version: 66.04
glider: 16
mission: 13
dive: 260
start: 7 24 109 4 34 25
data:
$ID,16
$MISSION,13
$DIVE,260
$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,-2112190
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,042901,6238.946,-1206.777,42,0.9,42,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.0
$GPS2,043408,6238.917,-1206.879,15,1.0,15,-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,137.1,28303,-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,15,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,-61.00,0.000,2,0.000,0.000,66,2598,3399
$GC,84,-1.03,-146.6,5.6,-9.5,3,106,11.93,2.40,-0.30,0.000,4,0.182,0.070,2130,3864,3418
$GC,180,-0.96,-146.6,28.7,-11.2,7,184,0.00,2.17,0.00,0.000,6,0.000,0.025,2130,2581,3418
$GC,501,-0.92,-146.6,57.1,-7.8,23,506,0.15,2.42,0.00,0.000,4,0.101,0.038,2158,1209,3419
$GC,552,-1.01,-146.6,60.9,-7.5,25,556,0.00,2.47,0.00,0.000,6,0.000,0.034,2158,2610,3419
$GC,869,-1.05,-146.6,87.0,-8.7,40,871,0.12,0.00,0.00,0.000,6,0.044,0.000,2115,2610,3420
$GC,1177,-0.98,-146.6,121.6,-11.1,55,1182,0.15,2.47,0.00,0.000,4,0.092,0.035,2145,1208,3420
$GC,1212,-1.03,-146.6,125.2,-9.3,56,1218,0.00,2.45,0.00,0.000,6,0.000,0.034,2145,2601,3420
$GC,1527,-1.03,-146.6,154.5,-9.3,72,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2601,3420
$GC,1836,-1.03,-146.6,182.9,-9.2,87,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2602,3420
$GC,2146,-1.03,-146.6,209.9,-8.6,102,2150,0.00,2.45,0.00,0.000,4,0.000,0.036,2145,1210,3420
$GC,2191,-1.09,-146.6,213.8,-8.0,104,2196,0.10,2.45,0.00,0.000,6,0.052,0.035,2111,2601,3420
$GC,2512,-1.01,-146.6,246.9,-10.5,120,2514,0.15,0.00,0.00,0.000,6,0.092,0.000,2140,2602,3420
$GC,2822,-1.01,-146.6,275.8,-9.3,135,2826,0.00,2.45,0.00,0.000,4,0.000,0.037,2140,1211,3420
$GC,2863,-1.06,-146.6,279.6,-8.9,137,2867,0.00,2.45,0.00,0.000,6,0.000,0.035,2140,2606,3420
$GC,3189,-1.06,-146.6,309.3,-9.2,153,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2606,3420
$GC,3499,-1.06,-146.6,335.8,-8.4,168,3503,0.00,2.45,0.00,0.000,4,0.000,0.037,2140,1212,3420
$GC,3550,-1.12,-146.6,340.4,-9.0,170,3554,0.12,2.45,0.00,0.000,6,0.048,0.035,2100,2605,3419
$GC,3867,-1.01,-146.6,375.0,-11.1,185,3869,0.20,0.00,0.00,0.000,6,0.096,0.000,2139,2606,3419
$GC,4174,-1.01,-146.6,402.9,-8.6,200,4179,0.00,2.45,0.00,0.000,4,0.000,0.037,2139,1212,3419
$GC,4232,-1.06,-146.6,407.7,-8.2,202,4238,0.00,2.45,0.00,0.000,6,0.000,0.035,2139,2606,3419
$GC,4548,-1.06,-146.6,433.7,-8.1,218,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2606,3419
$GC,4857,-1.06,-146.6,459.5,-8.4,233,4861,0.00,2.45,0.00,0.000,4,0.000,0.037,2139,1208,3419
$GC,4890,-1.11,-146.6,462.5,-9.0,234,4894,0.00,2.45,0.00,0.000,6,0.000,0.035,2139,2602,3419
$GC,5206,-1.11,-146.6,490.3,-8.8,249,5210,0.00,2.45,0.00,0.000,4,0.000,0.037,2139,1209,3419
$GC,5234,-1.15,-146.6,492.8,-9.0,250,5239,0.15,2.42,0.00,0.000,6,0.044,0.035,2093,2600,3419
$GC,5550,-1.03,-146.6,527.7,-11.3,265,5552,0.20,0.00,0.00,0.000,6,0.094,0.000,2131,2600,3418
$GC,5860,-1.03,-146.6,556.3,-9.0,280,5864,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1207,3418
$GC,5904,-1.08,-146.6,560.3,-8.8,282,5908,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2609,3418
$GC,6232,-1.08,-146.6,589.0,-8.9,298,6236,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1212,3418
$GC,6264,-1.08,-146.6,592.1,-8.7,299,6270,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2608,3418
$GC,6580,-1.08,-146.6,618.2,-7.6,315,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3418
$GC,6890,-1.08,-146.6,639.1,-6.3,330,6894,0.00,2.45,0.00,0.000,4,0.000,0.036,2131,1208,3417
$GC,6929,-1.13,-146.6,641.6,-6.5,331,6935,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2600,3418
$GC,7244,-1.13,-146.6,662.6,-7.6,347,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,7554,-1.13,-146.6,689.7,-9.0,362,7558,0.00,2.35,0.00,0.000,4,0.000,0.069,2131,3863,3417
$GC,7599,-1.13,-146.6,693.7,-8.4,364,7603,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2598,3416
$GC,7926,-1.13,-146.6,718.8,-7.0,380,7930,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1209,3417
$GC,7989,-1.19,-146.6,722.5,-5.6,383,7994,0.15,2.45,0.00,0.000,6,0.043,0.036,2086,2608,3416
$GC,8322,-1.10,-146.6,750.3,-9.1,399,8327,0.17,2.35,0.00,0.000,4,0.095,0.070,2123,3861,3416
$GC,8407,-1.10,-146.6,758.7,-8.2,403,8411,0.00,2.15,0.00,0.000,6,0.000,0.028,2123,2603,3416
$GC,8739,-1.10,-146.6,786.7,-10.0,419,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2600,3415
$STATE,8757,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8757,begin apogee
$GC,8764,-0.31,0.0,788.8,10.1,420,8900,0.82,0.00,129.82,1.095,6,0.101,0.000,2289,2301,2817
$STATE,8901,end apogee,CONTROL_FINISHED_OK
$STATE,8901,begin climb
$GC,8904,1.03,146.6,792.5,0.0,427,9045,1.40,2.60,131.10,1.085,4,0.071,0.049,2584,908,2216
$GC,9208,0.91,146.6,778.1,7.8,441,9213,0.15,2.50,0.00,0.000,6,0.091,0.037,2556,2304,2211
$GC,9530,0.84,151.3,756.9,7.3,457,9540,0.00,2.65,4.18,0.674,4,0.000,0.065,2556,3701,2200
$GC,9643,0.73,151.3,747.2,8.6,462,9648,0.20,2.45,0.00,0.000,6,0.097,0.030,2518,2306,2199
$GC,9971,0.89,238.4,730.4,4.5,478,10058,0.15,2.70,80.82,1.064,4,0.049,0.064,2560,3708,1845
$GC,10095,0.89,238.4,721.8,9.4,484,10099,0.00,2.50,0.00,0.000,6,0.000,0.031,2560,2303,1842
$GC,10422,0.93,238.4,692.0,9.9,500,10426,0.00,2.60,0.00,0.000,4,0.000,0.053,2560,894,1835
$GC,10455,0.98,238.4,688.6,9.7,501,10462,0.00,2.53,0.00,0.000,6,0.000,0.036,2560,2309,1834
$GC,10772,1.05,253.5,663.9,7.0,517,10791,0.12,0.00,13.88,0.940,6,0.051,0.000,2596,2309,1782
$GC,11100,1.05,253.5,632.4,10.6,533,11105,0.00,2.62,0.00,0.000,4,0.000,0.064,2596,3708,1779
$GC,11144,0.99,253.5,627.3,11.4,535,11149,0.00,2.47,0.00,0.000,6,0.000,0.030,2596,2299,1779
$GC,11467,0.99,253.5,592.3,10.8,551,11471,0.00,2.58,0.00,0.000,4,0.000,0.051,2596,891,1778
$GC,11499,0.99,253.5,588.6,11.1,552,11505,0.00,2.50,0.00,0.000,6,0.000,0.035,2596,2302,1777
$GC,11815,0.99,253.5,556.6,9.9,568,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2302,1777
$GC,12124,0.99,253.5,525.8,9.8,583,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2302,1777
$GC,12433,0.99,253.5,495.2,10.1,598,12437,0.00,2.60,0.00,0.000,4,0.000,0.060,2596,3708,1777
$GC,12466,0.93,253.5,491.7,10.5,599,12474,0.12,2.47,0.00,0.000,6,0.087,0.028,2567,2291,1777
$GC,12783,0.99,253.5,466.7,7.6,615,12787,0.00,2.50,0.00,0.000,4,0.000,0.047,2567,901,1777
$GC,12822,1.04,253.5,463.4,7.6,616,12828,0.00,2.47,0.00,0.000,6,0.000,0.033,2567,2309,1776
$GC,13138,1.09,253.5,439.0,7.7,632,13143,0.15,2.55,0.00,0.000,4,0.047,0.044,2608,894,1777
$GC,13155,1.09,253.5,437.4,8.1,633,13159,0.00,2.45,0.00,0.000,6,0.000,0.032,2608,2301,1776
$GC,13488,1.03,253.5,404.3,10.0,649,13493,0.12,2.60,0.00,0.000,4,0.094,0.058,2584,3709,1777
$GC,13521,1.03,253.5,400.9,9.5,650,13527,0.00,2.45,0.00,0.000,6,0.000,0.028,2585,2296,1777
$GC,13838,1.03,253.5,373.2,8.5,666,13841,0.00,2.50,0.00,0.000,4,0.000,0.045,2584,897,1777
$GC,13865,1.03,253.5,370.5,9.5,667,13869,0.00,2.47,0.00,0.000,6,0.000,0.032,2584,2312,1777
$GC,14186,1.03,253.5,343.6,8.5,683,14187,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2312,1777
$GC,14495,1.03,253.5,318.5,7.8,698,14497,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2312,1777
$GC,14804,1.03,253.5,294.6,7.6,713,14805,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2312,1777
$GC,15113,1.03,253.5,270.8,7.8,728,15118,0.00,2.53,0.00,0.000,4,0.000,0.042,2584,898,1777
$GC,15136,1.04,256.9,269.0,7.4,729,15140,0.00,2.45,0.00,0.000,6,0.000,0.031,2584,2302,1777
$GC,15457,1.04,256.9,244.1,7.8,745,15461,0.00,2.58,0.00,0.000,4,0.000,0.057,2584,3705,1777
$GC,15478,1.04,256.9,242.4,7.8,746,15483,0.00,2.42,0.00,0.000,6,0.000,0.027,2584,2295,1777
$GC,15800,1.04,256.9,217.7,7.5,762,15804,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,895,1777
$GC,15822,1.04,256.9,215.9,7.7,763,15827,0.00,2.45,0.00,0.000,6,0.000,0.031,2584,2305,1777
$GC,16149,1.04,262.7,191.6,7.3,779,16163,0.00,2.60,8.90,0.619,4,0.000,0.056,2584,3703,1745
$GC,16182,1.06,279.7,189.1,6.9,780,16204,0.00,2.45,17.00,0.660,6,0.000,0.026,2584,2292,1676
$GC,16523,1.13,299.8,165.4,6.8,797,16544,0.00,0.00,18.88,0.651,6,0.000,0.000,2584,2292,1593
$GC,16850,1.21,327.7,143.7,6.5,813,16878,0.17,0.00,25.70,0.649,6,0.044,0.000,2639,2291,1480
$GC,17184,1.15,327.7,111.5,9.5,829,17185,0.15,0.00,0.00,0.000,6,0.089,0.000,2610,2291,1476
$GC,17491,1.16,339.5,88.3,7.1,844,17506,0.00,2.62,10.55,0.570,4,0.000,0.054,2610,3701,1432
$GC,17523,1.16,339.5,85.7,7.6,844,17530,0.00,2.45,0.00,0.000,6,0.000,0.026,2610,2295,1432
$GC,17840,1.20,339.5,60.8,8.5,860,17844,0.00,2.50,0.00,0.000,4,0.000,0.044,2610,899,1430
$GC,17880,1.26,339.5,57.2,8.9,862,17885,0.12,2.42,0.00,0.000,6,0.047,0.031,2644,2301,1428
$GC,18208,1.22,339.5,17.9,12.0,878,18212,0.00,2.50,0.00,0.000,4,0.000,0.042,2644,899,1428
$GC,18263,1.22,339.5,10.9,10.9,880,18269,0.00,2.42,0.00,0.000,6,0.000,0.031,2644,2299,1428
$STATE,18329,end climb,SURFACE_DEPTH_REACHED
$STATE,18329,begin surface coast
$FINISH,0.6,1.017281
$STATE,18351,end surface coast,CONTROL_FINISHED_OK
$STATE,18351,begin surface
$SM_CCo,18435,0.00,0.000,0,0,1425,341.21
$SM_GC,1.53,12.32,0.00,0.00,0.088,0.000,0.000,73,2601,1425,-10.46,0.03,341.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1800
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.3,47.0
$24V_AH,23.6,41.194
$10V_AH,10.1,21.270
$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,29.625,164.025,440.825,0.000,0.000,18.306,27.667,138.561,6.500,0.000,0.000,15.301,1630.104,14163.815,555.109,1889.121,501.809,0.000,1538.518,0.000,1838.968,0.000,44.704,0.000
$DEVICE_MAMPS,181.779,69.797,1094.509,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,648.172,604.502,506.057,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44271,885
$CAP_FILE_SIZE,139812,0
$CFSIZE,260165632,243748864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240709,094301,6238.885,-1205.464,44,1.2,44,-11.4