version: 66.03
glider: 16
mission: 9
dive: 409
start: 8 26 108 10 39 56
data:
$ID,16
$MISSION,9
$DIVE,409
$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,-2102489
$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,23
$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
$GPS1,103301,6339.869,-634.452,39,1.5,44,-8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-55.9
$GPS2,103937,6339.949,-634.443,16,1.8,32,-8.6
$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,98.4,24188,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-121.12,0.000,2,0.000,0.000,71,2248,2824
$GC,151,-0.85,-146.6,4.0,-3.1,6,183,11.82,2.60,-14.23,0.000,4,0.174,0.074,2143,3640,3380
$GC,299,-0.70,-146.6,23.1,-11.3,12,306,0.17,2.53,0.00,0.000,6,0.094,0.041,2177,2228,3380
$GC,615,-0.65,-146.6,50.4,-8.5,28,619,0.00,2.58,0.00,0.000,4,0.000,0.052,2177,816,3380
$GC,661,-0.71,-146.6,53.8,-7.3,30,665,0.00,2.55,0.00,0.000,6,0.000,0.043,2177,2233,3380
$GC,982,-0.71,-146.6,74.9,-6.6,46,986,0.00,2.60,0.00,0.000,4,0.000,0.064,2177,3638,3381
$GC,1032,-0.71,-146.6,78.7,-7.2,48,1036,0.00,2.53,0.00,0.000,6,0.000,0.041,2177,2224,3381
$GC,1349,-0.71,-146.6,100.2,-6.9,63,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2224,3382
$GC,1657,-0.71,-146.6,118.9,-5.9,78,1662,0.00,2.65,0.00,0.000,4,0.000,0.067,2175,3637,3382
$GC,1697,-0.71,-146.6,121.4,-6.2,80,1702,0.00,2.53,0.00,0.000,6,0.000,0.044,2177,2225,3382
$GC,2025,-0.71,-146.6,141.5,-6.5,96,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3382
$GC,2334,-0.71,-146.6,163.4,-7.0,111,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2225,3382
$GC,2643,-0.71,-146.6,185.8,-7.0,126,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2226,3382
$GC,2953,-0.71,-146.6,207.3,-6.8,141,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2225,3382
$GC,3262,-0.71,-146.6,227.7,-6.3,156,3266,0.00,2.70,0.00,0.000,4,0.000,0.074,2177,3638,3382
$GC,3305,-0.71,-146.6,230.8,-6.6,158,3310,0.00,2.55,0.00,0.000,6,0.000,0.048,2177,2232,3382
$GC,3628,-0.71,-146.6,247.2,-4.4,174,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2231,3382
$GC,3936,-0.71,-146.6,261.4,-4.8,189,3941,0.00,2.67,0.00,0.000,4,0.000,0.075,2177,3635,3380
$GC,3977,-0.71,-146.6,263.5,-5.7,191,3981,0.00,2.55,0.00,0.000,6,0.000,0.049,2177,2229,3380
$GC,4305,-0.76,-146.6,281.8,-5.9,207,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2229,3379
$GC,4613,-0.80,-146.6,301.5,-6.8,222,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2229,3378
$GC,4923,-0.85,-146.6,324.7,-7.8,237,4925,0.15,0.00,0.00,0.000,6,0.051,0.000,2135,2229,3378
$GC,5231,-0.76,-146.6,356.5,-10.7,252,5237,0.15,2.70,0.00,0.000,4,0.097,0.077,2168,3637,3377
$GC,5294,-0.76,-146.6,362.7,-9.9,255,5298,0.00,2.58,0.00,0.000,6,0.000,0.051,2168,2231,3377
$GC,5621,-0.76,-146.6,391.5,-8.6,271,5626,0.00,2.70,0.00,0.000,4,0.000,0.077,2167,3638,3376
$GC,5649,-0.76,-146.6,394.1,-9.5,272,5653,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2230,3376
$GC,5964,-0.76,-146.6,419.9,-8.1,287,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3374
$GC,6275,-0.76,-146.6,443.5,-7.3,302,6279,0.00,2.70,0.00,0.000,4,0.000,0.077,2167,3640,3374
$GC,6314,-0.76,-146.6,446.6,-8.4,304,6318,0.00,2.60,0.00,0.000,6,0.000,0.051,2167,2223,3374
$GC,6640,-0.76,-146.6,468.9,-6.6,320,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2223,3373
$GC,6950,-0.76,-146.6,487.9,-6.0,335,6955,0.00,2.70,0.00,0.000,4,0.000,0.077,2167,3635,3372
$GC,6978,-0.76,-146.6,489.8,-6.7,336,6982,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2227,3373
$GC,7295,-0.76,-146.6,508.3,-6.0,351,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2227,3372
$GC,7605,-0.76,-146.6,525.9,-5.6,366,7610,0.00,2.70,0.00,0.000,4,0.000,0.078,2167,3635,3371
$GC,7639,-0.76,-146.6,528.0,-5.9,367,7646,0.00,2.55,0.00,0.000,6,0.000,0.051,2167,2230,3371
$GC,7955,-0.76,-146.6,545.6,-5.5,383,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3370
$GC,8265,-0.80,-146.6,562.8,-5.4,398,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3369
$GC,8573,-0.80,-146.6,578.8,-5.3,413,8578,0.00,2.70,0.00,0.000,4,0.000,0.077,2167,3641,3369
$GC,8607,-0.80,-146.6,580.7,-6.2,414,8613,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2230,3369
$GC,8923,-0.80,-146.6,597.2,-5.3,430,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3368
$GC,9232,-0.85,-146.6,613.8,-5.5,445,9237,0.00,2.70,0.00,0.000,4,0.000,0.078,2167,3638,3367
$GC,9260,-0.85,-146.6,615.6,-6.7,446,9264,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2229,3367
$GC,9577,-0.89,-146.6,633.5,-5.8,461,9579,0.15,0.00,0.00,0.000,6,0.058,0.000,2130,2229,3367
$GC,9885,-0.81,-146.6,656.8,-7.6,476,9891,0.12,2.70,0.00,0.000,4,0.106,0.078,2152,3638,3366
$GC,9926,-0.81,-146.6,659.8,-7.2,478,9930,0.00,2.58,0.00,0.000,6,0.000,0.051,2152,2223,3366
$GC,10252,-0.81,-146.6,682.0,-6.8,494,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2223,3366
$GC,10562,-0.81,-146.6,703.3,-6.9,509,10566,0.00,2.70,0.00,0.000,4,0.000,0.078,2152,3635,3365
$GC,10602,-0.81,-146.6,706.3,-8.1,511,10607,0.00,2.58,0.00,0.000,6,0.000,0.051,2152,2221,3365
$GC,10929,-0.81,-146.6,728.7,-6.7,527,10934,0.00,2.70,0.00,0.000,4,0.000,0.079,2152,3634,3365
$GC,10956,-0.81,-146.6,730.6,-7.4,528,10961,0.00,2.58,0.00,0.000,6,0.000,0.051,2152,2227,3365
$GC,11272,-0.81,-146.6,751.9,-6.6,543,11274,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2226,3364
$GC,11581,-0.81,-146.6,772.6,-6.7,558,11585,0.00,2.70,0.00,0.000,4,0.000,0.080,2152,3634,3364
$GC,11615,-0.81,-146.6,775.2,-7.7,559,11621,0.00,2.55,0.00,0.000,6,0.000,0.051,2152,2233,3364
$GC,11931,-0.81,-146.6,796.8,-6.7,575,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2233,3363
$GC,12240,-0.81,-146.6,816.9,-6.3,590,12244,0.00,2.70,0.00,0.000,4,0.000,0.078,2152,3637,3363
$GC,12279,-0.81,-146.6,819.7,-7.3,592,12284,0.00,2.58,0.00,0.000,6,0.000,0.052,2153,2228,3363
$GC,12606,-0.81,-146.6,840.3,-6.3,608,12607,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2228,3362
$GC,12915,-0.81,-146.6,860.9,-6.7,623,12919,0.00,2.70,0.00,0.000,4,0.000,0.077,2152,3637,3362
$GC,12955,-0.81,-146.6,863.8,-7.9,625,12959,0.00,2.58,0.00,0.000,6,0.000,0.051,2153,2229,3362
$GC,13283,-0.81,-146.6,886.0,-6.8,641,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2228,3361
$GC,13591,-0.81,-146.6,907.6,-7.0,656,13595,0.00,2.67,0.00,0.000,4,0.000,0.077,2152,3634,3362
$GC,13630,-0.81,-146.6,910.5,-7.7,658,13635,0.00,2.58,0.00,0.000,6,0.000,0.050,2152,2225,3361
$GC,13958,-0.81,-146.6,933.5,-6.9,674,13959,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2225,3361
$GC,14268,-0.81,-146.6,955.3,-7.0,689,14272,0.00,2.67,0.00,0.000,4,0.000,0.075,2152,3634,3361
$GC,14307,-0.81,-146.6,958.3,-7.8,691,14312,0.00,2.58,0.00,0.000,6,0.000,0.049,2152,2222,3361
$GC,14635,-0.81,-146.6,981.0,-6.8,707,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2221,3361
$STATE,14776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14776,begin apogee
$GC,14782,-0.31,0.0,990.9,6.8,714,14948,0.55,0.00,142.18,1.262,6,0.106,0.000,2260,2220,2781
$STATE,14949,end apogee,CONTROL_FINISHED_OK
$STATE,14949,begin climb
$GC,14952,0.85,146.6,998.8,0.0,722,15099,1.20,2.67,135.50,1.299,4,0.081,0.062,2508,832,2183
$GC,15183,0.74,146.6,995.2,6.1,732,15189,0.00,2.60,0.00,0.000,6,0.000,0.051,2508,2240,2183
$GC,15500,0.68,164.8,978.4,5.5,748,15521,0.15,0.00,18.27,1.254,6,0.104,0.000,2480,2240,2110
$GC,15828,0.72,201.8,961.8,5.0,764,15868,0.00,0.00,36.00,1.302,6,0.000,0.000,2480,2239,1958
$GC,16180,0.79,207.8,942.0,5.8,781,16189,0.00,0.00,7.40,1.077,6,0.000,0.000,2480,2239,1933
$GC,16488,0.86,211.1,923.9,5.9,796,16495,0.17,0.00,4.68,0.902,6,0.057,0.000,2519,2240,1920
$GC,16797,0.81,211.1,901.4,7.4,811,16798,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2240,1920
$GC,17107,0.76,211.1,878.0,7.5,826,17109,0.12,0.00,0.00,0.000,6,0.104,0.000,2497,2240,1920
$GC,17415,0.76,211.1,856.9,6.5,841,17419,0.00,2.65,0.00,0.000,4,0.000,0.063,2496,832,1920
$GC,17454,0.76,211.1,854.1,7.3,843,17459,0.00,2.60,0.00,0.000,6,0.000,0.051,2496,2243,1919
$GC,17782,0.76,211.1,832.6,6.6,859,17783,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2243,1920
$GC,18090,0.76,211.1,812.4,6.6,874,18095,0.00,2.65,0.00,0.000,4,0.000,0.063,2496,832,1919
$GC,18118,0.76,215.0,810.6,5.9,875,18130,0.00,2.60,5.30,0.937,6,0.000,0.052,2496,2243,1904
$GC,18440,0.76,215.0,790.1,6.6,891,18441,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2243,1904
$GC,18748,0.76,215.0,769.8,6.5,906,18749,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2243,1905
$GC,19057,0.76,215.0,749.7,6.7,921,19062,0.00,2.65,0.00,0.000,4,0.000,0.064,2496,830,1904
$GC,19086,0.76,215.0,747.7,7.3,922,19090,0.00,2.60,0.00,0.000,6,0.000,0.052,2497,2243,1904
$GC,19401,0.76,215.0,726.8,6.7,937,19403,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2243,1904
$GC,19711,0.76,215.0,706.2,6.5,952,19712,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2243,1904
$GC,20021,0.76,215.0,686.3,6.4,967,20025,0.00,2.65,0.00,0.000,4,0.000,0.064,2496,829,1904
$GC,20048,0.76,215.0,684.4,6.6,968,20052,0.00,2.60,0.00,0.000,6,0.000,0.052,2496,2241,1904
$GC,20363,0.76,215.0,664.2,6.3,983,20364,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2241,1904
$GC,20674,0.77,224.3,645.7,5.7,998,20685,0.00,0.00,9.98,1.040,6,0.000,0.000,2496,2241,1866
$GC,20982,0.82,230.3,627.6,5.8,1013,20991,0.00,0.00,7.03,0.955,6,0.000,0.000,2497,2241,1842
$GC,21310,0.88,242.2,608.7,5.7,1029,21332,0.12,2.72,12.45,1.050,4,0.064,0.063,2525,840,1792
$GC,21349,0.84,242.2,606.0,6.2,1030,21356,0.00,2.60,0.00,0.000,6,0.000,0.052,2526,2238,1792
$GC,21665,0.84,242.2,583.9,7.0,1046,21667,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2238,1792
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$STATE,30130,end climb,SURFACE_DEPTH_REACHED
$STATE,30130,begin surface coast
$FINISH,0.6,1.015159
$STATE,30153,end surface coast,CONTROL_FINISHED_OK
$STATE,30153,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1900
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$XPDR_PINGS,100
$ALTIM_TOP_PING,18.8,17.2
$24V_AH,23.1,66.631
$10V_AH,10.1,33.360
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$DEVICE_SECS,25.875,215.150,451.000,121.575,0.000,18.064,29.481,179.322,33.750,0.000,0.000,34.057,2563.189,23735.299,823.263,2841.820,718.403,0.000,2236.611,0.000,2769.891,0.000,57.722
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1089.871,997.848,784.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72639,1455
$CAP_FILE_SIZE,198945,0
$CFSIZE,260165632,235028480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,4,0
$GPS,260808,190608,6339.687,-628.514,33,1.9,33,-8.6