version: 66.03
glider: 16
mission: 9
dive: 387
start: 8 19 108 5 17 39
data:
$ID,16
$MISSION,9
$DIVE,387
$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,-2101910.8
$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,22
$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
$GPS1,051101,6345.155,-850.709,39,1.0,44,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-60.0
$GPS2,051720,6345.180,-850.709,10,1.2,15,-9.9
$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,100.4,41538,-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,-146.6,0.0,0.0,0,130,0.00,0.00,-101.28,0.000,2,0.000,0.000,75,2247,2553
$GC,133,-0.85,-146.6,3.0,-1.8,5,177,11.62,0.00,-28.67,0.000,6,0.168,0.000,2141,2246,3381
$GC,487,-0.70,-146.6,35.8,-8.9,22,489,0.17,0.00,0.00,0.000,6,0.097,0.000,2174,2246,3380
$GC,794,-0.70,-146.6,56.7,-7.3,37,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2247,3381
$GC,1103,-0.70,-146.6,80.9,-7.8,52,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2247,3382
$GC,1413,-0.70,-146.6,105.0,-7.5,67,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2246,3382
$GC,1722,-0.70,-146.6,123.1,-5.7,82,1726,0.00,2.58,0.00,0.000,4,0.000,0.065,2174,3637,3382
$GC,1772,-0.70,-146.6,126.2,-6.3,84,1776,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,2226,3383
$GC,2089,-0.70,-146.6,148.9,-8.3,99,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2226,3382
$GC,2396,-0.70,-146.6,172.5,-6.9,114,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2226,3382
$GC,2706,-0.70,-146.6,194.6,-7.4,129,2710,0.00,2.62,0.00,0.000,4,0.000,0.066,2174,3636,3382
$GC,2739,-0.70,-146.6,197.3,-7.7,130,2746,0.00,2.50,0.00,0.000,6,0.000,0.043,2174,2230,3382
$GC,3055,-0.70,-146.6,220.5,-7.4,146,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2229,3382
$GC,3365,-0.70,-146.6,244.2,-7.7,161,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3382
$GC,3675,-0.70,-146.6,267.8,-7.8,176,3679,0.00,2.62,0.00,0.000,4,0.000,0.067,2174,3637,3382
$GC,3714,-0.70,-146.6,271.1,-8.1,178,3718,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,2224,3382
$GC,4040,-0.70,-146.6,293.8,-6.5,194,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3382
$GC,4351,-0.70,-146.6,310.9,-4.6,209,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3382
$GC,4659,-0.70,-146.6,327.5,-6.0,224,4664,0.00,2.62,0.00,0.000,4,0.000,0.071,2174,3635,3382
$GC,4692,-0.70,-146.6,329.7,-6.4,225,4698,0.00,2.53,0.00,0.000,6,0.000,0.045,2174,2225,3382
$GC,5009,-0.70,-146.6,347.8,-5.9,241,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2225,3382
$GC,5317,-0.70,-146.6,367.2,-6.1,256,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2224,3381
$GC,5627,-0.70,-146.6,386.8,-5.9,271,5631,0.00,2.67,0.00,0.000,4,0.000,0.074,2174,3641,3381
$GC,5668,-0.74,-146.6,389.6,-6.7,273,5672,0.00,2.53,0.00,0.000,6,0.000,0.048,2174,2232,3380
$GC,5994,-0.79,-146.6,412.5,-7.4,289,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2233,3380
$GC,6304,-0.84,-146.6,437.5,-7.8,304,6309,0.12,2.67,0.00,0.000,4,0.052,0.076,2136,3641,3379
$GC,6349,-0.75,-146.6,441.9,-10.4,306,6354,0.15,2.58,0.00,0.000,6,0.094,0.051,2164,2224,3379
$GC,6670,-0.75,-146.6,464.5,-6.5,322,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2224,3378
$GC,6980,-0.75,-146.6,483.7,-6.3,337,6985,0.00,2.70,0.00,0.000,4,0.000,0.078,2164,3640,3377
$GC,7024,-0.75,-146.6,487.1,-7.8,339,7028,0.00,2.58,0.00,0.000,6,0.000,0.052,2164,2227,3376
$GC,7345,-0.75,-146.6,509.2,-7.3,355,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2227,3375
$GC,7654,-0.75,-146.6,533.4,-8.0,370,7658,0.00,2.70,0.00,0.000,4,0.000,0.081,2164,3634,3374
$GC,7686,-0.75,-146.6,536.0,-8.3,371,7692,0.00,2.58,0.00,0.000,6,0.000,0.053,2164,2224,3374
$GC,8002,-0.75,-146.6,557.4,-6.2,387,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2224,3374
$GC,8312,-0.75,-146.6,578.5,-6.9,402,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2224,3372
$GC,8621,-0.75,-146.6,601.0,-7.4,417,8626,0.00,2.72,0.00,0.000,4,0.000,0.083,2164,3640,3371
$GC,8661,-0.75,-146.6,604.1,-7.9,419,8665,0.00,2.60,0.00,0.000,6,0.000,0.054,2164,2222,3371
$GC,8988,-0.75,-146.6,626.5,-7.2,435,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2222,3371
$GC,9296,-0.75,-146.6,648.6,-7.3,450,9301,0.00,2.72,0.00,0.000,4,0.000,0.084,2164,3634,3369
$GC,9324,-0.75,-146.6,650.7,-8.1,451,9328,0.00,2.58,0.00,0.000,6,0.000,0.055,2164,2223,3369
$GC,9641,-0.75,-146.6,672.3,-6.7,466,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2223,3368
$GC,9950,-0.79,-146.6,692.5,-6.6,481,9954,0.00,2.72,0.00,0.000,4,0.000,0.085,2164,3632,3367
$GC,9983,-0.79,-146.6,695.0,-7.0,482,9989,0.00,2.58,0.00,0.000,6,0.000,0.055,2164,2223,3366
$GC,10300,-0.84,-146.6,715.8,-7.1,498,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2223,3365
$STATE,10605,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10605,begin apogee
$GC,10612,-0.31,0.0,740.6,9.7,513,10753,0.47,0.00,133.50,1.187,6,0.104,0.000,2257,2222,2781
$STATE,10754,end apogee,CONTROL_FINISHED_OK
$STATE,10754,begin climb
$GC,10757,0.85,146.6,749.3,0.0,520,10901,1.15,2.85,132.93,1.182,4,0.058,0.084,2509,3639,2183
$GC,11018,0.76,189.2,744.7,4.8,532,11063,0.00,2.60,39.83,1.146,6,0.000,0.058,2509,2242,2008
$GC,11388,0.79,219.0,725.3,5.2,550,11417,0.00,0.00,27.90,1.127,6,0.000,0.000,2509,2242,1888
$GC,11714,0.79,219.0,706.8,6.1,566,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2242,1887
$GC,12024,0.81,233.3,688.5,5.6,581,12045,0.00,2.78,14.07,1.071,4,0.000,0.082,2509,3647,1830
$GC,12075,0.81,234.4,685.3,6.0,583,12080,0.00,2.62,0.00,0.000,6,0.000,0.058,2509,2237,1830
$GC,12396,0.81,234.4,665.9,6.0,599,12401,0.00,2.67,0.00,0.000,4,0.000,0.073,2509,826,1830
$GC,12430,0.81,234.4,663.7,6.1,600,12436,0.00,2.60,0.00,0.000,6,0.000,0.058,2509,2237,1829
$GC,12747,0.82,240.8,645.7,5.8,616,12757,0.00,0.00,8.60,0.983,6,0.000,0.000,2509,2237,1799
$GC,13055,0.85,272.3,628.9,5.1,631,13086,0.00,0.00,29.10,1.107,6,0.000,0.000,2509,2237,1671
$GC,13385,0.94,314.3,612.5,4.8,647,13430,0.12,2.78,38.47,1.108,4,0.076,0.071,2537,828,1499
$GC,13464,0.94,314.3,607.5,6.4,650,13470,0.00,2.65,0.00,0.000,6,0.000,0.058,2537,2242,1498
$GC,13780,0.94,314.3,587.6,6.9,666,13784,0.00,2.72,0.00,0.000,4,0.000,0.084,2537,3656,1498
$GC,13808,0.94,314.3,585.4,7.9,667,13812,0.00,2.62,0.00,0.000,6,0.000,0.060,2537,2241,1498
$GC,14123,0.94,314.3,559.3,8.3,682,14128,0.00,2.67,0.00,0.000,4,0.000,0.074,2537,827,1497
$GC,14196,0.94,314.3,553.1,8.4,685,14200,0.00,2.62,0.00,0.000,6,0.000,0.058,2537,2242,1496
$GC,14512,0.94,314.3,526.8,7.7,700,14513,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2242,1496
$GC,14821,0.94,314.3,503.9,7.5,715,14825,0.00,2.67,0.00,0.000,4,0.000,0.071,2537,829,1496
$GC,14870,0.94,314.3,499.7,8.3,717,14875,0.00,2.62,0.00,0.000,6,0.000,0.058,2537,2243,1495
$GC,15187,0.94,314.3,472.1,9.0,732,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2243,1496
$GC,15495,0.94,314.3,445.0,8.8,747,15499,0.00,2.67,0.00,0.000,4,0.000,0.070,2537,830,1495
$GC,15545,0.94,314.3,440.3,8.8,749,15549,0.00,2.60,0.00,0.000,6,0.000,0.056,2537,2240,1496
$GC,15861,0.94,314.3,415.7,7.4,764,15865,0.00,2.67,0.00,0.000,4,0.000,0.070,2537,825,1495
$GC,15894,0.94,314.3,413.1,7.5,765,15900,0.00,2.60,0.00,0.000,6,0.000,0.056,2537,2241,1495
$GC,16210,0.94,314.3,390.8,7.2,781,16214,0.00,2.67,0.00,0.000,4,0.000,0.069,2537,826,1495
$GC,16250,0.94,314.3,387.6,7.8,783,16254,0.00,2.62,0.00,0.000,6,0.000,0.055,2537,2245,1495
$GC,16576,0.94,314.3,360.7,8.2,799,16577,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2245,1495
$GC,16885,0.94,314.3,339.2,6.9,814,16890,0.00,2.67,0.00,0.000,4,0.000,0.068,2537,823,1495
$GC,16926,0.94,314.3,336.2,7.6,816,16930,0.00,2.62,0.00,0.000,6,0.000,0.054,2537,2244,1495
$GC,17252,0.94,314.3,305.6,10.2,832,17253,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2244,1496
$GC,17562,0.94,314.3,276.1,9.1,847,17563,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2244,1496
$GC,17872,0.94,314.3,249.4,8.6,862,17876,0.00,2.65,0.00,0.000,4,0.000,0.064,2537,821,1497
$GC,17921,0.94,314.3,245.1,7.8,864,17926,0.00,2.60,0.00,0.000,6,0.000,0.050,2537,2248,1497
$GC,18237,0.94,314.3,219.4,8.1,879,18238,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2248,1499
$GC,18547,0.94,314.3,197.2,6.8,894,18551,0.00,2.65,0.00,0.000,4,0.000,0.061,2537,820,1499
$GC,18604,0.94,314.3,193.4,6.6,896,18610,0.00,2.58,0.00,0.000,6,0.000,0.048,2537,2240,1499
$GC,18919,0.94,314.3,173.0,6.6,912,18924,0.00,2.62,0.00,0.000,4,0.000,0.061,2537,822,1500
$GC,18948,0.94,314.3,170.9,7.7,913,18952,0.00,2.58,0.00,0.000,6,0.000,0.048,2537,2243,1500
$GC,19264,0.94,314.3,146.9,7.8,928,19265,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2243,1501
$GC,19574,0.94,314.3,124.4,7.1,943,19579,0.00,2.62,0.00,0.000,4,0.000,0.060,2537,827,1503
$GC,19639,0.94,314.3,119.6,7.7,946,19643,0.00,2.58,0.00,0.000,6,0.000,0.047,2537,2245,1502
$GC,19967,0.94,314.3,89.4,9.7,962,19972,0.00,2.62,0.00,0.000,4,0.000,0.059,2537,827,1503
$GC,20008,0.94,314.3,85.4,9.1,964,20012,0.00,2.58,0.00,0.000,6,0.000,0.047,2537,2248,1503
$GC,20335,0.98,356.3,66.3,4.9,980,20374,0.00,0.00,35.85,0.670,6,0.000,0.000,2537,2248,1328
$GC,20686,1.05,356.3,38.0,7.9,997,20690,0.00,2.62,0.00,0.000,4,0.000,0.058,2537,827,1327
$GC,20758,1.13,356.3,32.6,6.9,1000,20763,0.17,2.55,0.00,0.000,6,0.061,0.046,2576,2240,1327
$GC,21075,1.13,356.3,4.3,9.2,1015,21079,0.00,2.60,0.00,0.000,4,0.000,0.058,2577,827,1327
$STATE,21099,end climb,SURFACE_DEPTH_REACHED
$STATE,21099,begin surface coast
$FINISH,1.1,1.026901
$STATE,21106,end surface coast,CONTROL_FINISHED_OK
$STATE,21106,begin surface
$SM_CCo,21131,101.43,0.610,0,0,508,557.32
$SM_GC,1.30,0.00,0.00,101.43,0.000,0.000,0.610,69,2233,508,-10.40,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1894
$TCM_TEMP,19.70
$XPDR_PINGS,57
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,700.6,48.9
$24V_AH,23.3,62.420
$10V_AH,10.1,30.772
$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,24.925,152.525,460.250,101.425,0.000,33.194,35.473,169.776,20.500,0.000,0.000,15.420,1804.411,16415.904,750.120,2035.231,604.496,0.000,1775.469,0.000,1994.276,0.000,42.847
$DEVICE_MAMPS,167.973,85.137,1186.549,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,755.859,694.134,611.468,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50582,1016
$CAP_FILE_SIZE,140056,0
$CFSIZE,260165632,236888064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,190808,111255,6346.467,-843.113,23,1.2,41,-9.9