version: 66.04
glider: 16
mission: 13
dive: 256
start: 7 23 109 9 27 52
data:
$ID,16
$MISSION,13
$DIVE,256
$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,-2112133
$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
$GPS1,092200,6241.037,-1212.650,40,1.0,40,-11.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-61.1
$GPS2,092732,6241.084,-1212.688,11,1.6,11,-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,137.7,34681,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.83,0.000,3,0.000,0.000,76,2600,3417
$GC,81,-1.03,-146.6,5.4,-8.7,3,102,12.07,2.53,0.00,0.000,4,0.189,0.035,2131,1195,3418
$GC,256,-1.03,-146.6,37.6,-11.8,10,263,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2594,3420
$GC,574,-1.03,-146.6,73.4,-9.9,26,578,0.00,2.47,0.00,0.000,4,0.000,0.036,2131,1192,3420
$GC,607,-1.03,-146.6,77.0,-9.0,27,613,0.00,2.47,0.00,0.000,6,0.000,0.034,2131,2600,3419
$GC,923,-1.03,-146.6,106.3,-9.3,43,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3420
$GC,1232,-1.03,-146.6,134.9,-9.4,58,1236,0.00,2.47,0.00,0.000,4,0.000,0.036,2131,1191,3420
$GC,1264,-1.03,-146.6,138.1,-9.1,59,1271,0.00,2.47,0.00,0.000,6,0.000,0.034,2131,2600,3420
$GC,1580,-1.03,-146.6,169.0,-10.1,75,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3420
$GC,1889,-1.03,-146.6,199.2,-9.7,90,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3420
$GC,2198,-1.03,-146.6,230.0,-10.1,105,2203,0.00,2.47,0.00,0.000,4,0.000,0.037,2131,1195,3420
$GC,2239,-1.03,-146.6,233.9,-9.6,107,2243,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2605,3420
$GC,2565,-1.03,-146.6,266.8,-9.9,123,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3420
$GC,2874,-1.03,-146.6,297.1,-9.7,138,2878,0.00,2.47,0.00,0.000,4,0.000,0.037,2131,1197,3419
$GC,2908,-1.03,-146.6,300.4,-9.7,139,2914,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2605,3419
$GC,3224,-1.03,-146.6,331.6,-9.8,155,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3419
$GC,3533,-1.03,-146.6,361.5,-9.6,170,3537,0.00,2.47,0.00,0.000,4,0.000,0.037,2131,1197,3419
$GC,3573,-1.03,-146.6,365.2,-9.7,172,3577,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2606,3419
$GC,3899,-1.03,-146.6,396.2,-9.3,188,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3419
$GC,4209,-1.03,-146.6,424.0,-9.1,203,4213,0.00,2.47,0.00,0.000,4,0.000,0.037,2131,1197,3419
$GC,4237,-1.03,-146.6,426.8,-9.9,204,4241,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2603,3419
$GC,4552,-1.03,-146.6,455.6,-9.4,219,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3418
$GC,4861,-1.03,-146.6,484.1,-8.9,234,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2604,3418
$GC,5171,-1.03,-146.6,512.5,-9.2,249,5175,0.00,2.47,0.00,0.000,4,0.000,0.037,2131,1197,3418
$GC,5203,-1.03,-146.6,515.6,-9.4,250,5210,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2608,3418
$GC,5519,-1.03,-146.6,544.0,-8.8,266,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3418
$GC,5829,-1.03,-146.6,569.5,-8.1,281,5833,0.00,2.47,0.00,0.000,4,0.000,0.037,2131,1196,3418
$GC,5856,-1.03,-146.6,571.8,-8.0,282,5860,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2604,3418
$GC,6171,-1.03,-146.6,597.4,-8.0,297,6175,0.00,2.33,0.00,0.000,4,0.000,0.068,2131,3857,3418
$GC,6212,-1.03,-146.6,600.5,-8.6,299,6216,0.00,2.15,0.00,0.000,6,0.000,0.026,2131,2583,3418
$GC,6545,-1.03,-146.6,622.5,-6.7,315,6549,0.00,2.40,0.00,0.000,4,0.000,0.039,2131,1212,3418
$GC,6572,-1.03,-146.6,624.6,-7.8,316,6576,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2608,3417
$GC,6889,-1.03,-146.6,648.4,-7.6,331,6893,0.00,2.33,0.00,0.000,4,0.000,0.068,2131,3856,3417
$GC,6951,-1.03,-146.6,653.4,-8.1,334,6955,0.00,2.12,0.00,0.000,6,0.000,0.027,2131,2596,3417
$GC,7284,-1.03,-146.6,674.6,-6.5,350,7291,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1206,3417
$GC,7343,-1.11,-146.6,678.7,-6.9,352,7347,0.00,2.45,0.00,0.000,6,0.000,0.036,2131,2599,3417
$GC,7660,-1.15,-146.6,701.2,-7.7,367,7665,0.10,2.35,0.00,0.000,4,0.051,0.070,2098,3861,3416
$GC,7755,-1.08,-146.6,710.7,-9.6,371,7760,0.12,2.15,0.00,0.000,6,0.098,0.027,2122,2600,3416
$GC,8071,-1.08,-146.6,736.6,-8.2,386,8075,0.00,2.38,0.00,0.000,4,0.000,0.071,2122,3862,3415
$STATE,8091,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8091,begin apogee
$GC,8101,-0.31,0.0,738.5,8.4,387,8238,0.80,0.00,129.00,1.067,6,0.098,0.000,2287,2315,2816
$STATE,8238,end apogee,CONTROL_FINISHED_OK
$STATE,8238,begin climb
$GC,8241,1.03,146.6,742.1,0.0,394,8379,1.38,2.65,129.90,1.056,4,0.071,0.049,2582,898,2217
$GC,8479,0.94,146.6,732.8,9.3,405,8483,0.00,2.50,0.00,0.000,6,0.000,0.037,2582,2302,2211
$GC,8806,0.84,146.6,710.8,8.3,421,8811,0.20,2.65,0.00,0.000,4,0.092,0.064,2541,3704,2210
$GC,8892,0.79,146.6,703.9,8.1,425,8896,0.00,2.47,0.00,0.000,6,0.000,0.030,2541,2299,2210
$GC,9219,0.82,174.3,681.9,6.6,441,9249,0.00,2.70,24.58,0.992,4,0.000,0.063,2541,3707,2106
$GC,9279,0.81,207.7,678.2,6.4,444,9320,0.00,2.50,31.75,0.999,6,0.000,0.029,2541,2295,1969
$GC,9633,0.89,218.1,653.6,7.1,461,9648,0.00,0.00,10.32,0.888,6,0.000,0.000,2541,2295,1926
$GC,9959,1.05,285.6,634.0,5.2,477,10030,0.20,2.65,63.88,1.000,4,0.048,0.051,2593,902,1651
$GC,10048,1.06,287.8,627.6,7.4,481,10052,0.00,2.50,0.00,0.000,6,0.000,0.035,2592,2300,1647
$GC,10369,1.06,287.8,596.6,10.7,497,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2300,1642
$GC,10679,1.06,287.8,563.2,11.2,512,10683,0.00,2.62,0.00,0.000,4,0.000,0.062,2592,3700,1640
$GC,10706,1.06,287.8,559.8,12.4,513,10711,0.00,2.47,0.00,0.000,6,0.000,0.029,2592,2296,1641
$GC,11022,1.06,287.8,522.9,11.6,528,11025,0.00,2.53,0.00,0.000,4,0.000,0.049,2592,898,1639
$GC,11055,1.06,287.8,518.9,11.8,529,11059,0.00,2.47,0.00,0.000,6,0.000,0.034,2592,2299,1638
$GC,11371,1.06,287.8,483.7,11.1,544,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2299,1638
$GC,11679,1.06,287.8,449.9,11.1,559,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2299,1638
$GC,11989,1.06,287.8,415.0,11.4,574,11990,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2299,1638
$GC,12298,1.06,287.8,381.4,10.6,589,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2299,1638
$GC,12607,1.06,287.8,349.8,10.0,604,12608,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2300,1638
$GC,12916,1.06,287.8,318.6,10.0,619,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2299,1638
$GC,13226,1.06,287.8,287.6,10.1,634,13231,0.00,2.58,0.00,0.000,4,0.000,0.058,2592,3704,1638
$GC,13254,1.06,287.8,284.6,11.1,635,13258,0.00,2.45,0.00,0.000,6,0.000,0.027,2592,2289,1638
$GC,13569,1.06,287.8,252.3,10.4,650,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2287,1639
$GC,13879,1.06,287.8,219.8,10.4,665,13880,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2288,1639
$GC,14188,1.06,287.8,189.1,9.7,680,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2287,1638
$GC,14497,1.06,287.8,160.5,8.8,695,14501,0.00,2.60,0.00,0.000,4,0.000,0.056,2592,3702,1638
$GC,14524,1.06,287.8,157.9,9.8,696,14528,0.00,2.42,0.00,0.000,6,0.000,0.026,2592,2298,1639
$GC,14840,1.06,287.8,128.7,9.5,711,14845,0.00,2.50,0.00,0.000,4,0.000,0.043,2592,894,1639
$GC,14859,1.06,287.8,127.0,9.3,712,14863,0.00,2.47,0.00,0.000,6,0.000,0.031,2592,2310,1639
$GC,15185,1.06,287.8,96.6,8.7,728,15189,0.00,2.53,0.00,0.000,4,0.000,0.056,2592,3698,1639
$GC,15213,1.06,287.8,94.1,9.5,729,15217,0.00,2.42,0.00,0.000,6,0.000,0.026,2592,2292,1638
$GC,15530,1.06,287.8,70.0,7.5,744,15531,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2293,1639
$GC,15838,1.06,287.8,43.5,8.7,759,15842,0.00,2.47,0.00,0.000,4,0.000,0.043,2592,901,1639
$GC,15888,1.14,287.8,38.7,9.8,761,15892,0.00,2.42,0.00,0.000,6,0.000,0.031,2592,2301,1639
$GC,16210,1.19,287.8,9.2,9.4,777,16214,0.12,2.50,0.00,0.000,4,0.048,0.041,2635,897,1638
$GC,16237,1.19,287.8,6.6,9.7,778,16241,0.00,2.45,0.00,0.000,6,0.000,0.031,2633,2305,1639
$STATE,16282,end climb,SURFACE_DEPTH_REACHED
$STATE,16282,begin surface coast
$FINISH,0.7,1.026527
$STATE,16304,end surface coast,CONTROL_FINISHED_OK
$STATE,16304,begin surface
$SM_CCo,16387,0.00,0.000,0,0,1637,289.21
$SM_GC,1.64,11.93,0.00,0.00,0.074,0.000,0.000,75,2613,1637,-10.47,0.37,289.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1796
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,23.0
$24V_AH,23.6,40.670
$10V_AH,10.1,20.962
$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,26.925,133.925,389.425,0.000,0.000,18.325,30.455,158.059,6.250,0.000,0.000,11.407,1419.690,12668.340,488.965,1653.610,487.906,0.000,1349.966,0.000,1614.377,0.000,43.034,0.000
$DEVICE_MAMPS,188.682,70.564,1066.897,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,574.539,532.012,470.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40993,781
$CAP_FILE_SIZE,116781,0
$CFSIZE,260165632,244011008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230709,140211,6241.347,-1209.022,32,2.0,36,-11.4