version: 66.03
glider: 16
mission: 9
dive: 381
start: 8 17 108 17 17 32
data:
$ID,16
$MISSION,9
$DIVE,381
$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,-2101801
$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,21
$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
$GPS1,171125,6353.266,-921.546,26,1.4,43,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-54.0
$GPS2,171715,6353.304,-921.617,20,1.6,20,-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,113.3,68600,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,151,0.00,0.00,-121.38,0.000,2,0.000,0.000,66,2237,3025
$GC,154,-0.85,-146.6,4.5,-3.7,6,179,11.75,2.60,-7.55,0.000,4,0.171,0.074,2143,3638,3380
$GC,214,-0.70,-146.6,16.8,-11.0,8,221,0.17,2.53,0.00,0.000,6,0.094,0.044,2176,2230,3380
$GC,530,-0.70,-146.6,43.6,-8.8,24,534,0.00,2.62,0.00,0.000,4,0.000,0.064,2176,3640,3380
$GC,580,-0.70,-146.6,48.0,-7.8,26,584,0.00,2.53,0.00,0.000,6,0.000,0.042,2176,2228,3380
$GC,896,-0.70,-146.6,70.0,-6.6,41,901,0.00,2.58,0.00,0.000,4,0.000,0.054,2176,814,3381
$GC,930,-0.75,-146.6,72.5,-6.8,42,936,0.00,2.55,0.00,0.000,6,0.000,0.045,2176,2231,3381
$GC,1248,-0.75,-146.6,93.2,-6.7,58,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2231,3382
$GC,1556,-0.75,-146.6,115.4,-7.6,73,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2231,3382
$GC,1864,-0.75,-146.6,137.0,-6.7,88,1869,0.00,2.62,0.00,0.000,4,0.000,0.067,2176,3640,3382
$GC,1905,-0.75,-146.6,139.7,-7.1,90,1909,0.00,2.53,0.00,0.000,6,0.000,0.044,2176,2230,3383
$GC,2232,-0.75,-146.6,160.5,-6.0,106,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2231,3383
$GC,2541,-0.75,-146.6,180.6,-6.9,121,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3383
$GC,2850,-0.75,-146.6,202.3,-7.1,136,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3382
$GC,3160,-0.75,-146.6,223.2,-6.4,151,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2230,3382
$GC,3469,-0.75,-146.6,243.1,-6.9,166,3473,0.00,2.65,0.00,0.000,4,0.000,0.069,2176,3641,3382
$GC,3502,-0.75,-146.6,245.5,-7.5,167,3508,0.00,2.53,0.00,0.000,6,0.000,0.044,2176,2230,3383
$GC,3818,-0.75,-146.6,266.6,-6.3,183,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2229,3382
$GC,4127,-0.75,-146.6,285.9,-6.0,198,4131,0.00,2.58,0.00,0.000,4,0.000,0.057,2176,820,3382
$GC,4160,-0.83,-146.6,288.0,-6.0,199,4167,0.12,2.55,0.00,0.000,6,0.048,0.048,2135,2229,3382
$GC,4477,-0.73,-146.6,311.5,-7.3,215,4482,0.17,2.65,0.00,0.000,4,0.087,0.071,2173,3644,3382
$GC,4527,-0.73,-146.6,314.8,-6.3,217,4531,0.00,2.55,0.00,0.000,6,0.000,0.048,2173,2230,3382
$GC,4843,-0.73,-146.6,330.0,-4.7,232,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2229,3382
$GC,5153,-0.73,-146.6,345.2,-5.6,247,5157,0.00,2.58,0.00,0.000,4,0.000,0.061,2173,821,3381
$GC,5186,-0.80,-146.6,347.4,-6.4,248,5192,0.00,2.58,0.00,0.000,6,0.000,0.051,2173,2233,3382
$GC,5501,-0.80,-146.6,367.4,-6.7,264,5506,0.00,2.65,0.00,0.000,4,0.000,0.076,2173,3637,3381
$GC,5558,-0.80,-146.6,371.6,-8.1,266,5564,0.00,2.55,0.00,0.000,6,0.000,0.051,2173,2231,3380
$GC,5874,-0.80,-146.6,393.0,-6.8,282,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2231,3380
$GC,6183,-0.80,-146.6,414.2,-6.6,297,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2231,3378
$GC,6493,-0.80,-146.6,432.3,-5.5,312,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2231,3378
$GC,6804,-0.85,-146.6,450.8,-6.3,327,6806,0.12,0.00,0.00,0.000,6,0.054,0.000,2136,2231,3376
$GC,7113,-0.79,-146.6,475.8,-8.1,342,7114,0.10,0.00,0.00,0.000,6,0.101,0.000,2155,2231,3375
$GC,7420,-0.79,-146.6,497.8,-7.0,357,7424,0.00,2.70,0.00,0.000,4,0.000,0.082,2155,3636,3374
$GC,7464,-0.79,-146.6,501.3,-8.0,359,7468,0.00,2.58,0.00,0.000,6,0.000,0.054,2155,2233,3374
$GC,7786,-0.79,-146.6,525.0,-7.9,375,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2231,3373
$GC,8094,-0.79,-146.6,549.3,-7.6,390,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2233,3372
$GC,8403,-0.79,-146.6,572.3,-6.9,405,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2233,3371
$GC,8713,-0.79,-146.6,594.2,-7.1,420,8717,0.00,2.70,0.00,0.000,4,0.000,0.085,2155,3640,3371
$GC,8747,-0.79,-146.6,596.8,-8.2,421,8753,0.00,2.60,0.00,0.000,6,0.000,0.056,2154,2228,3370
$GC,9063,-0.79,-146.6,618.6,-7.0,437,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2228,3369
$GC,9373,-0.79,-146.6,641.7,-7.5,452,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2228,3368
$GC,9681,-0.79,-146.6,660.8,-6.8,467,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2228,3366
$GC,9990,-0.79,-146.6,684.0,-8.3,482,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2228,3365
$GC,10300,-0.79,-146.6,707.1,-8.4,497,10305,0.00,2.72,0.00,0.000,4,0.000,0.086,2154,3637,3365
$GC,10344,-0.79,-146.6,711.0,-8.8,499,10349,0.00,2.60,0.00,0.000,6,0.000,0.059,2155,2231,3364
$STATE,10415,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10416,begin apogee
$GC,10422,-0.31,0.0,716.9,8.4,503,10563,0.52,0.00,132.95,1.177,6,0.099,0.000,2259,2231,2781
$STATE,10564,end apogee,CONTROL_FINISHED_OK
$STATE,10564,begin climb
$GC,10568,0.85,146.6,721.8,0.0,510,10711,1.20,2.83,132.15,1.171,4,0.078,0.083,2508,3637,2183
$GC,10770,0.75,230.8,718.8,3.7,519,10852,0.00,2.62,75.70,1.157,6,0.000,0.061,2508,2238,1840
$GC,11168,0.70,230.8,694.0,6.7,539,11173,0.12,2.75,0.00,0.000,4,0.103,0.083,2485,3650,1839
$GC,11224,0.75,230.8,690.5,6.1,541,11230,0.00,2.62,0.00,0.000,6,0.000,0.059,2485,2238,1839
$GC,11541,0.82,230.8,672.1,7.3,557,11543,0.10,0.00,0.00,0.000,6,0.064,0.000,2510,2238,1838
$GC,11849,0.82,230.8,647.6,7.3,572,11850,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2238,1838
$GC,12158,0.82,230.8,623.4,7.4,587,12160,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2238,1837
$GC,12468,0.82,230.8,602.7,6.5,602,12470,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2238,1838
$GC,12777,0.82,230.8,581.3,6.7,617,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2238,1837
$GC,13086,0.84,242.9,563.0,5.7,632,13107,0.00,2.80,11.70,1.008,4,0.000,0.073,2511,824,1789
$GC,13136,0.84,251.3,560.3,5.8,634,13153,0.00,2.65,9.23,0.960,6,0.000,0.058,2511,2238,1756
$GC,13462,0.85,259.7,541.6,5.8,650,13473,0.00,0.00,9.10,0.960,6,0.000,0.000,2511,2238,1722
$GC,13772,0.88,281.7,524.5,5.4,665,13798,0.00,2.75,20.75,1.039,4,0.000,0.071,2510,832,1631
$GC,13838,0.92,281.7,520.7,6.5,668,13843,0.00,2.65,0.00,0.000,6,0.000,0.058,2511,2242,1631
$GC,14159,0.98,281.7,501.1,6.6,684,14161,0.15,0.00,0.00,0.000,6,0.078,0.000,2541,2242,1631
$GC,14469,0.98,281.7,475.5,8.5,699,14473,0.00,2.70,0.00,0.000,4,0.000,0.071,2542,830,1630
$GC,14496,0.98,281.7,472.9,8.3,700,14500,0.00,2.62,0.00,0.000,6,0.000,0.058,2542,2239,1630
$GC,14811,0.98,281.7,448.2,7.3,715,14812,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2240,1630
$GC,15122,0.98,281.7,425.9,7.1,730,15126,0.00,2.70,0.00,0.000,4,0.000,0.071,2542,824,1629
$GC,15154,0.98,281.7,423.4,6.9,731,15160,0.00,2.62,0.00,0.000,6,0.000,0.058,2544,2239,1630
$GC,15470,0.98,281.7,399.9,7.7,747,15471,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2239,1629
$GC,15780,0.98,281.7,375.4,8.4,762,15781,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2239,1630
$GC,16088,0.98,281.7,351.7,7.1,777,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2239,1630
$GC,16399,0.98,281.7,329.8,7.2,792,16400,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2239,1630
$GC,16708,0.98,281.7,307.6,7.1,807,16709,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2239,1630
$GC,17016,0.98,281.7,283.8,7.8,822,17020,0.00,2.67,0.00,0.000,4,0.000,0.065,2542,821,1630
$GC,17060,0.98,281.7,280.1,8.6,824,17064,0.00,2.60,0.00,0.000,6,0.000,0.052,2542,2241,1630
$GC,17381,0.98,281.7,253.3,8.5,840,17386,0.00,2.65,0.00,0.000,4,0.000,0.064,2542,829,1630
$GC,17439,0.98,281.7,248.3,8.9,842,17445,0.00,2.58,0.00,0.000,6,0.000,0.051,2542,2241,1630
$GC,17754,0.98,281.7,219.7,9.3,858,17755,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2241,1631
$GC,18064,0.98,281.7,193.4,8.2,873,18069,0.00,2.65,0.00,0.000,4,0.000,0.061,2542,823,1632
$GC,18109,0.98,281.7,189.7,8.0,875,18113,0.00,2.58,0.00,0.000,6,0.000,0.048,2542,2242,1632
$GC,18430,0.98,281.7,166.3,6.9,891,18431,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2242,1633
$GC,18741,0.98,281.7,142.9,8.1,906,18742,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2242,1634
$GC,19048,0.98,281.7,117.3,7.9,921,19052,0.00,2.62,0.00,0.000,4,0.000,0.058,2542,827,1634
$GC,19081,0.98,281.7,114.5,8.0,922,19087,0.00,2.55,0.00,0.000,6,0.000,0.046,2542,2242,1634
$GC,19398,0.98,281.7,90.5,7.7,938,19399,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2242,1635
$GC,19707,0.98,281.7,64.4,8.6,953,19708,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2242,1636
$GC,20015,0.98,281.7,40.8,7.5,968,20016,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2242,1636
$GC,20325,0.98,281.7,19.7,6.9,983,20330,0.00,2.62,0.00,0.000,4,0.000,0.056,2543,819,1638
$GC,20367,0.98,281.7,17.0,7.1,985,20371,0.00,2.55,0.00,0.000,6,0.000,0.044,2542,2243,1637
$STATE,20608,end climb,SURFACE_DEPTH_REACHED
$STATE,20608,begin surface coast
$FINISH,0.7,1.014793
$STATE,20630,end surface coast,CONTROL_FINISHED_OK
$STATE,20630,begin surface
$SM_CCo,20652,137.05,0.621,0,0,509,557.32
$SM_GC,1.24,0.00,0.00,137.05,0.000,0.000,0.621,70,2245,509,-10.39,0.42,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1891
$TCM_TEMP,17.60
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.7,18.8
$ALTIM_BOTTOM_PING,700.3,26.1
$24V_AH,23.3,61.397
$10V_AH,10.1,30.216
$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,25.325,120.700,391.575,137.050,0.000,18.281,27.019,161.958,19.250,0.000,0.000,20.814,1744.490,16200.206,701.631,1937.255,551.649,0.000,1668.773,0.000,1894.749,0.000,42.783
$DEVICE_MAMPS,171.041,85.904,1177.345,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,743.659,680.627,611.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50556,998
$CAP_FILE_SIZE,131702,0
$CFSIZE,260165632,237289472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,170808,230526,6353.624,-914.539,42,1.9,43,-10.2