version: 66.03
glider: 16
mission: 9
dive: 406
start: 8 25 108 9 38 16
data:
$ID,16
$MISSION,9
$DIVE,406
$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,-2102405
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,092838,6342.382,-649.608,29,1.4,29,-8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-55.1
$GPS2,093757,6342.445,-649.625,13,2.0,13,-8.8
$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,105.8,36940,-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,24,-0.85,-146.6,0.0,0.0,0,166,0.00,0.00,-140.68,0.000,2,0.000,0.000,70,2250,3152
$GC,170,-0.85,-146.6,5.7,-5.2,7,193,11.85,2.60,-4.45,0.000,4,0.175,0.075,2141,3641,3380
$GC,273,-0.71,-146.6,25.1,-10.2,11,278,0.17,2.55,0.00,0.000,6,0.097,0.044,2175,2221,3380
$GC,589,-0.71,-146.6,46.1,-5.9,26,593,0.00,2.58,0.00,0.000,4,0.000,0.054,2174,815,3381
$GC,655,-0.71,-146.6,50.5,-6.4,29,660,0.00,2.58,0.00,0.000,6,0.000,0.044,2175,2234,3381
$GC,978,-0.71,-146.6,72.2,-7.5,45,982,0.00,2.62,0.00,0.000,4,0.000,0.067,2174,3640,3382
$GC,1018,-0.71,-146.6,75.7,-8.7,47,1022,0.00,2.53,0.00,0.000,6,0.000,0.043,2175,2227,3381
$GC,1345,-0.71,-146.6,103.8,-8.8,63,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2227,3383
$GC,1655,-0.71,-146.6,130.2,-8.2,78,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2227,3383
$GC,1963,-0.71,-146.6,155.9,-8.3,93,1967,0.00,2.67,0.00,0.000,4,0.000,0.071,2175,3637,3384
$GC,1990,-0.71,-146.6,158.3,-8.8,94,1994,0.00,2.55,0.00,0.000,6,0.000,0.047,2175,2230,3384
$GC,2306,-0.71,-146.6,183.6,-8.2,109,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2230,3383
$GC,2615,-0.71,-146.6,208.5,-8.2,124,2619,0.00,2.67,0.00,0.000,4,0.000,0.073,2175,3637,3383
$GC,2664,-0.71,-146.6,212.6,-8.1,126,2669,0.00,2.55,0.00,0.000,6,0.000,0.048,2175,2231,3383
$GC,2981,-0.71,-146.6,236.3,-7.5,141,2986,0.00,2.67,0.00,0.000,4,0.000,0.074,2175,3636,3382
$GC,3015,-0.71,-146.6,239.0,-8.0,142,3021,0.00,2.58,0.00,0.000,6,0.000,0.048,2175,2224,3383
$GC,3331,-0.75,-146.6,262.7,-7.5,158,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2224,3382
$GC,3640,-0.75,-146.6,285.6,-7.5,173,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2223,3381
$GC,3949,-0.75,-146.6,308.9,-7.5,188,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2222,3380
$GC,4258,-0.79,-146.6,331.4,-7.0,203,4263,0.00,2.72,0.00,0.000,4,0.000,0.077,2175,3640,3379
$GC,4299,-0.79,-146.6,334.4,-7.8,205,4303,0.00,2.60,0.00,0.000,6,0.000,0.051,2175,2226,3379
$GC,4626,-0.84,-146.6,358.1,-7.1,221,4628,0.15,0.00,0.00,0.000,6,0.053,0.000,2134,2226,3378
$GC,4935,-0.76,-146.6,385.3,-8.9,236,4940,0.15,2.70,0.00,0.000,4,0.100,0.077,2165,3638,3377
$GC,4980,-0.76,-146.6,389.2,-8.2,238,4985,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2231,3377
$GC,5301,-0.76,-146.6,411.7,-6.7,254,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3375
$GC,5612,-0.76,-146.6,432.3,-6.5,269,5616,0.00,2.70,0.00,0.000,4,0.000,0.078,2166,3635,3375
$GC,5655,-0.76,-146.6,435.5,-6.9,271,5660,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2223,3375
$GC,5977,-0.76,-146.6,454.4,-5.5,287,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2223,3374
$GC,6287,-0.76,-146.6,470.1,-5.1,302,6291,0.00,2.70,0.00,0.000,4,0.000,0.078,2166,3638,3373
$GC,6320,-0.76,-146.6,472.0,-5.8,303,6326,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2230,3374
$GC,6636,-0.76,-146.6,488.5,-5.1,319,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3373
$GC,6946,-0.76,-146.6,504.5,-5.1,334,6950,0.00,2.70,0.00,0.000,4,0.000,0.078,2166,3637,3372
$GC,6986,-0.76,-146.6,506.8,-5.9,336,6991,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2230,3372
$GC,7313,-0.76,-146.6,523.4,-5.1,352,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3372
$GC,7624,-0.76,-146.6,539.6,-5.3,367,7628,0.00,2.70,0.00,0.000,4,0.000,0.078,2166,3638,3371
$GC,7651,-0.76,-146.6,541.2,-6.2,368,7655,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2230,3371
$GC,7966,-0.76,-146.6,559.3,-5.9,383,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3370
$GC,8276,-0.76,-146.6,578.3,-6.0,398,8281,0.00,2.70,0.00,0.000,4,0.000,0.077,2166,3638,3370
$GC,8309,-0.76,-146.6,580.6,-6.7,399,8315,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2229,3369
$GC,8626,-0.76,-146.6,600.6,-6.5,415,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2228,3369
$GC,8935,-0.76,-146.6,620.6,-6.3,430,8939,0.00,2.70,0.00,0.000,4,0.000,0.078,2166,3637,3369
$GC,8968,-0.76,-146.6,623.0,-6.7,431,8974,0.00,2.58,0.00,0.000,6,0.000,0.050,2166,2226,3368
$GC,9284,-0.81,-146.6,643.4,-6.5,447,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2226,3368
$GC,9593,-0.81,-146.6,663.6,-6.6,462,9598,0.00,2.70,0.00,0.000,4,0.000,0.079,2166,3634,3368
$GC,9633,-0.81,-146.6,666.5,-7.7,464,9638,0.00,2.58,0.00,0.000,6,0.000,0.051,2166,2226,3367
$GC,9960,-0.81,-146.6,688.9,-7.1,480,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2225,3367
$GC,10271,-0.85,-146.6,710.4,-6.8,495,10275,0.00,2.70,0.00,0.000,4,0.000,0.078,2166,3638,3367
$GC,10305,-0.85,-146.6,712.9,-7.3,496,10312,0.00,2.55,0.00,0.000,6,0.000,0.051,2166,2233,3366
$GC,10621,-0.89,-146.6,734.3,-6.8,512,10623,0.15,0.00,0.00,0.000,6,0.058,0.000,2127,2231,3366
$GC,10931,-0.81,-146.6,760.4,-8.2,527,10933,0.12,0.00,0.00,0.000,6,0.106,0.000,2149,2232,3366
$GC,11239,-0.81,-146.6,784.1,-7.4,542,11243,0.00,2.70,0.00,0.000,4,0.000,0.080,2149,3635,3365
$GC,11266,-0.81,-146.6,786.4,-8.4,543,11270,0.00,2.58,0.00,0.000,6,0.000,0.051,2149,2230,3365
$GC,11582,-0.81,-146.6,809.9,-7.4,558,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2230,3365
$GC,11891,-0.81,-146.6,833.4,-7.5,573,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2230,3365
$GC,12200,-0.81,-146.6,856.6,-7.3,588,12205,0.00,2.70,0.00,0.000,4,0.000,0.077,2149,3637,3365
$GC,12234,-0.81,-146.6,859.2,-7.9,589,12240,0.00,2.58,0.00,0.000,6,0.000,0.051,2149,2229,3363
$GC,12549,-0.81,-146.6,882.4,-7.4,605,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2230,3364
$GC,12859,-0.81,-146.6,904.6,-6.9,620,12863,0.00,2.70,0.00,0.000,4,0.000,0.077,2149,3639,3364
$GC,12886,-0.81,-146.6,906.6,-7.2,621,12891,0.00,2.58,0.00,0.000,6,0.000,0.051,2149,2229,3364
$GC,13202,-0.81,-146.6,927.2,-6.3,636,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2228,3364
$GC,13512,-0.81,-146.6,946.6,-6.2,651,13513,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2228,3364
$GC,13822,-0.81,-146.6,964.8,-5.9,666,13827,0.00,2.67,0.00,0.000,4,0.000,0.074,2149,3634,3363
$GC,13852,-0.81,-146.6,966.7,-6.5,667,13856,0.00,2.58,0.00,0.000,6,0.000,0.050,2149,2221,3363
$GC,14168,-0.81,-146.6,985.0,-5.9,682,14169,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2222,3363
$STATE,14267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14267,begin apogee
$GC,14275,-0.31,0.0,990.8,5.6,687,14419,0.55,0.00,135.98,1.300,6,0.102,0.000,2258,2221,2781
$STATE,14420,end apogee,CONTROL_FINISHED_OK
$STATE,14420,begin climb
$GC,14423,0.85,146.6,995.4,0.0,694,14567,1.23,2.67,135.85,1.293,4,0.085,0.062,2509,832,2183
$GC,14634,0.73,146.6,989.6,6.8,703,14640,0.00,2.60,0.00,0.000,6,0.000,0.049,2509,2239,2181
$GC,14950,0.65,146.6,968.4,6.7,719,14952,0.20,0.00,0.00,0.000,6,0.104,0.000,2470,2240,2181
$GC,15260,0.67,162.1,950.7,5.6,734,15278,0.00,0.00,15.75,1.229,6,0.000,0.000,2470,2240,2120
$GC,15588,0.69,180.3,932.4,5.5,750,15609,0.00,0.00,18.50,1.244,6,0.000,0.000,2470,2240,2046
$GC,15918,0.75,195.5,914.0,5.6,766,15938,0.10,0.00,15.35,1.216,6,0.067,0.000,2496,2240,1984
$GC,16247,0.75,195.5,891.7,6.7,782,16249,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2240,1984
$GC,16556,0.75,195.5,871.6,6.3,797,16557,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2240,1984
$GC,16865,0.75,195.5,852.9,6.0,812,16866,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2240,1984
$GC,17175,0.75,195.5,833.6,6.3,827,17176,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2240,1984
$GC,17484,0.75,195.5,813.8,6.6,842,17488,0.00,2.65,0.00,0.000,4,0.000,0.063,2497,832,1984
$GC,17516,0.75,195.5,811.5,6.9,843,17522,0.00,2.60,0.00,0.000,6,0.000,0.051,2496,2243,1983
$GC,17833,0.75,195.5,788.7,7.6,859,17834,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2243,1984
$GC,18141,0.75,195.5,765.2,7.5,874,18142,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2244,1983
$GC,18451,0.71,195.5,742.0,7.7,889,18452,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2243,1984
$GC,18760,0.71,195.5,717.9,7.8,904,18765,0.00,2.67,0.00,0.000,4,0.000,0.063,2496,828,1983
$GC,18801,0.71,195.5,714.5,9.0,906,18805,0.00,2.62,0.00,0.000,6,0.000,0.052,2496,2248,1983
$GC,19127,0.71,195.5,689.1,7.7,922,19128,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2248,1983
$GC,19437,0.71,195.5,665.1,8.0,937,19438,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2248,1983
$GC,19745,0.71,195.5,640.6,7.9,952,19750,0.00,2.67,0.00,0.000,4,0.000,0.064,2496,828,1983
$GC,19778,0.71,195.5,637.7,8.1,953,19785,0.00,2.60,0.00,0.000,6,0.000,0.052,2496,2238,1983
$GC,20095,0.67,195.5,612.4,8.3,969,20096,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2238,1983
$GC,20403,0.67,195.5,588.1,7.7,984,20404,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2238,1983
$GC,20712,0.67,195.5,564.5,7.4,999,20714,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2238,1983
$GC,21023,0.67,195.5,541.9,7.3,1014,21024,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2238,1983
$GC,21331,0.67,195.5,519.1,7.5,1029,21332,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2238,1983
$GC,21640,0.67,195.5,497.3,7.0,1044,21641,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2238,1983
$GC,21950,0.67,195.5,476.7,6.4,1059,21951,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2238,1983
$GC,22259,0.67,196.5,457.6,6.0,1074,22260,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2238,1983
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$STATE,28885,end climb,SURFACE_DEPTH_REACHED
$STATE,28885,begin surface coast
$FINISH,0.7,1.026897
$STATE,28907,end surface coast,CONTROL_FINISHED_OK
$STATE,28907,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1913
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$XPDR_PINGS,95
$ALTIM_TOP_PING,18.9,17.4
$24V_AH,23.1,66.050
$10V_AH,10.1,32.989
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$DEVICE_SECS,25.925,189.300,438.050,124.300,0.000,36.304,55.284,249.871,32.500,0.000,0.000,13.689,2435.689,22896.756,800.579,2659.174,808.899,0.000,2133.787,0.000,2607.267,0.000,57.721
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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,69392,1395
$CAP_FILE_SIZE,189130,0
$CFSIZE,260165632,235294720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,250808,174355,6342.048,-644.362,25,1.5,42,-8.7