version: 66.04
glider: 16
mission: 13
dive: 246
start: 7 21 109 6 57 46
data:
$ID,16
$MISSION,13
$DIVE,246
$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,-2111965.8
$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,40
$R_STBD_OVSHOOT,38
$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
$GPS1,065206,6243.417,-1227.359,45,1.3,45,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-59.0
$GPS2,065726,6243.428,-1227.377,14,1.3,14,-11.6
$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,146.9,8925,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,71,0.00,0.00,-53.65,0.000,6,0.000,0.000,73,2610,3416
$GC,74,-1.03,-146.6,3.9,-10.6,2,96,12.05,2.53,0.00,0.000,4,0.188,0.033,2132,1197,3417
$GC,143,-1.03,-146.6,28.0,-13.6,5,147,0.00,2.45,0.00,0.000,6,0.000,0.034,2132,2589,3418
$GC,469,-1.03,-146.6,64.9,-10.5,21,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2589,3419
$GC,780,-1.03,-146.6,96.0,-9.9,36,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2589,3419
$GC,1088,-1.03,-146.6,126.7,-9.9,51,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2589,3419
$GC,1397,-1.03,-146.6,156.4,-9.5,66,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2589,3419
$GC,1706,-1.03,-146.6,185.4,-9.4,81,1711,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1197,3419
$GC,1734,-1.03,-146.6,188.0,-9.3,82,1739,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2606,3419
$GC,2050,-1.03,-146.6,216.8,-9.3,97,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3419
$GC,2359,-1.03,-146.6,246.2,-9.5,112,2363,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1198,3420
$GC,2392,-1.03,-146.6,249.4,-9.0,113,2398,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2609,3419
$GC,2708,-1.03,-146.6,279.2,-9.2,129,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3419
$GC,3016,-1.03,-146.6,307.2,-9.1,144,3020,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1197,3419
$GC,3044,-1.03,-146.6,309.8,-9.1,145,3048,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2607,3419
$GC,3365,-1.03,-146.6,338.4,-9.0,161,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2607,3419
$GC,3674,-1.03,-146.6,367.2,-9.4,176,3678,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1199,3419
$GC,3713,-1.03,-146.6,370.9,-9.1,178,3718,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2600,3419
$GC,4041,-1.03,-146.6,403.0,-9.9,194,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,4349,-1.03,-146.6,434.0,-9.8,209,4354,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1201,3419
$GC,4377,-1.03,-146.6,436.7,-9.7,210,4381,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2600,3419
$GC,4693,-1.03,-146.6,466.0,-9.2,225,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,5002,-1.03,-146.6,493.0,-8.5,240,5006,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1193,3418
$GC,5041,-1.03,-146.6,496.7,-9.1,242,5046,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2604,3418
$GC,5369,-1.03,-146.6,527.1,-9.6,258,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,5677,-1.03,-146.6,555.3,-9.0,273,5682,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1197,3418
$GC,5768,-1.08,-146.6,563.7,-9.1,277,5772,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2607,3418
$GC,6088,-1.08,-146.6,590.9,-8.2,293,6092,0.00,2.33,0.00,0.000,4,0.000,0.068,2132,3857,3418
$GC,6140,-1.08,-146.6,595.6,-9.1,295,6144,0.00,2.15,0.00,0.000,6,0.000,0.027,2132,2583,3418
$GC,6468,-1.08,-146.6,623.9,-8.2,311,6472,0.00,2.40,0.00,0.000,4,0.000,0.041,2132,1211,3417
$GC,6501,-1.13,-146.6,626.7,-8.3,312,6505,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2606,3417
$GC,6822,-1.13,-146.6,653.6,-8.7,328,6826,0.00,2.33,0.00,0.000,4,0.000,0.068,2132,3856,3417
$GC,6850,-1.13,-146.6,656.4,-9.7,329,6854,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2597,3417
$GC,7171,-1.13,-146.6,685.1,-9.2,345,7175,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1214,3417
$GC,7211,-1.19,-146.6,688.8,-9.4,346,7217,0.15,2.45,0.00,0.000,6,0.044,0.037,2087,2608,3417
$GC,7527,-1.09,-146.6,720.5,-9.6,362,7532,0.17,2.35,0.00,0.000,4,0.100,0.071,2120,3864,3417
$GC,7554,-1.09,-146.6,723.4,-9.6,363,7558,0.00,2.15,0.00,0.000,6,0.000,0.028,2120,2600,3417
$GC,7875,-1.09,-146.6,751.9,-9.2,379,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2597,3417
$STATE,8079,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8079,begin apogee
$GC,8087,-0.31,0.0,769.9,8.7,389,8222,0.88,0.00,129.27,1.088,6,0.130,0.000,2286,2302,2817
$STATE,8223,end apogee,CONTROL_FINISHED_OK
$STATE,8223,begin climb
$GC,8226,1.03,146.6,774.5,0.0,396,8361,1.38,0.00,131.20,1.077,6,0.078,0.000,2578,2302,2219
$GC,8659,0.97,146.6,750.7,7.6,417,8664,0.00,2.65,0.00,0.000,4,0.000,0.064,2578,3706,2212
$GC,8699,0.85,146.6,747.3,8.3,419,8705,0.17,2.47,0.00,0.000,6,0.096,0.030,2545,2300,2212
$GC,9026,0.87,167.9,724.1,6.8,435,9051,0.00,2.70,19.12,0.991,4,0.000,0.063,2545,3698,2132
$GC,9094,0.83,167.9,719.1,7.7,438,9098,0.00,2.47,0.00,0.000,6,0.000,0.030,2545,2298,2131
$GC,9420,0.83,167.9,692.2,9.0,454,9424,0.00,2.62,0.00,0.000,4,0.000,0.062,2545,3704,2128
$GC,9469,0.83,167.9,687.5,8.9,456,9474,0.00,2.47,0.00,0.000,6,0.000,0.029,2545,2295,2129
$GC,9786,0.83,167.9,663.3,7.6,471,9790,0.00,2.55,0.00,0.000,4,0.000,0.052,2545,896,2127
$GC,9807,0.84,179.7,661.7,7.1,472,9825,0.00,2.47,11.45,0.913,6,0.000,0.035,2545,2302,2084
$GC,10134,0.85,184.8,636.7,7.3,488,10145,0.00,2.65,5.97,0.774,4,0.000,0.063,2545,3705,2063
$GC,10178,0.85,184.8,633.2,8.0,490,10183,0.00,2.47,0.00,0.000,6,0.000,0.029,2545,2296,2063
$GC,10500,0.91,198.1,610.2,7.0,506,10518,0.00,0.00,13.70,0.911,6,0.000,0.000,2545,2296,2008
$GC,10829,1.05,263.2,590.9,5.3,522,10897,0.20,2.70,61.28,0.975,4,0.047,0.061,2597,3697,1743
$GC,10920,0.99,263.2,584.0,9.1,526,10925,0.12,2.47,0.00,0.000,6,0.098,0.028,2575,2298,1742
$GC,11237,0.99,263.2,558.2,8.7,541,11241,0.00,2.62,0.00,0.000,4,0.000,0.061,2575,3701,1736
$GC,11258,0.99,263.2,556.0,9.3,542,11262,0.00,2.45,0.00,0.000,6,0.000,0.028,2575,2298,1736
$GC,11579,1.03,263.2,528.8,8.7,558,11583,0.00,2.53,0.00,0.000,4,0.000,0.049,2575,901,1734
$GC,11625,1.09,263.2,524.7,9.2,560,11629,0.00,2.45,0.00,0.000,6,0.000,0.034,2575,2301,1732
$GC,11958,1.09,263.2,494.2,9.4,576,11962,0.00,2.60,0.00,0.000,4,0.000,0.060,2575,3700,1732
$GC,11997,1.09,263.2,490.3,10.3,578,12002,0.00,2.42,0.00,0.000,6,0.000,0.028,2575,2300,1733
$GC,12325,1.13,263.2,460.5,8.7,594,12327,0.15,0.00,0.00,0.000,6,0.049,0.000,2619,2299,1732
$GC,12634,1.06,263.2,427.9,10.7,609,12636,0.15,0.00,0.00,0.000,6,0.091,0.000,2589,2298,1732
$GC,12943,1.06,263.2,398.7,9.3,624,12944,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2298,1732
$GC,13252,1.06,263.2,369.0,9.7,639,13254,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2298,1732
$GC,13561,1.06,263.2,339.5,9.5,654,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2298,1732
$GC,13870,1.06,263.2,309.9,9.3,669,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2298,1732
$GC,14180,1.06,263.2,280.7,9.6,684,14185,0.00,2.60,0.00,0.000,4,0.000,0.057,2589,3705,1733
$GC,14202,1.06,263.2,278.2,10.8,685,14206,0.00,2.42,0.00,0.000,6,0.000,0.027,2589,2299,1733
$GC,14523,1.06,263.2,247.0,9.7,701,14528,0.00,2.50,0.00,0.000,4,0.000,0.046,2589,899,1732
$GC,14546,1.06,263.2,244.6,10.5,702,14550,0.00,2.45,0.00,0.000,6,0.000,0.032,2589,2305,1732
$GC,14866,1.06,263.2,214.3,9.3,718,14867,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2305,1732
$GC,15175,1.06,263.2,184.4,9.8,733,15180,0.00,2.58,0.00,0.000,4,0.000,0.058,2589,3705,1733
$GC,15199,1.06,263.2,182.0,10.1,734,15204,0.00,2.42,0.00,0.000,6,0.000,0.027,2589,2295,1732
$GC,15520,1.06,263.2,151.3,9.1,750,15525,0.00,2.47,0.00,0.000,4,0.000,0.044,2589,901,1733
$GC,15548,1.06,263.2,148.5,10.2,751,15552,0.00,2.45,0.00,0.000,6,0.000,0.032,2589,2311,1732
$GC,15866,1.06,263.2,120.8,8.6,766,15867,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2311,1732
$GC,16173,1.06,263.2,92.0,9.6,781,16174,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2311,1732
$GC,16482,1.06,263.2,64.2,9.3,796,16483,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2311,1733
$GC,16792,1.07,275.0,39.0,7.1,811,16808,0.00,2.58,10.12,0.548,4,0.000,0.055,2589,3708,1694
$GC,16824,1.07,275.0,36.5,8.9,811,16831,0.00,2.42,0.00,0.000,6,0.000,0.027,2589,2296,1694
$GC,17141,1.12,279.0,11.0,7.4,827,17151,0.00,2.50,4.88,0.443,4,0.000,0.044,2589,895,1679
$GC,17191,1.17,279.0,5.8,11.3,829,17196,0.12,2.45,0.00,0.000,6,0.045,0.032,2628,2301,1677
$STATE,17216,end climb,SURFACE_DEPTH_REACHED
$STATE,17216,begin surface coast
$FINISH,0.8,1.026574
$STATE,17238,end surface coast,CONTROL_FINISHED_OK
$STATE,17238,begin surface
$SM_CCo,17322,0.00,0.000,0,0,1673,280.38
$SM_GC,1.51,12.07,0.00,0.00,0.081,0.000,0.000,68,2606,1673,-10.45,0.20,280.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1807
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.5,78.6
$24V_AH,23.6,39.380
$10V_AH,10.1,20.173
$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,27.625,139.325,387.000,0.000,0.000,17.975,29.293,145.148,6.000,0.000,0.000,14.095,1510.137,13479.342,513.776,1658.073,478.489,0.000,1355.475,0.000,1617.481,0.000,41.553,0.000
$DEVICE_MAMPS,187.915,70.564,1088.373,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,608.044,572.317,484.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41210,831
$CAP_FILE_SIZE,121803,0
$CFSIZE,260165632,244621312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210709,114826,6242.648,-1221.828,61,2.3,80,-11.5