version: 66.04
glider: 16
mission: 13
dive: 243
start: 7 20 109 15 45 20
data:
$ID,16
$MISSION,13
$DIVE,243
$D_SURF,3
$D_FLARE,4
$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,440
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$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,250
$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,-2111923.2
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3321
$C_PITCH,2360
$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,196
$ROLL_MAX,3869
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.343216
$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,0
$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
$XPDR_VALID,3
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,153927,6245.076,-1237.305,35,2.5,54,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-56.9
$GPS2,154504,6245.072,-1237.393,18,2.3,37,-11.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.081,-0.225
$KALMAN_X,-87037.4,1552.8,520.3,38953.3,-1645.0
$KALMAN_Y,197075.5,-3550.9,-2288.7,-114382.5,45486.2
$MHEAD_RNG_PITCHd_Wd,134.1,17522,-13.9,-7.500
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-58.38,0.000,6,0.000,0.000,72,2608,3417
$GC,83,-1.03,-146.6,7.2,-14.1,3,104,11.77,2.55,0.00,0.000,4,0.179,0.038,2130,1195,3419
$GC,206,-1.03,-146.6,33.1,-8.0,8,210,0.00,2.47,0.00,0.000,6,0.000,0.036,2129,2597,3419
$GC,522,-1.03,-146.6,60.4,-7.6,23,526,0.00,2.35,0.00,0.000,4,0.000,0.063,2129,3865,3420
$GC,572,-1.03,-146.6,65.2,-9.6,25,576,0.00,2.17,0.00,0.000,6,0.000,0.026,2129,2577,3420
$GC,888,-1.03,-146.6,94.8,-9.5,40,892,0.00,2.40,0.00,0.000,4,0.000,0.038,2130,1211,3420
$GC,915,-1.03,-146.6,97.7,-10.2,41,919,0.00,2.45,0.00,0.000,6,0.000,0.034,2130,2606,3420
$GC,1231,-1.03,-146.6,126.6,-9.2,56,1235,0.00,2.33,0.00,0.000,4,0.000,0.062,2130,3864,3420
$GC,1258,-1.03,-146.6,129.4,-10.5,57,1262,0.00,2.12,0.00,0.000,6,0.000,0.026,2130,2600,3420
$GC,1580,-1.03,-146.6,160.0,-9.5,73,1584,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1217,3420
$GC,1613,-1.03,-146.6,163.2,-9.4,74,1619,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3420
$GC,1928,-1.03,-146.6,191.9,-9.1,90,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3420
$GC,2238,-1.03,-146.6,218.9,-8.6,105,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3420
$GC,2547,-1.03,-146.6,246.3,-9.0,120,2551,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1216,3420
$GC,2586,-1.03,-146.6,249.7,-8.6,122,2591,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3420
$GC,2918,-1.03,-146.6,281.0,-9.6,138,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3420
$GC,3227,-1.03,-146.6,309.5,-9.0,153,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3420
$GC,3537,-1.03,-146.6,336.3,-8.7,168,3541,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1207,3420
$GC,3571,-1.03,-146.6,339.2,-8.3,169,3577,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2602,3420
$GC,3886,-1.03,-146.6,366.4,-8.9,185,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3419
$GC,4196,-1.03,-146.6,394.7,-9.4,200,4200,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1210,3419
$GC,4224,-1.03,-146.6,397.4,-9.4,201,4228,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2607,3419
$GC,4544,-1.03,-146.6,429.1,-10.2,217,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2607,3419
$GC,4854,-1.03,-146.6,460.6,-10.7,232,4858,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1212,3419
$GC,4894,-1.03,-146.6,464.8,-10.0,234,4898,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3419
$GC,5221,-1.03,-146.6,499.6,-10.3,250,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,5529,-1.03,-146.6,529.5,-9.5,265,5533,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1216,3418
$GC,5580,-1.03,-146.6,534.2,-9.5,267,5584,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,5901,-1.03,-146.6,563.3,-9.1,283,5905,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1217,3418
$GC,5933,-1.03,-146.6,566.3,-8.8,284,5940,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2599,3418
$GC,6250,-1.03,-146.6,593.3,-8.3,300,6254,0.00,2.33,0.00,0.000,4,0.000,0.067,2130,3857,3418
$GC,6283,-1.03,-146.6,596.3,-9.2,301,6289,0.00,2.12,0.00,0.000,6,0.000,0.027,2130,2593,3418
$GC,6599,-1.03,-146.6,622.0,-7.4,317,6603,0.00,2.42,0.00,0.000,4,0.000,0.041,2130,1217,3418
$GC,6641,-1.07,-146.6,625.0,-7.4,319,6645,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2600,3418
$GC,6968,-1.07,-146.6,649.3,-7.0,335,6972,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1215,3418
$GC,7008,-1.14,-146.6,652.2,-7.2,336,7014,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2610,3418
$GC,7324,-1.14,-146.6,675.0,-7.1,352,7329,0.00,2.33,0.00,0.000,4,0.000,0.069,2130,3857,3417
$GC,7379,-1.14,-146.6,679.3,-8.1,354,7383,0.00,2.12,0.00,0.000,6,0.000,0.027,2130,2597,3417
$GC,7701,-1.14,-146.6,702.9,-7.8,370,7705,0.00,2.45,0.00,0.000,4,0.000,0.042,2130,1209,3416
$GC,7734,-1.20,-146.6,705.6,-8.4,371,7741,0.15,2.45,0.00,0.000,6,0.045,0.037,2086,2600,3416
$GC,8050,-1.10,-146.6,737.5,-10.2,387,8055,0.17,2.38,0.00,0.000,4,0.100,0.072,2119,3864,3416
$GC,8083,-1.10,-146.6,740.6,-9.1,388,8089,0.00,2.15,0.00,0.000,6,0.000,0.028,2119,2605,3416
$STATE,8314,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8314,begin apogee
$GC,8321,-0.31,0.0,759.8,9.2,400,8457,0.85,0.00,129.43,1.081,6,0.096,0.000,2292,2305,2816
$STATE,8457,end apogee,CONTROL_FINISHED_OK
$STATE,8457,begin climb
$GC,8460,1.03,146.6,765.5,0.0,407,8599,1.35,2.62,130.50,1.071,4,0.073,0.051,2579,901,2217
$GC,8641,0.94,146.6,760.8,7.8,414,8647,0.00,2.50,0.00,0.000,6,0.000,0.035,2579,2302,2213
$GC,8957,0.88,146.6,737.8,7.5,430,8962,0.15,2.62,0.00,0.000,4,0.096,0.065,2551,3703,2211
$GC,9008,0.79,146.6,733.4,9.0,432,9012,0.00,2.45,0.00,0.000,6,0.000,0.030,2551,2309,2211
$GC,9323,0.83,188.3,712.4,6.1,447,9365,0.00,0.00,37.55,1.022,6,0.000,0.000,2551,2308,2049
$GC,9675,0.86,217.9,689.9,6.5,464,9710,0.00,2.70,27.90,0.998,4,0.000,0.063,2551,3701,1927
$GC,9744,0.86,217.9,684.7,8.5,467,9748,0.00,2.47,0.00,0.000,6,0.000,0.029,2551,2299,1926
$GC,10065,0.92,217.9,659.9,8.1,483,10069,0.00,2.62,0.00,0.000,4,0.000,0.062,2551,3700,1922
$GC,10093,0.92,217.9,657.4,9.5,484,10097,0.00,2.45,0.00,0.000,6,0.000,0.029,2551,2297,1921
$GC,10414,0.97,217.9,631.2,7.7,500,10418,0.00,2.55,0.00,0.000,4,0.000,0.051,2551,899,1920
$GC,10447,1.04,217.9,628.5,7.9,501,10454,0.17,2.47,0.00,0.000,6,0.050,0.035,2595,2301,1919
$GC,10764,0.99,217.9,598.0,9.8,517,10768,0.00,2.62,0.00,0.000,4,0.000,0.063,2594,3702,1919
$GC,10803,0.89,217.9,593.5,11.6,519,10808,0.20,2.45,0.00,0.000,6,0.105,0.029,2557,2298,1919
$GC,11131,0.95,217.9,564.2,8.9,535,11135,0.00,2.62,0.00,0.000,4,0.000,0.060,2557,3703,1919
$GC,11163,0.95,217.9,561.0,9.2,536,11169,0.00,2.45,0.00,0.000,6,0.000,0.028,2557,2297,1919
$GC,11479,0.99,217.9,534.2,8.1,552,11480,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2296,1919
$GC,11789,1.05,217.9,509.6,7.7,567,11794,0.15,2.53,0.00,0.000,4,0.051,0.048,2599,897,1919
$GC,11829,0.96,217.9,505.7,10.3,569,11834,0.15,2.47,0.00,0.000,6,0.099,0.034,2571,2308,1918
$GC,12155,0.96,217.9,477.8,8.4,585,12160,0.00,2.60,0.00,0.000,4,0.000,0.061,2570,3709,1919
$GC,12189,0.96,217.9,474.7,9.1,586,12195,0.00,2.45,0.00,0.000,6,0.000,0.028,2571,2296,1919
$GC,12505,0.96,217.9,449.4,7.8,602,12509,0.00,2.53,0.00,0.000,4,0.000,0.047,2571,895,1919
$GC,12532,0.96,217.9,447.3,7.9,603,12536,0.00,2.47,0.00,0.000,6,0.000,0.033,2571,2309,1918
$GC,12848,0.97,218.5,423.7,7.5,618,12852,0.00,2.58,0.00,0.000,4,0.000,0.059,2571,3707,1919
$GC,12869,0.97,226.2,421.9,7.2,619,12885,0.00,2.45,7.18,0.706,6,0.000,0.028,2571,2292,1895
$GC,13195,0.97,226.2,396.8,7.7,635,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2292,1894
$GC,13505,0.98,228.9,373.3,7.4,650,13514,0.00,2.53,4.55,0.575,4,0.000,0.045,2571,894,1883
$GC,13531,0.98,228.9,371.2,7.7,651,13536,0.00,2.47,0.00,0.000,6,0.000,0.032,2571,2307,1882
$GC,13853,0.99,239.5,347.7,7.1,667,13869,0.00,2.60,11.18,0.726,4,0.000,0.058,2571,3701,1839
$GC,13886,1.01,255.4,345.3,7.0,667,13907,0.00,2.45,15.95,0.750,6,0.000,0.027,2571,2293,1774
$GC,14218,1.05,255.4,320.4,7.6,683,14222,0.00,2.47,0.00,0.000,4,0.000,0.044,2571,901,1771
$GC,14241,1.10,256.2,318.6,7.5,684,14246,0.12,2.45,0.00,0.000,6,0.050,0.032,2605,2302,1770
$GC,14568,1.05,256.2,288.6,9.3,700,14573,0.00,2.58,0.00,0.000,4,0.000,0.057,2605,3701,1770
$GC,14591,0.99,256.2,286.4,9.4,701,14596,0.15,2.42,0.00,0.000,6,0.100,0.028,2577,2299,1770
$GC,14912,0.99,256.2,260.1,8.0,717,14916,0.00,2.50,0.00,0.000,4,0.000,0.044,2577,896,1770
$GC,14939,0.99,256.2,257.6,9.0,718,14943,0.00,2.45,0.00,0.000,6,0.000,0.032,2578,2301,1770
$GC,15255,0.99,256.2,232.3,7.7,733,15256,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2301,1770
$GC,15564,0.99,256.2,207.5,8.1,748,15566,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2302,1769
$GC,15873,0.99,256.2,181.9,8.4,763,15877,0.00,2.47,0.00,0.000,4,0.000,0.042,2577,904,1769
$GC,15889,0.99,256.2,180.3,8.8,763,15895,0.00,2.45,0.00,0.000,6,0.000,0.032,2577,2309,1769
$GC,16204,0.99,256.2,153.8,8.4,779,16208,0.00,2.50,0.00,0.000,4,0.000,0.042,2577,903,1769
$GC,16233,1.04,256.2,151.3,8.9,780,16237,0.00,2.45,0.00,0.000,6,0.000,0.033,2577,2306,1769
$GC,16549,1.08,256.2,125.8,7.9,795,16550,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2306,1770
$GC,16859,1.08,256.2,100.9,8.4,810,16861,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2307,1769
$GC,17168,1.08,256.2,75.5,8.1,825,17169,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2306,1770
$GC,17476,1.08,256.2,45.0,10.7,840,17481,0.00,2.50,0.00,0.000,4,0.000,0.041,2577,899,1769
$GC,17517,1.16,256.2,41.3,8.9,842,17522,0.15,2.45,0.00,0.000,6,0.054,0.032,2613,2305,1769
$GC,17845,1.11,256.2,8.3,8.3,858,17849,0.00,2.50,0.00,0.000,4,0.000,0.042,2614,898,1770
$GC,17872,1.11,256.2,5.2,11.0,859,17876,0.00,2.42,0.00,0.000,6,0.000,0.030,2614,2304,1770
$STATE,17897,end climb,SURFACE_DEPTH_REACHED
$STATE,17897,begin surface coast
$FINISH,1.0,1.026667
$STATE,17918,end surface coast,CONTROL_FINISHED_OK
$STATE,17919,begin surface
$SM_CCo,18003,0.00,0.000,0,0,1766,257.81
$SM_GC,1.74,12.07,0.00,0.00,0.087,0.000,0.000,72,2601,1766,-10.46,0.03,257.81
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1803
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.2,67.4
$24V_AH,23.6,38.999
$10V_AH,10.1,19.940
$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,Compass2
$DEVICE_SECS,27.625,182.350,364.225,0.000,0.000,18.033,32.710,139.070,6.000,0.000,0.000,37.991,1583.430,13907.967,506.442,1834.903,503.864,0.000,1457.827,0.000,1763.940,0.000,41.542,0.000
$DEVICE_MAMPS,178.711,72.098,1080.703,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,628.967,591.485,501.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44312,861
$CAP_FILE_SIZE,136086,0
$CFSIZE,260165632,244797440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200709,204636,6245.350,-1232.962,36,1.3,36,-11.7