version: 66.03
glider: 16
mission: 9
dive: 380
start: 8 17 108 11 15 27
data:
$ID,16
$MISSION,9
$DIVE,380
$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,-2101779.5
$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,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
$GPS1,110938,6356.093,-923.488,34,1.3,35,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-53.8
$GPS2,111508,6356.081,-923.502,13,1.9,13,-10.3
$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,117.0,71411,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,130,0.00,0.00,-101.32,0.000,2,0.000,0.000,70,2244,2544
$GC,133,-0.85,-146.6,3.1,-2.0,5,181,11.68,2.62,-29.23,0.000,4,0.169,0.064,2142,812,3379
$GC,221,-0.77,-146.6,10.0,-9.2,9,226,0.00,2.60,0.00,0.000,6,0.000,0.047,2142,2235,3379
$GC,544,-0.63,-146.6,40.7,-9.3,25,549,0.20,2.62,0.00,0.000,4,0.097,0.064,2185,3643,3380
$GC,584,-0.63,-146.6,43.7,-7.0,27,588,0.00,2.53,0.00,0.000,6,0.000,0.044,2185,2225,3379
$GC,911,-0.63,-146.6,67.8,-8.1,43,915,0.00,2.58,0.00,0.000,4,0.000,0.054,2185,812,3380
$GC,961,-0.71,-146.6,72.1,-8.4,45,965,0.00,2.58,0.00,0.000,6,0.000,0.044,2185,2237,3380
$GC,1277,-0.71,-146.6,97.0,-8.1,60,1281,0.00,2.60,0.00,0.000,4,0.000,0.066,2185,3636,3381
$GC,1340,-0.76,-146.6,102.1,-7.6,63,1345,0.00,2.53,0.00,0.000,6,0.000,0.043,2185,2224,3381
$GC,1668,-0.76,-146.6,125.0,-6.8,79,1672,0.00,2.58,0.00,0.000,4,0.000,0.057,2185,821,3381
$GC,1701,-0.85,-146.6,127.4,-6.7,80,1708,0.17,2.55,0.00,0.000,6,0.041,0.046,2130,2233,3382
$GC,2018,-0.71,-146.6,158.2,-9.9,96,2023,0.17,2.62,0.00,0.000,4,0.087,0.067,2169,3640,3382
$GC,2058,-0.71,-146.6,161.8,-8.5,98,2062,0.00,2.53,0.00,0.000,6,0.000,0.044,2169,2232,3382
$GC,2385,-0.71,-146.6,187.4,-7.8,114,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2232,3381
$GC,2693,-0.71,-146.6,211.2,-7.7,129,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3381
$GC,3003,-0.71,-146.6,233.9,-7.5,144,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2231,3381
$GC,3313,-0.71,-146.6,257.0,-7.7,159,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3382
$GC,3621,-0.71,-146.6,281.1,-7.8,174,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3382
$GC,3931,-0.71,-146.6,303.6,-6.7,189,3935,0.00,2.65,0.00,0.000,4,0.000,0.072,2170,3637,3382
$GC,3958,-0.71,-146.6,305.4,-7.0,190,3963,0.00,2.53,0.00,0.000,6,0.000,0.047,2169,2231,3381
$GC,4274,-0.71,-146.6,326.8,-7.0,205,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3382
$GC,4583,-0.71,-146.6,347.0,-6.3,220,4587,0.00,2.60,0.00,0.000,4,0.000,0.061,2169,821,3381
$GC,4611,-0.76,-146.6,348.9,-6.8,221,4616,0.00,2.58,0.00,0.000,6,0.000,0.051,2169,2229,3381
$GC,4927,-0.76,-146.6,368.5,-6.4,236,4932,0.00,2.65,0.00,0.000,4,0.000,0.075,2169,3639,3380
$GC,4955,-0.76,-146.6,370.5,-7.2,237,4959,0.00,2.55,0.00,0.000,6,0.000,0.049,2169,2232,3380
$GC,5271,-0.76,-146.6,391.0,-6.5,252,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3380
$GC,5580,-0.76,-146.6,409.5,-5.8,267,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3379
$GC,5889,-0.76,-146.6,430.0,-7.1,282,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3378
$GC,6199,-0.76,-146.6,452.0,-7.2,297,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3377
$GC,6508,-0.76,-146.6,473.5,-6.8,312,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3376
$GC,6817,-0.76,-146.6,493.6,-6.5,327,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3375
$GC,7127,-0.80,-146.6,514.1,-6.7,342,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3374
$GC,7436,-0.85,-146.6,535.8,-7.0,357,7441,0.12,2.70,0.00,0.000,4,0.056,0.081,2134,3637,3373
$GC,7464,-0.78,-146.6,538.3,-9.2,358,7469,0.12,2.60,0.00,0.000,6,0.103,0.054,2157,2224,3373
$GC,7780,-0.78,-146.6,561.8,-7.1,373,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2224,3373
$GC,8088,-0.78,-146.6,584.4,-7.0,388,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2224,3371
$GC,8398,-0.78,-146.6,606.1,-7.2,403,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2224,3370
$GC,8708,-0.78,-146.6,627.5,-6.3,418,8712,0.00,2.72,0.00,0.000,4,0.000,0.084,2157,3638,3368
$GC,8729,-0.78,-146.6,629.0,-6.5,419,8733,0.00,2.60,0.00,0.000,6,0.000,0.055,2157,2225,3369
$GC,9050,-0.78,-146.6,649.6,-6.8,435,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2225,3368
$GC,9360,-0.78,-146.6,668.2,-6.9,450,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2225,3366
$GC,9668,-0.78,-146.6,688.1,-6.1,465,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2225,3366
$GC,9978,-0.78,-146.6,709.2,-7.3,480,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2225,3365
$STATE,10140,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10140,begin apogee
$GC,10147,-0.31,0.0,721.7,7.2,488,10288,0.52,0.00,132.80,1.184,6,0.108,0.000,2259,2225,2781
$STATE,10289,end apogee,CONTROL_FINISHED_OK
$STATE,10289,begin climb
$GC,10292,0.85,146.6,728.3,0.0,495,10432,1.23,2.78,132.18,1.177,4,0.078,0.071,2512,829,2182
$GC,10557,0.80,198.0,721.1,4.6,508,10611,0.00,2.62,46.95,1.146,6,0.000,0.058,2512,2239,1973
$GC,10932,0.75,198.0,699.2,6.3,526,10937,0.00,2.70,0.00,0.000,4,0.000,0.071,2513,831,1973
$GC,10988,0.75,198.0,695.3,6.9,528,10994,0.00,2.62,0.00,0.000,6,0.000,0.057,2511,2240,1972
$GC,11303,0.76,204.5,677.7,5.8,544,11317,0.00,2.78,7.15,0.948,4,0.000,0.082,2511,3642,1948
$GC,11330,0.76,204.5,675.4,9.0,545,11334,0.00,2.62,0.00,0.000,6,0.000,0.058,2511,2242,1948
$GC,11652,0.78,216.6,657.5,5.7,561,11673,0.00,2.80,12.50,1.053,4,0.000,0.072,2511,828,1897
$GC,11697,0.78,216.6,654.5,6.3,563,11702,0.00,2.65,0.00,0.000,6,0.000,0.058,2511,2238,1897
$GC,12024,0.78,216.6,633.1,6.3,579,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2238,1897
$GC,12333,0.78,216.6,613.9,6.5,594,12337,0.00,2.70,0.00,0.000,4,0.000,0.071,2511,826,1896
$GC,12354,0.78,216.6,612.5,6.1,595,12359,0.00,2.62,0.00,0.000,6,0.000,0.057,2512,2241,1896
$GC,12677,0.78,216.6,591.6,6.8,611,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2241,1896
$GC,12985,0.78,216.6,571.1,6.4,626,12986,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2241,1896
$GC,13294,0.78,216.6,550.0,6.7,641,13299,0.00,2.72,0.00,0.000,4,0.000,0.072,2511,822,1896
$GC,13328,0.78,216.6,547.7,6.7,642,13334,0.00,2.62,0.00,0.000,6,0.000,0.058,2511,2241,1895
$GC,13644,0.78,216.6,526.4,6.8,658,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2241,1895
$GC,13954,0.78,216.6,505.5,6.8,673,13955,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2241,1895
$GC,14262,0.78,216.6,485.5,6.2,688,14263,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2241,1895
$GC,14572,0.78,216.6,464.8,7.3,703,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2241,1895
$GC,14880,0.78,216.6,441.3,7.4,718,14885,0.00,2.70,0.00,0.000,4,0.000,0.071,2511,829,1894
$GC,14908,0.78,216.6,439.3,7.9,719,14912,0.00,2.62,0.00,0.000,6,0.000,0.058,2511,2245,1894
$GC,15224,0.78,216.6,418.3,6.4,734,15229,0.00,2.70,0.00,0.000,4,0.000,0.071,2511,828,1894
$GC,15257,0.78,216.6,416.1,6.9,735,15263,0.00,2.62,0.00,0.000,6,0.000,0.057,2512,2245,1894
$GC,15573,0.79,227.5,397.1,5.7,751,15589,0.00,2.72,10.52,0.910,4,0.000,0.080,2511,3649,1852
$GC,15618,0.79,233.5,394.4,5.8,752,15634,0.00,2.65,6.93,0.832,6,0.000,0.058,2511,2231,1829
$GC,15943,0.81,250.6,376.3,5.5,768,15965,0.00,2.78,16.40,0.938,4,0.000,0.070,2511,827,1758
$GC,16000,0.82,261.4,373.2,5.7,770,16016,0.00,2.62,11.02,0.890,6,0.000,0.054,2511,2240,1716
$GC,16341,0.88,272.0,354.3,5.7,787,16357,0.00,0.00,10.73,0.874,6,0.000,0.000,2511,2240,1671
$GC,16667,0.93,272.0,333.7,6.4,803,16668,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,1671
$GC,16977,0.99,272.0,313.0,6.8,818,16982,0.15,2.67,0.00,0.000,4,0.060,0.066,2550,823,1671
$GC,17005,0.95,272.0,310.5,9.2,819,17010,0.00,2.62,0.00,0.000,6,0.000,0.053,2551,2248,1671
$GC,17322,0.89,272.0,281.6,9.2,834,17324,0.15,0.00,0.00,0.000,6,0.092,0.000,2521,2248,1670
$GC,17630,0.89,272.0,256.4,8.1,849,17631,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2248,1671
$GC,17939,0.89,272.0,234.1,6.7,864,17944,0.00,2.65,0.00,0.000,4,0.000,0.062,2521,828,1672
$GC,17967,0.89,272.0,232.2,6.2,865,17971,0.00,2.58,0.00,0.000,6,0.000,0.050,2520,2239,1672
$GC,18283,0.89,272.0,209.5,7.4,880,18284,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2241,1672
$GC,18592,0.89,272.0,186.7,7.6,895,18596,0.00,2.62,0.00,0.000,4,0.000,0.061,2521,828,1673
$GC,18619,0.89,272.0,184.4,7.6,896,18623,0.00,2.58,0.00,0.000,6,0.000,0.048,2521,2242,1673
$GC,18935,0.89,272.0,160.0,7.8,911,18936,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2242,1674
$GC,19245,0.89,272.0,135.1,8.2,926,19246,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2242,1675
$GC,19553,0.89,272.0,111.6,7.4,941,19554,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2242,1675
$GC,19863,0.89,272.0,88.5,7.4,956,19864,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2242,1676
$GC,20172,0.89,272.0,65.8,6.9,971,20176,0.00,2.62,0.00,0.000,4,0.000,0.058,2522,827,1677
$GC,20227,0.89,272.0,62.1,6.5,973,20233,0.00,2.55,0.00,0.000,6,0.000,0.048,2521,2241,1677
$GC,20543,0.89,272.0,40.1,7.4,989,20548,0.00,2.62,0.00,0.000,4,0.000,0.067,2521,3653,1678
$GC,20565,0.89,272.0,38.2,7.5,990,20570,0.00,2.58,0.00,0.000,6,0.000,0.048,2521,2229,1678
$GC,20887,0.89,272.0,15.9,6.5,1006,20891,0.00,2.65,0.00,0.000,4,0.000,0.065,2521,3650,1679
$GC,20954,0.89,272.0,10.7,6.4,1009,20959,0.00,2.53,0.00,0.000,6,0.000,0.046,2521,2241,1679
$STATE,21089,end climb,SURFACE_DEPTH_REACHED
$STATE,21089,begin surface coast
$FINISH,0.7,1.026866
$STATE,21109,end surface coast,CONTROL_FINISHED_OK
$STATE,21109,begin surface
$SM_CCo,21131,141.32,0.622,0,0,508,557.32
$SM_GC,1.21,0.00,0.00,141.32,0.000,0.000,0.622,67,2238,508,-10.41,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1882
$TCM_TEMP,17.70
$XPDR_PINGS,55
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,700.4,30.9
$24V_AH,23.3,61.232
$10V_AH,10.1,30.126
$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,25.150,142.050,387.175,141.325,0.000,17.977,27.219,148.794,20.000,0.000,0.000,13.921,1791.594,16548.809,709.578,1995.688,555.772,0.000,1717.081,0.000,1956.018,0.000,42.790
$DEVICE_MAMPS,168.740,83.603,1184.248,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,756.770,695.070,613.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50444,1017
$CAP_FILE_SIZE,139414,0
$CFSIZE,260165632,237346816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,170808,171125,6353.266,-921.546,26,1.4,43,-10.3