version: 66.04
glider: 16
mission: 13
dive: 258
start: 7 23 109 19 0 55
data:
$ID,16
$MISSION,13
$DIVE,258
$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,-2112161.8
$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,30
$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
$GPS1,185525,6240.240,-1210.574,42,0.9,42,-11.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.1
$GPS2,190038,6240.257,-1210.662,12,1.2,12,-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,137.3,32379,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.00,0.000,3,0.000,0.000,73,2607,3416
$GC,84,-1.03,-146.6,5.8,-10.1,3,105,11.98,2.55,0.00,0.000,4,0.185,0.035,2130,1189,3418
$GC,201,-1.03,-146.6,31.0,-11.8,8,206,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2592,3419
$GC,523,-0.98,-146.6,65.7,-9.6,24,527,0.00,2.35,0.00,0.000,4,0.000,0.062,2131,3861,3420
$GC,556,-0.98,-146.6,69.2,-10.1,25,563,0.00,2.17,0.00,0.000,6,0.000,0.025,2130,2572,3419
$GC,874,-0.98,-146.6,97.5,-8.5,41,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2571,3420
$GC,1181,-0.98,-146.6,123.8,-8.8,56,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2572,3420
$GC,1492,-0.98,-146.6,151.5,-9.0,71,1496,0.00,2.40,0.00,0.000,4,0.000,0.038,2130,1208,3420
$GC,1520,-0.98,-146.6,154.3,-9.1,72,1524,0.00,2.45,0.00,0.000,6,0.000,0.034,2131,2603,3420
$GC,1835,-0.98,-146.6,182.6,-9.1,87,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3420
$GC,2144,-0.98,-146.6,209.2,-8.3,102,2149,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1212,3420
$GC,2195,-0.98,-146.6,213.3,-7.5,104,2199,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2604,3420
$GC,2511,-0.98,-146.6,239.5,-8.4,119,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3420
$GC,2820,-0.98,-146.6,265.7,-8.7,134,2824,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1212,3420
$GC,2864,-0.98,-146.6,269.6,-8.3,136,2869,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2606,3419
$GC,3185,-0.98,-146.6,297.8,-9.0,152,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3420
$GC,3495,-0.98,-146.6,327.6,-9.7,167,3499,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1214,3419
$GC,3545,-0.98,-146.6,332.5,-9.6,169,3549,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2610,3419
$GC,3861,-0.98,-146.6,364.1,-10.1,184,3865,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1214,3419
$GC,3888,-0.98,-146.6,366.9,-10.3,185,3892,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2608,3419
$GC,4210,-0.98,-146.6,399.7,-10.1,201,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2609,3419
$GC,4519,-0.98,-146.6,430.6,-10.0,216,4523,0.00,2.45,0.00,0.000,4,0.000,0.036,2131,1214,3419
$GC,4551,-0.98,-146.6,433.9,-9.5,217,4557,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2609,3419
$GC,4867,-0.98,-146.6,463.7,-9.2,233,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3419
$GC,5176,-0.98,-146.6,491.7,-8.7,248,5180,0.00,2.45,0.00,0.000,4,0.000,0.036,2131,1214,3419
$GC,5220,-0.98,-146.6,495.7,-8.7,250,5224,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3419
$GC,5541,-0.98,-146.6,524.4,-9.0,266,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,5850,-0.98,-146.6,552.2,-8.8,281,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,6160,-0.98,-146.6,578.7,-8.8,296,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,6469,-0.98,-146.6,606.6,-9.4,311,6474,0.00,2.42,0.00,0.000,4,0.000,0.037,2131,1215,3418
$GC,6503,-1.02,-146.6,609.9,-9.1,312,6509,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3418
$GC,6818,-1.02,-146.6,638.1,-8.8,328,6822,0.00,2.33,0.00,0.000,4,0.000,0.067,2131,3856,3418
$GC,6892,-1.02,-146.6,644.9,-9.4,331,6895,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2596,3418
$GC,7213,-1.02,-146.6,673.5,-9.1,347,7217,0.00,2.42,0.00,0.000,4,0.000,0.040,2131,1209,3417
$GC,7246,-1.07,-146.6,676.6,-9.3,348,7250,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2600,3418
$GC,7568,-1.07,-146.6,702.6,-7.2,364,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,7877,-1.12,-146.6,725.8,-7.9,379,7881,0.00,2.35,0.00,0.000,4,0.000,0.070,2131,3860,3417
$GC,7962,-1.12,-146.6,731.9,-7.3,383,7966,0.00,2.15,0.00,0.000,6,0.000,0.028,2131,2597,3416
$GC,8295,-1.12,-146.6,756.5,-8.1,399,8299,0.00,2.38,0.00,0.000,4,0.000,0.069,2131,3863,3416
$GC,8317,-1.12,-146.6,758.1,-6.5,400,8321,0.00,2.17,0.00,0.000,6,0.000,0.028,2131,2599,3415
$STATE,8325,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8325,begin apogee
$GC,8332,-0.31,0.0,758.8,6.5,400,8465,0.80,0.00,129.05,1.083,6,0.123,0.000,2286,2298,2817
$STATE,8465,end apogee,CONTROL_FINISHED_OK
$STATE,8466,begin climb
$GC,8469,1.03,146.6,764.5,0.0,407,8607,1.38,2.72,130.60,1.073,4,0.073,0.064,2580,3704,2218
$GC,8634,0.95,191.1,760.6,6.0,414,8679,0.00,2.47,40.45,1.041,6,0.000,0.030,2580,2314,2039
$GC,9010,0.95,191.1,730.2,8.5,432,9014,0.00,2.62,0.00,0.000,4,0.000,0.063,2580,3702,2030
$GC,9050,0.89,191.1,726.4,9.4,434,9055,0.15,2.47,0.00,0.000,6,0.095,0.030,2551,2300,2030
$GC,9377,0.89,196.1,700.6,7.3,450,9386,0.00,2.65,4.38,0.687,4,0.000,0.064,2552,3702,2017
$GC,9426,0.89,196.1,696.4,9.0,452,9430,0.00,2.47,0.00,0.000,6,0.000,0.030,2552,2296,2016
$GC,9753,0.92,218.2,672.3,6.7,468,9782,0.00,2.67,21.98,0.990,4,0.000,0.051,2552,898,1925
$GC,9812,0.98,219.1,668.1,7.5,470,9819,0.00,2.53,0.00,0.000,6,0.000,0.037,2552,2309,1923
$GC,10131,1.04,225.8,645.7,7.3,486,10141,0.17,0.00,7.82,0.845,6,0.049,0.000,2601,2309,1896
$GC,10459,0.97,225.8,615.2,9.0,502,10464,0.15,2.62,0.00,0.000,4,0.095,0.063,2573,3705,1893
$GC,10498,0.97,225.8,611.6,8.0,504,10503,0.00,2.47,0.00,0.000,6,0.000,0.030,2573,2297,1893
$GC,10825,1.00,256.5,589.6,6.5,520,10859,0.00,0.00,29.88,0.958,6,0.000,0.000,2573,2298,1770
$GC,11178,1.02,278.9,566.0,6.7,537,11207,0.00,2.70,21.75,0.920,4,0.000,0.060,2573,3706,1680
$GC,11220,1.02,278.9,562.9,7.7,539,11224,0.00,2.50,0.00,0.000,6,0.000,0.028,2573,2299,1678
$GC,11547,1.08,278.9,538.5,7.6,555,11549,0.10,0.00,0.00,0.000,6,0.058,0.000,2602,2298,1674
$GC,11855,1.08,278.9,510.5,9.4,570,11857,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2297,1673
$GC,12165,1.08,278.9,482.3,8.8,585,12169,0.00,2.60,0.00,0.000,4,0.000,0.058,2602,3701,1673
$GC,12192,1.08,278.9,479.6,9.7,586,12196,0.00,2.45,0.00,0.000,6,0.000,0.028,2602,2299,1673
$GC,12508,1.08,278.9,451.1,9.0,601,12509,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2299,1673
$GC,12817,1.08,278.9,420.8,10.2,616,12821,0.00,2.60,0.00,0.000,4,0.000,0.058,2602,3704,1673
$GC,12838,1.08,278.9,418.4,10.8,617,12842,0.00,2.45,0.00,0.000,6,0.000,0.027,2602,2296,1673
$GC,13159,1.08,278.9,384.4,10.8,633,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2295,1673
$GC,13468,1.08,278.9,351.9,10.4,648,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2295,1673
$GC,13779,1.08,278.9,320.3,10.0,663,13781,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2294,1673
$GC,14087,1.08,278.9,289.7,10.0,678,14091,0.00,2.60,0.00,0.000,4,0.000,0.055,2602,3705,1673
$GC,14114,1.08,278.9,286.7,10.4,679,14118,0.00,2.42,0.00,0.000,6,0.000,0.027,2602,2295,1673
$GC,14435,1.08,278.9,256.0,9.6,695,14439,0.00,2.50,0.00,0.000,4,0.000,0.044,2602,898,1673
$GC,14453,1.08,278.9,254.5,9.2,696,14457,0.00,2.45,0.00,0.000,6,0.000,0.032,2602,2304,1673
$GC,14779,1.08,278.9,222.8,9.7,712,14783,0.00,2.58,0.00,0.000,4,0.000,0.057,2602,3705,1673
$GC,14812,1.08,278.9,219.4,10.6,713,14818,0.00,2.45,0.00,0.000,6,0.000,0.027,2602,2291,1673
$GC,15128,1.08,278.9,187.7,10.3,729,15129,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2291,1673
$GC,15436,1.08,278.9,156.8,9.7,744,15438,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2291,1673
$GC,15746,1.08,278.9,127.2,9.4,759,15751,0.00,2.60,0.00,0.000,4,0.000,0.055,2602,3706,1673
$GC,15779,1.08,278.9,123.9,9.7,760,15786,0.00,2.42,0.00,0.000,6,0.000,0.027,2602,2291,1674
$GC,16097,1.08,278.9,95.9,8.9,776,16098,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2291,1673
$GC,16404,1.08,278.9,65.3,10.4,791,16409,0.00,2.47,0.00,0.000,4,0.000,0.043,2602,901,1673
$GC,16432,1.08,278.9,62.4,10.3,792,16436,0.00,2.45,0.00,0.000,6,0.000,0.031,2602,2308,1673
$GC,16748,1.08,278.9,30.1,9.9,807,16753,0.00,2.55,0.00,0.000,4,0.000,0.056,2602,3700,1673
$GC,16815,1.08,278.9,22.8,9.7,810,16820,0.00,2.42,0.00,0.000,6,0.000,0.026,2602,2292,1674
$STATE,17031,end climb,SURFACE_DEPTH_REACHED
$STATE,17031,begin surface coast
$FINISH,0.6,1.026654
$STATE,17054,end surface coast,CONTROL_FINISHED_OK
$STATE,17055,begin surface
$SM_CCo,17139,0.00,0.000,0,0,1670,281.11
$SM_GC,1.77,12.05,0.00,0.00,0.087,0.000,0.000,69,2600,1670,-10.47,0.00,281.11
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1801
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.1,67.5
$24V_AH,23.6,40.929
$10V_AH,10.1,21.115
$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,26.775,138.975,385.900,0.000,0.000,17.946,26.158,147.116,6.000,0.000,0.000,12.579,1490.021,13295.323,486.891,1699.717,476.973,0.000,1365.249,0.000,1655.214,0.000,41.520,0.000
$DEVICE_MAMPS,184.847,69.797,1083.004,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.777,561.150,482.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41163,822
$CAP_FILE_SIZE,120402,0
$CFSIZE,260165632,243892224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230709,234803,6240.742,-1206.364,43,1.7,52,-11.4