version: 66.04
glider: 16
mission: 13
dive: 247
start: 7 21 109 11 59 19
data:
$ID,16
$MISSION,13
$DIVE,247
$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,-2111998.2
$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,39
$R_STBD_OVSHOOT,32
$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
$GPS1,114826,6242.648,-1221.828,61,2.3,80,-11.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-57.4
$GPS2,115903,6242.648,-1221.984,12,4.1,31,-11.5
$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,172.5,5186,-17.8,-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,-1.22,-94.0,0.0,0.0,0,71,0.00,0.00,-52.85,0.000,6,0.000,0.000,67,2605,3202
$GC,74,-1.22,-94.0,3.3,-7.8,2,96,11.65,2.50,0.00,0.000,4,0.180,0.040,2085,1201,3203
$GC,234,-1.17,-94.0,36.7,-12.4,9,239,0.00,2.45,0.00,0.000,6,0.000,0.035,2085,2591,3205
$GC,563,-1.13,-94.0,77.8,-11.7,25,567,0.15,2.35,0.00,0.000,4,0.111,0.061,2113,3861,3205
$GC,674,-1.13,-94.0,91.9,-12.6,30,678,0.00,2.17,0.00,0.000,6,0.000,0.025,2112,2573,3204
$GC,995,-1.13,-94.0,126.7,-10.6,46,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2571,3205
$GC,1305,-1.13,-94.0,156.0,-9.2,61,1309,0.00,2.38,0.00,0.000,4,0.000,0.061,2113,3860,3205
$GC,1344,-1.13,-94.0,160.1,-10.5,63,1348,0.00,2.12,0.00,0.000,6,0.000,0.025,2113,2597,3205
$GC,1676,-1.13,-94.0,192.7,-10.0,79,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2594,3205
$GC,1986,-1.13,-94.0,224.3,-10.3,94,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2594,3205
$GC,2295,-1.13,-94.0,255.8,-10.3,109,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2594,3206
$GC,2604,-1.13,-94.0,287.8,-10.4,124,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2594,3205
$GC,2914,-1.13,-94.0,321.0,-10.7,139,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2594,3205
$GC,3223,-1.13,-94.0,353.7,-10.4,154,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2594,3205
$GC,3532,-1.13,-94.0,384.0,-9.7,169,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2594,3205
$GC,3842,-1.13,-94.0,415.1,-10.1,184,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2594,3204
$GC,4151,-1.17,-94.0,447.4,-10.5,199,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2594,3204
$GC,4461,-1.22,-94.0,482.4,-11.5,214,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2594,3204
$GC,4770,-1.27,-94.0,517.9,-11.4,229,4774,0.15,2.42,0.00,0.000,4,0.046,0.039,2068,1216,3203
$GC,4814,-1.27,-94.0,523.6,-12.9,231,4818,0.00,2.42,0.00,0.000,6,0.000,0.035,2068,2600,3203
$GC,5135,-1.19,-94.0,563.6,-11.7,247,5140,0.15,2.33,0.00,0.000,4,0.104,0.065,2096,3858,3203
$GC,5168,-1.19,-94.0,567.5,-11.1,248,5174,0.00,2.12,0.00,0.000,6,0.000,0.026,2096,2597,3203
$GC,5483,-1.19,-94.0,598.6,-10.1,264,5487,0.00,2.42,0.00,0.000,4,0.000,0.040,2096,1210,3203
$GC,5552,-1.24,-94.0,605.5,-9.8,267,5557,0.00,2.45,0.00,0.000,6,0.000,0.035,2096,2608,3203
$GC,5879,-1.24,-94.0,638.4,-10.1,283,5883,0.00,2.33,0.00,0.000,4,0.000,0.067,2096,3857,3203
$GC,6025,-1.24,-94.0,653.6,-9.9,289,6031,0.00,2.12,0.00,0.000,6,0.000,0.026,2096,2596,3203
$GC,6340,-1.24,-94.0,679.6,-8.1,305,6344,0.00,2.33,0.00,0.000,4,0.000,0.066,2096,3854,3202
$GC,6430,-1.24,-94.0,686.3,-7.6,309,6434,0.00,2.10,0.00,0.000,6,0.000,0.027,2096,2606,3202
$GC,6763,-1.24,-94.0,712.7,-8.6,325,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2603,3202
$GC,7072,-1.29,-94.0,739.4,-8.6,340,7076,0.00,2.47,0.00,0.000,4,0.000,0.042,2096,1205,3201
$GC,7157,-1.36,-94.0,746.5,-8.8,344,7162,0.15,2.45,0.00,0.000,6,0.048,0.038,2054,2597,3201
$GC,7484,-1.25,-94.0,781.2,-11.1,360,7486,0.17,0.00,0.00,0.000,6,0.110,0.000,2086,2597,3200
$STATE,7503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7503,begin apogee
$GC,7510,-0.31,0.0,783.4,11.4,361,7597,1.00,0.00,83.80,1.090,6,0.100,0.000,2289,2293,2817
$STATE,7598,end apogee,CONTROL_FINISHED_OK
$STATE,7598,begin climb
$GC,7601,1.22,94.0,786.1,0.0,365,7694,1.55,2.72,85.32,1.080,4,0.069,0.065,2621,3701,2433
$GC,7784,1.07,94.0,775.4,9.9,374,7789,0.15,2.45,0.00,0.000,6,0.100,0.031,2594,2312,2429
$GC,8106,1.01,119.7,754.5,6.1,390,8137,0.00,2.70,23.27,1.019,4,0.000,0.051,2594,892,2327
$GC,8258,0.94,119.7,742.6,8.2,396,8265,0.15,2.50,0.00,0.000,6,0.106,0.036,2566,2303,2324
$GC,8575,1.00,119.7,719.9,7.6,412,8579,0.00,2.55,0.00,0.000,4,0.000,0.048,2566,897,2323
$GC,8675,1.03,148.2,712.6,6.0,416,8707,0.00,2.50,26.98,1.019,6,0.000,0.037,2566,2308,2212
$GC,9032,1.16,185.0,691.7,5.5,434,9074,0.20,2.70,33.80,1.017,4,0.050,0.064,2622,3694,2063
$GC,9150,1.06,185.0,681.3,10.2,439,9154,0.17,2.47,0.00,0.000,6,0.103,0.030,2590,2293,2061
$GC,9471,1.13,185.0,656.2,7.9,455,9476,0.00,2.62,0.00,0.000,4,0.000,0.061,2590,3701,2057
$GC,9538,1.13,185.0,650.2,9.0,458,9542,0.00,2.47,0.00,0.000,6,0.000,0.029,2589,2293,2057
$GC,9859,1.22,198.2,627.9,6.8,474,9878,0.17,0.00,12.62,0.909,6,0.050,0.000,2634,2293,2007
$GC,10189,1.18,198.2,596.3,9.8,490,10193,0.00,2.60,0.00,0.000,4,0.000,0.061,2635,3699,2004
$GC,10251,1.08,198.2,589.4,11.6,493,10256,0.20,2.45,0.00,0.000,6,0.103,0.029,2598,2300,2004
$GC,10578,1.15,198.2,558.3,10.6,509,10582,0.00,2.53,0.00,0.000,4,0.000,0.050,2598,899,2003
$GC,10629,1.20,198.2,552.5,11.2,511,10634,0.12,2.47,0.00,0.000,6,0.053,0.035,2634,2304,2002
$GC,10945,1.20,198.2,513.4,12.5,526,10949,0.00,2.60,0.00,0.000,4,0.000,0.060,2634,3708,2002
$GC,10995,1.10,198.2,506.6,14.2,528,11000,0.17,2.45,0.00,0.000,6,0.114,0.028,2602,2299,2002
$GC,11311,1.16,198.2,471.6,10.7,543,11315,0.00,2.58,0.00,0.000,4,0.000,0.058,2602,3701,2002
$GC,11338,1.16,198.2,468.4,11.6,544,11342,0.00,2.45,0.00,0.000,6,0.000,0.028,2602,2290,2002
$GC,11654,1.22,198.2,436.2,9.9,559,11656,0.10,0.00,0.00,0.000,6,0.056,0.000,2633,2290,2002
$GC,11963,1.22,198.2,401.6,11.4,574,11967,0.00,2.60,0.00,0.000,4,0.000,0.057,2633,3707,2002
$GC,11991,1.14,198.2,398.1,12.7,575,11996,0.12,2.45,0.00,0.000,6,0.107,0.027,2611,2291,2002
$GC,12306,1.14,198.2,362.6,11.5,590,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2291,2002
$GC,12615,1.14,198.2,327.3,11.5,605,12617,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2290,2002
$GC,12925,1.14,198.2,292.3,11.2,620,12929,0.00,2.58,0.00,0.000,4,0.000,0.056,2611,3701,2003
$GC,12969,1.14,198.2,286.9,12.3,622,12974,0.00,2.42,0.00,0.000,6,0.000,0.026,2611,2290,2003
$GC,13291,1.19,198.2,251.7,10.8,638,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2288,2003
$GC,13601,1.24,198.2,220.3,9.7,653,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2289,2003
$GC,13909,1.28,198.2,191.3,9.2,668,13914,0.12,2.60,0.00,0.000,4,0.050,0.054,2650,3708,2004
$GC,13937,1.20,198.2,188.2,11.1,669,13942,0.15,2.42,0.00,0.000,6,0.107,0.027,2622,2297,2003
$GC,14253,1.20,198.2,158.4,9.0,684,14254,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2296,2003
$GC,14562,1.20,198.2,131.5,8.7,699,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2296,2003
$GC,14871,1.20,198.2,102.0,10.0,714,14876,0.00,2.58,0.00,0.000,4,0.000,0.055,2622,3703,2004
$GC,14913,1.16,198.2,97.4,11.6,716,14917,0.00,2.40,0.00,0.000,6,0.000,0.026,2622,2299,2004
$GC,15240,1.16,198.2,64.4,9.3,732,15241,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2298,2004
$GC,15549,1.16,198.2,36.0,9.2,747,15553,0.00,2.58,0.00,0.000,4,0.000,0.054,2622,3707,2005
$GC,15605,1.16,198.2,30.8,9.1,749,15611,0.00,2.40,0.00,0.000,6,0.000,0.027,2622,2300,2005
$STATE,15918,end climb,SURFACE_DEPTH_REACHED
$STATE,15918,begin surface coast
$FINISH,0.6,1.003607
$STATE,15940,end surface coast,CONTROL_FINISHED_OK
$STATE,15940,begin surface
$SM_CCo,15964,31.55,0.571,0,0,1796,250.21
$SM_GC,1.32,0.00,0.00,31.55,0.000,0.000,0.571,62,2613,1796,-10.57,0.37,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1798
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.5,67.0
$24V_AH,23.6,39.491
$10V_AH,10.1,20.250
$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,28.950,113.825,265.800,31.550,0.000,36.364,62.398,331.381,6.250,0.000,0.000,31.849,1424.180,12391.809,407.933,1703.076,705.725,0.000,1241.082,0.000,1642.440,0.000,43.450,0.000
$DEVICE_MAMPS,180.245,66.729,1089.907,571.415,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.692,525.509,449.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37996,766
$CAP_FILE_SIZE,123168,0
$CFSIZE,260165632,244568064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210709,162724,6240.509,-1223.415,49,1.3,49,-11.5