.000,2139,2227,3380
$GC,480,-0.69,-146.6,42.6,-10.8,22,485,0.15,2.62,0.00,0.000,4,0.100,0.062,2171,3638,3380
$GC,575,-0.69,-146.6,50.5,-7.4,26,579,0.00,2.53,0.00,0.000,6,0.000,0.041,2171,2221,3380
$GC,891,-0.69,-146.6,75.0,-8.1,41,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3381
$GC,1201,-0.69,-146.6,101.7,-9.0,56,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3381
$GC,1509,-0.69,-146.6,126.5,-7.5,71,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3380
$GC,1818,-0.69,-146.6,149.9,-7.0,86,1826,0.00,2.65,0.00,0.000,4,0.000,0.066,2171,3638,3381
$GC,1848,-0.69,-146.6,152.2,-7.7,87,1853,0.00,2.53,0.00,0.000,6,0.000,0.044,2171,2224,3380
$GC,2170,-0.69,-146.6,174.3,-6.9,103,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2224,3380
$GC,2479,-0.69,-146.6,193.7,-6.1,118,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2224,3380
$GC,2789,-0.69,-146.6,213.1,-6.6,133,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2224,3380
$GC,3097,-0.69,-146.6,234.6,-7.3,148,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2223,3381
$GC,3407,-0.69,-146.6,258.0,-7.5,163,3411,0.00,2.62,0.00,0.000,4,0.000,0.068,2172,3637,3380
$GC,3446,-0.69,-146.6,261.0,-8.0,165,3450,0.00,2.53,0.00,0.000,6,0.000,0.044,2172,2231,3380
$GC,3773,-0.69,-146.6,282.8,-6.3,181,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2231,3380
$GC,4082,-0.69,-146.6,299.6,-5.5,196,4087,0.00,2.58,0.00,0.000,4,0.000,0.058,2172,821,3380
$GC,4123,-0.75,-146.6,302.1,-6.2,198,4128,0.00,2.58,0.00,0.000,6,0.000,0.048,2172,2235,3380
$GC,4450,-0.75,-146.6,324.1,-7.0,214,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2236,3380
$GC,4759,-0.75,-146.6,346.2,-7.5,229,4764,0.00,2.65,0.00,0.000,4,0.000,0.073,2171,3644,3380
$GC,4788,-0.75,-146.6,348.3,-8.4,230,4792,0.00,2.55,0.00,0.000,6,0.000,0.048,2171,2233,3380
$GC,5103,-0.75,-146.6,371.9,-7.3,245,5108,0.00,2.67,0.00,0.000,4,0.000,0.074,2171,3641,3379
$GC,5136,-0.75,-146.6,374.5,-8.0,246,5142,0.00,2.55,0.00,0.000,6,0.000,0.049,2171,2229,3379
$GC,5453,-0.75,-146.6,395.7,-6.7,262,5457,0.00,2.62,0.00,0.000,4,0.000,0.063,2171,813,3379
$GC,5486,-0.82,-146.6,398.1,-7.0,263,5492,0.00,2.60,0.00,0.000,6,0.000,0.052,2171,2235,3378
$GC,5802,-0.82,-146.6,417.7,-5.9,279,5806,0.00,2.67,0.00,0.000,4,0.000,0.077,2172,3644,3378
$GC,5829,-0.82,-146.6,419.5,-6.5,280,5833,0.00,2.58,0.00,0.000,6,0.000,0.051,2171,2230,3377
$GC,6145,-0.82,-146.6,438.7,-6.7,295,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3377
$GC,6454,-0.82,-146.6,461.0,-7.3,310,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2230,3376
$GC,6764,-0.82,-146.6,482.9,-7.1,325,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3375
$GC,7072,-0.82,-146.6,502.7,-6.2,340,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3373
$GC,7382,-0.82,-146.6,521.6,-6.1,355,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2229,3373
$GC,7692,-0.86,-146.6,541.1,-6.3,370,7694,0.15,0.00,0.00,0.000,6,0.054,0.000,2132,2230,3372
$GC,8001,-0.78,-146.6,565.8,-8.0,385,8002,0.12,0.00,0.00,0.000,6,0.097,0.000,2155,2230,3371
$GC,8309,-0.78,-146.6,587.8,-7.2,400,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2230,3369
$GC,8619,-0.78,-146.6,609.8,-7.3,415,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2229,3368
$GC,8928,-0.78,-146.6,631.5,-6.9,430,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2230,3367
$GC,9237,-0.78,-146.6,652.4,-7.0,445,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2228,3366
$GC,9547,-0.78,-146.6,672.1,-7.4,460,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2230,3365
$GC,9856,-0.78,-146.6,693.7,-7.2,475,9860,0.00,2.72,0.00,0.000,4,0.000,0.085,2155,3635,3364
$GC,9883,-0.78,-146.6,696.2,-8.5,476,9887,0.00,2.60,0.00,0.000,6,0.000,0.057,2155,2230,3364
$GC,10200,-0.78,-146.6,720.3,-8.1,491,10204,0.00,2.67,0.00,0.000,4,0.000,0.071,2155,820,3363
$GC,10240,-0.86,-146.6,723.3,-7.2,493,10244,0.00,2.62,0.00,0.000,6,0.000,0.058,2155,2232,3363
$STATE,10378,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10378,begin apogee
$GC,10384,-0.31,0.0,732.4,7.2,500,10520,0.52,0.00,130.60,1.202,6,0.099,0.000,2259,2232,2781
$STATE,10521,end apogee,CONTROL_FINISHED_OK
$STATE,10521,begin climb
$GC,10525,0.85,146.6,737.7,0.0,507,10668,1.20,2.85,131.98,1.180,4,0.084,0.082,2506,3647,2183
$GC,10724,0.66,157.9,732.3,5.7,516,10744,0.17,2.65,11.88,1.041,6,0.112,0.058,2474,2235,2137
$GC,11069,0.72,211.3,716.5,4.5,533,11119,0.00,0.00,48.88,1.157,6,0.000,0.000,2475,2235,1919
$GC,11415,0.77,213.6,696.7,5.9,550,11417,0.10,0.00,0.00,0.000,6,0.067,0.000,2501,2235,1918
$GC,11725,0.73,213.6,676.6,6.3,565,11729,0.00,2.72,0.00,0.000,4,0.000,0.081,2501,3648,1918
$GC,11781,0.68,213.6,672.4,8.4,567,11790,0.12,2.62,3.75,0.709,6,0.107,0.057,2478,2237,1910
$GC,12121,0.74,213.6,651.9,6.3,584,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2237,1909
$GC,12428,0.86,256.8,637.3,4.8,599,12470,0.17,0.00,39.72,1.129,6,0.063,0.000,2516,2237,1734
$GC,12779,0.87,266.5,616.3,5.7,616,12795,0.00,0.00,10.45,1.004,6,0.000,0.000,2516,2237,1693
$GC,13106,0.88,275.3,597.8,5.8,632,13121,0.00,2.72,9.45,0.982,4,0.000,0.072,2516,833,1658
$GC,13144,0.88,275.3,595.5,6.1,633,13149,0.00,2.65,0.00,0.000,6,0.000,0.058,2516,2243,1657
$GC,13472,0.91,299.0,576.7,5.4,649,13496,0.00,0.00,22.35,1.068,6,0.000,0.000,2516,2243,1562
$GC,13801,0.93,322.5,558.6,5.4,665,13830,0.00,2.83,21.83,1.058,4,0.000,0.071,2516,826,1465
$GC,13865,0.93,322.5,554.8,6.2,668,13870,0.00,2.65,0.00,0.000,6,0.000,0.057,2516,2244,1465
$GC,14192,0.93,322.5,531.5,7.9,684,14196,0.00,2.72,0.00,0.000,4,0.000,0.072,2516,825,1465
$GC,14232,0.93,322.5,528.1,8.4,686,14236,0.00,2.65,0.00,0.000,6,0.000,0.057,2516,2245,1464
$GC,14558,0.93,322.5,500.9,8.8,702,14559,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2245,1464
$GC,14868,0.93,322.5,475.4,8.1,717,14872,0.00,2.70,0.00,0.000,4,0.000,0.072,2516,832,1464
$GC,14907,0.93,322.5,472.2,7.6,719,14912,0.00,2.62,0.00,0.000,6,0.000,0.058,2516,2242,1464
$GC,15234,0.93,322.5,445.4,8.2,735,15235,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2242,1464
$GC,15544,0.93,322.5,422.3,7.5,750,15549,0.00,2.70,0.00,0.000,4,0.000,0.071,2516,825,1464
$GC,15600,0.93,322.5,417.6,7.6,752,15606,0.00,2.62,0.00,0.000,6,0.000,0.057,2516,2242,1464
$GC,15916,0.93,322.5,393.3,7.9,768,15917,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2242,1463
$GC,16226,0.93,322.5,370.0,7.3,783,16230,0.00,2.67,0.00,0.000,4,0.000,0.071,2515,830,1464
$GC,16275,0.93,322.5,366.1,8.0,785,16280,0.00,2.60,0.00,0.000,6,0.000,0.056,2516,2239,1464
$GC,16591,0.93,322.5,342.3,7.8,800,16595,0.00,2.67,0.00,0.000,4,0.000,0.070,2516,830,1464
$GC,16635,0.93,322.5,338.6,7.6,802,16640,0.00,2.60,0.00,0.000,6,0.000,0.055,2516,2241,1464
$GC,16957,0.93,322.5,314.7,7.1,818,16961,0.00,2.67,0.00,0.000,4,0.000,0.069,2516,830,1464
$GC,17001,0.93,322.5,311.4,7.2,820,17005,0.00,2.60,0.00,0.000,6,0.000,0.054,2516,2241,1464
$GC,17322,0.93,322.5,286.9,7.9,836,17327,0.00,2.67,0.00,0.000,4,0.000,0.069,2516,824,1464
$GC,17368,0.93,322.5,283.3,7.7,838,17373,0.00,2.60,0.00,0.000,6,0.000,0.054,2516,2239,1464
$GC,17690,0.93,322.5,259.1,7.6,854,17694,0.00,2.67,0.00,0.000,4,0.000,0.067,2516,826,1465
$GC,17712,0.93,322.5,257.5,7.8,855,17716,0.00,2.60,0.00,0.000,6,0.000,0.054,2516,2240,1464
$GC,18033,0.93,322.5,232.2,8.2,871,18037,0.00,2.65,0.00,0.000,4,0.000,0.066,2516,828,1465
$GC,18060,0.93,322.5,229.9,8.0,872,18064,0.00,2.60,0.00,0.000,6,0.000,0.053,2516,2243,1465
$GC,18376,0.93,322.5,204.3,8.6,887,18377,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2243,1466
$GC,18687,0.93,322.5,179.1,7.8,902,18691,0.00,2.65,0.00,0.000,4,0.000,0.064,2516,829,1466
$GC,18737,0.97,322.5,175.3,7.2,904,18742,0.12,2.58,0.00,0.000,6,0.076,0.051,2543,2242,1466
$GC,19054,0.92,322.5,149.0,8.2,919,19055,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2242,1467
$GC,19363,0.85,322.5,122.8,8.5,934,19368,0.15,2.65,0.00,0.000,4,0.094,0.061,2510,823,1468
$GC,19408,0.93,322.5,119.3,6.8,936,19412,0.00,2.58,0.00,0.000,6,0.000,0.049,2511,2241,1468
$GC,19730,0.97,322.5,96.6,7.1,952,19735,0.12,2.62,0.00,0.000,4,0.048,0.061,2545,824,1469
$GC,19757,0.97,322.5,94.0,9.8,953,19762,0.00,2.58,0.00,0.000,6,0.000,0.049,2546,2243,1469
$GC,20074,0.92,322.5,67.2,8.1,968,20075,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2243,1471
$GC,20383,0.92,322.5,40.9,8.5,983,20388,0.00,2.65,0.00,0.000,4,0.000,0.061,2545,823,1471
$GC,20439,0.92,322.5,36.1,7.7,985,20445,0.00,2.55,0.00,0.000,6,0.000,0.048,2545,2241,1471
$GC,20757,0.92,322.5,10.0,8.4,1001,20762,0.00,2.62,0.00,0.000,4,0.000,0.060,2546,827,1472
$GC,20785,0.92,322.5,7.8,6.5,1002,20789,0.00,2.55,0.00,0.000,6,0.000,0.048,2546,2241,1472
$STATE,20871,end climb,SURFACE_DEPTH_REACHED
$STATE,20871,begin surface coast
$FINISH,0.7,1.012852
$STATE,20894,end surface coast,CONTROL_FINISHED_OK
$STATE,20894,begin surface
$SM_CCo,20915,116.78,0.619,0,0,508,557.32
$SM_GC,1.34,0.00,0.00,116.78,0.000,0.000,0.619,71,2242,508,-10.39,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1899
$TCM_TEMP,16.40
$XPDR_PINGS,66
$ALTIM_TOP_PING,18.6,17.4
$ALTIM_BOTTOM_PING,675.3,65.9
$24V_AH,23.3,61.070
$10V_AH,10.1,30.034
$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,25.600,147.525,430.875,116.775,0.000,56.539,84.458,270.712,22.500,0.000,0.000,24.698,1787.386,16412.127,750.757,1989.320,783.656,0.000,1738.865,0.000,1936.964,0.000,41.272
$DEVICE_MAMPS,170.274,85.137,1201.889,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,746.582,687.917,587.566,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50493,1007
$CAP_FILE_SIZE,143489,0
$CFSIZE,260165632,237408256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,170808,110938,6356.093,-923.488,34,1.3,35,-10.3