version: 66.04
glider: 16
mission: 13
dive: 257
start: 7 23 109 14 10 37
data:
$ID,16
$MISSION,13
$DIVE,257
$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,-2112148.5
$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,37
$R_STBD_OVSHOOT,35
$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
$GPS1,140211,6241.347,-1209.022,32,2.0,36,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-62.0
$GPS2,141020,6241.305,-1209.136,14,1.8,14,-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,141.4,32545,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-60.55,0.000,6,0.000,0.000,74,2613,3416
$GC,81,-1.03,-146.6,6.0,-10.7,3,103,12.02,2.58,0.00,0.000,4,0.188,0.037,2128,1189,3418
$GC,221,-1.03,-146.6,34.0,-11.0,9,225,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2590,3419
$GC,542,-1.03,-146.6,65.8,-8.0,25,546,0.00,2.45,0.00,0.000,4,0.000,0.035,2128,1198,3419
$GC,605,-1.03,-146.6,70.3,-6.8,28,609,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2600,3419
$GC,932,-1.03,-146.6,97.0,-8.7,44,936,0.00,2.33,0.00,0.000,4,0.000,0.062,2128,3860,3419
$GC,972,-1.03,-146.6,100.9,-9.5,46,976,0.00,2.15,0.00,0.000,6,0.000,0.025,2128,2579,3419
$GC,1304,-1.03,-146.6,131.0,-9.0,62,1308,0.00,2.40,0.00,0.000,4,0.000,0.037,2129,1212,3419
$GC,1336,-1.03,-146.6,134.1,-8.6,63,1343,0.00,2.45,0.00,0.000,6,0.000,0.034,2129,2609,3419
$GC,1652,-1.03,-146.6,163.7,-9.5,79,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2609,3419
$GC,1961,-1.03,-146.6,193.9,-9.9,94,1965,0.00,2.45,0.00,0.000,4,0.000,0.036,2129,1216,3419
$GC,2002,-1.03,-146.6,197.8,-9.2,96,2006,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3419
$GC,2329,-1.03,-146.6,230.0,-9.8,112,2333,0.00,2.33,0.00,0.000,4,0.000,0.064,2129,3860,3419
$GC,2362,-1.03,-146.6,233.5,-10.2,113,2368,0.00,2.12,0.00,0.000,6,0.000,0.025,2129,2597,3419
$GC,2677,-1.03,-146.6,263.1,-9.3,129,2681,0.00,2.42,0.00,0.000,4,0.000,0.037,2129,1216,3419
$GC,2728,-1.03,-146.6,267.9,-9.0,131,2732,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3419
$GC,3048,-1.03,-146.6,298.1,-9.3,147,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,3358,-1.03,-146.6,327.7,-9.4,162,3362,0.00,2.42,0.00,0.000,4,0.000,0.037,2129,1218,3418
$GC,3387,-1.03,-146.6,330.4,-9.6,163,3392,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2598,3418
$GC,3703,-1.03,-146.6,360.0,-9.3,178,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2599,3419
$GC,4012,-1.03,-146.6,388.0,-8.7,193,4016,0.00,2.42,0.00,0.000,4,0.000,0.036,2129,1215,3418
$GC,4039,-1.03,-146.6,390.6,-8.6,194,4044,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2610,3418
$GC,4361,-1.03,-146.6,418.5,-8.8,210,4365,0.00,2.45,0.00,0.000,4,0.000,0.036,2129,1217,3417
$GC,4394,-1.03,-146.6,421.7,-9.1,211,4400,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3418
$GC,4710,-1.03,-146.6,449.8,-9.0,227,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,5018,-1.03,-146.6,479.2,-9.6,242,5023,0.00,2.45,0.00,0.000,4,0.000,0.037,2129,1209,3417
$GC,5052,-1.03,-146.6,482.5,-9.9,243,5058,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2603,3417
$GC,5368,-1.03,-146.6,513.2,-9.7,259,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3417
$GC,5677,-1.03,-146.6,540.1,-8.1,274,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3417
$GC,5986,-1.03,-146.6,564.9,-8.2,289,5990,0.00,2.45,0.00,0.000,4,0.000,0.037,2129,1209,3416
$GC,6030,-1.03,-146.6,568.5,-7.6,291,6035,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2603,3417
$GC,6351,-1.03,-146.6,595.1,-8.6,307,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2604,3417
$GC,6661,-1.03,-146.6,623.2,-9.5,322,6665,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1211,3416
$GC,6756,-1.03,-146.6,632.4,-9.4,326,6760,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2601,3417
$GC,7072,-1.03,-146.6,659.3,-7.9,341,7076,0.00,2.35,0.00,0.000,4,0.000,0.067,2129,3861,3415
$GC,7122,-1.03,-146.6,664.0,-9.3,343,7126,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2600,3415
$GC,7444,-1.03,-146.6,691.5,-9.0,359,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2598,3415
$GC,7753,-1.03,-146.6,718.6,-8.7,374,7757,0.00,2.35,0.00,0.000,4,0.000,0.068,2129,3860,3415
$GC,7799,-1.03,-146.6,722.5,-8.8,376,7803,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2610,3415
$GC,8132,-1.03,-146.6,751.6,-8.4,392,8136,0.00,2.47,0.00,0.000,4,0.000,0.039,2129,1205,3414
$STATE,8191,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8191,begin apogee
$GC,8200,-0.31,0.0,757.3,10.7,395,8334,0.80,0.00,128.77,1.080,6,0.106,0.000,2286,2309,2817
$STATE,8335,end apogee,CONTROL_FINISHED_OK
$STATE,8335,begin climb
$GC,8338,1.03,146.6,762.0,0.0,402,8477,1.38,2.60,130.55,1.068,4,0.075,0.046,2580,911,2218
$GC,8575,0.97,146.6,748.5,9.7,412,8579,0.00,2.47,0.00,0.000,6,0.000,0.035,2580,2297,2212
$GC,8897,0.94,184.1,724.6,6.2,428,8938,0.00,2.72,33.95,1.020,4,0.000,0.064,2580,3705,2065
$GC,8967,0.86,184.1,719.6,7.7,431,8972,0.17,2.47,0.00,0.000,6,0.091,0.030,2548,2312,2064
$GC,9289,0.87,193.1,697.1,7.2,447,9299,0.00,0.00,8.82,0.881,6,0.000,0.000,2548,2312,2029
$GC,9597,0.89,219.4,675.5,6.6,462,9628,0.00,2.67,25.52,0.993,4,0.000,0.062,2548,3702,1921
$GC,9657,0.89,219.4,671.0,8.7,465,9662,0.00,2.50,0.00,0.000,6,0.000,0.030,2547,2295,1921
$GC,9985,0.96,219.4,646.1,7.8,481,9989,0.00,2.65,0.00,0.000,4,0.000,0.062,2548,3702,1917
$GC,10012,0.96,219.4,643.5,8.5,482,10016,0.00,2.47,0.00,0.000,6,0.000,0.029,2548,2298,1917
$GC,10328,1.02,219.4,618.1,7.7,497,10333,0.17,2.65,0.00,0.000,4,0.049,0.061,2595,3708,1916
$GC,10356,0.93,219.4,615.5,9.8,498,10361,0.17,2.47,0.00,0.000,6,0.100,0.029,2562,2298,1915
$GC,10672,0.95,240.4,593.4,6.8,513,10696,0.00,2.62,19.48,0.932,4,0.000,0.050,2562,894,1837
$GC,10739,1.02,257.8,588.8,6.9,516,10764,0.00,2.50,18.10,0.918,6,0.000,0.035,2562,2304,1764
$GC,11094,1.09,265.7,563.0,7.2,533,11109,0.17,2.67,8.02,0.800,4,0.048,0.061,2613,3698,1732
$GC,11149,0.98,265.7,557.7,10.0,535,11154,0.20,2.47,0.00,0.000,6,0.097,0.029,2576,2296,1732
$GC,11465,0.99,275.9,533.6,7.2,550,11481,0.00,2.58,10.88,0.833,4,0.000,0.048,2576,898,1691
$GC,11510,1.05,287.7,530.4,7.1,551,11527,0.00,2.50,12.43,0.843,6,0.000,0.034,2576,2304,1645
$GC,11837,1.10,288.6,506.7,7.5,567,11841,0.10,2.60,0.00,0.000,4,0.058,0.060,2606,3704,1642
$GC,11858,1.10,288.6,504.5,8.8,568,11862,0.00,2.47,0.00,0.000,6,0.000,0.028,2606,2292,1642
$GC,12179,1.10,288.6,472.9,10.1,584,12183,0.00,2.53,0.00,0.000,4,0.000,0.048,2606,897,1641
$GC,12201,1.10,288.6,470.4,10.8,585,12205,0.00,2.47,0.00,0.000,6,0.000,0.033,2606,2308,1639
$GC,12522,1.10,288.6,436.9,10.3,601,12523,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2308,1640
$GC,12832,1.10,288.6,405.1,10.6,616,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2308,1640
$GC,13141,1.10,288.6,371.4,10.9,631,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2308,1639
$GC,13450,1.10,288.6,338.6,10.5,646,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2308,1639
$GC,13759,1.10,288.6,307.6,9.7,661,13760,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2308,1640
$GC,14069,1.10,288.6,277.4,9.9,676,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2308,1639
$GC,14378,1.10,288.6,246.9,9.7,691,14382,0.00,2.53,0.00,0.000,4,0.000,0.043,2606,892,1640
$GC,14401,1.10,288.6,244.4,9.6,692,14405,0.00,2.47,0.00,0.000,6,0.000,0.032,2606,2309,1639
$GC,14728,1.10,288.6,213.4,9.3,708,14729,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2309,1640
$GC,15037,1.10,288.6,184.7,9.2,723,15038,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2309,1640
$GC,15346,1.10,288.6,157.2,8.8,738,15350,0.00,2.53,0.00,0.000,4,0.000,0.042,2606,895,1640
$GC,15368,1.10,288.6,155.2,9.2,739,15372,0.00,2.45,0.00,0.000,6,0.000,0.031,2606,2302,1640
$GC,15689,1.10,288.6,126.4,9.3,755,15690,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2302,1640
$GC,15998,1.10,288.6,95.2,10.6,770,15999,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2301,1640
$GC,16308,1.10,288.6,60.1,11.9,785,16309,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2302,1641
$GC,16617,1.10,288.6,27.8,9.2,800,16618,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2302,1640
$STATE,16903,end climb,SURFACE_DEPTH_REACHED
$STATE,16903,begin surface coast
$FINISH,0.6,1.016420
$STATE,16926,end surface coast,CONTROL_FINISHED_OK
$STATE,16926,begin surface
$SM_CCo,17010,0.00,0.000,0,0,1637,289.21
$SM_GC,1.69,12.07,0.00,0.00,0.088,0.000,0.000,74,2606,1637,-10.45,0.17,289.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1811
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.3,91.4
$24V_AH,23.6,40.803
$10V_AH,10.1,21.039
$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,27.275,137.775,396.525,0.000,0.000,36.118,54.731,207.893,5.750,0.000,0.000,14.800,1482.402,13222.775,490.307,1715.244,586.043,0.000,1375.726,0.000,1672.547,0.000,40.269,0.000
$DEVICE_MAMPS,187.915,68.263,1079.936,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.228,556.866,480.467,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41077,815
$CAP_FILE_SIZE,123456,0
$CFSIZE,260165632,243949568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230709,185525,6240.240,-1210.574,42,0.9,42,-11.4