version: 66.04
glider: 16
mission: 13
dive: 259
start: 7 23 109 23 54 27
data:
$ID,16
$MISSION,13
$DIVE,259
$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,-2112174
$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,26
$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
$GPS1,234803,6240.742,-1206.364,43,1.7,52,-11.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-66.8
$GPS2,235408,6240.779,-1206.367,11,1.1,11,-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,142.9,30115,-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,-59.50,0.000,6,0.000,0.000,69,2600,3416
$GC,81,-1.03,-146.6,6.5,-12.1,3,103,11.88,2.53,0.00,0.000,4,0.180,0.035,2131,1195,3417
$GC,220,-1.03,-146.6,35.0,-11.2,9,225,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2598,3418
$GC,542,-1.03,-146.6,72.1,-11.8,25,546,0.00,2.35,0.00,0.000,4,0.000,0.063,2133,3865,3419
$GC,591,-1.03,-146.6,78.8,-13.2,27,596,0.00,2.17,0.00,0.000,6,0.000,0.025,2131,2579,3419
$GC,909,-1.03,-146.6,113.3,-10.7,42,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2578,3419
$GC,1217,-1.03,-146.6,148.4,-11.9,57,1221,0.00,2.40,0.00,0.000,4,0.000,0.037,2131,1212,3419
$GC,1244,-1.03,-146.6,151.7,-12.0,58,1248,0.00,2.45,0.00,0.000,6,0.000,0.034,2131,2607,3419
$GC,1560,-1.03,-146.6,188.7,-11.6,73,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2607,3419
$GC,1868,-1.03,-146.6,224.4,-11.3,88,1873,0.00,2.45,0.00,0.000,4,0.000,0.036,2131,1214,3419
$GC,1907,-1.03,-146.6,228.7,-10.9,89,1913,0.00,2.45,0.00,0.000,6,0.000,0.034,2132,2610,3419
$GC,2223,-1.03,-146.6,263.4,-11.3,105,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2610,3419
$GC,2531,-1.03,-146.6,297.2,-11.0,120,2535,0.00,2.45,0.00,0.000,4,0.000,0.036,2131,1216,3418
$GC,2581,-1.03,-146.6,302.8,-11.0,122,2586,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2609,3419
$GC,2897,-1.03,-146.6,336.4,-10.7,137,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2609,3419
$GC,3206,-1.03,-146.6,369.7,-10.6,152,3210,0.00,2.45,0.00,0.000,4,0.000,0.036,2133,1216,3419
$GC,3233,-1.03,-146.6,372.6,-10.3,153,3237,0.00,2.42,0.00,0.000,6,0.000,0.034,2131,2600,3418
$GC,3549,-1.03,-146.6,403.6,-9.6,168,3553,0.00,2.45,0.00,0.000,4,0.000,0.036,2131,1207,3418
$GC,3576,-1.03,-146.6,406.4,-9.9,169,3580,0.00,2.45,0.00,0.000,6,0.000,0.034,2131,2601,3419
$GC,3892,-1.03,-146.6,434.1,-8.7,184,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,4201,-1.03,-146.6,461.6,-9.1,199,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,4510,-1.03,-146.6,489.2,-8.9,214,4514,0.00,2.45,0.00,0.000,4,0.000,0.036,2131,1209,3418
$GC,4554,-1.03,-146.6,493.1,-8.5,216,4558,0.00,2.45,0.00,0.000,6,0.000,0.034,2131,2604,3418
$GC,4875,-1.03,-146.6,522.1,-8.9,232,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2604,3417
$GC,5184,-1.03,-146.6,547.4,-7.3,247,5188,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1211,3417
$GC,5217,-1.03,-146.6,549.8,-7.0,248,5224,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2605,3417
$GC,5533,-1.03,-146.6,568.1,-5.3,264,5537,0.00,2.33,0.00,0.000,4,0.000,0.067,2131,3862,3417
$GC,5561,-1.03,-146.6,569.8,-6.2,265,5565,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2597,3417
$GC,5889,-1.03,-146.6,587.8,-5.6,281,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2595,3418
$GC,6198,-1.03,-146.6,609.1,-7.7,296,6202,0.00,2.42,0.00,0.000,4,0.000,0.039,2131,1218,3417
$GC,6249,-1.07,-146.6,613.4,-8.5,298,6253,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3417
$GC,6564,-1.07,-146.6,639.3,-8.2,313,6568,0.00,2.35,0.00,0.000,4,0.000,0.067,2131,3864,3417
$GC,6632,-1.07,-146.6,645.2,-8.8,316,6635,0.00,2.12,0.00,0.000,6,0.000,0.026,2131,2601,3417
$GC,6958,-1.07,-146.6,670.7,-8.3,332,6962,0.00,2.35,0.00,0.000,4,0.000,0.068,2131,3858,3416
$GC,6998,-1.07,-146.6,674.5,-9.8,334,7008,0.00,2.12,0.00,0.000,6,0.000,0.027,2131,2600,3416
$GC,7336,-1.12,-146.6,704.0,-8.4,350,7340,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1220,3416
$GC,7443,-1.19,-146.6,713.0,-8.2,355,7448,0.15,2.42,0.00,0.000,6,0.044,0.037,2087,2599,3416
$GC,7770,-1.08,-146.6,747.8,-10.9,371,7772,0.17,0.00,0.00,0.000,6,0.097,0.000,2120,2599,3415
$STATE,7808,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7808,begin apogee
$GC,7815,-0.31,0.0,752.9,11.6,373,7951,0.82,0.00,128.80,1.079,6,0.098,0.000,2287,2311,2817
$STATE,7952,end apogee,CONTROL_FINISHED_OK
$STATE,7952,begin climb
$GC,7955,1.03,146.6,756.7,0.0,380,8093,1.38,2.62,130.10,1.069,4,0.068,0.048,2581,909,2218
$GC,8276,1.04,212.5,745.3,5.2,394,8344,0.00,2.50,59.55,1.047,6,0.000,0.039,2581,2297,1948
$GC,8658,1.05,219.8,713.1,7.2,413,8672,0.00,2.75,6.97,0.830,4,0.000,0.064,2581,3707,1920
$GC,8690,1.05,219.8,710.1,8.2,414,8694,0.00,2.47,0.00,0.000,6,0.000,0.029,2581,2312,1920
$GC,9005,1.05,219.8,684.9,8.1,429,9009,0.00,2.58,0.00,0.000,4,0.000,0.051,2581,904,1917
$GC,9027,1.05,221.8,683.1,7.4,430,9031,0.00,2.50,0.00,0.000,6,0.000,0.036,2581,2307,1916
$GC,9348,1.05,221.8,658.3,8.0,446,9352,0.00,2.62,0.00,0.000,4,0.000,0.064,2581,3705,1916
$GC,9392,1.05,221.8,654.2,9.0,448,9396,0.00,2.47,0.00,0.000,6,0.000,0.030,2581,2297,1916
$GC,9712,1.05,221.8,627.3,7.9,464,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2297,1915
$GC,10022,1.08,250.8,605.9,6.5,479,10056,0.00,0.00,29.73,0.967,6,0.000,0.000,2581,2296,1793
$GC,10375,1.17,287.5,583.3,6.2,496,10418,0.15,2.67,34.92,0.954,4,0.054,0.061,2623,3700,1644
$GC,10436,1.12,287.5,578.0,9.5,498,10442,0.00,2.50,0.00,0.000,6,0.000,0.029,2623,2295,1643
$GC,10752,1.12,287.5,545.7,11.2,514,10756,0.00,2.55,0.00,0.000,4,0.000,0.050,2623,901,1638
$GC,10778,1.12,287.5,542.4,12.1,515,10783,0.00,2.50,0.00,0.000,6,0.000,0.035,2623,2309,1638
$GC,11094,1.12,287.5,507.2,11.2,530,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2309,1638
$GC,11403,1.12,287.5,473.0,10.9,545,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2309,1637
$GC,11713,1.07,287.5,441.8,9.7,560,11718,0.15,2.58,0.00,0.000,4,0.094,0.058,2594,3701,1637
$GC,11735,1.07,287.5,439.4,10.1,561,11739,0.00,2.45,0.00,0.000,6,0.000,0.028,2594,2298,1637
$GC,12056,1.07,287.5,411.7,8.8,577,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2297,1637
$GC,12365,1.07,287.5,383.7,9.4,592,12369,0.00,2.50,0.00,0.000,4,0.000,0.046,2594,896,1637
$GC,12388,1.07,287.5,381.4,9.8,593,12393,0.00,2.47,0.00,0.000,6,0.000,0.032,2594,2309,1635
$GC,12715,1.07,287.5,350.5,9.5,609,12719,0.00,2.58,0.00,0.000,4,0.000,0.058,2594,3704,1635
$GC,12737,1.07,287.5,348.3,9.5,610,12741,0.00,2.42,0.00,0.000,6,0.000,0.027,2594,2294,1636
$GC,13064,1.07,287.5,317.8,9.2,626,13068,0.00,2.50,0.00,0.000,4,0.000,0.044,2594,898,1636
$GC,13085,1.07,287.5,315.6,9.3,627,13090,0.00,2.45,0.00,0.000,6,0.000,0.031,2594,2303,1636
$GC,13407,1.07,287.5,285.9,9.3,643,13408,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2303,1636
$GC,13716,1.07,287.5,256.8,9.4,658,13717,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2303,1636
$GC,14025,1.07,287.5,227.9,9.3,673,14029,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,901,1636
$GC,14053,1.07,287.5,225.2,10.3,674,14057,0.00,2.45,0.00,0.000,6,0.000,0.031,2594,2303,1636
$GC,14374,1.07,287.5,192.2,10.7,690,14375,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2304,1636
$GC,14683,1.07,287.5,158.6,10.9,705,14684,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2304,1636
$GC,14995,1.07,287.5,124.0,11.2,720,14999,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,894,1636
$GC,15022,1.07,287.5,120.6,11.1,721,15026,0.00,2.45,0.00,0.000,6,0.000,0.031,2594,2300,1636
$GC,15338,1.07,287.5,87.0,10.4,736,15339,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2300,1637
$GC,15648,1.07,287.5,57.4,9.3,751,15649,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2300,1637
$GC,15957,1.12,287.5,30.4,8.0,766,15958,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2300,1637
$GC,16268,1.16,287.5,3.7,8.9,781,16272,0.00,2.22,0.00,0.000,3,0.000,0.040,2594,1043,1637
$STATE,16272,end climb,SURFACE_DEPTH_REACHED
$STATE,16272,begin surface coast
$FINISH,0.6,1.013094
$STATE,16310,end surface coast,CONTROL_FINISHED_OK
$STATE,16310,begin surface
$SM_CCo,16396,0.00,0.000,0,0,1633,290.19
$SM_GC,1.72,12.07,0.00,0.00,0.090,0.000,0.000,66,2597,1633,-10.47,-0.08,290.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1788
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.0,87.2
$24V_AH,23.6,41.058
$10V_AH,10.1,21.188
$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,26.775,132.950,390.075,0.000,0.000,33.229,40.574,164.044,5.750,0.000,0.000,11.542,1425.901,12675.934,485.897,1651.510,521.089,0.000,1347.609,0.000,1612.432,0.000,42.005,0.000
$DEVICE_MAMPS,180.245,68.263,1079.169,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,575.972,533.890,451.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37998,783
$CAP_FILE_SIZE,115931,0
$CFSIZE,260165632,243843072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240709,042901,6238.946,-1206.777,42,0.9,42,-11.4