version: 66.04
glider: 16
mission: 13
dive: 253
start: 7 22 109 18 1 25
data:
$ID,16
$MISSION,13
$DIVE,253
$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,-2112089
$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,29
$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
$GPS1,174341,6239.633,-1215.690,52,1.9,56,-11.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-59.7
$GPS2,180108,6239.669,-1215.965,16,1.3,16,-11.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$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,131.7,35590,-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,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,80,0.00,0.00,-58.20,0.000,6,0.000,0.000,71,2601,3416
$GC,83,-1.03,-146.6,6.2,-11.0,3,104,11.73,2.53,0.00,0.000,4,0.176,0.036,2128,1195,3418
$GC,151,-1.03,-146.6,25.4,-13.5,6,155,0.00,2.47,0.00,0.000,6,0.000,0.034,2128,2597,3419
$GC,478,-0.97,-146.6,62.7,-9.7,22,482,0.00,2.35,0.00,0.000,4,0.000,0.061,2128,3865,3419
$GC,573,-0.92,-146.6,69.3,-6.0,26,578,0.15,2.17,0.00,0.000,6,0.097,0.024,2157,2574,3419
$GC,890,-0.92,-146.6,84.4,-5.1,41,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2573,3419
$GC,1199,-0.92,-146.6,103.6,-7.0,56,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2573,3419
$GC,1510,-0.92,-146.6,126.1,-7.2,71,1514,0.00,2.38,0.00,0.000,4,0.000,0.061,2157,3860,3419
$GC,1537,-0.92,-146.6,128.5,-8.0,72,1541,0.00,2.12,0.00,0.000,6,0.000,0.025,2157,2597,3419
$GC,1860,-0.92,-146.6,150.4,-6.3,88,1864,0.00,2.42,0.00,0.000,4,0.000,0.038,2157,1210,3419
$GC,1894,-0.99,-146.6,152.7,-6.4,89,1898,0.00,2.45,0.00,0.000,6,0.000,0.034,2158,2603,3419
$GC,2213,-1.03,-146.6,175.9,-8.1,104,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2604,3419
$GC,2519,-1.08,-146.6,201.7,-8.3,119,2524,0.15,2.45,0.00,0.000,4,0.042,0.035,2107,1210,3419
$GC,2553,-1.01,-146.6,205.1,-10.6,120,2560,0.15,2.45,0.00,0.000,6,0.094,0.034,2136,2608,3419
$GC,2869,-1.01,-146.6,235.2,-9.4,136,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2608,3418
$GC,3178,-1.01,-146.6,263.7,-9.1,151,3182,0.00,2.45,0.00,0.000,4,0.000,0.036,2136,1211,3418
$GC,3211,-1.01,-146.6,266.6,-8.4,152,3217,0.00,2.45,0.00,0.000,6,0.000,0.034,2136,2608,3418
$GC,3527,-1.01,-146.6,294.3,-8.5,168,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2608,3418
$GC,3836,-1.01,-146.6,320.8,-8.7,183,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2608,3418
$GC,4146,-1.01,-146.6,348.9,-9.0,198,4150,0.00,2.45,0.00,0.000,4,0.000,0.037,2136,1212,3418
$GC,4190,-1.05,-146.6,353.0,-8.9,200,4195,0.00,2.45,0.00,0.000,6,0.000,0.034,2137,2611,3418
$GC,4512,-1.05,-146.6,381.4,-8.8,216,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2610,3417
$GC,4822,-1.05,-146.6,408.4,-8.7,231,4826,0.00,2.45,0.00,0.000,4,0.000,0.036,2136,1213,3417
$GC,4849,-1.05,-146.6,410.9,-8.7,232,4853,0.00,2.42,0.00,0.000,6,0.000,0.034,2136,2599,3417
$GC,5164,-1.05,-146.6,438.3,-8.6,247,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2600,3417
$GC,5474,-1.05,-146.6,464.3,-8.3,262,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2600,3417
$GC,5783,-1.05,-146.6,489.0,-7.9,277,5787,0.00,2.42,0.00,0.000,4,0.000,0.036,2136,1215,3416
$GC,5823,-1.10,-146.6,492.3,-7.9,279,5827,0.00,2.42,0.00,0.000,6,0.000,0.035,2136,2600,3417
$GC,6150,-1.10,-146.6,519.8,-8.6,295,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2600,3416
$GC,6458,-1.10,-146.6,546.1,-8.7,310,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2600,3416
$GC,6768,-1.10,-146.6,573.4,-8.9,325,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2600,3415
$GC,7080,-1.10,-146.6,601.3,-9.0,340,7084,0.00,2.42,0.00,0.000,4,0.000,0.037,2136,1216,3416
$GC,7135,-1.15,-146.6,606.4,-8.7,342,7142,0.12,2.42,0.00,0.000,6,0.048,0.035,2097,2600,3415
$GC,7452,-1.06,-146.6,640.1,-10.7,358,7457,0.17,2.35,0.00,0.000,4,0.094,0.067,2130,3863,3415
$GC,7480,-1.06,-146.6,643.1,-10.5,359,7484,0.00,2.12,0.00,0.000,6,0.000,0.025,2130,2597,3415
$GC,7801,-1.06,-146.6,670.3,-7.9,375,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2594,3415
$GC,8112,-1.06,-146.6,693.7,-7.1,390,8116,0.00,2.35,0.00,0.000,4,0.000,0.067,2130,3860,3415
$GC,8152,-1.06,-146.6,696.8,-7.9,391,8158,0.00,2.12,0.00,0.000,6,0.000,0.027,2130,2602,3415
$GC,8467,-1.06,-146.6,720.0,-7.6,407,8471,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1214,3415
$GC,8536,-1.11,-146.6,724.8,-7.0,410,8543,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2606,3415
$GC,8864,-1.11,-146.6,751.0,-9.3,426,8868,0.00,2.35,0.00,0.000,4,0.000,0.071,2130,3863,3414
$GC,8954,-1.11,-146.6,759.5,-8.7,430,8958,0.00,2.15,0.00,0.000,6,0.000,0.028,2130,2601,3413
$STATE,9154,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9154,begin apogee
$GC,9162,-0.31,0.0,772.5,6.3,440,9297,0.80,0.00,128.98,1.089,6,0.099,0.000,2292,2304,2817
$STATE,9298,end apogee,CONTROL_FINISHED_OK
$STATE,9298,begin climb
$GC,9301,1.03,146.6,775.3,0.0,447,9439,1.35,2.60,130.50,1.077,4,0.068,0.050,2581,907,2218
$GC,9657,0.94,146.6,755.8,9.0,462,9661,0.00,2.50,0.00,0.000,6,0.000,0.035,2580,2309,2211
$GC,9974,0.87,158.1,731.3,7.1,477,9990,0.17,2.65,10.25,0.920,4,0.102,0.064,2544,3701,2171
$GC,10084,0.81,169.7,723.9,7.1,481,10105,0.00,2.45,12.00,0.942,6,0.000,0.030,2544,2307,2125
$GC,10415,0.90,246.9,705.1,4.9,497,10490,0.00,0.00,72.47,1.046,6,0.000,0.000,2544,2307,1810
$GC,10786,1.01,260.5,680.0,7.0,515,10808,0.17,2.65,12.35,0.929,4,0.048,0.051,2588,905,1753
$GC,10842,1.01,260.5,675.2,9.5,517,10846,0.00,2.50,0.00,0.000,6,0.000,0.036,2588,2302,1751
$GC,11158,1.01,260.5,647.2,9.1,532,11162,0.00,2.62,0.00,0.000,4,0.000,0.064,2588,3702,1749
$GC,11202,0.96,260.5,642.7,9.9,534,11206,0.00,2.47,0.00,0.000,6,0.000,0.030,2588,2298,1749
$GC,11523,0.96,260.5,612.4,9.4,550,11527,0.00,2.55,0.00,0.000,4,0.000,0.051,2588,898,1748
$GC,11556,0.96,260.5,608.9,9.7,551,11562,0.00,2.50,0.00,0.000,6,0.000,0.036,2589,2306,1747
$GC,11871,0.96,260.5,579.7,9.1,567,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2306,1747
$GC,12180,0.96,260.5,554.0,7.9,582,12185,0.00,2.55,0.00,0.000,4,0.000,0.047,2588,894,1747
$GC,12214,0.96,260.5,551.1,8.5,583,12220,0.00,2.47,0.00,0.000,6,0.000,0.034,2588,2302,1747
$GC,12530,0.96,260.5,526.3,8.1,599,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2303,1747
$GC,12839,0.96,260.5,499.3,8.8,614,12843,0.00,2.58,0.00,0.000,4,0.000,0.059,2588,3700,1747
$GC,12861,0.96,260.5,497.1,10.5,615,12865,0.00,2.45,0.00,0.000,6,0.000,0.028,2588,2293,1747
$GC,13182,0.96,260.5,467.3,9.2,631,13186,0.00,2.53,0.00,0.000,4,0.000,0.047,2588,894,1747
$GC,13214,0.96,260.5,463.9,9.4,632,13221,0.00,2.47,0.00,0.000,6,0.000,0.032,2588,2308,1746
$GC,13530,0.96,260.5,433.1,9.9,648,13532,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2308,1747
$GC,13839,0.96,260.5,403.0,9.6,663,13840,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2308,1747
$GC,14148,0.96,260.5,373.4,9.4,678,14150,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2308,1747
$GC,14458,0.96,260.5,344.7,9.2,693,14463,0.00,2.53,0.00,0.000,4,0.000,0.043,2588,894,1747
$GC,14480,0.96,260.5,342.4,9.8,694,14484,0.00,2.45,0.00,0.000,6,0.000,0.031,2588,2299,1747
$GC,14801,0.96,260.5,312.3,9.5,710,14802,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2299,1747
$GC,15111,0.96,260.5,282.5,9.8,725,15112,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2299,1747
$GC,15419,0.96,260.5,252.1,10.1,740,15420,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2300,1747
$GC,15728,0.96,260.5,219.6,10.6,755,15730,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2300,1747
$GC,16038,0.96,260.5,187.8,9.9,770,16039,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2300,1748
$GC,16347,0.96,260.5,159.5,8.8,785,16348,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2300,1747
$GC,16657,0.96,260.5,133.9,8.1,800,16658,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2300,1747
$GC,16966,0.96,260.5,108.2,8.5,815,16967,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2300,1748
$GC,17276,0.96,260.5,82.3,8.6,830,17277,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2300,1748
$GC,17584,0.96,260.5,57.0,8.0,845,17589,0.00,2.50,0.00,0.000,4,0.000,0.042,2589,893,1748
$GC,17618,0.96,260.5,54.0,8.9,846,17624,0.00,2.45,0.00,0.000,6,0.000,0.031,2588,2304,1748
$GC,17936,1.01,260.5,27.5,7.6,862,17940,0.00,2.55,0.00,0.000,4,0.000,0.055,2588,3701,1749
$GC,17980,1.01,260.5,23.2,8.6,864,17984,0.00,2.42,0.00,0.000,6,0.000,0.025,2588,2292,1748
$STATE,18257,end climb,SURFACE_DEPTH_REACHED
$STATE,18257,begin surface coast
$FINISH,0.6,1.017141
$STATE,18299,end surface coast,CONTROL_FINISHED_OK
$STATE,18300,begin surface
$SM_CCo,18383,0.00,0.000,0,0,1745,262.96
$SM_GC,1.49,11.77,0.00,0.00,0.079,0.000,0.000,75,2603,1745,-10.45,0.08,262.96
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1793
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,56.4
$24V_AH,23.6,40.285
$10V_AH,10.1,20.730
$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,26.750,122.975,366.550,0.000,0.000,100.546,217.145,338.211,6.250,0.000,0.000,16.760,1581.550,14579.014,483.659,1815.433,967.023,0.000,1387.980,0.000,1767.349,0.000,44.032,0.000
$DEVICE_MAMPS,176.410,70.564,1089.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,643.503,601.996,547.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44213,880
$CAP_FILE_SIZE,132371,0
$CFSIZE,260165632,244191232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220709,230906,6240.979,-1212.689,35,1.0,41,-11.4