version: 66.03
glider: 16
mission: 9
dive: 384
start: 8 18 108 11 14 4
data:
$ID,16
$MISSION,9
$DIVE,384
$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,-2101860.8
$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,20
$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
$GPS1,110256,6349.689,-908.734,40,1.3,41,-10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-54.7
$GPS2,111345,6349.763,-908.854,11,1.8,11,-10.1
$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,109.0,57085,-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,-146.6,0.0,0.0,0,148,0.00,0.00,-121.07,0.000,2,0.000,0.000,70,2253,3012
$GC,151,-0.85,-146.6,4.4,-3.6,6,176,11.75,2.65,-7.78,0.000,4,0.172,0.066,2142,813,3382
$GC,241,-0.78,-146.6,19.6,-10.5,10,245,0.00,2.58,0.00,0.000,6,0.000,0.044,2142,2232,3382
$GC,568,-0.65,-146.6,52.6,-10.5,26,573,0.20,2.60,0.00,0.000,4,0.095,0.062,2183,3638,3382
$GC,601,-0.65,-146.6,55.8,-9.2,27,607,0.00,2.53,0.00,0.000,6,0.000,0.042,2185,2224,3381
$GC,919,-0.65,-146.6,81.4,-8.0,43,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2224,3382
$GC,1226,-0.65,-146.6,105.9,-7.8,58,1230,0.00,2.62,0.00,0.000,4,0.000,0.064,2184,3639,3383
$GC,1259,-0.65,-146.6,108.8,-8.0,59,1265,0.00,2.53,0.00,0.000,6,0.000,0.042,2185,2221,3382
$GC,1576,-0.65,-146.6,130.3,-6.4,75,1581,0.00,2.65,0.00,0.000,4,0.000,0.064,2185,3644,3383
$GC,1610,-0.65,-146.6,132.9,-7.3,76,1616,0.00,2.53,0.00,0.000,6,0.000,0.042,2185,2227,3383
$GC,1926,-0.65,-146.6,151.4,-5.4,92,1930,0.00,2.58,0.00,0.000,4,0.000,0.054,2185,813,3383
$GC,1959,-0.74,-146.6,153.2,-5.5,93,1965,0.00,2.55,0.00,0.000,6,0.000,0.044,2185,2230,3383
$GC,2276,-0.74,-146.6,170.4,-5.7,109,2280,0.00,2.60,0.00,0.000,4,0.000,0.066,2185,3638,3383
$GC,2316,-0.78,-146.6,173.0,-7.1,111,2321,0.12,2.53,0.00,0.000,6,0.046,0.043,2146,2229,3383
$GC,2649,-0.71,-146.6,200.3,-8.6,127,2650,0.15,0.00,0.00,0.000,6,0.087,0.000,2175,2228,3383
$GC,2952,-0.71,-146.6,221.4,-6.7,142,2957,0.00,2.62,0.00,0.000,4,0.000,0.066,2175,3637,3383
$GC,2985,-0.71,-146.6,223.7,-6.8,143,2991,0.00,2.53,0.00,0.000,6,0.000,0.044,2175,2227,3383
$GC,3302,-0.71,-146.6,244.2,-6.1,159,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2227,3382
$GC,3610,-0.71,-146.6,262.8,-6.2,174,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2227,3382
$GC,3919,-0.71,-146.6,283.7,-7.2,189,3924,0.00,2.65,0.00,0.000,4,0.000,0.068,2175,3641,3382
$GC,3947,-0.71,-146.6,286.0,-8.2,190,3951,0.00,2.55,0.00,0.000,6,0.000,0.046,2176,2222,3382
$GC,4263,-0.71,-146.6,307.9,-6.6,205,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2221,3383
$GC,4572,-0.71,-146.6,327.0,-6.1,220,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2221,3381
$GC,4882,-0.71,-146.6,344.6,-5.5,235,4887,0.00,2.67,0.00,0.000,4,0.000,0.072,2176,3640,3381
$GC,4910,-0.71,-146.6,346.2,-5.7,236,4914,0.00,2.55,0.00,0.000,6,0.000,0.048,2176,2225,3381
$GC,5226,-0.71,-146.6,364.1,-6.0,251,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2225,3380
$GC,5537,-0.75,-146.6,380.7,-5.1,266,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2225,3380
$GC,5846,-0.80,-146.6,396.7,-5.3,281,5850,0.00,2.67,0.00,0.000,4,0.000,0.075,2175,3638,3379
$GC,5879,-0.84,-146.6,398.7,-6.0,282,5886,0.12,2.55,0.00,0.000,6,0.051,0.051,2139,2233,3378
$GC,6196,-0.77,-146.6,422.9,-8.0,298,6201,0.10,2.62,0.00,0.000,4,0.099,0.064,2158,816,3378
$GC,6246,-0.77,-146.6,426.8,-6.9,300,6250,0.00,2.58,0.00,0.000,6,0.000,0.053,2158,2227,3378
$GC,6562,-0.77,-146.6,450.9,-7.8,315,6566,0.00,2.67,0.00,0.000,4,0.000,0.077,2158,3640,3377
$GC,6590,-0.77,-146.6,453.3,-8.4,316,6594,0.00,2.58,0.00,0.000,6,0.000,0.053,2158,2230,3377
$GC,6906,-0.77,-146.6,476.8,-7.3,331,6910,0.00,2.70,0.00,0.000,4,0.000,0.079,2159,3644,3376
$GC,6945,-0.77,-146.6,479.9,-8.0,333,6950,0.00,2.58,0.00,0.000,6,0.000,0.053,2158,2229,3376
$GC,7273,-0.77,-146.6,502.7,-7.1,349,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2229,3375
$GC,7584,-0.77,-146.6,524.5,-7.0,364,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3373
$GC,7891,-0.77,-146.6,546.1,-7.0,379,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3373
$GC,8201,-0.77,-146.6,570.1,-8.1,394,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2229,3371
$GC,8509,-0.77,-146.6,594.1,-7.6,409,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2229,3371
$GC,8819,-0.77,-146.6,616.4,-7.0,424,8823,0.00,2.72,0.00,0.000,4,0.000,0.084,2157,3641,3370
$GC,8852,-0.77,-146.6,618.6,-6.9,425,8859,0.00,2.60,0.00,0.000,6,0.000,0.057,2157,2228,3370
$GC,9168,-0.77,-146.6,639.6,-6.2,441,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2228,3368
$GC,9478,-0.77,-146.6,658.9,-5.7,456,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2228,3367
$GC,9787,-0.77,-146.6,680.6,-8.2,471,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2228,3366
$STATE,10093,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10093,begin apogee
$GC,10100,-0.31,0.0,702.4,7.2,486,10236,0.50,0.00,130.48,1.181,6,0.097,0.000,2258,2228,2781
$STATE,10236,end apogee,CONTROL_FINISHED_OK
$STATE,10236,begin climb
$GC,10240,0.85,146.6,707.4,0.0,493,10380,1.23,2.75,131.57,1.164,4,0.080,0.072,2509,832,2183
$GC,10399,0.82,244.2,706.2,3.3,501,10494,0.00,2.67,87.20,1.148,6,0.000,0.057,2509,2247,1785
$GC,10811,0.82,244.2,679.9,6.0,521,10816,0.00,2.72,0.00,0.000,4,0.000,0.070,2509,826,1783
$GC,10851,0.82,244.2,677.5,6.3,523,10856,0.00,2.65,0.00,0.000,6,0.000,0.058,2509,2240,1783
$GC,11178,0.82,244.2,656.4,6.7,539,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,1783
$GC,11488,0.83,253.3,638.3,5.8,554,11503,0.00,2.72,9.05,0.985,4,0.000,0.071,2509,831,1749
$GC,11533,0.83,253.3,635.6,6.3,556,11538,0.00,2.65,0.00,0.000,6,0.000,0.058,2509,2242,1748
$GC,11860,0.83,253.3,615.9,6.1,572,11861,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1748
$GC,12170,0.83,253.3,596.0,6.8,587,12175,0.00,2.72,0.00,0.000,4,0.000,0.072,2509,825,1747
$GC,12220,0.83,253.3,592.3,7.5,589,12224,0.00,2.65,0.00,0.000,6,0.000,0.058,2509,2249,1747
$GC,12535,0.83,253.3,570.7,7.0,604,12536,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2249,1747
$GC,12845,0.83,253.3,550.2,6.6,619,12850,0.00,2.70,0.00,0.000,4,0.000,0.072,2509,830,1747
$GC,12908,0.89,262.5,546.2,5.7,622,12923,0.00,2.62,9.80,0.975,6,0.000,0.059,2509,2240,1710
$GC,13235,0.89,262.5,525.7,6.4,637,13236,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2239,1710
$GC,13543,0.89,262.5,505.7,6.6,652,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2239,1710
$GC,13853,0.89,262.5,484.5,6.8,667,13857,0.00,2.70,0.00,0.000,4,0.000,0.073,2509,826,1710
$GC,13886,0.93,262.5,482.1,7.2,668,13895,0.10,2.62,0.00,0.000,6,0.085,0.058,2529,2240,1709
$GC,14202,0.93,262.5,459.0,7.4,684,14206,0.00,2.70,0.00,0.000,4,0.000,0.082,2529,3650,1709
$GC,14229,0.93,262.5,456.8,7.7,685,14233,0.00,2.62,0.00,0.000,6,0.000,0.060,2529,2237,1709
$GC,14545,0.93,262.5,434.2,7.0,700,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2237,1709
$GC,14854,0.93,262.5,413.2,6.5,715,14855,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2237,1709
$GC,15165,0.93,262.5,392.3,6.6,730,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2237,1709
$GC,15473,0.93,269.4,373.4,5.8,745,15483,0.00,0.00,7.40,0.832,6,0.000,0.000,2529,2237,1682
$GC,15782,0.93,269.4,354.2,6.1,760,15786,0.00,2.70,0.00,0.000,4,0.000,0.077,2529,3653,1682
$GC,15814,0.93,269.4,351.8,6.8,761,15820,0.00,2.60,0.00,0.000,6,0.000,0.056,2529,2239,1682
$GC,16131,0.94,270.9,332.9,6.0,777,16132,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2239,1682
$GC,16439,0.94,270.9,313.7,6.4,792,16440,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2239,1682
$GC,16748,0.94,270.9,293.4,6.8,807,16753,0.00,2.65,0.00,0.000,4,0.000,0.066,2529,826,1682
$GC,16782,0.94,270.9,291.1,6.8,808,16788,0.00,2.60,0.00,0.000,6,0.000,0.051,2529,2245,1682
$GC,17098,0.94,270.9,269.1,7.0,824,17102,0.00,2.62,0.00,0.000,4,0.000,0.074,2529,3647,1683
$GC,17119,0.94,270.9,267.5,6.8,825,17124,0.00,2.58,0.00,0.000,6,0.000,0.052,2529,2238,1683
$GC,17441,0.94,270.9,244.3,7.1,841,17445,0.00,2.62,0.00,0.000,4,0.000,0.064,2529,828,1683
$GC,17469,0.94,270.9,242.1,7.7,842,17473,0.00,2.58,0.00,0.000,6,0.000,0.050,2529,2241,1683
$GC,17784,0.94,270.9,218.7,7.4,857,17785,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2241,1684
$GC,18094,0.94,270.9,196.3,6.7,872,18098,0.00,2.62,0.00,0.000,4,0.000,0.061,2529,829,1684
$GC,18156,0.94,270.9,192.0,7.2,875,18160,0.00,2.58,0.00,0.000,6,0.000,0.049,2529,2242,1684
$GC,18483,0.98,307.1,174.2,5.0,891,18522,0.00,0.00,33.25,0.777,6,0.000,0.000,2529,2242,1528
$GC,18833,0.99,321.0,154.6,5.6,908,18854,0.00,2.67,13.12,0.714,4,0.000,0.059,2529,833,1473
$GC,18894,1.06,321.0,150.8,6.0,910,18901,0.15,2.58,0.00,0.000,6,0.069,0.048,2562,2247,1471
$GC,19210,1.00,321.0,125.4,8.8,926,19211,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2247,1472
$GC,19522,0.93,321.0,95.3,10.0,941,19527,0.15,2.62,0.00,0.000,4,0.091,0.058,2529,829,1472
$GC,19566,0.93,321.0,90.5,10.5,943,19570,0.00,2.55,0.00,0.000,6,0.000,0.046,2529,2240,1472
$GC,19887,0.93,321.0,61.9,8.4,959,19888,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2240,1472
$GC,20197,0.93,321.0,40.5,6.9,974,20198,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2239,1473
$GC,20506,0.93,321.0,18.5,7.0,989,20510,0.00,2.60,0.00,0.000,4,0.000,0.057,2530,821,1473
$GC,20556,0.99,321.0,14.7,6.8,991,20560,0.00,2.55,0.00,0.000,6,0.000,0.044,2529,2241,1474
$STATE,20745,end climb,SURFACE_DEPTH_REACHED
$STATE,20745,begin surface coast
$FINISH,0.7,1.011840
$STATE,20769,end surface coast,CONTROL_FINISHED_OK
$STATE,20769,begin surface
$SM_CCo,20791,118.60,0.621,0,0,508,557.32
$SM_GC,1.29,0.00,0.00,118.60,0.000,0.000,0.621,70,2242,508,-10.39,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1895
$TCM_TEMP,17.60
$XPDR_PINGS,56
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,675.6,36.5
$24V_AH,23.3,61.909
$10V_AH,10.1,30.493
$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,25.225,152.025,421.875,118.600,0.000,54.065,80.588,244.024,20.000,0.000,0.000,11.483,1777.883,16330.775,726.465,1965.097,757.780,0.000,1732.415,0.000,1930.183,0.000,41.187
$DEVICE_MAMPS,171.808,84.370,1181.180,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,747.137,683.795,592.910,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50612,1001
$CAP_FILE_SIZE,142309,0
$CFSIZE,260165632,237084672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,180808,170356,6346.363,-906.170,40,1.4,41,-10.1