version: 66.03
glider: 16
mission: 9
dive: 417
start: 8 28 108 20 53 48
data:
$ID,16
$MISSION,9
$DIVE,417
$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,-2102675.2
$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,20
$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
$GPS1,204738,6340.512,-604.281,39,1.3,39,-8.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-60.2
$GPS2,205327,6340.563,-604.198,12,1.4,12,-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,220.6,1233,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.74,-28.8,0.0,0.0,0,131,0.00,0.00,-105.47,0.000,2,0.000,0.000,71,2229,2631
$GC,135,-1.77,-56.4,3.4,-2.2,6,165,10.65,2.65,-12.77,0.000,4,0.173,0.067,1937,813,3011
$GC,189,-1.67,-56.4,10.8,-17.5,8,194,0.15,2.58,0.00,0.000,6,0.141,0.045,1960,2230,3011
$GC,506,-1.67,-56.4,68.4,-17.3,23,510,0.00,2.60,0.00,0.000,4,0.000,0.061,1961,3641,3012
$GC,677,-1.59,-56.4,98.2,-16.7,30,684,0.12,2.53,0.00,0.000,6,0.133,0.043,1981,2228,3012
$GC,994,-1.59,-56.4,144.4,-13.8,46,999,0.00,2.62,0.00,0.000,4,0.000,0.064,1981,3641,3013
$GC,1083,-1.59,-56.4,157.7,-15.0,50,1087,0.00,2.53,0.00,0.000,6,0.000,0.043,1981,2230,3014
$GC,1406,-1.59,-56.4,201.0,-13.1,66,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2230,3013
$GC,1714,-1.59,-56.4,241.6,-12.5,81,1718,0.00,2.58,0.00,0.000,4,0.000,0.056,1981,815,3014
$GC,1800,-1.66,-56.4,252.1,-12.0,85,1804,0.00,2.58,0.00,0.000,6,0.000,0.047,1981,2233,3014
$GC,2126,-1.66,-56.4,294.3,-13.2,101,2131,0.00,2.62,0.00,0.000,4,0.000,0.069,1981,3640,3014
$GC,2199,-1.66,-56.4,305.2,-15.0,104,2203,0.00,2.55,0.00,0.000,6,0.000,0.047,1981,2230,3014
$GC,2515,-1.66,-56.4,349.2,-13.6,119,2520,0.00,2.65,0.00,0.000,4,0.000,0.071,1981,3642,3014
$GC,2587,-1.66,-56.4,360.0,-15.2,122,2591,0.00,2.58,0.00,0.000,6,0.000,0.050,1981,2228,3014
$GC,2909,-1.70,-56.4,402.8,-13.1,138,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2228,3014
$GC,3217,-1.75,-56.4,442.9,-12.8,153,3222,0.15,2.67,0.00,0.000,4,0.060,0.072,1945,3640,3012
$GC,3245,-1.65,-56.4,447.2,-15.3,154,3250,0.12,2.58,0.00,0.000,6,0.131,0.051,1966,2227,3012
$GC,3561,-1.65,-56.4,490.3,-13.5,169,3566,0.00,2.67,0.00,0.000,4,0.000,0.073,1967,3638,3012
$GC,3606,-1.58,-56.4,497.0,-14.1,171,3610,0.00,2.58,0.00,0.000,6,0.000,0.051,1966,2226,3011
$GC,3926,-1.58,-56.4,540.2,-13.4,187,3931,0.00,2.62,0.00,0.000,4,0.000,0.064,1966,814,3010
$GC,3955,-1.58,-56.4,544.1,-14.3,188,3959,0.00,2.60,0.00,0.000,6,0.000,0.051,1966,2233,3010
$GC,4271,-1.58,-56.4,587.1,-13.8,203,4275,0.00,2.65,0.00,0.000,4,0.000,0.074,1966,3644,3009
$GC,4333,-1.52,-56.4,596.3,-14.7,206,4339,0.17,2.58,0.00,0.000,6,0.134,0.050,1995,2223,3009
$GC,4664,-1.61,-56.4,637.0,-12.3,222,4668,0.00,2.62,0.00,0.000,4,0.000,0.064,1995,815,3008
$GC,4719,-1.73,-56.4,644.4,-12.4,224,4726,0.20,2.60,0.00,0.000,6,0.060,0.051,1949,2232,3008
$GC,5035,-1.73,-56.4,688.8,-14.1,240,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2233,3007
$GC,5344,-1.73,-56.4,731.7,-13.5,255,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2233,3006
$GC,5653,-1.73,-56.4,773.5,-13.8,270,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2233,3005
$GC,5963,-1.73,-56.4,815.8,-13.6,285,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2233,3003
$GC,6272,-1.73,-56.4,857.4,-13.3,300,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2234,3003
$GC,6581,-1.73,-56.4,898.9,-13.3,315,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2234,3002
$GC,6891,-1.73,-56.4,940.4,-13.4,330,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2234,3000
$GC,7200,-1.73,-56.4,981.6,-13.4,345,7204,0.00,2.65,0.00,0.000,4,0.000,0.061,1949,821,3000
$GC,7232,-1.73,-56.4,986.0,-13.5,346,7238,0.00,2.58,0.00,0.000,6,0.000,0.050,1949,2232,3001
$STATE,7277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7277,begin apogee
$GC,7284,-0.31,0.0,992.1,13.3,349,7361,1.65,0.00,57.70,1.216,6,0.136,0.000,2258,2232,2781
$STATE,7362,end apogee,CONTROL_FINISHED_OK
$STATE,7362,begin climb
$GC,7365,1.77,56.4,995.4,0.0,353,7431,2.22,0.00,55.88,1.231,6,0.082,0.000,2714,2232,2552
$GC,7733,1.69,108.2,1000.2,-1.2,371,7788,0.00,2.72,49.72,1.332,4,0.000,0.068,2714,3647,2339
$GC,7979,1.56,108.2,981.4,10.6,381,7985,0.22,2.58,0.00,0.000,6,0.122,0.048,2675,2234,2339
$GC,8296,1.56,108.2,952.6,9.1,396,8301,0.00,2.65,0.00,0.000,4,0.000,0.067,2674,3652,2338
$GC,8392,1.49,108.2,943.1,10.3,400,8397,0.12,2.58,0.00,0.000,6,0.136,0.048,2654,2234,2338
$GC,8707,1.49,108.2,916.1,8.6,415,8712,0.00,2.67,0.00,0.000,4,0.000,0.067,2654,3653,2338
$GC,8809,1.49,108.2,906.5,10.5,419,8815,0.00,2.58,0.00,0.000,6,0.000,0.048,2654,2234,2338
$GC,9124,1.49,108.2,880.1,8.3,435,9129,0.00,2.65,0.00,0.000,4,0.000,0.068,2654,3646,2337
$GC,9203,1.49,108.2,872.9,9.3,438,9209,0.00,2.55,0.00,0.000,6,0.000,0.049,2654,2241,2337
$GC,9519,1.49,108.2,845.8,8.5,454,9523,0.00,2.65,0.00,0.000,4,0.000,0.069,2654,3652,2337
$GC,9641,1.49,108.2,834.4,9.4,459,9647,0.00,2.55,0.00,0.000,6,0.000,0.049,2654,2240,2337
$GC,9958,1.49,108.2,808.5,8.2,475,9962,0.00,2.62,0.00,0.000,4,0.000,0.069,2654,3646,2336
$GC,10024,1.49,108.2,802.8,8.0,478,10028,0.00,2.55,0.00,0.000,6,0.000,0.049,2654,2240,2336
$GC,10345,1.53,108.2,777.1,8.0,494,10349,0.00,2.65,0.00,0.000,4,0.000,0.070,2654,3647,2336
$GC,10463,1.53,108.2,766.7,8.8,499,10467,0.00,2.55,0.00,0.000,6,0.000,0.049,2654,2240,2336
$GC,10778,1.53,108.2,741.0,8.3,514,10783,0.00,2.65,0.00,0.000,4,0.000,0.071,2654,3647,2336
$GC,10820,1.49,108.2,737.4,8.9,516,10825,0.00,2.55,0.00,0.000,6,0.000,0.048,2654,2238,2336
$GC,11147,1.49,108.2,709.7,8.3,532,11152,0.00,2.67,0.00,0.000,4,0.000,0.071,2654,3652,2335
$GC,11214,1.49,108.2,703.7,9.2,535,11219,0.00,2.55,0.00,0.000,6,0.000,0.048,2654,2240,2335
$GC,11537,1.49,108.2,677.0,8.4,551,11541,0.00,2.65,0.00,0.000,4,0.000,0.071,2654,3647,2335
$GC,11609,1.49,108.2,670.4,9.2,554,11613,0.00,2.55,0.00,0.000,6,0.000,0.049,2654,2240,2335
$GC,11924,1.49,108.2,644.9,7.9,569,11929,0.00,2.67,0.00,0.000,4,0.000,0.071,2654,3648,2334
$GC,12025,1.49,108.2,636.5,7.8,573,12031,0.00,2.55,0.00,0.000,6,0.000,0.050,2654,2240,2335
$GC,12341,1.49,108.2,613.0,7.3,589,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2240,2335
$GC,12650,1.49,108.2,590.9,7.1,604,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2240,2334
$GC,12961,1.53,108.2,569.6,6.9,619,12965,0.00,2.65,0.00,0.000,4,0.000,0.072,2654,3647,2334
$GC,12982,1.53,108.2,568.1,6.7,620,12986,0.00,2.55,0.00,0.000,6,0.000,0.048,2654,2237,2334
$GC,13303,1.53,108.2,547.5,6.4,636,13308,0.00,2.65,0.00,0.000,4,0.000,0.071,2654,3646,2334
$GC,13562,1.53,108.2,527.8,7.4,647,13568,0.00,2.55,0.00,0.000,6,0.000,0.049,2654,2241,2334
$GC,13878,1.53,108.2,506.2,6.8,663,13882,0.00,2.65,0.00,0.000,4,0.000,0.072,2654,3649,2334
$GC,14023,1.53,108.2,495.5,7.1,669,14029,0.00,2.58,0.00,0.000,6,0.000,0.050,2654,2232,2334
$GC,14339,1.57,108.2,474.0,6.7,685,14343,0.00,2.67,0.00,0.000,4,0.000,0.072,2654,3645,2334
$GC,14551,1.57,108.2,458.9,7.3,694,14557,0.00,2.55,0.00,0.000,6,0.000,0.050,2654,2241,2335
$GC,14867,1.57,110.4,440.0,5.7,710,14871,0.00,2.65,0.00,0.000,4,0.000,0.072,2654,3649,2334
$GC,14912,1.57,111.1,437.4,5.9,712,14916,0.00,2.55,0.00,0.000,6,0.000,0.049,2654,2240,2334
$GC,15233,1.62,115.9,419.5,5.3,728,15248,0.12,2.70,7.28,0.854,4,0.071,0.071,2683,3645,2307
$GC,15323,1.52,115.9,413.7,6.8,732,15328,0.12,2.58,0.00,0.000,6,0.136,0.049,2663,2241,2308
$GC,15650,1.52,116.5,394.2,5.9,748,15651,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2241,2308
$GC,15959,1.52,116.5,375.1,6.1,763,15960,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2241,2308
$GC,16269,1.52,116.5,356.5,6.2,778,16273,0.00,2.62,0.00,0.000,4,0.000,0.062,2663,827,2307
$GC,16493,1.53,118.0,342.6,5.8,788,16497,0.00,2.58,0.00,0.000,6,0.000,0.048,2663,2240,2308
$GC,16815,1.53,118.5,323.3,5.9,804,16824,0.00,2.62,4.32,0.673,4,0.000,0.059,2662,830,2297
$GC,16962,1.53,123.7,314.1,5.3,810,16974,0.00,2.58,6.28,0.771,6,0.000,0.048,2663,2242,2276
$GC,17284,1.57,123.7,294.9,6.2,826,17285,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2242,2276
$GC,17593,1.61,123.7,274.7,6.5,841,17597,0.00,2.62,0.00,0.000,4,0.000,0.071,2663,3652,2276
$GC,17851,1.62,126.7,256.7,5.6,852,17861,0.00,2.55,4.47,0.648,6,0.000,0.048,2663,2241,2264
$GC,18183,1.68,126.7,235.4,6.1,869,18188,0.15,2.65,0.00,0.000,4,0.064,0.067,2702,3653,2263
$GC,18441,1.56,126.7,215.6,8.4,880,18448,0.17,2.55,0.00,0.000,6,0.123,0.047,2672,2239,2264
$GC,18760,1.56,126.7,194.7,6.3,896,18764,0.00,2.62,0.00,0.000,4,0.000,0.065,2671,3648,2264
$GC,19017,1.56,126.7,176.7,6.9,907,19023,0.00,2.55,0.00,0.000,6,0.000,0.046,2672,2232,2264
$GC,19334,1.61,126.7,156.8,6.5,923,19338,0.00,2.62,0.00,0.000,4,0.000,0.063,2672,3649,2265
$GC,19591,1.61,126.7,138.3,7.9,934,19598,0.00,2.53,0.00,0.000,6,0.000,0.044,2672,2233,2266
$GC,19908,1.61,126.7,114.8,7.5,950,19913,0.00,2.62,0.00,0.000,4,0.000,0.062,2672,3650,2268
$GC,20053,1.61,126.7,103.2,7.7,956,20060,0.00,2.53,0.00,0.000,6,0.000,0.044,2672,2242,2267
$GC,20370,1.66,126.7,81.5,6.9,972,20371,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2241,2269
$GC,20681,1.66,127.0,60.8,6.0,987,20686,0.00,2.60,0.00,0.000,4,0.000,0.062,2672,3650,2270
$GC,20703,1.66,127.0,59.2,6.1,988,20708,0.00,2.53,0.00,0.000,6,0.000,0.044,2672,2238,2270
$GC,21026,1.72,127.0,39.0,6.1,1004,21035,0.15,2.60,3.47,0.439,4,0.053,0.055,2716,833,2263
$GC,21287,1.63,127.0,23.3,6.0,1015,21294,0.15,2.50,0.00,0.000,6,0.111,0.041,2688,2243,2263
$GC,21605,1.63,129.1,6.7,5.7,1031,21614,0.00,2.62,3.53,0.425,4,0.000,0.061,2688,3647,2253
$STATE,21669,end climb,SURFACE_DEPTH_REACHED
$STATE,21670,begin surface coast
$FINISH,0.7,1.015866
$STATE,21693,end surface coast,CONTROL_FINISHED_OK
$STATE,21693,begin surface
$SM_CCo,21719,225.20,0.627,0,0,509,557.32
$SM_GC,1.45,0.00,0.00,225.20,0.000,0.000,0.627,73,2231,509,-10.38,0.03,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1838
$TCM_TEMP,16.60
$XPDR_PINGS,106
$ALTIM_TOP_PING,19.8,18.5
$24V_AH,23.1,67.821
$10V_AH,10.1,34.226
$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,28.175,202.875,192.650,225.200,0.000,18.297,28.491,166.581,35.250,0.000,0.000,12.455,2018.040,16300.617,684.790,2670.355,618.869,0.000,1970.667,0.000,2606.678,0.000,57.738
$DEVICE_MAMPS,172.575,73.632,1332.279,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,767.583,713.234,569.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53783,1035
$CAP_FILE_SIZE,169532,0
$CFSIZE,260165632,234442752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,4,0
$GPS,290808,030056,6340.172,-604.087,41,1.5,41,-8.3