version: 66.03
glider: 16
mission: 9
dive: 405
start: 8 25 108 0 44 52
data:
$ID,16
$MISSION,9
$DIVE,405
$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,-2102390.5
$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,19
$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
$GPS1,003739,6343.957,-656.275,40,1.8,40,-8.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-46.1
$GPS2,004433,6344.059,-656.314,12,1.9,12,-8.9
$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,109.0,42821,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.88,0.000,2,0.000,0.000,73,2232,2655
$GC,151,-0.85,-146.6,3.1,-2.2,6,192,11.93,2.65,-22.40,0.000,4,0.175,0.076,2142,3638,3380
$GC,232,-0.71,-146.6,12.5,-12.6,10,237,0.15,2.55,0.00,0.000,6,0.100,0.041,2171,2217,3380
$GC,554,-0.66,-146.6,39.7,-6.9,26,559,0.00,2.65,0.00,0.000,4,0.000,0.064,2171,3640,3381
$GC,617,-0.66,-146.6,44.2,-8.5,29,621,0.00,2.53,0.00,0.000,6,0.000,0.041,2171,2230,3381
$GC,944,-0.66,-146.6,65.8,-6.5,45,948,0.00,2.65,0.00,0.000,4,0.000,0.066,2171,3641,3382
$GC,984,-0.66,-146.6,68.8,-8.1,47,988,0.00,2.50,0.00,0.000,6,0.000,0.042,2171,2231,3382
$GC,1312,-0.66,-146.6,95.1,-8.1,63,1316,0.00,2.65,0.00,0.000,4,0.000,0.067,2171,3640,3383
$GC,1352,-0.66,-146.6,98.5,-8.6,65,1356,0.00,2.53,0.00,0.000,6,0.000,0.044,2171,2224,3383
$GC,1678,-0.66,-146.6,121.5,-6.8,81,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2225,3383
$GC,1988,-0.66,-146.6,141.0,-6.5,96,1993,0.00,2.60,0.00,0.000,4,0.000,0.058,2171,817,3383
$GC,2022,-0.70,-146.6,143.2,-6.8,97,2028,0.00,2.58,0.00,0.000,6,0.000,0.048,2171,2234,3383
$GC,2338,-0.70,-146.6,164.5,-7.0,113,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2234,3383
$GC,2648,-0.70,-146.6,186.6,-7.1,128,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2234,3383
$GC,2956,-0.70,-146.6,208.4,-6.7,143,2961,0.00,2.67,0.00,0.000,4,0.000,0.076,2171,3643,3383
$GC,3000,-0.70,-146.6,211.8,-6.9,145,3004,0.00,2.58,0.00,0.000,6,0.000,0.048,2171,2225,3383
$GC,3322,-0.70,-146.6,233.8,-6.8,161,3326,0.00,2.70,0.00,0.000,4,0.000,0.076,2171,3637,3382
$GC,3349,-0.70,-146.6,235.9,-7.4,162,3353,0.00,2.58,0.00,0.000,6,0.000,0.050,2171,2223,3382
$GC,3664,-0.70,-146.6,255.7,-6.1,177,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2224,3381
$GC,3975,-0.70,-146.6,273.4,-5.7,192,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2224,3381
$GC,4283,-0.70,-146.6,291.4,-5.9,207,4288,0.00,2.72,0.00,0.000,4,0.000,0.077,2171,3645,3380
$GC,4317,-0.70,-146.6,293.7,-6.8,208,4323,0.00,2.58,0.00,0.000,6,0.000,0.051,2171,2232,3380
$GC,4633,-0.70,-146.6,313.5,-6.4,224,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2233,3379
$GC,4942,-0.70,-146.6,332.4,-6.2,239,4946,0.00,2.67,0.00,0.000,4,0.000,0.078,2171,3637,3378
$GC,4969,-0.70,-146.6,334.2,-6.5,240,4973,0.00,2.58,0.00,0.000,6,0.000,0.051,2171,2230,3378
$GC,5285,-0.70,-146.6,353.9,-6.0,255,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3378
$GC,5594,-0.70,-146.6,373.0,-6.0,270,5598,0.00,2.70,0.00,0.000,4,0.000,0.079,2171,3637,3377
$GC,5633,-0.70,-146.6,375.6,-7.0,272,5637,0.00,2.58,0.00,0.000,6,0.000,0.052,2171,2230,3377
$GC,5960,-0.70,-146.6,394.6,-5.6,288,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2229,3376
$GC,6269,-0.70,-146.6,412.1,-5.8,303,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3375
$GC,6578,-0.70,-146.6,429.5,-5.4,318,6583,0.00,2.70,0.00,0.000,4,0.000,0.079,2171,3637,3374
$GC,6612,-0.70,-146.6,431.5,-6.4,319,6618,0.00,2.58,0.00,0.000,6,0.000,0.052,2171,2230,3374
$GC,6928,-0.70,-146.6,448.8,-5.3,335,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3374
$GC,7237,-0.70,-146.6,465.1,-5.4,350,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3373
$GC,7548,-0.70,-146.6,481.7,-5.6,365,7552,0.00,2.70,0.00,0.000,4,0.000,0.079,2171,3637,3372
$GC,7580,-0.70,-146.6,483.8,-6.8,366,7586,0.00,2.58,0.00,0.000,6,0.000,0.051,2171,2230,3373
$GC,7897,-0.75,-146.6,502.4,-5.8,382,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3372
$GC,8206,-0.79,-146.6,521.8,-6.6,397,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3371
$GC,8515,-0.83,-146.6,541.9,-6.5,412,8520,0.12,2.70,0.00,0.000,4,0.061,0.078,2139,3637,3371
$GC,8548,-0.76,-146.6,544.8,-8.7,413,8555,0.12,2.58,0.00,0.000,6,0.107,0.051,2162,2230,3371
$GC,8865,-0.76,-146.6,566.2,-6.7,429,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2230,3370
$GC,9173,-0.76,-146.6,586.8,-6.8,444,9177,0.00,2.70,0.00,0.000,4,0.000,0.079,2163,3637,3370
$GC,9206,-0.76,-146.6,589.2,-7.3,445,9212,0.00,2.58,0.00,0.000,6,0.000,0.051,2162,2229,3371
$GC,9523,-0.76,-146.6,609.5,-6.2,461,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2229,3369
$GC,9831,-0.76,-146.6,627.7,-5.9,476,9836,0.00,2.70,0.00,0.000,4,0.000,0.078,2162,3636,3369
$GC,9864,-0.76,-146.6,630.0,-6.4,477,9871,0.00,2.58,0.00,0.000,6,0.000,0.051,2162,2228,3369
$GC,10181,-0.76,-146.6,648.1,-5.5,493,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3368
$GC,10490,-0.76,-146.6,665.9,-6.0,508,10494,0.00,2.70,0.00,0.000,4,0.000,0.079,2162,3637,3368
$GC,10518,-0.76,-146.6,667.7,-6.6,509,10522,0.00,2.58,0.00,0.000,6,0.000,0.051,2162,2229,3367
$GC,10835,-0.76,-146.6,685.6,-5.6,524,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3368
$GC,11143,-0.76,-146.6,702.4,-5.6,539,11148,0.00,2.70,0.00,0.000,4,0.000,0.080,2162,3637,3366
$GC,11177,-0.76,-146.6,704.5,-6.3,540,11184,0.00,2.58,0.00,0.000,6,0.000,0.051,2162,2228,3367
$GC,11494,-0.76,-146.6,721.4,-5.1,556,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2227,3367
$GC,11803,-0.76,-146.6,737.9,-5.6,571,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2227,3367
$GC,12113,-0.76,-146.6,755.9,-6.1,586,12118,0.00,2.72,0.00,0.000,4,0.000,0.081,2161,3641,3366
$GC,12157,-0.76,-146.6,759.0,-6.6,588,12161,0.00,2.60,0.00,0.000,6,0.000,0.052,2161,2225,3366
$GC,12478,-0.76,-146.6,778.4,-6.0,604,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2224,3366
$GC,12788,-0.76,-146.6,796.8,-5.7,619,12789,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2225,3365
$GC,13097,-0.76,-146.6,815.1,-6.0,634,13101,0.00,2.72,0.00,0.000,4,0.000,0.080,2162,3638,3365
$GC,13140,-0.76,-146.6,818.0,-6.6,636,13145,0.00,2.60,0.00,0.000,6,0.000,0.052,2162,2222,3365
$GC,13463,-0.76,-146.6,837.4,-5.8,652,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2221,3365
$GC,13771,-0.76,-146.6,855.7,-5.8,667,13776,0.00,2.72,0.00,0.000,4,0.000,0.078,2162,3640,3365
$GC,13805,-0.76,-146.6,858.0,-6.3,668,13811,0.00,2.60,0.00,0.000,6,0.000,0.053,2162,2222,3365
$GC,14121,-0.76,-146.6,876.8,-6.1,684,14122,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2222,3365
$GC,14430,-0.76,-146.6,894.4,-5.6,699,14434,0.00,2.72,0.00,0.000,4,0.000,0.079,2162,3638,3365
$GC,14462,-0.76,-146.6,896.4,-6.8,700,14469,0.00,2.58,0.00,0.000,6,0.000,0.051,2162,2228,3364
$GC,14780,-0.76,-146.6,913.8,-5.6,716,14781,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3364
$GC,15088,-0.76,-146.6,930.8,-5.5,731,15089,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3364
$GC,15399,-0.80,-146.6,947.9,-5.7,746,15403,0.00,2.70,0.00,0.000,4,0.000,0.076,2162,3641,3364
$GC,15443,-0.80,-146.6,950.8,-6.2,748,15447,0.00,2.58,0.00,0.000,6,0.000,0.050,2162,2230,3364
$GC,15764,-0.80,-146.6,969.3,-5.7,764,15765,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2230,3364
$GC,16075,-0.85,-146.6,986.7,-5.7,779,16079,0.00,2.67,0.00,0.000,4,0.000,0.075,2162,3636,3364
$GC,16102,-0.85,-146.6,988.7,-6.8,780,16106,0.00,2.58,0.00,0.000,6,0.000,0.048,2161,2223,3363
$STATE,16126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16127,begin apogee
$GC,16133,-0.31,0.0,990.1,5.9,781,16278,0.50,0.00,136.45,1.306,6,0.102,0.000,2260,2222,2781
$STATE,16278,end apogee,CONTROL_FINISHED_OK
$STATE,16279,begin climb
$GC,16282,0.85,146.6,995.8,0.0,788,16427,1.20,2.70,135.70,1.302,4,0.082,0.062,2508,832,2183
$GC,16491,0.75,155.1,991.9,5.8,797,16506,0.00,2.62,9.48,1.153,6,0.000,0.050,2508,2246,2148
$GC,16824,0.68,160.9,972.6,5.8,814,16839,0.15,2.72,7.47,1.089,4,0.105,0.073,2476,3639,2125
$GC,16868,0.68,160.9,970.0,6.2,816,16873,0.00,2.58,0.00,0.000,6,0.000,0.049,2476,2237,2125
$GC,17196,0.73,201.9,953.7,4.9,832,17237,0.00,0.00,39.22,1.309,6,0.000,0.000,2476,2238,1958
$GC,17545,0.81,218.4,934.1,5.5,849,17564,0.15,0.00,17.00,1.241,6,0.058,0.000,2512,2237,1890
$GC,17873,0.81,218.4,910.7,7.1,865,17878,0.00,2.62,0.00,0.000,4,0.000,0.064,2512,832,1890
$GC,17907,0.81,218.4,908.2,7.0,866,17913,0.00,2.60,0.00,0.000,6,0.000,0.051,2512,2241,1889
$GC,18223,0.81,218.4,886.4,6.9,882,18224,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2241,1889
$GC,18532,0.81,218.4,865.2,6.9,897,18533,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2241,1890
$GC,18842,0.81,218.4,844.1,6.6,912,18847,0.00,2.65,0.00,0.000,4,0.000,0.064,2512,836,1889
$GC,18870,0.81,218.4,842.0,6.4,913,18874,0.00,2.60,0.00,0.000,6,0.000,0.051,2512,2246,1889
$GC,19185,0.81,218.4,821.3,6.5,928,19186,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2246,1889
$GC,19495,0.81,218.4,801.2,6.6,943,19500,0.00,2.67,0.00,0.000,4,0.000,0.064,2512,832,1890
$GC,19535,0.81,218.4,798.6,6.4,945,19539,0.00,2.60,0.00,0.000,6,0.000,0.052,2512,2240,1888
$GC,19861,0.81,218.4,777.5,6.3,961,19863,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,1888
$GC,20172,0.81,218.4,757.3,6.5,976,20173,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,1888
$GC,20480,0.81,218.4,736.7,6.6,991,20484,0.00,2.65,0.00,0.000,4,0.000,0.064,2512,836,1889
$GC,20513,0.81,218.4,734.3,6.9,992,20519,0.00,2.60,0.00,0.000,6,0.000,0.053,2512,2247,1888
$GC,20829,0.81,218.4,713.7,6.6,1008,20830,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2247,1888
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$STATE,31221,end climb,SURFACE_DEPTH_REACHED
$STATE,31221,begin surface coast
$FINISH,0.5,1.026872
$STATE,31243,end surface coast,CONTROL_FINISHED_OK
$STATE,31243,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1949
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$XPDR_PINGS,114
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$24V_AH,23.0,65.857
$10V_AH,10.1,32.869
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$DEVICE_SECS,26.275,237.075,518.200,84.400,0.000,18.046,26.849,215.936,37.250,0.000,0.000,12.383,2663.887,24535.129,849.844,2929.811,778.766,0.000,2341.074,0.000,2873.512,0.000,57.720
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75696,1508
$CAP_FILE_SIZE,211779,0
$CFSIZE,260165632,235356160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,250808,092838,6342.382,-649.608,29,1.4,29,-8.8