version: 66.03
glider: 16
mission: 9
dive: 413
start: 8 27 108 20 27 3
data:
$ID,16
$MISSION,9
$DIVE,413
$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,-2102577.8
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,201726,6339.595,-607.825,40,1.9,40,-8.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-57.4
$GPS2,202644,6339.691,-607.766,13,1.8,13,-8.4
$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,84.3,2344,-27.3,-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,23,-1.74,-28.8,0.0,0.0,0,145,0.00,0.00,-117.85,0.000,6,0.000,0.000,73,2241,2899
$GC,150,-1.76,-44.9,4.5,-3.8,6,172,10.62,2.65,-1.55,0.000,4,0.173,0.064,1938,815,2966
$GC,425,-1.68,-44.9,58.2,-17.1,18,430,0.12,2.55,0.00,0.000,6,0.151,0.044,1957,2227,2967
$GC,748,-1.64,-44.9,107.8,-15.5,34,752,0.00,2.60,0.00,0.000,4,0.000,0.061,1957,3644,2968
$GC,843,-1.54,-44.9,124.0,-16.6,38,848,0.20,2.53,0.00,0.000,6,0.130,0.041,1992,2228,2968
$GC,1160,-1.59,-44.9,169.9,-14.6,53,1164,0.00,2.60,0.00,0.000,4,0.000,0.062,1992,3640,2969
$GC,1222,-1.59,-44.9,179.6,-15.4,56,1226,0.00,2.53,0.00,0.000,6,0.000,0.042,1993,2227,2969
$GC,1549,-1.64,-44.9,223.2,-12.3,72,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2227,2969
$GC,1859,-1.69,-44.9,261.6,-12.1,87,1864,0.15,2.62,0.00,0.000,4,0.052,0.064,1949,3640,2969
$GC,2013,-1.56,-44.9,285.8,-16.1,94,2018,0.20,2.55,0.00,0.000,6,0.121,0.044,1985,2223,2970
$GC,2343,-1.60,-44.9,329.9,-12.9,110,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2223,2970
$GC,2649,-1.60,-44.9,371.9,-13.5,125,2653,0.00,2.60,0.00,0.000,4,0.000,0.059,1985,811,2970
$GC,2706,-1.67,-44.9,379.1,-12.8,127,2711,0.00,2.58,0.00,0.000,6,0.000,0.049,1985,2229,2970
$GC,3021,-1.67,-44.9,418.2,-12.6,143,3025,0.00,2.65,0.00,0.000,4,0.000,0.071,1986,3643,2969
$GC,3093,-1.67,-44.9,428.0,-13.6,146,3097,0.00,2.58,0.00,0.000,6,0.000,0.048,1986,2224,2969
$GC,3410,-1.71,-44.9,467.9,-12.5,161,3412,0.12,0.00,0.00,0.000,6,0.061,0.000,1954,2224,2968
$GC,3718,-1.71,-44.9,511.0,-13.8,176,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2224,2966
$GC,4028,-1.71,-44.9,554.9,-14.7,191,4033,0.00,2.67,0.00,0.000,4,0.000,0.074,1954,3640,2965
$GC,4159,-1.60,-44.9,574.6,-15.1,197,4164,0.10,2.58,0.00,0.000,6,0.141,0.051,1974,2232,2964
$GC,4492,-1.60,-44.9,618.4,-13.1,213,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2231,2963
$GC,4800,-1.60,-44.9,658.9,-13.1,228,4805,0.00,2.65,0.00,0.000,4,0.000,0.074,1974,3637,2961
$GC,4834,-1.55,-44.9,663.8,-14.8,229,4840,0.00,2.58,0.00,0.000,6,0.000,0.050,1974,2225,2961
$GC,5150,-1.55,-44.9,704.7,-12.8,245,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2225,2958
$GC,5458,-1.55,-44.9,743.6,-12.8,260,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2225,2958
$GC,5768,-1.55,-44.9,782.8,-12.6,275,5772,0.00,2.70,0.00,0.000,4,0.000,0.076,1974,3642,2957
$GC,5824,-1.55,-44.9,790.5,-14.4,277,5830,0.00,2.58,0.00,0.000,6,0.000,0.052,1974,2232,2957
$GC,6139,-1.55,-44.9,830.6,-12.7,293,6144,0.00,2.67,0.00,0.000,4,0.000,0.076,1974,3636,2956
$GC,6180,-1.51,-44.9,836.1,-14.2,295,6185,0.12,2.58,0.00,0.000,6,0.137,0.052,1995,2229,2956
$GC,6511,-1.60,-44.9,876.2,-12.1,311,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2228,2955
$GC,6816,-1.70,-44.9,913.2,-11.8,326,6818,0.17,0.00,0.00,0.000,6,0.064,0.000,1955,2228,2954
$GC,7126,-1.70,-44.9,953.6,-13.1,341,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2227,2953
$STATE,7410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7410,begin apogee
$GC,7417,-0.31,0.0,991.0,13.0,355,7462,1.60,0.00,40.90,1.320,6,0.133,0.000,2256,2226,2781
$STATE,7463,end apogee,CONTROL_FINISHED_OK
$STATE,7463,begin climb
$GC,7466,1.76,44.9,993.3,0.0,357,7517,2.17,2.67,43.17,1.262,4,0.081,0.061,2708,829,2597
$GC,7652,1.71,123.5,997.8,-4.9,366,7732,0.00,2.60,74.28,1.344,6,0.000,0.048,2708,2243,2277
$GC,8061,1.71,123.5,966.7,10.1,386,8065,0.00,2.65,0.00,0.000,4,0.000,0.068,2708,3650,2276
$GC,8296,1.63,123.5,940.4,11.1,396,8302,0.12,2.60,0.00,0.000,6,0.128,0.050,2687,2228,2276
$GC,8611,1.63,123.5,908.0,10.1,412,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2228,2275
$GC,8921,1.63,123.5,877.5,9.6,427,8926,0.00,2.67,0.00,0.000,4,0.000,0.070,2687,3648,2275
$GC,9029,1.56,123.5,865.7,10.7,432,9034,0.00,2.55,0.00,0.000,6,0.000,0.051,2687,2243,2275
$GC,9357,1.56,123.5,833.0,9.9,448,9361,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3653,2274
$GC,9509,1.49,123.5,816.7,11.0,455,9514,0.17,2.58,0.00,0.000,6,0.133,0.051,2657,2238,2274
$GC,9837,1.55,123.5,786.5,9.2,471,9842,0.00,2.67,0.00,0.000,4,0.000,0.071,2657,3652,2273
$GC,9960,1.55,123.5,773.9,10.1,476,9966,0.00,2.58,0.00,0.000,6,0.000,0.051,2656,2243,2273
$GC,10276,1.61,123.5,745.1,9.2,492,10281,0.12,2.65,0.00,0.000,4,0.071,0.071,2685,3648,2273
$GC,10425,1.53,123.5,729.4,11.4,498,10431,0.12,2.58,0.00,0.000,6,0.133,0.051,2665,2238,2273
$GC,10740,1.53,123.5,699.3,9.3,514,10745,0.00,2.67,0.00,0.000,4,0.000,0.072,2664,3653,2273
$GC,10859,1.53,123.5,687.4,9.7,519,10863,0.00,2.58,0.00,0.000,6,0.000,0.051,2664,2238,2272
$GC,11175,1.57,123.5,658.6,9.0,534,11179,0.00,2.65,0.00,0.000,4,0.000,0.073,2664,3647,2272
$GC,11309,1.57,123.5,645.7,9.6,540,11314,0.00,2.58,0.00,0.000,6,0.000,0.051,2665,2237,2272
$GC,11631,1.57,123.5,617.9,8.4,556,11635,0.00,2.67,0.00,0.000,4,0.000,0.072,2664,3649,2272
$GC,11833,1.57,123.5,599.9,8.9,565,11837,0.00,2.58,0.00,0.000,6,0.000,0.051,2665,2242,2272
$GC,12155,1.57,123.5,574.2,8.0,581,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2242,2272
$GC,12464,1.57,123.5,549.8,8.0,596,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2242,2272
$GC,12774,1.57,123.5,526.9,7.4,611,12778,0.00,2.65,0.00,0.000,4,0.000,0.073,2664,3648,2271
$GC,12868,1.57,123.5,519.1,8.6,615,12873,0.00,2.58,0.00,0.000,6,0.000,0.051,2665,2239,2271
$GC,13184,1.57,123.5,496.2,7.3,630,13185,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2239,2271
$GC,13495,1.62,123.5,473.6,7.5,645,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2239,2272
$GC,13803,1.67,123.5,450.5,7.5,660,13805,0.12,0.00,0.00,0.000,6,0.070,0.000,2694,2239,2272
$GC,14112,1.67,123.5,424.3,8.3,675,14116,0.00,2.65,0.00,0.000,4,0.000,0.073,2693,3648,2272
$GC,14370,1.57,123.5,400.8,9.8,686,14376,0.00,2.58,0.00,0.000,6,0.000,0.051,2693,2240,2271
$GC,14685,1.57,123.5,377.3,7.2,702,14689,0.00,2.65,0.00,0.000,4,0.000,0.071,2693,3647,2271
$GC,14942,1.48,123.5,356.0,8.5,713,14949,0.22,2.58,0.00,0.000,6,0.127,0.051,2654,2235,2271
$GC,15261,1.55,123.5,334.5,7.3,729,15265,0.00,2.67,0.00,0.000,4,0.000,0.071,2654,3652,2271
$GC,15518,1.55,123.5,315.6,6.7,740,15524,0.00,2.58,0.00,0.000,6,0.000,0.050,2653,2239,2271
$GC,15835,1.63,123.5,294.5,6.7,756,15840,0.15,2.65,0.00,0.000,4,0.064,0.069,2693,3654,2272
$GC,16093,1.53,123.5,273.5,8.0,767,16100,0.15,2.58,0.00,0.000,6,0.125,0.049,2667,2238,2272
$GC,16412,1.58,124.0,254.0,5.9,783,16416,0.00,2.62,0.00,0.000,4,0.000,0.065,2667,3650,2272
$GC,16512,1.58,124.0,246.9,7.1,787,16518,0.00,2.55,0.00,0.000,6,0.000,0.048,2667,2238,2272
$GC,16829,1.62,124.0,222.4,8.3,803,16830,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2237,2272
$GC,17137,1.67,124.0,199.6,6.8,818,17142,0.12,2.60,0.00,0.000,4,0.062,0.061,2697,3653,2273
$GC,17395,1.58,124.0,179.9,8.2,829,17402,0.12,2.55,0.00,0.000,6,0.123,0.044,2677,2231,2273
$GC,17711,1.58,124.0,156.2,7.9,845,17715,0.00,2.62,0.00,0.000,4,0.000,0.059,2676,3657,2274
$GC,17888,1.58,124.0,141.7,8.0,853,17893,0.00,2.55,0.00,0.000,6,0.000,0.044,2676,2239,2274
$GC,18216,1.58,124.0,117.1,7.4,869,18220,0.00,2.60,0.00,0.000,4,0.000,0.058,2677,3651,2276
$GC,18294,1.58,124.0,110.6,8.0,872,18301,0.00,2.53,0.00,0.000,6,0.000,0.044,2677,2239,2276
$GC,18610,1.58,124.0,85.0,8.4,888,18611,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2240,2277
$GC,18920,1.63,124.0,63.7,6.1,903,18921,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2240,2278
$GC,19230,1.68,124.0,40.0,7.5,918,19234,0.00,2.60,0.00,0.000,4,0.000,0.059,2676,3653,2279
$GC,19325,1.69,133.3,34.2,4.7,922,19340,0.00,2.53,10.38,0.611,6,0.000,0.042,2677,2235,2236
$GC,19666,1.76,135.8,16.5,5.6,939,19675,0.15,2.60,3.80,0.450,4,0.051,0.054,2719,833,2227
$GC,19785,1.70,135.8,6.9,8.1,944,19789,0.00,2.53,0.00,0.000,6,0.000,0.041,2719,2249,2227
$STATE,19855,end climb,SURFACE_DEPTH_REACHED
$STATE,19855,begin surface coast
$FINISH,0.8,1.012058
$STATE,19877,end surface coast,CONTROL_FINISHED_OK
$STATE,19877,begin surface
$SM_CCo,19901,220.50,0.621,1,0,508,557.32
$SM_GC,1.35,0.00,0.00,220.50,0.000,0.000,0.621,70,2250,508,-10.39,0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1836
$TCM_TEMP,17.70
$XPDR_PINGS,72
$ALTIM_TOP_PING,19.0,17.2
$24V_AH,23.1,67.332
$10V_AH,10.1,33.821
$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,28.850,156.225,172.525,220.500,0.000,36.034,110.369,196.961,26.750,0.000,0.000,13.038,1834.937,15007.877,623.332,2486.988,719.925,0.000,1796.901,0.000,2420.159,0.000,57.744
$DEVICE_MAMPS,172.575,75.933,1343.784,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,692.486,653.647,528.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47450,949
$CAP_FILE_SIZE,153581,0
$CFSIZE,260165632,234766336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,280808,020355,6340.089,-603.645,26,1.2,45,-8.3