version: 66.03
glider: 16
mission: 9
dive: 386
start: 8 18 108 23 12 22
data:
$ID,16
$MISSION,9
$DIVE,386
$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,-2101894.5
$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
$GPS1,230602,6347.486,-858.044,37,1.2,38,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-58.9
$GPS2,231203,6347.521,-857.929,16,1.2,16,-10.0
$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,105.6,47680,-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,-121.05,0.000,2,0.000,0.000,70,2251,3017
$GC,153,-0.85,-146.6,4.6,-3.9,6,178,11.73,2.65,-7.65,0.000,4,0.171,0.067,2141,813,3381
$GC,224,-0.77,-146.6,18.3,-10.3,9,229,0.10,2.58,0.00,0.000,6,0.102,0.045,2160,2230,3381
$GC,546,-0.66,-146.6,50.3,-10.5,25,547,0.12,0.00,0.00,0.000,6,0.101,0.000,2183,2230,3380
$GC,857,-0.66,-146.6,79.8,-9.3,40,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2230,3381
$GC,1164,-0.66,-146.6,105.5,-8.2,55,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2230,3381
$GC,1473,-0.66,-146.6,123.4,-4.9,70,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2230,3382
$GC,1783,-0.66,-146.6,137.5,-4.7,85,1787,0.00,2.62,0.00,0.000,4,0.000,0.067,2183,3643,3382
$GC,1811,-0.66,-146.6,139.1,-5.6,86,1815,0.00,2.53,0.00,0.000,6,0.000,0.043,2183,2229,3383
$GC,2127,-0.66,-146.6,155.4,-5.6,101,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2229,3383
$GC,2436,-0.66,-146.6,174.8,-6.6,116,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2229,3383
$GC,2746,-0.66,-146.6,197.7,-7.9,131,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2229,3382
$GC,3054,-0.66,-146.6,221.9,-7.8,146,3059,0.00,2.62,0.00,0.000,4,0.000,0.067,2183,3638,3382
$GC,3095,-0.66,-146.6,225.2,-8.5,148,3100,0.00,2.53,0.00,0.000,6,0.000,0.044,2183,2228,3382
$GC,3424,-0.70,-146.6,246.2,-5.5,164,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2228,3382
$GC,3732,-0.75,-146.6,263.8,-5.7,179,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2228,3382
$GC,4042,-0.80,-146.6,279.2,-4.7,194,4047,0.12,2.65,0.00,0.000,4,0.048,0.070,2142,3640,3382
$GC,4076,-0.71,-146.6,281.6,-7.6,195,4083,0.17,2.53,0.00,0.000,6,0.087,0.047,2176,2231,3382
$GC,4394,-0.71,-146.6,300.0,-6.3,211,4398,0.00,2.65,0.00,0.000,4,0.000,0.072,2176,3641,3382
$GC,4435,-0.71,-146.6,302.9,-7.4,213,4439,0.00,2.55,0.00,0.000,6,0.000,0.048,2176,2228,3382
$GC,4761,-0.71,-146.6,324.1,-6.8,229,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2228,3381
$GC,5070,-0.71,-146.6,345.7,-6.8,244,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2228,3381
$GC,5381,-0.75,-146.6,366.2,-7.0,259,5385,0.00,2.67,0.00,0.000,4,0.000,0.076,2176,3638,3380
$GC,5414,-0.75,-146.6,369.0,-8.2,260,5420,0.00,2.55,0.00,0.000,6,0.000,0.050,2176,2227,3380
$GC,5730,-0.80,-146.6,393.1,-7.7,276,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2227,3379
$GC,6040,-0.84,-146.6,415.2,-6.7,291,6045,0.15,2.65,0.00,0.000,4,0.048,0.077,2133,3637,3379
$GC,6074,-0.73,-146.6,418.4,-10.3,292,6080,0.17,2.55,0.00,0.000,6,0.092,0.052,2167,2233,3378
$GC,6390,-0.73,-146.6,439.2,-5.7,308,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2233,3377
$GC,6698,-0.73,-146.6,459.5,-6.8,323,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3377
$GC,7008,-0.73,-146.6,479.5,-6.3,338,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2233,3376
$GC,7318,-0.73,-146.6,498.1,-5.7,353,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2233,3375
$GC,7626,-0.73,-146.6,514.9,-5.7,368,7631,0.00,2.70,0.00,0.000,4,0.000,0.081,2166,3641,3375
$GC,7666,-0.73,-146.6,517.4,-6.7,370,7670,0.00,2.58,0.00,0.000,6,0.000,0.053,2166,2226,3374
$GC,7994,-0.73,-146.6,538.2,-6.9,386,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2226,3373
$GC,8302,-0.73,-146.6,560.1,-7.4,401,8306,0.00,2.72,0.00,0.000,4,0.000,0.083,2166,3640,3373
$GC,8334,-0.73,-146.6,562.6,-7.3,402,8340,0.00,2.58,0.00,0.000,6,0.000,0.055,2167,2229,3372
$GC,8651,-0.73,-146.6,582.8,-6.1,418,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2229,3372
$GC,8959,-0.73,-146.6,602.3,-6.2,433,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3371
$GC,9269,-0.78,-146.6,622.7,-6.3,448,9273,0.00,2.70,0.00,0.000,4,0.000,0.084,2166,3640,3370
$GC,9297,-0.82,-146.6,624.5,-6.4,449,9302,0.00,2.60,0.00,0.000,6,0.000,0.056,2166,2223,3369
$GC,9614,-0.86,-146.6,642.2,-5.0,464,9615,0.12,0.00,0.00,0.000,6,0.058,0.000,2135,2223,3368
$GC,9923,-0.80,-146.6,668.0,-8.4,479,9927,0.00,2.65,0.00,0.000,4,0.000,0.071,2134,815,3368
$GC,9956,-0.80,-146.6,671.3,-10.2,480,9963,0.00,2.62,0.00,0.000,6,0.000,0.060,2134,2232,3368
$GC,10273,-0.73,-146.6,696.5,-8.2,496,10275,0.17,0.00,0.00,0.000,6,0.102,0.000,2167,2232,3366
$GC,10583,-0.77,-146.6,719.1,-8.0,511,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2232,3365
$STATE,10640,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10640,begin apogee
$GC,10647,-0.31,0.0,723.0,6.1,514,10788,0.47,0.00,133.05,1.180,6,0.098,0.000,2262,2232,2781
$STATE,10789,end apogee,CONTROL_FINISHED_OK
$STATE,10789,begin climb
$GC,10792,0.85,146.6,728.5,0.0,521,10933,1.23,2.75,132.60,1.174,4,0.083,0.067,2509,835,2182
$GC,11013,0.77,178.8,726.2,5.1,532,11048,0.00,2.65,30.27,1.127,6,0.000,0.058,2510,2243,2052
$GC,11361,0.74,189.1,705.4,5.7,548,11378,0.00,0.00,10.93,1.028,6,0.000,0.000,2510,2243,2010
$GC,11689,0.71,207.1,685.8,5.5,564,11709,0.15,0.00,17.48,1.089,6,0.106,0.000,2483,2243,1936
$GC,12017,0.76,207.1,668.8,6.4,580,12022,0.00,2.70,0.00,0.000,4,0.000,0.084,2482,3648,1935
$GC,12046,0.83,207.1,667.0,6.0,581,12051,0.12,2.62,0.00,0.000,6,0.061,0.058,2515,2236,1935
$GC,12363,0.78,207.1,646.2,6.5,596,12367,0.00,2.67,0.00,0.000,4,0.000,0.073,2515,830,1935
$GC,12425,0.70,207.1,642.0,6.6,599,12430,0.17,2.65,0.00,0.000,6,0.099,0.058,2482,2248,1934
$GC,12753,0.70,207.1,621.4,6.3,615,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2247,1934
$GC,13061,0.71,216.4,602.7,5.7,630,13076,0.00,2.72,9.57,0.994,4,0.000,0.068,2482,828,1898
$GC,13110,0.71,216.4,599.4,7.5,631,13114,0.00,2.65,0.00,0.000,6,0.000,0.058,2482,2243,1897
$GC,13427,0.71,216.4,576.8,7.4,646,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2243,1897
$GC,13735,0.71,219.0,557.6,5.9,661,13741,0.00,0.00,3.97,0.722,6,0.000,0.000,2482,2243,1888
$GC,14045,0.72,231.3,539.3,5.7,676,14067,0.00,2.80,12.40,1.006,4,0.000,0.083,2482,3648,1838
$GC,14084,0.74,242.8,537.0,5.7,677,14102,0.00,2.65,11.85,0.989,6,0.000,0.058,2482,2233,1791
$GC,14420,0.83,293.4,519.5,4.6,694,14468,0.12,0.00,45.35,1.072,6,0.062,0.000,2515,2233,1585
$GC,14770,0.83,293.4,495.7,7.1,711,14771,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2233,1585
$GC,15079,0.83,293.4,472.6,7.6,726,15080,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2233,1585
$GC,15388,0.83,293.4,448.4,8.3,741,15392,0.00,2.72,0.00,0.000,4,0.000,0.081,2515,3647,1585
$GC,15416,0.83,293.4,445.8,9.1,742,15420,0.00,2.62,0.00,0.000,6,0.000,0.059,2515,2238,1585
$GC,15731,0.83,293.4,417.6,8.9,757,15736,0.00,2.67,0.00,0.000,4,0.000,0.071,2515,825,1584
$GC,15771,0.83,293.4,414.0,9.5,759,15776,0.00,2.62,0.00,0.000,6,0.000,0.056,2515,2243,1584
$GC,16098,0.83,293.4,384.2,8.8,775,16099,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2243,1584
$GC,16407,0.83,293.4,359.0,7.8,790,16408,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2243,1584
$GC,16716,0.83,293.4,338.4,6.3,805,16717,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2243,1584
$GC,17026,0.83,293.4,320.2,6.1,820,17027,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2243,1584
$GC,17334,0.83,293.4,298.1,7.2,835,17339,0.00,2.65,0.00,0.000,4,0.000,0.076,2515,3650,1585
$GC,17390,0.83,293.4,293.8,7.8,837,17396,0.00,2.60,0.00,0.000,6,0.000,0.054,2515,2235,1586
$GC,17706,0.83,293.4,272.8,7.1,853,17711,0.00,2.62,0.00,0.000,4,0.000,0.064,2515,827,1585
$GC,17740,0.83,293.4,270.1,7.5,854,17746,0.00,2.60,0.00,0.000,6,0.000,0.051,2515,2249,1585
$GC,18055,0.83,293.4,245.3,8.2,870,18056,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2249,1585
$GC,18365,0.83,293.4,219.3,8.3,885,18370,0.00,2.62,0.00,0.000,4,0.000,0.061,2515,828,1585
$GC,18398,0.83,293.4,216.6,8.0,886,18404,0.00,2.58,0.00,0.000,6,0.000,0.049,2515,2246,1586
$GC,18714,0.83,293.4,193.2,7.6,902,18715,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2246,1586
$GC,19024,0.83,293.4,170.8,6.9,917,19028,0.00,2.62,0.00,0.000,4,0.000,0.060,2515,828,1587
$GC,19057,0.83,293.4,168.3,6.3,918,19063,0.00,2.55,0.00,0.000,6,0.000,0.048,2515,2241,1587
$GC,19373,0.83,293.4,146.4,7.6,934,19374,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2241,1588
$GC,19683,0.83,293.4,120.1,8.7,949,19684,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2241,1589
$GC,19991,0.83,293.4,93.0,8.0,964,19992,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2241,1590
$GC,20300,0.83,293.4,71.3,6.6,979,20305,0.00,2.62,0.00,0.000,4,0.000,0.059,2516,822,1591
$GC,20345,0.87,293.4,68.4,6.6,981,20350,0.00,2.55,0.00,0.000,6,0.000,0.046,2515,2242,1590
$GC,20667,0.87,293.4,51.2,7.2,997,20672,0.00,2.60,0.00,0.000,4,0.000,0.058,2515,827,1592
$GC,20712,0.93,293.4,47.2,10.4,999,20717,0.00,2.55,0.00,0.000,6,0.000,0.046,2515,2245,1592
$GC,21035,0.98,293.4,20.1,8.1,1015,21037,0.12,0.00,0.00,0.000,6,0.064,0.000,2544,2245,1592
$STATE,21258,end climb,SURFACE_DEPTH_REACHED
$STATE,21258,begin surface coast
$FINISH,0.7,1.026930
$STATE,21280,end surface coast,CONTROL_FINISHED_OK
$STATE,21280,begin surface
$SM_CCo,21302,131.02,0.615,0,0,509,557.32
$SM_GC,1.40,0.00,0.00,131.02,0.000,0.000,0.615,75,2246,509,-10.37,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1871
$TCM_TEMP,16.60
$XPDR_PINGS,61
$ALTIM_TOP_PING,18.4,17.0
$ALTIM_BOTTOM_PING,701.0,31.3
$24V_AH,23.3,62.241
$10V_AH,10.1,30.679
$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,25.975,126.175,407.475,131.025,0.000,28.162,27.126,168.933,21.500,0.000,0.000,16.408,1801.868,16718.426,734.488,1957.924,579.683,0.000,1703.931,0.000,1922.559,0.000,42.796
$DEVICE_MAMPS,171.041,84.370,1180.413,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,767.185,701.808,618.712,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53701,1027
$CAP_FILE_SIZE,139219,0
$CFSIZE,260165632,236957696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,190808,051101,6345.155,-850.709,39,1.0,44,-9.9