version: 66.03
glider: 16
mission: 9
dive: 374
start: 8 15 108 21 29 22
data:
$ID,16
$MISSION,9
$DIVE,374
$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,-2101661.2
$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,25
$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
$GPS1,211938,6407.165,-935.189,29,1.9,29,-10.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-53.6
$GPS2,212905,6407.229,-935.045,17,2.1,36,-10.5
$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,128.4,88068,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-121.25,0.000,2,0.000,0.000,65,2247,3023
$GC,152,-0.85,-146.6,4.6,-3.9,6,177,11.75,2.60,-7.50,0.000,4,0.172,0.074,2139,3642,3380
$GC,246,-0.73,-146.6,21.1,-10.6,10,251,0.15,2.55,0.00,0.000,6,0.097,0.042,2167,2223,3381
$GC,568,-0.66,-146.6,47.8,-8.2,26,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2223,3380
$GC,877,-0.62,-146.6,74.4,-8.6,41,882,0.12,2.62,0.00,0.000,4,0.101,0.062,2191,3637,3381
$GC,911,-0.67,-146.6,77.3,-7.8,42,917,0.00,2.50,0.00,0.000,6,0.000,0.041,2191,2229,3381
$GC,1229,-0.72,-146.6,96.5,-5.7,58,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2230,3381
$GC,1537,-0.77,-146.6,113.3,-5.7,73,1542,0.15,2.62,0.00,0.000,4,0.042,0.064,2137,3639,3381
$GC,1578,-0.64,-146.6,116.9,-9.1,75,1583,0.25,2.53,0.00,0.000,6,0.084,0.044,2188,2230,3381
$GC,1906,-0.69,-146.6,139.1,-6.5,91,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2230,3381
$GC,2216,-0.73,-146.6,159.9,-6.9,106,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2230,3381
$GC,2526,-0.78,-146.6,181.4,-7.1,121,2527,0.12,0.00,0.00,0.000,6,0.046,0.000,2147,2230,3381
$GC,2833,-0.69,-146.6,209.9,-9.0,136,2835,0.15,0.00,0.00,0.000,6,0.088,0.000,2176,2230,3381
$GC,3143,-0.69,-146.6,232.7,-7.1,151,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3381
$GC,3452,-0.69,-146.6,254.5,-6.6,166,3456,0.00,2.62,0.00,0.000,4,0.000,0.067,2177,3637,3381
$GC,3486,-0.69,-146.6,256.7,-6.8,167,3492,0.00,2.53,0.00,0.000,6,0.000,0.044,2176,2226,3381
$GC,3803,-0.69,-146.6,276.1,-5.9,183,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2226,3381
$GC,4111,-0.69,-146.6,294.9,-6.3,198,4115,0.00,2.58,0.00,0.000,4,0.000,0.056,2177,816,3381
$GC,4144,-0.77,-146.6,297.0,-6.2,199,4150,0.00,2.55,0.00,0.000,6,0.000,0.047,2176,2229,3381
$GC,4460,-0.77,-146.6,315.5,-5.3,215,4465,0.00,2.62,0.00,0.000,4,0.000,0.069,2176,3640,3380
$GC,4523,-0.82,-146.6,319.6,-6.6,218,4528,0.12,2.55,0.00,0.000,6,0.054,0.046,2147,2225,3381
$GC,4851,-0.76,-146.6,346.2,-8.4,234,4855,0.00,2.58,0.00,0.000,4,0.000,0.059,2146,820,3381
$GC,4906,-0.76,-146.6,351.2,-8.7,236,4912,0.00,2.55,0.00,0.000,6,0.000,0.048,2146,2229,3381
$GC,5222,-0.69,-146.6,379.9,-9.0,252,5227,0.15,2.65,0.00,0.000,4,0.092,0.071,2179,3644,3380
$GC,5267,-0.73,-146.6,383.9,-8.6,254,5272,0.00,2.55,0.00,0.000,6,0.000,0.048,2179,2232,3380
$GC,5589,-0.79,-146.6,406.5,-7.0,270,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2232,3379
$GC,5898,-0.85,-146.6,428.5,-6.7,285,5903,0.17,2.67,0.00,0.000,4,0.053,0.075,2133,3643,3379
$GC,5932,-0.75,-146.6,431.2,-9.3,286,5939,0.17,2.58,0.00,0.000,6,0.091,0.051,2166,2228,3379
$GC,6248,-0.75,-146.6,451.5,-6.3,302,6252,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,820,3378
$GC,6275,-0.80,-146.6,453.4,-6.8,303,6279,0.00,2.58,0.00,0.000,6,0.000,0.053,2166,2228,3378
$GC,6591,-0.80,-146.6,473.9,-6.9,318,6596,0.00,2.67,0.00,0.000,4,0.000,0.077,2166,3642,3376
$GC,6641,-0.80,-146.6,477.9,-8.2,320,6645,0.00,2.58,0.00,0.000,6,0.000,0.052,2166,2231,3376
$GC,6960,-0.80,-146.6,500.6,-7.2,335,6964,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,821,3375
$GC,7004,-0.88,-146.6,504.3,-7.6,337,7009,0.12,2.60,0.00,0.000,6,0.054,0.054,2130,2235,3375
$GC,7325,-0.79,-146.6,533.2,-9.3,353,7330,0.12,2.67,0.00,0.000,4,0.097,0.078,2154,3643,3374
$GC,7366,-0.79,-146.6,536.7,-8.7,355,7370,0.00,2.60,0.00,0.000,6,0.000,0.054,2153,2230,3374
$GC,7693,-0.79,-146.6,561.0,-7.0,371,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2230,3373
$GC,8002,-0.79,-146.6,583.0,-7.2,386,8006,0.00,2.65,0.00,0.000,4,0.000,0.069,2154,819,3372
$GC,8046,-0.79,-146.6,586.5,-7.5,388,8051,0.00,2.60,0.00,0.000,6,0.000,0.056,2153,2230,3371
$GC,8368,-0.79,-146.6,610.8,-7.5,404,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2230,3370
$GC,8677,-0.79,-146.6,632.6,-6.8,419,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2231,3369
$GC,8987,-0.79,-146.6,653.4,-6.7,434,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2231,3368
$GC,9295,-0.79,-146.6,674.9,-6.8,449,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2231,3366
$GC,9605,-0.79,-146.6,695.4,-6.5,464,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2231,3366
$GC,9915,-0.79,-146.6,716.0,-6.7,479,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2231,3365
$GC,10223,-0.79,-146.6,736.3,-6.6,494,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2231,3364
$GC,10532,-0.79,-146.6,756.9,-6.9,509,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2231,3364
$GC,10843,-0.79,-146.6,777.7,-6.6,524,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2231,3362
$GC,11151,-0.79,-146.6,798.4,-6.8,539,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2231,3362
$GC,11460,-0.79,-146.6,819.6,-6.8,554,11461,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2231,3361
$GC,11771,-1.12,-146.6,828.5,0.0,569,11776,0.30,2.70,0.00,0.000,4,0.064,0.082,2086,3641,3361
$STATE,11786,end dive,NO_VERTICAL_VELOCITY
$STATE,11786,begin apogee
$GC,11796,-0.31,0.0,828.5,0.0,570,11939,0.88,0.00,134.40,1.262,6,0.104,0.000,2258,2250,2781
$STATE,11940,end apogee,CONTROL_FINISHED_OK
$STATE,11940,begin climb
$GC,11943,0.85,146.6,828.4,0.0,577,12087,1.17,2.85,133.77,1.238,4,0.073,0.078,2507,820,2183
$GC,12342,1.22,359.8,828.4,0.2,595,12543,0.43,2.65,191.12,1.243,6,0.088,0.058,2592,2240,1314
$GC,12851,1.03,359.8,781.9,12.3,620,12856,0.17,2.70,0.00,0.000,4,0.117,0.078,2558,3648,1313
$GC,12942,0.91,359.8,770.7,12.0,624,12947,0.17,2.65,0.00,0.000,6,0.119,0.061,2528,2230,1313
$GC,13264,0.86,359.8,738.5,9.9,640,13269,0.00,2.67,0.00,0.000,4,0.000,0.076,2527,830,1312
$GC,13435,0.79,359.8,721.5,9.5,647,13442,0.12,2.62,0.00,0.000,6,0.107,0.057,2504,2242,1311
$GC,13752,0.79,359.8,695.3,7.9,663,13756,0.00,2.72,0.00,0.000,4,0.000,0.074,2504,824,1310
$GC,13891,0.79,359.8,684.2,7.5,669,13895,0.00,2.62,0.00,0.000,6,0.000,0.057,2504,2241,1310
$GC,14206,0.79,359.8,661.1,7.5,684,14211,0.00,2.70,0.00,0.000,4,0.000,0.074,2504,830,1310
$GC,14352,0.79,359.8,649.5,7.9,690,14359,0.00,2.62,0.00,0.000,6,0.000,0.057,2504,2246,1310
$GC,14668,0.79,359.8,624.6,8.3,706,14673,0.00,2.70,0.00,0.000,4,0.000,0.074,2504,830,1310
$GC,14815,0.79,359.8,611.7,9.1,712,14821,0.00,2.62,0.00,0.000,6,0.000,0.058,2504,2243,1310
$GC,15130,0.79,359.8,584.3,8.7,728,15135,0.00,2.70,0.00,0.000,4,0.000,0.076,2504,830,1310
$GC,15270,0.79,359.8,572.1,8.0,734,15274,0.00,2.62,0.00,0.000,6,0.000,0.058,2504,2245,1309
$GC,15585,0.79,359.8,546.3,8.0,749,15590,0.00,2.70,0.00,0.000,4,0.000,0.076,2504,830,1309
$GC,15749,0.79,359.8,533.0,7.8,756,15753,0.00,2.62,0.00,0.000,6,0.000,0.058,2504,2245,1309
$GC,16066,0.79,359.8,508.2,7.7,771,16070,0.00,2.70,0.00,0.000,4,0.000,0.076,2504,830,1309
$GC,16195,0.79,359.8,497.8,7.8,777,16199,0.00,2.62,0.00,0.000,6,0.000,0.058,2504,2242,1309
$GC,16522,0.79,359.8,472.4,8.1,793,16527,0.00,2.72,0.00,0.000,4,0.000,0.076,2504,823,1309
$GC,16662,0.79,359.8,460.6,8.3,799,16666,0.00,2.62,0.00,0.000,6,0.000,0.058,2504,2239,1309
$GC,16977,0.79,359.8,434.8,8.2,814,16982,0.00,2.70,0.00,0.000,4,0.000,0.074,2504,827,1309
$GC,17112,0.79,359.8,422.5,9.4,820,17117,0.00,2.62,0.00,0.000,6,0.000,0.057,2504,2248,1309
$GC,17434,0.79,359.8,392.1,9.2,836,17439,0.00,2.72,0.00,0.000,4,0.000,0.074,2504,824,1308
$GC,17558,0.79,359.8,382.0,7.6,841,17564,0.00,2.62,0.00,0.000,6,0.000,0.055,2504,2247,1309
$GC,17874,0.79,359.8,360.2,7.5,857,17878,0.00,2.70,0.00,0.000,4,0.000,0.073,2504,828,1309
$GC,17997,0.79,359.8,350.5,7.1,862,18003,0.00,2.60,0.00,0.000,6,0.000,0.054,2504,2241,1309
$GC,18313,0.79,359.8,325.9,8.0,878,18317,0.00,2.67,0.00,0.000,4,0.000,0.071,2504,823,1309
$GC,18430,0.84,359.8,315.9,8.5,883,18434,0.00,2.60,0.00,0.000,6,0.000,0.052,2504,2243,1309
$GC,18746,0.84,359.8,290.7,7.5,898,18751,0.00,2.67,0.00,0.000,4,0.000,0.069,2504,828,1309
$GC,18881,0.84,359.8,281.4,7.0,904,18885,0.00,2.58,0.00,0.000,6,0.000,0.051,2504,2240,1309
$GC,19203,0.84,359.8,261.1,6.5,920,19207,0.00,2.65,0.00,0.000,4,0.000,0.067,2503,824,1310
$GC,19357,0.90,359.8,249.8,7.6,927,19361,0.00,2.58,0.00,0.000,6,0.000,0.048,2504,2243,1310
$GC,19684,0.90,359.8,221.9,8.8,943,19688,0.00,2.65,0.00,0.000,4,0.000,0.065,2505,826,1312
$GC,19838,0.96,359.8,208.7,8.9,950,19843,0.15,2.55,0.00,0.000,6,0.050,0.048,2541,2241,1312
$GC,20166,0.89,359.8,177.1,9.0,966,20170,0.00,2.65,0.00,0.000,4,0.000,0.064,2541,823,1313
$GC,20296,0.84,359.8,165.1,8.9,972,20301,0.15,2.58,0.00,0.000,6,0.088,0.048,2511,2242,1313
$GC,20623,0.84,359.8,138.8,8.3,988,20627,0.00,2.65,0.00,0.000,4,0.000,0.064,2512,822,1315
$GC,20771,0.89,359.8,126.3,8.6,994,20777,0.00,2.55,0.00,0.000,6,0.000,0.046,2511,2242,1314
$GC,21088,0.89,359.8,99.5,8.4,1010,21093,0.00,2.65,0.00,0.000,4,0.000,0.061,2511,819,1316
$GC,21220,0.93,359.8,89.2,7.7,1016,21225,0.10,2.58,0.00,0.000,6,0.051,0.046,2542,2250,1316
$GC,21547,0.87,359.8,58.4,9.5,1032,21552,0.12,2.65,0.00,0.000,4,0.088,0.061,2519,824,1316
$GC,21682,0.87,359.8,46.9,7.5,1038,21687,0.00,2.55,0.00,0.000,6,0.000,0.045,2519,2242,1317
$GC,22005,0.87,359.8,24.0,6.9,1054,22010,0.00,2.62,0.00,0.000,4,0.000,0.059,2518,822,1317
$GC,22107,0.91,359.8,16.1,7.9,1058,22114,0.00,2.53,0.00,0.000,6,0.000,0.045,2519,2240,1317
$STATE,22319,end climb,SURFACE_DEPTH_REACHED
$STATE,22319,begin surface coast
$FINISH,0.5,1.004778
$STATE,22339,end surface coast,CONTROL_FINISHED_OK
$STATE,22339,begin surface
$SM_CCo,22361,97.65,0.622,0,0,508,557.32
$SM_GC,1.35,0.00,0.00,97.65,0.000,0.000,0.622,70,2241,508,-10.40,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1874
$TCM_TEMP,17.70
$XPDR_PINGS,63
$ALTIM_TOP_PING,19.8,19.0
$24V_AH,23.3,60.192
$10V_AH,10.1,29.550
$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,28.000,194.550,459.300,97.650,0.000,36.420,54.162,239.558,23.250,0.000,0.000,37.330,2011.818,16870.570,741.324,2659.793,734.990,0.000,2043.678,0.000,2573.935,0.000,50.870
$DEVICE_MAMPS,171.808,94.341,1261.715,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,795.164,730.488,627.075,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53729,1070
$CAP_FILE_SIZE,171843,0
$CFSIZE,260165632,237731840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160808,034502,6404.280,-937.211,40,1.1,40,-10.5