version: 66.03
glider: 16
mission: 9
dive: 382
start: 8 17 108 23 13 58
data:
$ID,16
$MISSION,9
$DIVE,382
$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,-2101817
$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,21
$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
$GPS1,230526,6353.624,-914.539,42,1.9,43,-10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-51.0
$GPS2,231339,6353.627,-914.497,15,1.9,15,-10.2
$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,114.9,63078,-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,-121.03,0.000,2,0.000,0.000,69,2247,3013
$GC,152,-0.85,-146.6,4.6,-3.8,6,175,11.88,0.00,-7.75,0.000,6,0.172,0.000,2143,2246,3381
$GC,478,-0.72,-146.6,44.3,-10.2,22,483,0.15,2.58,0.00,0.000,4,0.100,0.062,2175,3640,3381
$GC,502,-0.65,-146.6,46.6,-9.0,23,506,0.00,2.53,0.00,0.000,6,0.000,0.042,2175,2226,3381
$GC,824,-0.65,-146.6,71.6,-7.7,39,828,0.00,2.62,0.00,0.000,4,0.000,0.063,2175,3640,3382
$GC,864,-0.65,-146.6,75.1,-8.6,41,868,0.00,2.53,0.00,0.000,6,0.000,0.041,2175,2228,3382
$GC,1191,-0.65,-146.6,101.2,-7.6,57,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2228,3382
$GC,1501,-0.65,-146.6,122.6,-6.8,72,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2228,3382
$GC,1811,-0.65,-146.6,144.1,-6.5,87,1815,0.00,2.62,0.00,0.000,4,0.000,0.065,2175,3638,3382
$GC,1844,-0.65,-146.6,146.7,-7.1,88,1850,0.00,2.53,0.00,0.000,6,0.000,0.042,2175,2223,3382
$GC,2160,-0.65,-146.6,168.7,-7.3,104,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2223,3382
$GC,2468,-0.65,-146.6,190.6,-7.0,119,2473,0.00,2.65,0.00,0.000,4,0.000,0.066,2174,3643,3382
$GC,2496,-0.65,-146.6,192.7,-7.4,120,2500,0.00,2.53,0.00,0.000,6,0.000,0.043,2175,2230,3382
$GC,2812,-0.65,-146.6,213.0,-6.1,135,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3382
$GC,3121,-0.65,-146.6,235.5,-7.7,150,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2229,3382
$GC,3430,-0.65,-146.6,258.5,-7.2,165,3434,0.00,2.62,0.00,0.000,4,0.000,0.067,2175,3638,3382
$GC,3463,-0.65,-146.6,261.1,-7.7,166,3469,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,2227,3382
$GC,3779,-0.65,-146.6,281.5,-6.1,182,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2227,3382
$GC,4089,-0.65,-146.6,300.4,-6.0,197,4094,0.00,2.65,0.00,0.000,4,0.000,0.069,2175,3640,3382
$GC,4117,-0.65,-146.6,302.2,-6.4,198,4121,0.00,2.53,0.00,0.000,6,0.000,0.045,2175,2231,3382
$GC,4434,-0.65,-146.6,320.8,-5.9,213,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3382
$GC,4742,-0.65,-146.6,338.9,-5.8,228,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3382
$GC,5052,-0.65,-146.6,358.5,-6.4,243,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3381
$GC,5360,-0.65,-146.6,378.1,-6.3,258,5365,0.00,2.67,0.00,0.000,4,0.000,0.074,2175,3641,3381
$GC,5394,-0.65,-146.6,380.4,-6.9,259,5400,0.00,2.55,0.00,0.000,6,0.000,0.049,2175,2232,3381
$GC,5711,-0.65,-146.6,400.8,-6.5,275,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2232,3380
$GC,6019,-0.70,-146.6,421.3,-7.0,290,6023,0.00,2.67,0.00,0.000,4,0.000,0.077,2175,3637,3379
$GC,6058,-0.70,-146.6,424.2,-8.0,292,6063,0.00,2.58,0.00,0.000,6,0.000,0.051,2175,2228,3379
$GC,6386,-0.75,-146.6,447.5,-7.1,308,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2228,3378
$GC,6695,-0.82,-146.6,468.4,-6.6,323,6697,0.12,0.00,0.00,0.000,6,0.058,0.000,2146,2228,3377
$GC,7004,-0.77,-146.6,491.1,-7.4,338,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2228,3375
$GC,7314,-0.77,-146.6,513.3,-7.0,353,7318,0.00,2.67,0.00,0.000,4,0.000,0.081,2144,3635,3374
$GC,7369,-0.71,-146.6,517.8,-8.6,355,7376,0.15,2.58,0.00,0.000,6,0.097,0.054,2172,2231,3374
$GC,7688,-0.77,-146.6,535.7,-5.6,371,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2231,3373
$GC,7995,-0.82,-146.6,553.7,-6.1,386,7999,0.00,2.70,0.00,0.000,4,0.000,0.083,2172,3636,3371
$GC,8028,-0.86,-146.6,556.0,-6.6,387,8035,0.15,2.58,0.00,0.000,6,0.056,0.055,2139,2231,3372
$GC,8345,-0.81,-146.6,578.9,-7.1,403,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2231,3371
$GC,8654,-0.76,-146.6,600.7,-7.3,418,8656,0.12,0.00,0.00,0.000,6,0.105,0.000,2162,2231,3370
$GC,8962,-0.76,-146.6,620.7,-6.5,433,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2231,3369
$GC,9272,-0.76,-146.6,641.5,-6.6,448,9277,0.00,2.70,0.00,0.000,4,0.000,0.084,2162,3635,3368
$GC,9305,-0.76,-146.6,644.0,-7.2,449,9311,0.00,2.58,0.00,0.000,6,0.000,0.056,2162,2231,3368
$GC,9621,-0.76,-146.6,665.0,-6.6,465,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2231,3366
$GC,9931,-0.76,-146.6,685.4,-7.1,480,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2231,3366
$GC,10240,-0.76,-146.6,705.3,-7.2,495,10244,0.00,2.72,0.00,0.000,4,0.000,0.086,2162,3641,3365
$GC,10267,-0.76,-146.6,707.4,-7.9,496,10271,0.00,2.60,0.00,0.000,6,0.000,0.057,2162,2225,3365
$STATE,10415,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10415,begin apogee
$GC,10422,-0.31,0.0,716.7,5.8,503,10557,0.50,0.00,130.77,1.192,6,0.109,0.000,2260,2225,2781
$STATE,10558,end apogee,CONTROL_FINISHED_OK
$STATE,10558,begin climb
$GC,10561,0.85,146.6,722.2,0.0,510,10703,1.23,2.88,131.80,1.173,4,0.082,0.082,2509,3647,2183
$GC,10755,0.75,146.6,719.1,6.0,519,10759,0.00,2.62,0.00,0.000,6,0.000,0.058,2509,2237,2183
$GC,11071,0.70,182.6,702.9,5.0,534,11111,0.15,0.00,33.72,1.133,6,0.105,0.000,2481,2237,2036
$GC,11421,0.74,182.6,682.8,6.4,551,11426,0.00,2.67,0.00,0.000,4,0.000,0.072,2481,824,2035
$GC,11449,0.80,193.9,681.1,5.7,552,11469,0.12,2.62,11.60,1.039,6,0.062,0.056,2509,2238,1990
$GC,11793,0.74,200.5,663.6,5.8,569,11802,0.00,0.00,7.47,0.957,6,0.000,0.000,2509,2238,1963
$GC,12100,0.74,200.5,641.5,7.2,584,12105,0.00,2.70,0.00,0.000,4,0.000,0.083,2509,3647,1963
$GC,12163,0.74,200.5,637.1,6.7,587,12167,0.00,2.62,0.00,0.000,6,0.000,0.058,2509,2237,1963
$GC,12489,0.74,200.5,616.8,6.4,603,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2237,1963
$GC,12799,0.74,200.5,596.1,7.2,618,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2237,1962
$GC,13107,0.74,200.5,576.9,6.6,633,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2237,1962
$GC,13417,0.74,200.5,556.3,6.1,648,13418,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2237,1962
$GC,13727,0.77,220.6,538.5,5.4,663,13753,0.00,2.80,18.77,1.043,4,0.000,0.082,2509,3648,1881
$GC,13771,0.78,231.5,536.0,5.7,665,13788,0.00,2.65,11.45,0.979,6,0.000,0.058,2509,2235,1837
$GC,14098,0.80,249.6,517.7,5.5,681,14117,0.00,0.00,17.40,1.024,6,0.000,0.000,2509,2235,1763
$GC,14426,0.80,249.6,496.8,6.4,697,14427,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2235,1763
$GC,14735,0.80,249.6,476.7,6.4,712,14740,0.00,2.65,0.00,0.000,4,0.000,0.073,2509,828,1762
$GC,14763,0.80,249.6,474.7,6.8,713,14767,0.00,2.62,0.00,0.000,6,0.000,0.056,2509,2242,1762
$GC,15079,0.80,250.0,455.5,6.0,728,15081,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1762
$GC,15388,0.80,250.2,437.3,6.0,743,15389,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1762
$GC,15698,0.87,282.2,420.6,5.1,758,15733,0.00,2.72,28.92,1.001,4,0.000,0.068,2509,831,1630
$GC,15763,0.94,284.0,417.0,6.0,761,15769,0.12,2.65,0.00,0.000,6,0.092,0.054,2533,2245,1630
$GC,16090,0.94,284.0,393.1,7.6,777,16091,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2245,1630
$GC,16399,0.94,284.0,369.5,7.7,792,16400,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2245,1630
$GC,16709,0.94,284.0,346.1,7.3,807,16713,0.00,2.70,0.00,0.000,4,0.000,0.067,2533,825,1630
$GC,16736,0.94,284.0,344.0,6.9,808,16740,0.00,2.62,0.00,0.000,6,0.000,0.054,2533,2248,1630
$GC,17052,0.94,284.0,319.9,8.2,823,17056,0.00,2.70,0.00,0.000,4,0.000,0.066,2533,823,1630
$GC,17084,0.94,284.0,317.0,8.9,824,17091,0.00,2.60,0.00,0.000,6,0.000,0.054,2533,2238,1630
$GC,17400,0.94,284.0,290.3,7.9,840,17401,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2238,1630
$GC,17710,0.94,284.0,267.9,7.2,855,17714,0.00,2.65,0.00,0.000,4,0.000,0.074,2533,3648,1631
$GC,17754,0.94,284.0,264.3,7.6,857,17758,0.00,2.60,0.00,0.000,6,0.000,0.054,2533,2233,1632
$GC,18075,0.94,284.0,241.2,7.6,873,18080,0.00,0.00,3.55,0.545,6,0.000,0.000,2533,2233,1623
$GC,18385,0.94,284.0,217.8,7.8,888,18389,0.00,2.60,0.00,0.000,4,0.000,0.062,2533,827,1623
$GC,18424,0.94,284.0,214.5,8.9,890,18428,0.00,2.58,0.00,0.000,6,0.000,0.048,2533,2243,1623
$GC,18752,0.94,284.0,189.1,7.9,906,18753,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2243,1624
$GC,19061,0.94,284.0,165.3,7.6,921,19065,0.00,2.65,0.00,0.000,4,0.000,0.059,2533,820,1625
$GC,19093,0.94,284.0,162.7,7.4,922,19099,0.00,2.58,0.00,0.000,6,0.000,0.046,2534,2243,1625
$GC,19411,0.94,284.0,137.9,7.8,938,19412,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2243,1627
$GC,19719,0.94,284.0,114.2,7.6,953,19724,0.00,2.62,0.00,0.000,4,0.000,0.058,2534,828,1627
$GC,19760,0.94,284.0,111.0,8.2,955,19764,0.00,2.58,0.00,0.000,6,0.000,0.045,2533,2249,1627
$GC,20086,0.94,284.0,86.5,7.0,971,20087,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2249,1628
$GC,20396,0.94,284.0,65.3,6.4,986,20401,0.00,2.62,0.00,0.000,4,0.000,0.057,2533,827,1629
$GC,20430,0.94,284.0,63.0,6.6,987,20436,0.00,2.55,0.00,0.000,6,0.000,0.044,2533,2243,1629
$GC,20747,0.94,284.0,42.3,6.6,1003,20748,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2244,1630
$GC,21056,0.94,284.0,21.1,6.4,1018,21060,0.00,2.60,0.00,0.000,4,0.000,0.064,2533,3654,1631
$GC,21083,0.99,284.0,19.0,6.8,1019,21095,0.00,2.55,3.47,0.417,6,0.000,0.045,2533,2235,1622
$STATE,21341,end climb,SURFACE_DEPTH_REACHED
$STATE,21341,begin surface coast
$FINISH,0.8,1.026910
$STATE,21361,end surface coast,CONTROL_FINISHED_OK
$STATE,21361,begin surface
$SM_CCo,21383,135.48,0.617,0,0,509,557.32
$SM_GC,1.18,0.00,0.00,135.48,0.000,0.000,0.617,73,2232,509,-10.38,0.06,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1885
$TCM_TEMP,17.70
$XPDR_PINGS,61
$ALTIM_TOP_PING,19.8,18.6
$ALTIM_BOTTOM_PING,700.7,25.4
$24V_AH,23.3,61.566
$10V_AH,10.1,30.309
$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,25.400,136.525,398.950,135.475,0.000,36.564,55.391,197.690,21.750,0.000,0.000,15.350,1815.894,16840.545,735.416,1962.464,657.159,0.000,1714.975,0.000,1925.654,0.000,45.671
$DEVICE_MAMPS,171.808,85.904,1191.918,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,773.742,705.529,623.628,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53753,1033
$CAP_FILE_SIZE,140499,0
$CFSIZE,260165632,237211648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,180808,051401,6349.787,-913.345,36,1.3,42,-10.2