version: 66.03
glider: 16
mission: 9
dive: 411
start: 8 27 108 3 39 52
data:
$ID,16
$MISSION,9
$DIVE,411
$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,-2102525.2
$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,21
$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
$GPS1,033308,6338.427,-623.907,37,1.5,37,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-58.6
$GPS2,033933,6338.498,-623.956,15,1.6,15,-8.5
$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,88.4,15820,-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,-121.05,0.000,2,0.000,0.000,68,2241,2858
$GC,151,-0.85,-146.6,3.8,-2.9,6,182,11.77,2.60,-13.02,0.000,4,0.171,0.065,2142,812,3381
$GC,434,-0.77,-146.6,34.1,-9.6,18,441,0.10,2.55,0.00,0.000,6,0.127,0.043,2157,2233,3381
$GC,753,-0.66,-146.6,62.6,-8.8,34,755,0.15,0.00,0.00,0.000,6,0.144,0.000,2182,2233,3381
$GC,1059,-0.66,-146.6,83.9,-6.8,49,1064,0.00,2.60,0.00,0.000,4,0.000,0.062,2182,3640,3382
$GC,1100,-0.66,-146.6,87.0,-7.5,51,1104,0.00,2.53,0.00,0.000,6,0.000,0.040,2182,2219,3382
$GC,1427,-0.66,-146.6,112.9,-8.4,67,1432,0.00,2.65,0.00,0.000,4,0.000,0.064,2182,3638,3383
$GC,1483,-0.66,-146.6,118.3,-10.1,69,1489,0.00,2.50,0.00,0.000,6,0.000,0.042,2182,2231,3384
$GC,1799,-0.66,-146.6,146.0,-8.6,85,1803,0.00,2.65,0.00,0.000,4,0.000,0.067,2182,3644,3384
$GC,1845,-0.66,-146.6,150.1,-8.9,87,1849,0.00,2.53,0.00,0.000,6,0.000,0.043,2182,2231,3384
$GC,2165,-0.66,-146.6,174.9,-7.6,103,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2231,3384
$GC,2475,-0.66,-146.6,196.9,-7.0,118,2479,0.00,2.65,0.00,0.000,4,0.000,0.070,2182,3638,3384
$GC,2508,-0.66,-146.6,199.6,-8.1,119,2517,0.00,2.50,0.00,0.000,6,0.000,0.045,2182,2237,3384
$GC,2824,-0.70,-146.6,219.9,-6.2,135,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2237,3384
$GC,3134,-0.76,-146.6,237.4,-5.4,150,3138,0.00,2.65,0.00,0.000,4,0.000,0.073,2182,3642,3383
$GC,3168,-0.76,-146.6,239.4,-6.2,151,3173,0.00,2.55,0.00,0.000,6,0.000,0.047,2182,2230,3383
$GC,3484,-0.83,-146.6,254.4,-4.4,167,3486,0.15,0.00,0.00,0.000,6,0.054,0.000,2140,2231,3382
$GC,3793,-0.75,-146.6,274.4,-6.8,182,3795,0.12,0.00,0.00,0.000,6,0.092,0.000,2164,2231,3381
$GC,4102,-0.75,-146.6,293.3,-6.3,197,4107,0.00,2.65,0.00,0.000,4,0.000,0.075,2164,3637,3381
$GC,4148,-0.75,-146.6,296.6,-7.4,199,4152,0.00,2.55,0.00,0.000,6,0.000,0.049,2164,2231,3381
$GC,4468,-0.75,-146.6,317.3,-6.1,215,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2231,3380
$GC,4779,-0.75,-146.6,335.2,-5.8,230,4783,0.00,2.67,0.00,0.000,4,0.000,0.077,2164,3643,3379
$GC,4812,-0.75,-146.6,337.3,-6.4,231,4818,0.00,2.58,0.00,0.000,6,0.000,0.051,2164,2231,3379
$GC,5128,-0.75,-146.6,355.0,-5.7,247,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2231,3378
$GC,5437,-0.75,-146.6,374.2,-6.8,262,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2231,3376
$GC,5746,-0.75,-146.6,396.7,-7.6,277,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2231,3376
$GC,6055,-0.75,-146.6,421.2,-8.2,292,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2231,3375
$GC,6365,-0.75,-146.6,447.3,-8.5,307,6369,0.00,2.67,0.00,0.000,4,0.000,0.077,2164,3637,3374
$GC,6399,-0.75,-146.6,450.4,-9.4,308,6405,0.00,2.58,0.00,0.000,6,0.000,0.051,2164,2226,3374
$GC,6714,-0.75,-146.6,477.2,-8.4,324,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2227,3373
$GC,7024,-0.75,-146.6,501.9,-7.9,339,7029,0.00,2.70,0.00,0.000,4,0.000,0.077,2164,3638,3372
$GC,7052,-0.75,-146.6,504.3,-8.8,340,7056,0.00,2.58,0.00,0.000,6,0.000,0.051,2164,2228,3372
$GC,7367,-0.75,-146.6,528.1,-7.4,355,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2228,3372
$GC,7681,-0.75,-146.6,550.1,-6.9,370,7685,0.00,2.67,0.00,0.000,4,0.000,0.077,2164,3637,3371
$GC,7720,-0.75,-146.6,553.5,-8.2,372,7725,0.00,2.58,0.00,0.000,6,0.000,0.050,2164,2225,3371
$GC,8050,-0.75,-146.6,575.6,-6.7,388,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3371
$GC,8357,-0.75,-146.6,596.3,-6.7,403,8362,0.00,2.70,0.00,0.000,4,0.000,0.077,2164,3638,3370
$GC,8391,-0.75,-146.6,598.9,-7.7,404,8396,0.00,2.58,0.00,0.000,6,0.000,0.050,2164,2222,3369
$GC,8706,-0.75,-146.6,620.8,-7.3,420,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2222,3369
$GC,9018,-0.75,-146.6,642.9,-7.3,435,9022,0.00,2.67,0.00,0.000,4,0.000,0.077,2164,3636,3369
$GC,9067,-0.75,-146.6,647.1,-8.0,437,9072,0.00,2.55,0.00,0.000,6,0.000,0.049,2164,2230,3368
$GC,9383,-0.75,-146.6,670.7,-7.3,452,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2230,3367
$GC,9693,-0.75,-146.6,693.5,-7.3,467,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2229,3367
$GC,10001,-0.75,-146.6,716.8,-7.6,482,10006,0.00,2.67,0.00,0.000,4,0.000,0.078,2164,3636,3366
$GC,10041,-0.75,-146.6,720.0,-8.4,484,10046,0.00,2.55,0.00,0.000,6,0.000,0.050,2164,2225,3366
$GC,10368,-0.75,-146.6,744.2,-7.2,500,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3366
$GC,10678,-0.80,-146.6,766.1,-7.2,515,10682,0.00,2.70,0.00,0.000,4,0.000,0.079,2164,3637,3365
$GC,10711,-0.80,-146.6,768.7,-8.0,516,10717,0.00,2.58,0.00,0.000,6,0.000,0.051,2164,2221,3365
$GC,11027,-0.84,-146.6,791.1,-7.1,532,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2222,3365
$GC,11336,-0.88,-146.6,813.0,-7.1,547,11341,0.12,2.70,0.00,0.000,4,0.059,0.078,2131,3635,3364
$GC,11369,-0.79,-146.6,816.0,-9.1,548,11376,0.12,2.55,0.00,0.000,6,0.107,0.051,2154,2230,3364
$GC,11686,-0.79,-146.6,839.0,-7.1,564,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2228,3364
$GC,11994,-0.79,-146.6,860.6,-7.0,579,11999,0.00,2.67,0.00,0.000,4,0.000,0.077,2154,3641,3363
$GC,12035,-0.79,-146.6,863.5,-7.7,581,12040,0.00,2.58,0.00,0.000,6,0.000,0.051,2154,2222,3363
$GC,12362,-0.79,-146.6,885.9,-6.7,597,12363,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2221,3363
$GC,12672,-0.79,-146.6,906.5,-6.6,612,12676,0.00,2.70,0.00,0.000,4,0.000,0.076,2154,3641,3363
$GC,12712,-0.79,-146.6,909.3,-7.4,614,12716,0.00,2.55,0.00,0.000,6,0.000,0.050,2154,2228,3362
$GC,13038,-0.79,-146.6,930.4,-6.2,630,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2228,3362
$GC,13347,-0.79,-146.6,949.7,-6.2,645,13352,0.00,2.67,0.00,0.000,4,0.000,0.074,2154,3638,3362
$GC,13381,-0.79,-146.6,951.9,-6.8,646,13387,0.00,2.55,0.00,0.000,6,0.000,0.049,2154,2230,3362
$GC,13696,-0.79,-146.6,971.5,-6.3,662,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2230,3362
$STATE,14003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14003,begin apogee
$GC,14010,-0.31,0.0,990.8,6.3,677,14154,0.55,0.00,136.05,1.305,6,0.112,0.000,2260,2230,2781
$STATE,14155,end apogee,CONTROL_FINISHED_OK
$STATE,14155,begin climb
$GC,14159,0.85,146.6,996.6,0.0,684,14304,1.20,2.70,135.43,1.297,4,0.081,0.061,2508,829,2183
$GC,14392,0.78,179.4,991.8,5.1,694,14431,0.00,2.60,32.05,1.298,6,0.000,0.050,2508,2241,2049
$GC,14750,0.73,179.4,969.4,6.5,712,14752,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,2049
$GC,15058,0.68,179.4,949.3,6.7,727,15059,0.15,0.00,0.00,0.000,6,0.104,0.000,2480,2241,2049
$GC,15368,0.71,200.3,932.6,5.4,742,15390,0.00,0.00,20.62,1.254,6,0.000,0.000,2480,2241,1964
$GC,15696,0.79,228.7,915.3,5.2,758,15726,0.10,0.00,27.55,1.276,6,0.066,0.000,2506,2241,1848
$GC,16026,0.79,228.7,895.4,6.1,774,16027,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2241,1848
$GC,16335,0.80,235.0,877.2,5.8,789,16349,0.00,2.70,7.90,1.082,4,0.000,0.062,2506,840,1822
$GC,16384,0.81,248.4,874.2,5.6,791,16403,0.00,2.60,13.85,1.189,6,0.000,0.050,2506,2245,1768
$GC,16732,0.81,248.4,853.4,6.1,808,16733,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2245,1767
$GC,17041,0.82,255.5,835.1,5.8,823,17055,0.00,2.70,8.15,1.080,4,0.000,0.061,2507,842,1739
$GC,17085,0.82,255.5,832.5,6.6,825,17089,0.00,2.58,0.00,0.000,6,0.000,0.050,2506,2240,1739
$GC,17412,0.83,264.2,813.8,5.8,841,17424,0.00,0.00,10.00,1.118,6,0.000,0.000,2506,2240,1703
$GC,17720,0.83,264.2,795.3,6.1,856,17721,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2240,1703
$GC,18030,0.83,264.2,775.8,6.2,871,18034,0.00,2.62,0.00,0.000,4,0.000,0.064,2506,830,1702
$GC,18063,0.83,264.2,773.5,6.2,872,18069,0.00,2.60,0.00,0.000,6,0.000,0.051,2507,2245,1702
$GC,18379,0.88,264.2,754.0,6.1,888,18380,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2245,1702
$GC,18689,0.92,264.2,734.7,6.4,903,18694,0.10,2.62,0.00,0.000,4,0.083,0.062,2528,833,1702
$GC,18728,0.92,264.2,731.9,6.8,905,18733,0.00,2.58,0.00,0.000,6,0.000,0.051,2529,2242,1701
$GC,19056,0.92,264.2,708.7,7.1,921,19057,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2242,1701
$GC,19366,0.92,264.2,686.3,7.3,936,19370,0.00,2.62,0.00,0.000,4,0.000,0.064,2528,830,1701
$GC,19399,0.92,264.2,683.6,7.2,937,19405,0.00,2.60,0.00,0.000,6,0.000,0.051,2528,2246,1701
$GC,19714,0.92,264.2,658.6,8.1,953,19715,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2246,1701
$GC,20023,0.92,264.2,632.6,8.8,968,20028,0.00,2.65,0.00,0.000,4,0.000,0.064,2528,831,1701
$GC,20064,0.92,264.2,629.1,9.2,970,20069,0.00,2.60,0.00,0.000,6,0.000,0.051,2528,2244,1701
$GC,20391,0.92,264.2,600.0,8.8,986,20393,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2244,1701
$GC,20701,0.92,264.2,573.1,8.8,1001,20702,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2244,1701
$GC,21011,0.92,264.2,545.9,8.8,1016,21015,0.00,2.65,0.00,0.000,4,0.000,0.064,2528,831,1701
$GC,21055,0.92,264.2,541.6,8.8,1018,21059,0.00,2.60,0.00,0.000,6,0.000,0.052,2528,2246,1701
$GC,21375,0.92,264.2,514.1,8.3,1034,21376,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2247,1701
$GC,21685,0.92,264.2,489.4,7.8,1049,21690,0.00,2.65,0.00,0.000,4,0.000,0.064,2528,832,1700
$GC,21726,0.92,264.2,486.2,7.8,1051,21730,0.00,2.60,0.00,0.000,6,0.000,0.051,2528,2247,1701
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$STATE,28901,end climb,SURFACE_DEPTH_REACHED
$STATE,28901,begin surface coast
$FINISH,0.7,1.008569
$STATE,28923,end surface coast,CONTROL_FINISHED_OK
$STATE,28923,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1886
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$XPDR_PINGS,100
$ALTIM_TOP_PING,18.9,18.1
$24V_AH,23.1,67.021
$10V_AH,10.1,33.602
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$DEVICE_SECS,25.725,182.875,407.750,141.600,0.000,17.977,26.208,184.541,33.750,0.000,0.000,15.264,2444.717,22827.406,786.292,2720.188,689.426,0.000,2129.814,0.000,2664.224,0.000,57.731
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69367,1399
$CAP_FILE_SIZE,183989,0
$CFSIZE,260165632,234881024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$GPS,270808,114608,6338.843,-616.253,41,1.2,41,-8.4