version: 66.03
glider: 16
mission: 9
dive: 388
start: 8 19 108 11 18 46
data:
$ID,16
$MISSION,9
$DIVE,388
$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,-2101926.2
$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
$GPS1,111255,6346.467,-843.113,23,1.2,41,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-59.9
$GPS2,111827,6346.522,-843.058,14,2.0,14,-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,104.5,35382,-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,-146.6,0.0,0.0,0,134,0.00,0.00,-105.85,0.000,2,0.000,0.000,69,2234,2649
$GC,138,-0.85,-146.6,3.2,-2.0,6,181,11.70,2.58,-23.17,0.000,4,0.170,0.066,2142,815,3380
$GC,210,-0.77,-146.6,9.9,-10.1,9,214,0.00,2.58,0.00,0.000,6,0.000,0.046,2142,2234,3380
$GC,531,-0.63,-146.6,43.2,-9.3,25,536,0.22,2.60,0.00,0.000,4,0.093,0.063,2190,3641,3381
$GC,565,-0.68,-146.6,45.5,-5.0,26,572,0.00,2.53,0.00,0.000,6,0.000,0.043,2190,2226,3381
$GC,884,-0.73,-146.6,65.1,-6.9,42,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2226,3381
$GC,1191,-0.77,-146.6,80.9,-5.4,57,1193,0.15,0.00,0.00,0.000,6,0.041,0.000,2140,2226,3382
$GC,1501,-0.66,-146.6,109.0,-9.5,72,1503,0.22,0.00,0.00,0.000,6,0.083,0.000,2185,2226,3382
$GC,1809,-0.66,-146.6,130.0,-6.2,87,1813,0.00,2.62,0.00,0.000,4,0.000,0.066,2185,3640,3382
$GC,1849,-0.66,-146.6,132.6,-6.9,89,1853,0.00,2.50,0.00,0.000,6,0.000,0.043,2185,2227,3382
$GC,2176,-0.66,-146.6,155.8,-8.1,105,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2227,3382
$GC,2484,-0.66,-146.6,183.0,-8.7,120,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2228,3382
$GC,2793,-0.66,-146.6,205.0,-6.3,135,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2227,3382
$GC,3104,-0.66,-146.6,222.8,-5.5,150,3108,0.00,2.62,0.00,0.000,4,0.000,0.068,2185,3644,3382
$GC,3131,-0.66,-146.6,224.6,-6.2,151,3135,0.00,2.53,0.00,0.000,6,0.000,0.044,2185,2224,3382
$GC,3447,-0.70,-146.6,243.2,-6.2,166,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2224,3382
$GC,3758,-0.75,-146.6,261.0,-5.6,181,3762,0.00,2.65,0.00,0.000,4,0.000,0.068,2185,3644,3382
$GC,3802,-0.80,-146.6,263.9,-5.9,183,3807,0.15,2.53,0.00,0.000,6,0.043,0.044,2139,2228,3382
$GC,4124,-0.71,-146.6,288.8,-8.5,199,4125,0.17,0.00,0.00,0.000,6,0.083,0.000,2173,2228,3382
$GC,4433,-0.71,-146.6,310.7,-6.7,214,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3381
$GC,4742,-0.71,-146.6,328.4,-5.8,229,4746,0.00,2.62,0.00,0.000,4,0.000,0.071,2173,3640,3382
$GC,4782,-0.71,-146.6,331.0,-7.1,231,4786,0.00,2.53,0.00,0.000,6,0.000,0.045,2173,2230,3382
$GC,5109,-0.71,-146.6,353.2,-6.9,247,5113,0.00,2.62,0.00,0.000,4,0.000,0.071,2173,3643,3382
$GC,5136,-0.71,-146.6,355.4,-7.8,248,5140,0.00,2.53,0.00,0.000,6,0.000,0.046,2173,2231,3382
$GC,5452,-0.71,-146.6,377.6,-6.8,263,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2231,3382
$GC,5763,-0.71,-146.6,400.1,-7.7,278,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2231,3382
$GC,6070,-0.71,-146.6,422.6,-6.3,293,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2231,3381
$GC,6381,-0.76,-146.6,440.1,-5.7,308,6385,0.00,2.67,0.00,0.000,4,0.000,0.077,2173,3644,3381
$GC,6421,-0.80,-146.6,442.7,-6.6,310,6425,0.00,2.55,0.00,0.000,6,0.000,0.049,2173,2229,3380
$GC,6748,-0.84,-146.6,462.6,-6.7,326,6750,0.12,0.00,0.00,0.000,6,0.051,0.000,2135,2228,3379
$GC,7058,-0.77,-146.6,490.5,-9.4,341,7060,0.15,0.00,0.00,0.000,6,0.094,0.000,2164,2228,3378
$GC,7366,-0.77,-146.6,516.1,-7.8,356,7370,0.00,2.67,0.00,0.000,4,0.000,0.079,2164,3637,3377
$GC,7405,-0.77,-146.6,519.4,-8.7,358,7410,0.00,2.58,0.00,0.000,6,0.000,0.052,2164,2223,3377
$GC,7733,-0.77,-146.6,540.9,-6.0,374,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2223,3376
$GC,8041,-0.77,-146.6,561.4,-6.7,389,8046,0.00,2.70,0.00,0.000,4,0.000,0.081,2163,3641,3376
$GC,8068,-0.77,-146.6,563.5,-7.7,390,8073,0.00,2.58,0.00,0.000,6,0.000,0.053,2163,2228,3375
$GC,8385,-0.77,-146.6,586.1,-7.7,405,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3374
$GC,8693,-0.77,-146.6,608.9,-7.3,420,8698,0.00,2.70,0.00,0.000,4,0.000,0.083,2164,3637,3373
$GC,8716,-0.77,-146.6,610.5,-6.6,421,8720,0.00,2.58,0.00,0.000,6,0.000,0.054,2164,2225,3372
$GC,9037,-0.77,-146.6,631.6,-6.5,437,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3372
$GC,9348,-0.77,-146.6,650.9,-6.3,452,9352,0.00,2.72,0.00,0.000,4,0.000,0.084,2164,3640,3371
$GC,9376,-0.77,-146.6,653.0,-7.3,453,9381,0.00,2.58,0.00,0.000,6,0.000,0.055,2163,2229,3371
$GC,9693,-0.77,-146.6,673.0,-6.1,468,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2228,3370
$GC,10001,-0.77,-146.6,691.3,-6.1,483,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3368
$GC,10311,-0.81,-146.6,710.1,-6.0,498,10316,0.00,2.72,0.00,0.000,4,0.000,0.085,2164,3641,3367
$GC,10340,-0.81,-146.6,711.8,-6.1,499,10344,0.00,2.60,0.00,0.000,6,0.000,0.057,2164,2223,3367
$GC,10655,-0.81,-146.6,732.6,-6.4,514,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2223,3366
$GC,10970,-0.85,-146.6,750.2,-5.5,529,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2223,3365
$GC,11276,-0.90,-146.6,767.2,-5.8,544,11277,0.15,0.00,0.00,0.000,6,0.055,0.000,2126,2223,3364
$STATE,11292,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11292,begin apogee
$GC,11299,-0.31,0.0,768.5,5.9,545,11441,0.68,0.00,133.85,1.200,6,0.097,0.000,2260,2222,2781
$STATE,11442,end apogee,CONTROL_FINISHED_OK
$STATE,11442,begin climb
$GC,11445,0.85,146.6,774.3,0.0,552,11586,1.23,2.70,133.45,1.197,4,0.077,0.071,2512,830,2182
$GC,11714,0.75,146.6,766.5,6.2,565,11718,0.00,2.65,0.00,0.000,6,0.000,0.058,2512,2244,2181
$GC,12037,0.67,162.9,746.9,5.6,581,12059,0.15,2.78,15.95,1.097,4,0.101,0.084,2480,3649,2116
$GC,12093,0.68,170.6,743.7,5.8,583,12107,0.00,2.62,8.82,1.006,6,0.000,0.058,2480,2239,2085
$GC,12437,0.72,208.0,727.2,5.0,600,12477,0.00,0.00,34.60,1.156,6,0.000,0.000,2480,2239,1933
$GC,12790,0.80,213.4,707.4,5.9,617,12804,0.12,2.75,6.45,0.933,4,0.059,0.072,2513,830,1911
$GC,12821,0.80,213.4,705.1,6.6,618,12825,0.00,2.65,0.00,0.000,6,0.000,0.058,2513,2245,1911
$GC,13137,0.80,213.4,684.4,6.5,633,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2245,1910
$GC,13445,0.80,213.4,663.3,7.1,648,13450,0.00,2.70,0.00,0.000,4,0.000,0.071,2513,827,1910
$GC,13479,0.80,213.4,660.7,7.8,649,13485,0.00,2.62,0.00,0.000,6,0.000,0.059,2513,2240,1910
$GC,13795,0.80,213.4,638.8,6.9,665,13799,0.00,2.67,0.00,0.000,4,0.000,0.072,2513,830,1909
$GC,13834,0.80,213.4,635.9,7.7,667,13839,0.00,2.62,0.00,0.000,6,0.000,0.058,2512,2241,1908
$GC,14161,0.80,213.4,614.0,6.8,683,14165,0.00,2.70,0.00,0.000,4,0.000,0.082,2513,3648,1908
$GC,14195,0.80,213.4,611.5,7.3,684,14201,0.00,2.62,0.00,0.000,6,0.000,0.059,2513,2232,1908
$GC,14510,0.80,213.4,591.5,6.3,700,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2232,1908
$GC,14820,0.82,226.1,573.4,5.7,715,14838,0.00,0.00,12.48,1.011,6,0.000,0.000,2513,2232,1859
$GC,15149,0.82,226.1,553.8,6.2,731,15150,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2232,1859
$GC,15458,0.82,226.1,533.5,6.9,746,15462,0.00,2.65,0.00,0.000,4,0.000,0.074,2513,832,1859
$GC,15490,0.82,226.1,531.1,7.2,747,15496,0.00,2.62,0.00,0.000,6,0.000,0.058,2513,2242,1859
$GC,15807,0.82,226.1,508.8,7.4,763,15811,0.00,2.70,0.00,0.000,4,0.000,0.082,2513,3653,1858
$GC,15852,0.82,226.1,505.2,7.7,765,15856,0.00,2.62,0.00,0.000,6,0.000,0.059,2513,2234,1858
$GC,16173,0.82,226.1,482.9,6.3,781,16174,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2234,1859
$GC,16483,0.86,265.6,466.8,4.9,796,16522,0.00,0.00,35.90,1.025,6,0.000,0.000,2512,2234,1698
$GC,16831,0.86,265.6,440.3,8.4,813,16832,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2234,1698
$GC,17141,0.91,265.6,416.1,7.1,828,17142,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2234,1698
$GC,17451,0.95,265.6,397.2,6.1,843,17453,0.10,0.00,0.00,0.000,6,0.070,0.000,2538,2232,1698
$GC,17759,0.95,265.6,375.3,7.0,858,17763,0.00,2.62,0.00,0.000,4,0.000,0.068,2538,828,1698
$GC,17798,0.95,265.6,372.4,7.2,860,17803,0.00,2.60,0.00,0.000,6,0.000,0.054,2538,2243,1698
$GC,18126,0.95,265.6,349.6,7.2,876,18127,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2243,1698
$GC,18434,0.95,265.6,326.5,7.4,891,18435,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2242,1698
$GC,18745,0.95,265.6,304.7,7.0,906,18746,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2242,1698
$GC,19054,0.95,265.6,282.0,7.6,921,19058,0.00,2.62,0.00,0.000,4,0.000,0.062,2538,827,1699
$GC,19081,0.95,265.6,279.8,7.3,922,19085,0.00,2.55,0.00,0.000,6,0.000,0.050,2538,2241,1699
$GC,19396,0.95,265.6,256.0,8.0,937,19397,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2241,1699
$GC,19706,0.95,265.6,229.9,8.9,952,19707,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2241,1701
$GC,20015,0.95,265.6,203.8,8.1,967,20019,0.00,2.62,0.00,0.000,4,0.000,0.060,2540,821,1701
$GC,20054,0.95,265.6,200.5,8.1,969,20059,0.00,2.58,0.00,0.000,6,0.000,0.048,2538,2243,1701
$GC,20381,0.95,265.6,177.2,6.7,985,20382,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2243,1703
$GC,20689,0.95,265.6,156.5,7.1,1000,20694,0.00,2.62,0.00,0.000,4,0.000,0.059,2538,822,1703
$GC,20723,0.95,265.6,153.8,8.0,1001,20729,0.00,2.58,0.00,0.000,6,0.000,0.048,2538,2247,1704
$GC,21039,0.95,265.6,128.2,8.3,1017,21041,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2247,1704
$GC,21348,0.95,265.6,103.9,7.8,1032,21352,0.00,2.62,0.00,0.000,4,0.000,0.058,2538,820,1705
$GC,21392,0.95,265.6,100.5,7.0,1034,21396,0.00,2.55,0.00,0.000,6,0.000,0.048,2538,2240,1705
$GC,21714,0.95,265.6,75.8,8.5,1050,21715,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1705
$GC,22022,0.95,269.2,54.5,5.9,1065,22030,0.00,0.00,6.35,0.553,6,0.000,0.000,2538,2240,1683
$GC,22333,0.95,269.2,33.7,7.5,1080,22334,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2240,1683
$GC,22641,0.95,269.2,11.2,7.1,1095,22646,0.00,2.60,0.00,0.000,4,0.000,0.056,2538,818,1683
$GC,22682,0.95,269.2,8.3,7.9,1097,22686,0.00,2.55,0.00,0.000,6,0.000,0.045,2538,2245,1683
$STATE,22799,end climb,SURFACE_DEPTH_REACHED
$STATE,22799,begin surface coast
$FINISH,0.7,1.013462
$STATE,22821,end surface coast,CONTROL_FINISHED_OK
$STATE,22821,begin surface
$SM_CCo,22843,140.62,0.604,0,0,508,557.32
$SM_GC,1.26,0.00,0.00,140.62,0.000,0.000,0.604,72,2245,508,-10.39,0.42,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1868
$TCM_TEMP,18.20
$XPDR_PINGS,64
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,750.2,27.4
$24V_AH,23.3,62.584
$10V_AH,10.1,30.870
$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,26.000,141.500,387.850,140.625,0.000,18.063,28.871,148.865,23.000,0.000,0.000,14.644,1944.489,17957.477,715.649,2123.395,572.935,0.000,1776.172,0.000,2081.747,0.000,48.929
$DEVICE_MAMPS,169.507,85.137,1199.588,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,824.156,756.427,656.257,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56859,1104
$CAP_FILE_SIZE,148634,0
$CFSIZE,260165632,236810240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,190808,174308,6344.338,-837.671,36,1.4,36,-9.8