version: 66.03
glider: 16
mission: 9
dive: 385
start: 8 18 108 17 10 4
data:
$ID,16
$MISSION,9
$DIVE,385
$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,-2101877.2
$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,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
$GPS1,170356,6346.363,-906.170,40,1.4,41,-10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-56.7
$GPS2,170945,6346.361,-906.250,15,1.4,15,-10.1
$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,102.8,54325,-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,-146.6,0.0,0.0,0,149,0.00,0.00,-120.97,0.000,2,0.000,0.000,70,2243,2991
$GC,153,-0.85,-146.6,4.5,-3.6,6,180,11.75,2.62,-8.40,0.000,4,0.173,0.067,2139,814,3381
$GC,203,-0.68,-146.6,15.8,-12.4,8,209,0.20,2.58,0.00,0.000,6,0.090,0.045,2178,2233,3381
$GC,521,-0.68,-146.6,42.2,-8.7,23,525,0.00,2.60,0.00,0.000,4,0.000,0.062,2178,3640,3381
$GC,553,-0.68,-146.6,45.5,-9.3,24,560,0.00,2.53,0.00,0.000,6,0.000,0.042,2178,2225,3381
$GC,870,-0.68,-146.6,72.1,-7.8,40,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2225,3381
$GC,1180,-0.68,-146.6,95.3,-7.5,55,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2225,3382
$GC,1488,-0.68,-146.6,118.8,-7.3,70,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2225,3383
$GC,1798,-0.68,-146.6,140.8,-7.2,85,1802,0.00,2.65,0.00,0.000,4,0.000,0.067,2178,3644,3383
$GC,1831,-0.68,-146.6,143.6,-7.5,86,1837,0.00,2.53,0.00,0.000,6,0.000,0.044,2178,2230,3383
$GC,2146,-0.68,-146.6,167.0,-7.3,102,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2229,3383
$GC,2456,-0.68,-146.6,188.8,-6.9,117,2460,0.00,2.58,0.00,0.000,4,0.000,0.055,2178,817,3383
$GC,2489,-0.75,-146.6,191.1,-6.7,118,2495,0.00,2.55,0.00,0.000,6,0.000,0.046,2178,2229,3383
$GC,2805,-0.75,-146.6,212.2,-6.5,134,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2230,3383
$GC,3115,-0.75,-146.6,231.5,-6.1,149,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2229,3382
$GC,3424,-0.75,-146.6,249.9,-6.1,164,3428,0.00,2.62,0.00,0.000,4,0.000,0.070,2178,3641,3383
$GC,3451,-0.75,-146.6,251.9,-7.6,165,3455,0.00,2.55,0.00,0.000,6,0.000,0.045,2178,2223,3383
$GC,3773,-0.75,-146.6,273.1,-6.8,181,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2223,3382
$GC,4081,-0.75,-146.6,295.9,-7.2,196,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2223,3382
$GC,4391,-0.75,-146.6,316.3,-6.3,211,4395,0.00,2.67,0.00,0.000,4,0.000,0.071,2178,3640,3382
$GC,4418,-0.75,-146.6,318.2,-6.7,212,4422,0.00,2.55,0.00,0.000,6,0.000,0.048,2178,2228,3382
$GC,4734,-0.75,-146.6,335.4,-5.4,227,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2228,3381
$GC,5044,-0.80,-146.6,354.3,-6.6,242,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2228,3381
$GC,5354,-0.86,-146.6,375.7,-7.1,257,5359,0.17,2.65,0.00,0.000,4,0.048,0.074,2125,3638,3380
$GC,5387,-0.71,-146.6,379.0,-10.1,258,5394,0.25,2.55,0.00,0.000,6,0.091,0.051,2174,2233,3380
$GC,5703,-0.76,-146.6,402.0,-7.1,274,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2233,3379
$GC,6013,-0.81,-146.6,423.7,-7.0,289,6018,0.00,2.67,0.00,0.000,4,0.000,0.077,2174,3637,3378
$GC,6057,-0.85,-146.6,427.3,-8.0,291,6062,0.15,2.58,0.00,0.000,6,0.048,0.051,2130,2222,3378
$GC,6379,-0.77,-146.6,456.2,-9.3,307,6384,0.15,2.62,0.00,0.000,4,0.093,0.065,2162,817,3377
$GC,6413,-0.82,-146.6,459.0,-7.9,308,6419,0.00,2.60,0.00,0.000,6,0.000,0.054,2162,2229,3377
$GC,6728,-0.82,-146.6,482.6,-7.3,324,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2229,3376
$GC,7038,-0.82,-146.6,504.7,-7.2,339,7043,0.00,2.67,0.00,0.000,4,0.000,0.080,2162,3637,3375
$GC,7071,-0.82,-146.6,507.3,-8.0,340,7078,0.00,2.58,0.00,0.000,6,0.000,0.053,2162,2228,3375
$GC,7387,-0.82,-146.6,530.6,-7.2,356,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2227,3374
$GC,7698,-0.82,-146.6,552.6,-7.1,371,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3373
$GC,8006,-0.82,-146.6,573.8,-6.7,386,8010,0.00,2.70,0.00,0.000,4,0.000,0.083,2162,3637,3372
$GC,8038,-0.82,-146.6,576.3,-7.7,387,8044,0.00,2.60,0.00,0.000,6,0.000,0.054,2162,2223,3372
$GC,8354,-0.82,-146.6,596.4,-5.3,403,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2223,3371
$GC,8664,-0.82,-146.6,616.0,-6.7,418,8668,0.00,2.72,0.00,0.000,4,0.000,0.083,2162,3637,3370
$GC,8696,-0.82,-146.6,618.6,-8.2,419,8702,0.00,2.60,0.00,0.000,6,0.000,0.055,2162,2225,3370
$GC,9012,-0.82,-146.6,638.8,-7.1,435,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2226,3369
$GC,9322,-0.82,-146.6,658.0,-5.9,450,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2225,3368
$GC,9631,-0.87,-146.6,678.3,-6.8,465,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2225,3367
$GC,9941,-0.93,-146.6,696.7,-5.0,480,9946,0.15,2.72,0.00,0.000,4,0.069,0.084,2125,3637,3366
$GC,10078,-1.29,-146.6,696.5,0.1,486,10084,0.30,2.58,0.00,0.000,1,0.076,0.054,2060,2225,3365
$STATE,10084,end dive,NO_VERTICAL_VELOCITY
$STATE,10085,begin apogee
$GC,10091,-0.31,0.0,696.6,0.0,486,10225,0.93,0.00,130.12,1.177,6,0.071,0.000,2259,2224,2781
$STATE,10226,end apogee,CONTROL_FINISHED_OK
$STATE,10226,begin climb
$GC,10229,0.85,146.6,696.3,0.0,493,10369,1.20,2.83,131.85,1.157,4,0.061,0.081,2516,3647,2182
$GC,10625,0.78,180.8,688.3,5.1,511,10664,0.00,2.62,31.77,1.115,6,0.000,0.058,2516,2239,2043
$GC,10984,0.72,187.3,667.8,5.8,529,10998,0.15,2.78,7.35,0.943,4,0.100,0.081,2487,3644,2017
$GC,11078,0.72,187.3,661.8,7.0,533,11082,0.00,2.62,0.00,0.000,6,0.000,0.058,2487,2237,2017
$GC,11399,0.73,198.7,642.8,5.7,549,11412,0.00,0.00,11.75,1.032,6,0.000,0.000,2487,2237,1970
$GC,11710,0.85,254.8,628.2,4.5,564,11763,0.12,0.00,50.95,1.126,6,0.060,0.000,2520,2237,1742
$GC,12059,0.85,254.8,605.8,6.3,581,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2237,1741
$GC,12368,0.85,254.8,584.5,6.9,596,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2237,1741
$GC,12680,0.85,254.8,566.1,6.2,611,12684,0.00,2.72,0.00,0.000,4,0.000,0.082,2520,3647,1740
$GC,12712,0.85,254.8,563.8,6.2,612,12718,0.00,2.62,0.00,0.000,6,0.000,0.058,2520,2235,1740
$GC,13028,0.86,257.4,545.3,5.9,628,13037,0.00,2.70,3.72,0.686,4,0.000,0.073,2520,830,1731
$GC,13062,0.86,257.4,543.2,6.1,629,13066,0.00,2.62,0.00,0.000,6,0.000,0.057,2521,2242,1731
$GC,13377,0.87,265.1,524.9,5.8,644,13388,0.00,0.00,8.45,0.941,6,0.000,0.000,2520,2242,1701
$GC,13686,0.87,265.1,506.3,6.0,659,13691,0.00,2.70,0.00,0.000,4,0.000,0.071,2520,826,1700
$GC,13728,0.87,265.1,503.7,7.2,661,13732,0.00,2.65,0.00,0.000,6,0.000,0.058,2520,2248,1700
$GC,14054,0.87,265.1,483.0,6.4,677,14055,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2248,1700
$GC,14363,0.87,265.1,461.8,7.2,692,14364,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2248,1700
$GC,14673,0.87,265.1,439.2,7.4,707,14678,0.00,2.70,0.00,0.000,4,0.000,0.071,2520,826,1699
$GC,14724,0.87,265.1,435.2,7.7,709,14728,0.00,2.62,0.00,0.000,6,0.000,0.057,2520,2243,1699
$GC,15039,0.87,265.1,410.8,7.3,724,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2243,1698
$GC,15349,0.87,265.1,389.6,6.5,739,15350,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2243,1699
$GC,15658,0.87,265.1,370.0,6.7,754,15662,0.00,2.67,0.00,0.000,4,0.000,0.068,2520,830,1699
$GC,15690,0.87,265.1,367.6,7.0,755,15697,0.00,2.60,0.00,0.000,6,0.000,0.055,2520,2243,1699
$GC,16007,0.87,265.1,345.1,7.3,771,16011,0.00,2.67,0.00,0.000,4,0.000,0.078,2520,3653,1699
$GC,16034,0.87,265.1,342.9,7.6,772,16038,0.00,2.62,0.00,0.000,6,0.000,0.057,2520,2233,1699
$GC,16351,0.87,265.1,320.9,6.9,787,16352,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2232,1699
$GC,16660,0.87,265.1,298.3,7.1,802,16661,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2233,1699
$GC,16968,0.87,265.1,277.7,6.4,817,16972,0.00,2.62,0.00,0.000,4,0.000,0.067,2520,828,1700
$GC,17001,0.87,265.1,275.2,6.8,818,17007,0.00,2.60,0.00,0.000,6,0.000,0.052,2520,2249,1700
$GC,17317,0.87,265.1,253.5,7.4,834,17321,0.00,2.62,0.00,0.000,4,0.000,0.073,2520,3650,1700
$GC,17357,0.87,265.1,250.3,8.8,836,17361,0.00,2.58,0.00,0.000,6,0.000,0.052,2520,2237,1700
$GC,17683,0.87,265.1,225.4,7.8,852,17684,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2237,1701
$GC,17993,0.87,265.1,201.9,7.3,867,17994,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2237,1701
$GC,18301,0.87,265.1,180.7,6.5,882,18303,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2237,1701
$GC,18611,0.87,265.1,159.0,7.2,897,18615,0.00,2.65,0.00,0.000,4,0.000,0.067,2520,3651,1702
$GC,18638,0.87,265.1,156.9,8.0,898,18642,0.00,2.55,0.00,0.000,6,0.000,0.048,2520,2239,1702
$GC,18955,0.87,265.1,136.1,6.0,913,18956,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2239,1703
$GC,19263,0.87,265.1,117.8,6.2,928,19267,0.00,2.60,0.00,0.000,4,0.000,0.060,2521,827,1704
$GC,19290,0.92,265.1,116.1,6.6,929,19295,0.00,2.55,0.00,0.000,6,0.000,0.046,2520,2243,1704
$GC,19608,0.96,265.1,96.7,6.3,944,19609,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2243,1705
$GC,19917,1.03,286.7,78.4,5.4,959,19943,0.15,2.65,19.92,0.677,4,0.048,0.059,2571,830,1611
$GC,19961,0.93,286.7,75.2,8.6,961,19966,0.20,2.58,0.00,0.000,6,0.084,0.046,2531,2242,1611
$GC,20283,0.93,286.7,53.6,6.3,977,20284,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2242,1611
$GC,20592,0.93,288.2,35.2,6.0,992,20596,0.00,2.60,0.00,0.000,4,0.000,0.064,2531,3650,1611
$GC,20625,0.93,288.2,33.2,6.0,993,20632,0.00,2.53,0.00,0.000,6,0.000,0.047,2531,2240,1612
$GC,20942,0.93,288.2,12.3,7.3,1009,20946,0.00,2.58,0.00,0.000,4,0.000,0.056,2531,828,1613
$GC,20991,0.93,288.2,8.5,7.7,1011,20996,0.00,2.55,0.00,0.000,6,0.000,0.044,2531,2248,1613
$STATE,21098,end climb,SURFACE_DEPTH_REACHED
$STATE,21098,begin surface coast
$FINISH,0.7,1.024961
$STATE,21123,end surface coast,CONTROL_FINISHED_OK
$STATE,21123,begin surface
$SM_CCo,21145,134.57,0.614,0,0,509,557.32
$SM_GC,1.46,0.00,0.00,134.57,0.000,0.000,0.614,71,2249,509,-10.39,0.54,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1872
$TCM_TEMP,17.80
$XPDR_PINGS,71
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,23.3,62.073
$10V_AH,10.1,30.587
$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,26.550,146.900,395.900,134.575,0.000,17.946,27.768,164.528,24.000,0.000,0.000,15.839,1807.724,16482.463,723.320,2042.341,570.664,0.000,1739.640,0.000,1994.970,0.000,43.999
$DEVICE_MAMPS,172.575,84.370,1176.578,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,751.685,695.861,634.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53697,1017
$CAP_FILE_SIZE,141808,0
$CFSIZE,260165632,237015040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,180808,230602,6347.486,-858.044,37,1.2,38,-10.0