version: 66.03
glider: 16
mission: 9
dive: 414
start: 8 28 108 2 10 5
data:
$ID,16
$MISSION,9
$DIVE,414
$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,-2102615.2
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,020355,6340.089,-603.645,26,1.2,45,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-58.6
$GPS2,020947,6340.107,-603.567,16,2.7,35,-8.3
$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,268.8,1194,-27.3,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.74,-28.8,0.0,0.0,0,129,0.00,0.00,-101.10,0.000,2,0.000,0.000,70,2250,2544
$GC,132,-1.77,-58.8,3.0,-1.8,5,167,10.57,2.58,-18.30,0.000,4,0.170,0.070,1938,3629,3022
$GC,198,-1.58,-58.8,10.3,-17.1,8,204,0.25,2.50,0.00,0.000,6,0.127,0.042,1982,2228,3021
$GC,526,-1.58,-58.8,63.3,-15.5,24,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2228,3022
$GC,835,-1.62,-58.8,107.7,-13.7,39,840,0.00,2.60,0.00,0.000,4,0.000,0.059,1982,3636,3022
$GC,1017,-1.62,-58.8,134.0,-14.6,47,1022,0.00,2.53,0.00,0.000,6,0.000,0.041,1982,2221,3022
$GC,1339,-1.67,-58.8,179.4,-14.3,63,1343,0.00,2.62,0.00,0.000,4,0.000,0.061,1983,3643,3022
$GC,1417,-1.67,-58.8,191.6,-15.4,66,1423,0.00,2.53,0.00,0.000,6,0.000,0.042,1982,2230,3023
$GC,1733,-1.72,-58.8,238.6,-15.0,82,1738,0.12,2.60,0.00,0.000,4,0.054,0.061,1950,3634,3023
$GC,1809,-1.64,-58.8,250.9,-16.8,85,1814,0.12,2.53,0.00,0.000,6,0.123,0.042,1971,2221,3023
$GC,2126,-1.64,-58.8,300.4,-15.3,100,2130,0.00,2.62,0.00,0.000,4,0.000,0.064,1971,3634,3023
$GC,2192,-1.64,-58.8,311.1,-15.9,103,2196,0.00,2.53,0.00,0.000,6,0.000,0.044,1971,2224,3023
$GC,2516,-1.64,-58.8,355.6,-13.2,119,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2225,3024
$GC,2822,-1.64,-58.8,395.2,-12.2,134,2826,0.00,2.60,0.00,0.000,4,0.000,0.060,1970,811,3024
$GC,2900,-1.69,-58.8,405.0,-12.7,137,2906,0.00,2.58,0.00,0.000,6,0.000,0.050,1971,2226,3024
$GC,3216,-1.69,-58.8,445.8,-13.2,153,3220,0.00,2.65,0.00,0.000,4,0.000,0.070,1971,3643,3023
$GC,3271,-1.64,-58.8,453.9,-15.3,155,3278,0.00,2.55,0.00,0.000,6,0.000,0.049,1971,2232,3023
$GC,3588,-1.64,-58.8,496.8,-13.6,171,3593,0.00,2.62,0.00,0.000,4,0.000,0.061,1972,815,3022
$GC,3633,-1.69,-58.8,503.4,-14.3,173,3638,0.00,2.60,0.00,0.000,6,0.000,0.051,1971,2237,3022
$GC,3954,-1.69,-58.8,547.3,-13.5,189,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2237,3021
$GC,4265,-1.69,-58.8,590.9,-14.0,204,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2237,3019
$GC,4573,-1.69,-58.8,634.1,-14.0,219,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2237,3018
$GC,4883,-1.69,-58.8,676.6,-13.5,234,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2237,3017
$GC,5192,-1.69,-58.8,718.4,-13.2,249,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2237,3015
$GC,5501,-1.69,-58.8,759.0,-13.0,264,5505,0.00,2.65,0.00,0.000,4,0.000,0.075,1971,3638,3014
$GC,5528,-1.69,-58.8,763.0,-14.8,265,5532,0.00,2.58,0.00,0.000,6,0.000,0.050,1971,2225,3013
$GC,5844,-1.69,-58.8,803.8,-13.0,280,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2225,3013
$GC,6153,-1.69,-58.8,843.5,-12.7,295,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2225,3011
$GC,6463,-1.73,-58.8,883.0,-12.6,310,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2225,3011
$GC,6772,-1.77,-58.8,922.0,-12.7,325,6777,0.12,2.67,0.00,0.000,4,0.073,0.073,1943,3641,3010
$GC,6834,-1.67,-58.8,931.1,-14.9,328,6839,0.12,2.58,0.00,0.000,6,0.141,0.050,1963,2221,3010
$GC,7162,-1.67,-58.8,972.4,-12.4,344,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2221,3009
$STATE,7303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7303,begin apogee
$GC,7310,-0.31,0.0,990.6,12.7,351,7385,1.58,0.00,58.00,1.251,6,0.132,0.000,2260,2221,2781
$STATE,7386,end apogee,CONTROL_FINISHED_OK
$STATE,7386,begin climb
$GC,7389,1.77,58.8,993.8,0.0,355,7450,2.22,0.00,56.12,1.266,6,0.087,0.000,2713,2221,2541
$GC,7758,1.67,96.6,992.9,0.8,373,7807,0.00,2.75,38.65,1.256,4,0.000,0.067,2713,3647,2387
$GC,7865,1.51,96.6,987.8,8.3,378,7871,0.28,2.58,0.00,0.000,6,0.127,0.048,2664,2237,2387
$GC,8193,1.51,96.6,962.1,7.8,394,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2237,2386
$GC,8501,1.51,96.6,938.4,7.6,409,8506,0.00,2.65,0.00,0.000,4,0.000,0.067,2664,3648,2386
$GC,8632,1.44,96.6,927.7,8.1,415,8637,0.00,2.58,0.00,0.000,6,0.000,0.050,2664,2232,2386
$GC,8960,1.44,96.6,904.3,7.0,431,8964,0.00,2.67,0.00,0.000,4,0.000,0.068,2664,3649,2385
$GC,9067,1.36,96.6,895.8,8.4,436,9072,0.20,2.58,0.00,0.000,6,0.137,0.049,2630,2240,2385
$GC,9395,1.44,96.6,874.3,6.6,452,9400,0.00,2.65,0.00,0.000,4,0.000,0.069,2630,3648,2384
$GC,9457,1.44,96.6,870.0,7.5,455,9461,0.00,2.55,0.00,0.000,6,0.000,0.049,2630,2240,2384
$GC,9785,1.53,96.6,848.9,6.3,471,9787,0.15,0.00,0.00,0.000,6,0.067,0.000,2664,2240,2384
$GC,10093,1.53,96.6,827.5,6.8,486,10097,0.00,2.65,0.00,0.000,4,0.000,0.070,2664,3647,2383
$GC,10275,1.46,96.6,814.2,7.4,494,10280,0.00,2.55,0.00,0.000,6,0.000,0.050,2664,2241,2383
$GC,10596,1.46,96.6,792.5,6.5,510,10601,0.00,2.65,0.00,0.000,4,0.000,0.070,2664,3648,2383
$GC,10659,1.39,96.6,788.2,6.4,513,10664,0.17,2.58,0.00,0.000,6,0.130,0.049,2634,2235,2383
$GC,10987,1.46,99.8,769.6,5.6,529,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2235,2383
$GC,11296,1.54,104.9,752.8,5.3,544,11310,0.15,2.72,8.35,1.045,4,0.067,0.071,2673,3646,2353
$GC,11452,1.45,104.9,741.5,8.2,551,11457,0.15,2.58,0.00,0.000,6,0.129,0.050,2649,2243,2353
$GC,11780,1.50,104.9,720.5,6.4,567,11781,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2243,2353
$GC,12090,1.55,104.9,701.3,6.1,582,12095,0.00,2.65,0.00,0.000,4,0.000,0.071,2649,3647,2353
$GC,12179,1.55,104.9,695.2,6.8,586,12184,0.00,2.58,0.00,0.000,6,0.000,0.050,2649,2233,2352
$GC,12501,1.60,105.7,676.2,5.9,602,12506,0.15,2.67,0.00,0.000,4,0.067,0.071,2687,3648,2352
$GC,12620,1.48,105.7,667.8,6.9,607,12625,0.20,2.58,0.00,0.000,6,0.130,0.050,2652,2234,2352
$GC,12936,1.52,107.5,649.2,5.7,622,12945,0.00,2.67,4.07,0.758,4,0.000,0.072,2653,3647,2342
$GC,13072,1.52,107.5,640.1,6.7,628,13076,0.00,2.58,0.00,0.000,6,0.000,0.050,2653,2239,2342
$GC,13399,1.56,107.5,620.2,6.1,644,13403,0.00,2.67,0.00,0.000,4,0.000,0.073,2653,3650,2342
$GC,13522,1.56,107.5,612.1,6.9,649,13528,0.00,2.58,0.00,0.000,6,0.000,0.049,2653,2235,2342
$GC,13838,1.57,108.6,593.3,5.9,665,13843,0.00,2.67,0.00,0.000,4,0.000,0.073,2653,3650,2342
$GC,14016,1.57,108.6,581.8,6.8,673,14020,0.00,2.58,0.00,0.000,6,0.000,0.050,2653,2238,2342
$GC,14342,1.61,108.6,561.6,6.2,689,14347,0.15,2.67,0.00,0.000,4,0.068,0.072,2691,3653,2342
$GC,14510,1.49,108.6,549.0,7.3,696,14517,0.20,2.58,0.00,0.000,6,0.129,0.051,2655,2239,2342
$GC,14826,1.49,108.6,529.4,6.2,712,14827,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2239,2341
$GC,15135,1.49,108.6,510.1,6.2,727,15136,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2239,2342
$GC,15445,1.49,108.6,491.1,6.4,742,15449,0.00,2.67,0.00,0.000,4,0.000,0.072,2657,3653,2342
$GC,15562,1.49,108.6,483.2,6.6,747,15567,0.00,2.58,0.00,0.000,6,0.000,0.050,2657,2238,2342
$GC,15879,1.49,111.0,464.6,5.7,762,15886,0.00,0.00,4.78,0.765,6,0.000,0.000,2657,2238,2328
$GC,16188,1.54,111.0,446.1,6.0,777,16189,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2238,2328
$GC,16498,1.59,111.0,426.6,6.7,792,16503,0.00,2.67,0.00,0.000,4,0.000,0.072,2657,3650,2328
$GC,16600,1.59,111.0,419.4,7.4,796,16606,0.00,2.58,0.00,0.000,6,0.000,0.050,2657,2234,2329
$GC,16916,1.63,111.0,398.2,6.7,812,16918,0.12,0.00,0.00,0.000,6,0.070,0.000,2686,2235,2328
$GC,17225,1.63,111.0,375.7,7.0,827,17226,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2234,2328
$GC,17535,1.63,111.0,355.0,6.2,842,17539,0.00,2.67,0.00,0.000,4,0.000,0.071,2685,3652,2328
$GC,17794,1.53,111.0,337.6,6.2,853,17800,0.00,2.58,0.00,0.000,6,0.000,0.049,2685,2236,2328
$GC,18111,1.54,118.6,320.7,5.0,869,18125,0.00,2.70,8.20,0.828,4,0.000,0.071,2685,3641,2297
$GC,18383,1.45,119.9,303.5,5.8,881,18388,0.20,2.58,0.00,0.000,6,0.126,0.050,2651,2235,2297
$GC,18710,1.53,123.9,286.0,5.4,897,18724,0.00,2.70,6.75,0.771,4,0.000,0.070,2651,3651,2274
$GC,18849,1.53,123.9,275.7,7.3,903,18854,0.00,2.58,0.00,0.000,6,0.000,0.048,2651,2239,2274
$GC,19170,1.61,123.9,251.4,7.3,919,19175,0.15,2.62,0.00,0.000,4,0.062,0.061,2690,828,2274
$GC,19428,1.56,123.9,233.4,6.6,930,19434,0.00,2.55,0.00,0.000,6,0.000,0.047,2691,2241,2274
$GC,19744,1.56,127.8,215.8,5.5,946,19754,0.00,2.62,4.97,0.658,4,0.000,0.055,2690,830,2259
$GC,19934,1.52,127.8,204.2,6.8,954,19940,0.17,2.55,0.00,0.000,6,0.117,0.045,2659,2242,2260
$GC,20250,1.60,131.3,186.6,5.5,970,20260,0.00,2.60,5.30,0.648,4,0.000,0.065,2660,3646,2244
$GC,20295,1.60,131.3,183.8,6.2,972,20299,0.00,2.55,0.00,0.000,6,0.000,0.045,2659,2239,2244
$GC,20616,1.69,131.3,161.5,7.0,988,20621,0.15,2.62,0.00,0.000,4,0.057,0.063,2700,3650,2245
$GC,20679,1.60,131.3,156.1,8.8,991,20684,0.12,2.55,0.00,0.000,6,0.120,0.045,2679,2237,2245
$GC,21007,1.60,131.3,129.7,8.5,1007,21011,0.00,2.62,0.00,0.000,4,0.000,0.062,2678,3653,2246
$GC,21085,1.60,131.3,122.5,9.4,1010,21091,0.00,2.53,0.00,0.000,6,0.000,0.044,2679,2240,2246
$GC,21401,1.60,131.3,94.3,9.4,1026,21403,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2240,2246
$GC,21710,1.60,131.3,65.9,8.7,1041,21714,0.00,2.60,0.00,0.000,4,0.000,0.061,2679,3649,2248
$GC,21855,1.60,131.3,53.4,8.0,1047,21861,0.00,2.53,0.00,0.000,6,0.000,0.044,2679,2234,2249
$GC,22173,1.60,131.3,32.3,6.8,1063,22178,0.00,2.62,0.00,0.000,4,0.000,0.061,2679,3653,2249
$GC,22432,1.60,131.3,17.8,6.1,1074,22439,0.00,2.53,0.00,0.000,6,0.000,0.043,2679,2232,2250
$STATE,22705,end climb,SURFACE_DEPTH_REACHED
$STATE,22705,begin surface coast
$FINISH,0.6,1.027013
$STATE,22726,end surface coast,CONTROL_FINISHED_OK
$STATE,22726,begin surface
$SM_CCo,22749,225.77,0.628,1,0,509,557.32
$SM_GC,1.43,0.00,0.00,225.77,0.000,0.000,0.628,73,2231,509,-10.38,0.03,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1864
$TCM_TEMP,17.60
$XPDR_PINGS,84
$ALTIM_TOP_PING,19.9,18.4
$24V_AH,23.2,67.452
$10V_AH,10.1,33.926
$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,29.375,182.300,195.200,225.775,0.000,18.447,26.146,145.956,29.750,0.000,0.000,36.730,2094.225,17247.473,680.909,2706.294,599.074,0.000,1963.740,0.000,2622.270,0.000,57.741
$DEVICE_MAMPS,170.274,75.166,1266.317,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,809.635,752.674,576.433,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56868,1089
$CAP_FILE_SIZE,172331,0
$CFSIZE,260165632,234663936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,4,0
$GPS,280808,083431,6340.099,-605.735,38,1.8,43,-8.4