version: 66.03
glider: 16
mission: 9
dive: 383
start: 8 18 108 5 20 22
data:
$ID,16
$MISSION,9
$DIVE,383
$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,-2101848.5
$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,25
$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
$GPS1,051401,6349.787,-913.345,36,1.3,42,-10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-50.7
$GPS2,052005,6349.799,-913.384,11,2.4,30,-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,108.6,60764,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.40,0.000,2,0.000,0.000,71,2231,2990
$GC,153,-0.85,-146.6,4.6,-3.7,6,176,11.82,0.00,-8.55,0.000,6,0.170,0.000,2142,2230,3380
$GC,480,-0.70,-146.6,42.8,-10.0,22,485,0.15,2.62,0.00,0.000,4,0.098,0.061,2174,3644,3381
$GC,558,-0.70,-146.6,49.8,-8.7,25,565,0.00,2.53,0.00,0.000,6,0.000,0.041,2174,2225,3382
$GC,874,-0.70,-146.6,73.9,-7.6,41,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2225,3382
$GC,1186,-0.70,-146.6,94.1,-6.0,56,1190,0.00,2.62,0.00,0.000,4,0.000,0.063,2174,3638,3382
$GC,1218,-0.70,-146.6,96.7,-7.1,57,1224,0.00,2.50,0.00,0.000,6,0.000,0.041,2174,2230,3382
$GC,1534,-0.70,-146.6,118.7,-7.5,73,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3382
$GC,1846,-0.70,-146.6,141.1,-6.9,88,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3382
$GC,2152,-0.70,-146.6,162.0,-6.9,103,2156,0.00,2.62,0.00,0.000,4,0.000,0.066,2175,3637,3383
$GC,2180,-0.70,-146.6,164.2,-8.2,104,2184,0.00,2.53,0.00,0.000,6,0.000,0.044,2175,2225,3382
$GC,2496,-0.70,-146.6,186.5,-7.2,119,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2226,3382
$GC,2805,-0.70,-146.6,209.0,-7.4,134,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3382
$GC,3114,-0.70,-146.6,230.6,-7.0,149,3118,0.00,2.62,0.00,0.000,4,0.000,0.067,2175,3637,3382
$GC,3158,-0.70,-146.6,233.9,-7.4,151,3163,0.00,2.50,0.00,0.000,6,0.000,0.044,2175,2230,3382
$GC,3480,-0.70,-146.6,254.5,-6.6,167,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3382
$GC,3790,-0.70,-146.6,274.6,-6.2,182,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3382
$GC,4099,-0.70,-146.6,293.5,-6.2,197,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3382
$GC,4407,-0.70,-146.6,313.2,-6.6,212,4412,0.00,2.62,0.00,0.000,4,0.000,0.071,2175,3638,3382
$GC,4458,-0.70,-146.6,316.8,-6.8,214,4462,0.00,2.53,0.00,0.000,6,0.000,0.048,2175,2231,3382
$GC,4774,-0.70,-146.6,338.1,-6.7,229,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3382
$GC,5084,-0.70,-146.6,359.9,-7.5,244,5088,0.00,2.65,0.00,0.000,4,0.000,0.074,2175,3635,3381
$GC,5111,-0.70,-146.6,362.1,-7.7,245,5115,0.00,2.53,0.00,0.000,6,0.000,0.048,2175,2229,3381
$GC,5427,-0.70,-146.6,384.7,-6.9,260,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3380
$GC,5736,-0.75,-146.6,405.6,-6.4,275,5740,0.00,2.67,0.00,0.000,4,0.000,0.076,2175,3641,3379
$GC,5769,-0.75,-146.6,408.1,-7.5,276,5775,0.00,2.58,0.00,0.000,6,0.000,0.051,2175,2225,3379
$GC,6086,-0.80,-146.6,429.8,-7.0,292,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2224,3379
$GC,6394,-0.86,-146.6,452.6,-7.3,307,6399,0.15,2.70,0.00,0.000,4,0.051,0.077,2128,3640,3378
$GC,6427,-0.75,-146.6,455.9,-11.0,308,6434,0.20,2.58,0.00,0.000,6,0.095,0.053,2166,2229,3378
$GC,6744,-0.75,-146.6,479.6,-7.1,324,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3377
$GC,7053,-0.75,-146.6,501.0,-7.1,339,7058,0.00,2.67,0.00,0.000,4,0.000,0.080,2166,3634,3375
$GC,7080,-0.75,-146.6,503.2,-7.7,340,7084,0.00,2.58,0.00,0.000,6,0.000,0.053,2166,2223,3375
$GC,7396,-0.75,-146.6,524.8,-6.8,355,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2223,3375
$GC,7705,-0.75,-146.6,546.2,-6.8,370,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2223,3373
$GC,8014,-0.75,-146.6,565.7,-6.1,385,8019,0.00,2.70,0.00,0.000,4,0.000,0.082,2166,3636,3372
$GC,8055,-0.75,-146.6,568.2,-6.8,387,8059,0.00,2.58,0.00,0.000,6,0.000,0.054,2166,2225,3372
$GC,8382,-0.80,-146.6,589.0,-5.7,403,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2225,3371
$GC,8690,-0.80,-146.6,608.7,-7.1,418,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2225,3371
$GC,9001,-0.84,-146.6,629.7,-5.3,433,9006,0.00,2.72,0.00,0.000,4,0.000,0.084,2166,3634,3370
$GC,9046,-0.84,-146.6,631.5,-4.8,435,9050,0.00,2.58,0.00,0.000,6,0.000,0.055,2166,2230,3370
$GC,9368,-0.84,-146.6,653.2,-7.1,451,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3368
$GC,9677,-0.89,-146.6,674.8,-8.4,466,9679,0.15,0.00,0.00,0.000,6,0.058,0.000,2127,2230,3367
$STATE,9983,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9983,begin apogee
$GC,9990,-0.31,0.0,701.1,8.3,481,10127,0.68,0.00,130.77,1.174,6,0.102,0.000,2260,2230,2781
$STATE,10127,end apogee,CONTROL_FINISHED_OK
$STATE,10127,begin climb
$GC,10130,0.85,146.6,706.7,0.0,488,10274,1.20,2.75,131.18,1.160,4,0.087,0.069,2507,832,2182
$GC,10328,0.73,146.6,704.7,6.0,497,10333,0.00,2.62,0.00,0.000,6,0.000,0.058,2506,2236,2182
$GC,10650,0.70,203.0,688.2,4.5,513,10712,0.12,2.78,51.00,1.138,4,0.111,0.081,2484,3649,1952
$GC,10771,0.83,273.8,683.3,4.1,518,10843,0.12,2.62,63.85,1.139,6,0.061,0.058,2515,2238,1664
$GC,11152,0.83,273.8,659.8,6.1,537,11157,0.00,2.70,0.00,0.000,4,0.000,0.073,2515,829,1663
$GC,11208,0.83,273.8,656.4,7.7,539,11214,0.00,2.62,0.00,0.000,6,0.000,0.058,2514,2240,1662
$GC,11524,0.83,273.8,634.9,7.8,555,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2240,1663
$GC,11833,0.83,273.8,609.6,8.2,570,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2239,1660
$GC,12142,0.83,273.8,588.0,7.4,585,12146,0.00,2.67,0.00,0.000,4,0.000,0.071,2515,830,1660
$GC,12175,0.83,273.8,585.4,7.3,586,12181,0.00,2.62,0.00,0.000,6,0.000,0.058,2515,2243,1660
$GC,12491,0.83,273.8,562.8,7.0,602,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2244,1660
$GC,12800,0.83,273.8,543.2,7.5,617,12801,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2243,1660
$GC,13110,0.83,273.8,520.8,7.4,632,13115,0.00,2.70,0.00,0.000,4,0.000,0.072,2515,832,1659
$GC,13143,0.83,273.8,518.2,7.7,633,13149,0.00,2.62,0.00,0.000,6,0.000,0.058,2515,2245,1659
$GC,13459,0.83,273.8,496.8,6.5,649,13463,0.00,2.70,0.00,0.000,4,0.000,0.071,2515,830,1659
$GC,13492,0.83,273.8,494.7,6.2,650,13498,0.00,2.62,0.00,0.000,6,0.000,0.058,2515,2247,1658
$GC,13812,0.87,274.6,475.7,6.0,666,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2247,1659
$GC,14117,0.87,279.7,457.7,5.9,681,14130,0.00,2.72,6.20,0.851,4,0.000,0.070,2515,830,1640
$GC,14172,0.91,279.7,454.2,6.3,683,14176,0.00,2.62,0.00,0.000,6,0.000,0.057,2515,2240,1639
$GC,14488,0.97,290.3,435.6,5.7,698,14504,0.12,2.70,10.55,0.931,4,0.081,0.070,2540,832,1597
$GC,14528,0.97,290.3,433.0,6.5,699,14532,0.00,2.65,0.00,0.000,6,0.000,0.056,2541,2246,1596
$GC,14855,0.97,290.3,410.5,7.1,715,14859,0.00,2.67,0.00,0.000,4,0.000,0.080,2540,3652,1596
$GC,14882,0.97,290.3,408.4,8.1,716,14886,0.00,2.60,0.00,0.000,6,0.000,0.059,2540,2243,1596
$GC,15198,0.97,290.3,384.9,7.8,731,15202,0.00,2.67,0.00,0.000,4,0.000,0.071,2540,828,1596
$GC,15248,0.97,290.3,380.6,8.7,733,15252,0.00,2.60,0.00,0.000,6,0.000,0.054,2540,2240,1596
$GC,15564,0.97,290.3,351.3,9.7,748,15565,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2240,1596
$GC,15873,0.97,290.3,323.0,8.7,763,15877,0.00,2.65,0.00,0.000,4,0.000,0.067,2541,828,1596
$GC,15929,0.97,290.3,318.2,8.6,765,15935,0.00,2.60,0.00,0.000,6,0.000,0.054,2540,2245,1597
$GC,16246,0.97,290.3,293.0,7.8,781,16247,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2245,1596
$GC,16554,0.97,290.3,270.4,7.0,796,16559,0.00,2.67,0.00,0.000,4,0.000,0.064,2541,825,1597
$GC,16617,0.97,290.3,266.0,7.3,799,16622,0.00,2.60,0.00,0.000,6,0.000,0.051,2540,2242,1597
$GC,16944,0.97,290.3,243.8,6.9,815,16948,0.00,2.65,0.00,0.000,4,0.000,0.063,2540,822,1597
$GC,16994,0.97,290.3,240.3,7.2,817,16998,0.00,2.60,0.00,0.000,6,0.000,0.049,2540,2249,1598
$GC,17310,0.97,290.3,219.0,7.1,832,17311,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2249,1597
$GC,17618,0.97,290.3,194.9,8.1,847,17620,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2249,1599
$GC,17928,0.97,290.3,169.1,8.4,862,17932,0.00,2.65,0.00,0.000,4,0.000,0.060,2541,824,1600
$GC,17961,0.97,290.3,166.2,8.9,863,17967,0.00,2.58,0.00,0.000,6,0.000,0.046,2541,2248,1600
$GC,18277,0.97,290.3,141.2,7.5,879,18278,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2248,1601
$GC,18586,0.97,290.3,118.0,7.1,894,18591,0.00,2.65,0.00,0.000,4,0.000,0.058,2541,820,1602
$GC,18609,0.97,290.3,116.2,7.0,895,18613,0.00,2.58,0.00,0.000,6,0.000,0.046,2540,2248,1601
$GC,18930,0.97,290.3,92.2,7.2,911,18932,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2248,1603
$GC,19239,0.97,290.3,72.7,6.6,926,19244,0.00,2.65,0.00,0.000,4,0.000,0.058,2540,821,1604
$GC,19303,0.97,290.3,68.5,6.0,929,19308,0.00,2.58,0.00,0.000,6,0.000,0.044,2541,2247,1604
$GC,19632,0.97,290.3,46.7,6.8,945,19633,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2247,1604
$GC,19940,0.97,290.3,26.5,6.6,960,19949,0.00,2.65,3.45,0.418,4,0.000,0.057,2540,826,1597
$GC,20002,1.01,290.3,22.4,6.5,962,20008,0.00,2.55,0.00,0.000,6,0.000,0.044,2540,2249,1597
$STATE,20294,end climb,SURFACE_DEPTH_REACHED
$STATE,20294,begin surface coast
$FINISH,0.7,1.026944
$STATE,20316,end surface coast,CONTROL_FINISHED_OK
$STATE,20317,begin surface
$SM_CCo,20338,133.30,0.621,0,0,509,557.32
$SM_GC,1.28,0.00,0.00,133.30,0.000,0.000,0.621,71,2251,509,-10.39,0.62,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1874
$TCM_TEMP,16.40
$XPDR_PINGS,60
$ALTIM_TOP_PING,18.9,17.6
$ALTIM_BOTTOM_PING,650.5,60.6
$24V_AH,23.3,61.733
$10V_AH,10.1,30.400
$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,25.525,147.175,397.000,133.300,0.000,18.134,26.271,167.912,20.750,0.000,0.000,30.852,1734.122,15839.222,714.006,1985.752,559.499,0.000,1710.221,0.000,1929.709,0.000,39.633
$DEVICE_MAMPS,170.274,84.370,1173.510,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,723.044,667.533,611.863,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50468,978
$CAP_FILE_SIZE,135386,0
$CFSIZE,260165632,237158400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,180808,110256,6349.689,-908.734,40,1.3,41,-10.1