version: 66.04
glider: 16
mission: 13
dive: 255
start: 7 23 109 4 25 28
data:
$ID,16
$MISSION,13
$DIVE,255
$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,-2112120.8
$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,39
$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
$GPS1,041906,6240.064,-1213.604,30,1.1,30,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.7
$GPS2,042508,6240.058,-1213.741,13,1.2,13,-11.4
$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,134.2,34344,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-60.15,0.000,6,0.000,0.000,66,2605,3417
$GC,80,-1.03,-146.6,6.5,-12.3,3,102,11.90,2.53,0.00,0.000,4,0.181,0.035,2132,1198,3419
$GC,194,-1.03,-146.6,31.0,-10.5,8,198,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2596,3419
$GC,521,-1.03,-146.6,64.9,-9.6,24,525,0.00,2.35,0.00,0.000,4,0.000,0.062,2132,3865,3419
$GC,548,-1.03,-146.6,67.6,-10.0,25,552,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2582,3419
$GC,870,-1.03,-146.6,96.8,-9.0,41,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2579,3420
$GC,1179,-1.03,-146.6,127.2,-10.2,56,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2579,3420
$GC,1488,-1.03,-146.6,157.4,-9.4,71,1492,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1213,3420
$GC,1521,-1.03,-146.6,160.6,-9.1,72,1527,0.00,2.45,0.00,0.000,6,0.000,0.034,2133,2606,3420
$GC,1837,-1.03,-146.6,187.9,-8.4,88,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2607,3420
$GC,2146,-1.03,-146.6,214.7,-8.7,103,2150,0.00,2.45,0.00,0.000,4,0.000,0.036,2133,1212,3420
$GC,2179,-1.03,-146.6,217.5,-8.5,104,2185,0.00,2.45,0.00,0.000,6,0.000,0.034,2133,2606,3420
$GC,2495,-1.03,-146.6,244.6,-8.4,120,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2606,3420
$GC,2804,-1.03,-146.6,271.0,-8.2,135,2808,0.00,2.45,0.00,0.000,4,0.000,0.036,2133,1211,3420
$GC,2831,-1.03,-146.6,273.3,-9.0,136,2835,0.00,2.45,0.00,0.000,6,0.000,0.034,2133,2606,3420
$GC,3148,-1.03,-146.6,299.5,-8.5,151,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2606,3420
$GC,3457,-1.03,-146.6,325.8,-8.4,166,3461,0.00,2.45,0.00,0.000,4,0.000,0.037,2132,1211,3419
$GC,3496,-1.03,-146.6,329.2,-8.3,168,3500,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2609,3419
$GC,3823,-1.03,-146.6,355.9,-8.1,184,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2609,3419
$GC,4131,-1.03,-146.6,381.1,-8.4,199,4136,0.00,2.45,0.00,0.000,4,0.000,0.036,2132,1211,3418
$GC,4176,-1.03,-146.6,384.8,-8.2,201,4181,0.00,2.42,0.00,0.000,6,0.000,0.034,2133,2599,3418
$GC,4498,-1.03,-146.6,413.2,-9.1,217,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2599,3418
$GC,4807,-1.03,-146.6,441.7,-9.3,232,4811,0.00,2.45,0.00,0.000,4,0.000,0.037,2133,1205,3418
$GC,4834,-1.03,-146.6,444.3,-9.4,233,4839,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2598,3419
$GC,5150,-1.03,-146.6,473.9,-9.3,248,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2598,3418
$GC,5459,-1.03,-146.6,504.0,-10.0,263,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2599,3418
$GC,5769,-1.03,-146.6,534.9,-10.0,278,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2599,3418
$GC,6078,-1.03,-146.6,565.1,-9.7,293,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2599,3417
$GC,6387,-1.03,-146.6,596.0,-10.4,308,6391,0.00,2.45,0.00,0.000,4,0.000,0.037,2133,1205,3417
$GC,6443,-1.08,-146.6,602.1,-11.1,310,6450,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2602,3417
$GC,6759,-1.08,-146.6,636.2,-10.2,326,6763,0.00,2.35,0.00,0.000,4,0.000,0.067,2133,3864,3417
$GC,6809,-1.08,-146.6,641.6,-11.1,328,6813,0.00,2.12,0.00,0.000,6,0.000,0.025,2133,2596,3417
$GC,7131,-1.08,-146.6,671.8,-8.9,344,7135,0.00,2.42,0.00,0.000,4,0.000,0.039,2133,1211,3417
$GC,7177,-1.15,-146.6,676.0,-9.3,346,7181,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2605,3417
$GC,7503,-1.15,-146.6,703.1,-7.6,362,7508,0.12,2.35,0.00,0.000,4,0.046,0.068,2091,3864,3416
$GC,7599,-1.06,-146.6,713.4,-11.1,366,7603,0.17,2.12,0.00,0.000,6,0.097,0.027,2124,2608,3416
$GC,7915,-1.06,-146.6,739.2,-7.9,381,7919,0.00,2.35,0.00,0.000,4,0.000,0.067,2124,3864,3416
$GC,7955,-1.06,-146.6,742.2,-8.7,383,7958,0.00,2.15,0.00,0.000,6,0.000,0.028,2124,2606,3416
$GC,8287,-1.06,-146.6,765.6,-6.2,399,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2603,3415
$STATE,8388,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8388,begin apogee
$GC,8395,-0.31,0.0,774.3,8.6,404,8531,0.80,0.00,129.73,1.091,6,0.096,0.000,2288,2303,2816
$STATE,8532,end apogee,CONTROL_FINISHED_OK
$STATE,8532,begin climb
$GC,8535,1.03,146.6,778.9,0.0,411,8674,1.38,2.60,130.77,1.081,4,0.071,0.051,2582,911,2217
$GC,8801,0.98,162.7,767.0,6.9,422,8820,0.00,2.47,15.00,0.976,6,0.000,0.036,2582,2303,2153
$GC,9143,0.93,175.7,742.3,7.1,439,9164,0.00,2.72,12.68,0.955,4,0.000,0.065,2581,3700,2100
$GC,9256,0.84,175.7,731.6,9.8,444,9261,0.20,2.45,0.00,0.000,6,0.096,0.031,2544,2310,2099
$GC,9583,0.89,227.3,710.6,5.7,460,9634,0.00,0.00,48.67,1.039,6,0.000,0.000,2544,2309,1890
$GC,9935,0.96,227.3,683.4,8.2,477,9940,0.12,2.65,0.00,0.000,4,0.051,0.064,2579,3708,1882
$GC,9969,0.89,227.3,680.2,10.4,478,9976,0.12,2.50,0.00,0.000,6,0.101,0.030,2557,2295,1883
$GC,10285,0.95,234.5,655.0,7.3,494,10298,0.00,2.67,6.22,0.792,4,0.000,0.062,2557,3703,1860
$GC,10322,0.95,234.5,652.2,7.6,495,10329,0.00,2.47,0.00,0.000,6,0.000,0.030,2557,2299,1860
$GC,10639,1.06,277.2,631.6,6.0,511,10684,0.15,0.00,41.97,0.994,6,0.053,0.000,2594,2298,1686
$GC,10987,1.06,277.2,603.4,8.5,528,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2298,1681
$GC,11297,1.06,277.2,576.7,8.6,543,11301,0.00,2.55,0.00,0.000,4,0.000,0.051,2594,894,1679
$GC,11320,1.06,277.2,574.4,9.9,544,11325,0.00,2.50,0.00,0.000,6,0.000,0.035,2594,2308,1678
$GC,11647,1.06,277.2,546.4,8.5,560,11651,0.00,2.58,0.00,0.000,4,0.000,0.046,2594,890,1678
$GC,11675,1.06,277.2,543.8,8.9,561,11679,0.00,2.50,0.00,0.000,6,0.000,0.034,2594,2305,1677
$GC,11991,1.06,277.2,515.6,8.9,576,11995,0.00,2.60,0.00,0.000,4,0.000,0.060,2594,3701,1677
$GC,12023,1.06,277.2,512.3,9.0,577,12030,0.00,2.45,0.00,0.000,6,0.000,0.028,2594,2295,1677
$GC,12339,1.06,277.2,485.7,8.4,593,12344,0.00,2.53,0.00,0.000,4,0.000,0.047,2594,901,1677
$GC,12361,1.06,277.2,483.6,8.5,594,12365,0.00,2.47,0.00,0.000,6,0.000,0.033,2594,2308,1677
$GC,12682,1.06,277.2,454.9,9.4,610,12683,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2309,1677
$GC,12992,1.06,277.2,425.0,9.6,625,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2309,1677
$GC,13301,1.06,277.2,395.7,9.5,640,13303,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2309,1677
$GC,13610,1.06,277.2,365.7,9.9,655,13611,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2309,1677
$GC,13919,1.06,277.2,334.7,10.3,670,13921,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2309,1677
$GC,14229,1.06,277.2,303.8,9.8,685,14233,0.00,2.53,0.00,0.000,4,0.000,0.042,2595,894,1678
$GC,14253,1.06,277.2,301.4,10.6,686,14257,0.00,2.45,0.00,0.000,6,0.000,0.031,2594,2302,1677
$GC,14579,1.06,277.2,270.7,9.4,702,14584,0.00,2.58,0.00,0.000,4,0.000,0.056,2594,3701,1678
$GC,14607,1.06,277.2,267.9,10.1,703,14612,0.00,2.40,0.00,0.000,6,0.000,0.027,2594,2297,1678
$GC,14929,1.06,277.2,238.5,8.9,719,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2296,1678
$GC,15238,1.06,277.2,210.1,9.3,734,15242,0.00,2.50,0.00,0.000,4,0.000,0.044,2594,895,1678
$GC,15260,1.06,277.2,207.9,9.7,735,15264,0.00,2.45,0.00,0.000,6,0.000,0.031,2594,2303,1678
$GC,15581,1.06,277.2,178.0,9.2,751,15585,0.00,2.58,0.00,0.000,4,0.000,0.056,2594,3705,1678
$GC,15602,1.06,277.2,175.9,9.4,752,15606,0.00,2.42,0.00,0.000,6,0.000,0.027,2594,2297,1679
$GC,15924,1.06,277.2,146.7,9.2,768,15928,0.00,2.47,0.00,0.000,4,0.000,0.043,2594,900,1679
$GC,15948,1.06,277.2,144.5,8.7,769,15952,0.00,2.42,0.00,0.000,6,0.000,0.031,2594,2299,1678
$GC,16274,1.06,277.2,115.0,9.2,785,16279,0.00,2.58,0.00,0.000,4,0.000,0.056,2594,3706,1678
$GC,16302,1.06,277.2,112.3,9.8,786,16306,0.00,2.42,0.00,0.000,6,0.000,0.026,2594,2297,1679
$GC,16618,1.06,277.2,85.2,8.1,801,16623,0.00,2.50,0.00,0.000,4,0.000,0.043,2594,894,1679
$GC,16669,1.06,278.8,81.0,7.4,803,16673,0.00,2.45,0.00,0.000,6,0.000,0.031,2594,2302,1678
$GC,16985,1.06,278.8,53.0,9.5,818,16989,0.00,2.55,0.00,0.000,4,0.000,0.056,2594,3698,1679
$GC,17012,1.06,278.8,50.2,9.2,819,17016,0.00,2.42,0.00,0.000,6,0.000,0.026,2594,2294,1679
$GC,17328,1.07,284.0,26.0,7.3,834,17339,0.00,2.50,6.07,0.486,4,0.000,0.044,2594,895,1658
$GC,17380,1.13,284.0,21.5,8.5,836,17384,0.00,2.45,0.00,0.000,6,0.000,0.031,2594,2299,1657
$STATE,17610,end climb,SURFACE_DEPTH_REACHED
$STATE,17611,begin surface coast
$FINISH,0.6,1.023464
$STATE,17632,end surface coast,CONTROL_FINISHED_OK
$STATE,17632,begin surface
$SM_CCo,17715,0.00,0.000,0,0,1655,285.04
$SM_GC,1.56,11.98,0.00,0.00,0.085,0.000,0.000,77,2601,1655,-10.46,0.03,285.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1789
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.0,33.0
$24V_AH,23.6,40.543
$10V_AH,10.1,20.889
$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,26.950,148.475,391.125,0.000,0.000,33.179,55.743,143.776,6.500,0.000,0.000,13.791,1538.756,13721.519,504.223,1777.847,532.703,0.000,1415.223,0.000,1733.596,0.000,44.668,0.000
$DEVICE_MAMPS,181.012,68.263,1090.674,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.438,582.922,497.743,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44248,848
$CAP_FILE_SIZE,125744,0
$CFSIZE,260165632,244060160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230709,092200,6241.037,-1212.650,40,1.0,40,-11.4