version: 66.03
glider: 16
mission: 9
dive: 404
start: 8 24 108 16 8 46
data:
$ID,16
$MISSION,9
$DIVE,404
$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,-2102377.2
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,160101,6346.803,-700.880,41,1.7,41,-8.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-56.4
$GPS2,160827,6346.829,-700.843,13,1.4,13,-8.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NO9
$TGT_LATLONG,6340.000,-605.000
$TGT_RADIUS,1500.000
$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,114.3,47588,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,162,0.00,0.00,-134.98,0.000,2,0.000,0.000,72,2238,3038
$GC,165,-0.85,-146.6,4.9,-4.1,7,190,11.75,2.67,-7.15,0.000,4,0.173,0.076,2140,3640,3381
$GC,277,-0.70,-146.6,23.7,-10.3,12,282,0.20,2.55,0.00,0.000,6,0.097,0.044,2179,2226,3381
$GC,606,-0.70,-146.6,46.5,-6.5,28,611,0.00,2.58,0.00,0.000,4,0.000,0.053,2178,814,3382
$GC,674,-0.76,-146.6,51.0,-6.0,31,679,0.00,2.58,0.00,0.000,6,0.000,0.044,2178,2237,3382
$GC,996,-0.76,-146.6,70.3,-6.3,47,1000,0.00,2.60,0.00,0.000,4,0.000,0.067,2178,3638,3382
$GC,1041,-0.76,-146.6,73.4,-7.7,49,1045,0.00,2.53,0.00,0.000,6,0.000,0.043,2178,2228,3383
$GC,1362,-0.76,-146.6,93.2,-5.9,65,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2228,3383
$GC,1673,-0.76,-146.6,109.9,-5.1,80,1677,0.00,2.65,0.00,0.000,4,0.000,0.069,2178,3637,3383
$GC,1707,-0.76,-146.6,111.8,-6.0,81,1713,0.00,2.53,0.00,0.000,6,0.000,0.044,2178,2228,3384
$GC,2023,-0.76,-146.6,128.6,-5.3,97,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2228,3384
$GC,2334,-0.76,-146.6,146.8,-6.0,112,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2228,3384
$GC,2642,-0.76,-146.6,164.7,-5.4,127,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2228,3384
$GC,2950,-0.76,-146.6,181.5,-5.5,142,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2228,3383
$GC,3260,-0.76,-146.6,199.5,-5.8,157,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2228,3383
$GC,3570,-0.80,-146.6,219.7,-6.5,172,3575,0.12,2.70,0.00,0.000,4,0.053,0.075,2141,3640,3382
$GC,3615,-0.69,-146.6,223.5,-8.7,174,3620,0.17,2.58,0.00,0.000,6,0.094,0.051,2174,2232,3382
$GC,3936,-0.69,-146.6,246.3,-7.2,190,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2231,3381
$GC,4245,-0.69,-146.6,269.0,-7.2,205,4249,0.00,2.70,0.00,0.000,4,0.000,0.078,2174,3637,3380
$GC,4278,-0.69,-146.6,271.6,-7.7,206,4283,0.00,2.58,0.00,0.000,6,0.000,0.051,2174,2230,3380
$GC,4594,-0.69,-146.6,293.4,-6.7,222,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3379
$GC,4902,-0.69,-146.6,313.8,-6.7,237,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3378
$GC,5212,-0.73,-146.6,334.5,-6.7,252,5217,0.00,2.70,0.00,0.000,4,0.000,0.079,2174,3637,3378
$GC,5246,-0.73,-146.6,336.9,-7.4,253,5251,0.00,2.58,0.00,0.000,6,0.000,0.052,2174,2230,3378
$GC,5562,-0.78,-146.6,357.8,-6.4,269,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3377
$GC,5870,-0.78,-146.6,377.3,-6.3,284,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3376
$GC,6181,-0.82,-146.6,395.3,-5.6,299,6186,0.12,2.67,0.00,0.000,4,0.058,0.079,2140,3635,3375
$GC,6215,-0.74,-146.6,398.0,-8.3,300,6222,0.15,2.58,0.00,0.000,6,0.102,0.052,2167,2230,3375
$GC,6531,-0.74,-146.6,418.2,-6.3,316,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3374
$GC,6841,-0.74,-146.6,437.0,-5.9,331,6846,0.00,2.70,0.00,0.000,4,0.000,0.080,2167,3637,3373
$GC,6869,-0.74,-146.6,438.7,-6.4,332,6873,0.00,2.58,0.00,0.000,6,0.000,0.052,2168,2231,3374
$GC,7185,-0.74,-146.6,455.9,-5.1,347,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3373
$GC,7495,-0.74,-146.6,470.8,-4.9,362,7499,0.00,2.67,0.00,0.000,4,0.000,0.080,2167,3634,3373
$GC,7527,-0.74,-146.6,472.9,-6.4,363,7533,0.00,2.58,0.00,0.000,6,0.000,0.052,2168,2229,3373
$GC,7843,-0.74,-146.6,490.2,-5.7,379,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3372
$GC,8153,-0.74,-146.6,507.0,-5.2,394,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2228,3371
$GC,8462,-0.74,-146.6,521.3,-4.4,409,8466,0.00,2.70,0.00,0.000,4,0.000,0.080,2168,3636,3371
$GC,8495,-0.74,-146.6,522.9,-5.0,410,8501,0.00,2.58,0.00,0.000,6,0.000,0.052,2168,2230,3371
$GC,8812,-0.74,-146.6,536.0,-3.9,426,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3371
$GC,9121,-0.74,-146.6,549.5,-4.4,441,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3370
$GC,9430,-0.74,-146.6,565.0,-5.6,456,9434,0.00,2.70,0.00,0.000,4,0.000,0.080,2168,3637,3369
$GC,9470,-0.74,-146.6,567.4,-6.6,458,9474,0.00,2.60,0.00,0.000,6,0.000,0.052,2167,2224,3369
$GC,9797,-0.74,-146.6,586.6,-5.8,474,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2224,3369
$GC,10107,-0.78,-146.6,604.9,-6.0,489,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2224,3368
$GC,10415,-0.82,-146.6,623.8,-6.1,504,10420,0.00,2.70,0.00,0.000,4,0.000,0.080,2167,3637,3368
$GC,10456,-0.82,-146.6,626.5,-7.2,506,10460,0.00,2.55,0.00,0.000,6,0.000,0.051,2168,2228,3368
$GC,10783,-0.82,-146.6,647.2,-6.2,522,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3367
$GC,11092,-0.87,-146.6,666.1,-6.2,537,11097,0.12,2.70,0.00,0.000,4,0.060,0.079,2135,3635,3367
$GC,11125,-0.78,-146.6,668.7,-8.1,538,11132,0.12,2.58,0.00,0.000,6,0.107,0.051,2157,2227,3367
$GC,11442,-0.78,-146.6,689.7,-6.4,554,11443,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2227,3367
$GC,11750,-0.78,-146.6,710.4,-7.0,569,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2228,3366
$GC,12059,-0.78,-146.6,730.4,-6.3,584,12064,0.00,2.70,0.00,0.000,4,0.000,0.081,2157,3634,3366
$GC,12093,-0.78,-146.6,732.7,-7.4,585,12100,0.00,2.58,0.00,0.000,6,0.000,0.052,2157,2227,3366
$GC,12410,-0.78,-146.6,752.3,-6.2,601,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2227,3366
$GC,12719,-0.78,-146.6,772.0,-6.4,616,12723,0.00,2.70,0.00,0.000,4,0.000,0.081,2157,3634,3366
$GC,12752,-0.78,-146.6,774.3,-7.0,617,12758,0.00,2.58,0.00,0.000,6,0.000,0.052,2157,2228,3365
$GC,13068,-0.78,-146.6,794.6,-6.3,633,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2228,3365
$GC,13377,-0.78,-146.6,814.5,-6.4,648,13382,0.00,2.70,0.00,0.000,4,0.000,0.080,2157,3634,3365
$GC,13412,-0.78,-146.6,816.9,-6.5,649,13418,0.00,2.58,0.00,0.000,6,0.000,0.052,2157,2228,3365
$GC,13727,-0.78,-146.6,837.2,-6.2,665,13728,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2228,3365
$GC,14036,-0.78,-146.6,856.6,-6.3,680,14041,0.00,2.67,0.00,0.000,4,0.000,0.079,2157,3634,3364
$GC,14071,-0.78,-146.6,858.8,-6.3,681,14078,0.00,2.58,0.00,0.000,6,0.000,0.052,2157,2227,3364
$GC,14387,-0.78,-146.6,879.2,-6.5,697,14388,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2227,3365
$GC,14699,-0.78,-146.6,900.2,-7.0,712,14700,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2227,3364
$GC,15006,-0.78,-146.6,921.1,-6.6,727,15011,0.00,2.70,0.00,0.000,4,0.000,0.078,2157,3637,3363
$GC,15046,-0.78,-146.6,924.1,-8.1,729,15051,0.00,2.58,0.00,0.000,6,0.000,0.051,2157,2224,3364
$GC,15373,-0.78,-146.6,947.0,-7.1,745,15374,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2224,3364
$GC,15683,-0.78,-146.6,968.5,-6.9,760,15688,0.00,2.70,0.00,0.000,4,0.000,0.076,2156,3640,3363
$GC,15711,-0.78,-146.6,970.7,-7.8,761,15715,0.00,2.58,0.00,0.000,6,0.000,0.050,2157,2225,3363
$STATE,16003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16003,begin apogee
$GC,16010,-0.31,0.0,990.1,6.4,775,16155,0.52,0.00,136.40,1.304,6,0.107,0.000,2260,2225,2781
$STATE,16156,end apogee,CONTROL_FINISHED_OK
$STATE,16156,begin climb
$GC,16159,0.85,146.6,996.3,0.0,782,16303,1.23,2.70,135.50,1.296,4,0.088,0.061,2507,830,2183
$GC,16363,0.77,185.6,993.8,4.9,791,16415,0.00,2.62,39.67,1.259,6,0.000,0.050,2508,2245,2024
$GC,16727,0.77,185.6,972.2,6.1,809,16728,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2245,2023
$GC,17033,0.78,191.7,953.5,5.8,824,17042,0.00,0.00,7.47,1.087,6,0.000,0.000,2507,2245,1999
$GC,17343,0.79,208.2,935.8,5.5,839,17362,0.00,0.00,16.65,1.233,6,0.000,0.000,2507,2245,1932
$GC,17672,0.81,223.5,917.6,5.6,855,17694,0.00,2.72,15.82,1.227,4,0.000,0.061,2507,835,1868
$GC,17718,0.81,223.5,915.1,6.0,857,17723,0.00,2.62,0.00,0.000,6,0.000,0.051,2507,2244,1868
$GC,18045,0.82,236.3,897.0,5.6,873,18068,0.00,0.00,15.45,1.081,6,0.000,0.000,2507,2244,1816
$GC,18375,0.83,244.6,877.8,5.8,889,18389,0.00,2.70,9.25,1.122,4,0.000,0.063,2507,835,1783
$GC,18420,0.83,244.6,875.1,6.2,891,18425,0.00,2.60,0.00,0.000,6,0.000,0.051,2507,2244,1782
$GC,18747,0.83,244.6,855.2,6.2,907,18748,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2244,1783
$GC,19056,0.83,244.6,836.2,6.3,922,19061,0.00,2.67,0.00,0.000,4,0.000,0.064,2507,830,1782
$GC,19090,0.83,244.6,833.9,7.1,923,19096,0.00,2.60,0.00,0.000,6,0.000,0.052,2507,2242,1782
$GC,19406,0.83,244.6,814.9,6.0,939,19407,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2242,1782
$GC,19715,0.84,247.9,797.1,5.9,954,19725,0.00,2.70,4.93,0.901,4,0.000,0.065,2506,832,1770
$GC,19749,0.85,263.3,795.1,5.6,955,19769,0.00,2.60,15.52,1.154,6,0.000,0.051,2507,2243,1707
$GC,20081,0.86,271.8,775.8,5.8,971,20092,0.00,0.00,9.23,1.094,6,0.000,0.000,2508,2243,1673
$GC,20391,0.91,275.2,757.5,5.9,986,20402,0.10,2.70,5.22,0.911,4,0.093,0.064,2527,833,1658
$GC,20436,0.91,275.2,754.3,7.6,988,20440,0.00,2.60,0.00,0.000,6,0.000,0.052,2527,2240,1657
$GC,20756,0.91,275.2,733.1,6.7,1004,20758,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2240,1658
$GC,21067,0.91,275.2,712.9,6.5,1019,21071,0.00,2.67,0.00,0.000,4,0.000,0.065,2527,829,1658
$GC,21094,0.91,275.2,711.0,6.3,1020,21098,0.00,2.60,0.00,0.000,6,0.000,0.052,2527,2241,1657
$GC,21409,0.91,275.2,690.9,6.3,1035,21410,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2241,1657
$GC,21719,0.91,275.2,672.5,6.1,1050,21724,0.00,2.67,0.00,0.000,4,0.000,0.066,2527,832,1657
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$STATE,30299,end climb,SURFACE_DEPTH_REACHED
$STATE,30300,begin surface coast
$FINISH,0.5,1.013474
$STATE,30337,end surface coast,CONTROL_FINISHED_OK
$STATE,30337,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1954
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$XPDR_PINGS,111
$ALTIM_TOP_PING,19.5,18.4
$24V_AH,23.0,65.650
$10V_AH,10.1,32.741
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$DEVICE_SECS,26.250,220.175,524.325,83.175,0.000,18.378,27.250,247.145,36.500,0.000,0.000,13.031,2582.843,23811.283,848.740,2855.574,787.375,0.000,2293.232,0.000,2792.962,0.000,58.402
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1087.549,1003.774,767.433,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72569,1466
$CAP_FILE_SIZE,202494,0
$CFSIZE,260165632,235454464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,4,0
$GPS,250808,003739,6343.957,-656.275,40,1.8,40,-8.9