version: 66.04
glider: 16
mission: 13
dive: 261
start: 7 24 109 9 54 9
data:
$ID,16
$MISSION,13
$DIVE,261
$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,-2112202.8
$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,34
$R_STBD_OVSHOOT,24
$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
$GPS1,094301,6238.885,-1205.464,44,1.2,44,-11.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.7
$GPS2,095349,6238.991,-1205.342,12,1.3,12,-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,138.9,27329,-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,-60.83,0.000,2,0.000,0.000,73,2603,3081
$GC,81,-1.03,-146.6,4.2,-6.5,3,105,11.70,2.40,-6.28,0.000,4,0.175,0.074,2129,3858,3418
$GC,279,-0.95,-146.6,31.1,-9.7,11,286,0.12,2.17,0.00,0.000,6,0.101,0.025,2152,2569,3419
$GC,595,-0.95,-146.6,55.7,-8.0,27,599,0.00,2.40,0.00,0.000,4,0.000,0.037,2152,1209,3419
$GC,663,-1.01,-146.6,60.1,-5.9,30,667,0.00,2.45,0.00,0.000,6,0.000,0.034,2152,2599,3419
$GC,984,-1.01,-146.6,83.4,-9.0,46,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2600,3419
$GC,1293,-1.01,-146.6,111.8,-9.0,61,1297,0.00,2.45,0.00,0.000,4,0.000,0.035,2152,1208,3419
$GC,1321,-1.06,-146.6,114.2,-8.8,62,1326,0.12,2.45,0.00,0.000,6,0.044,0.034,2110,2599,3419
$GC,1637,-0.97,-146.6,147.4,-10.2,77,1642,0.17,2.33,0.00,0.000,4,0.093,0.061,2147,3860,3419
$GC,1671,-0.97,-146.6,150.5,-8.9,78,1677,0.00,2.15,0.00,0.000,6,0.000,0.025,2147,2598,3419
$GC,1988,-0.97,-146.6,175.4,-7.9,94,1992,0.00,2.42,0.00,0.000,4,0.000,0.037,2147,1219,3419
$GC,2021,-1.02,-146.6,178.1,-7.8,95,2028,0.00,2.42,0.00,0.000,6,0.000,0.034,2147,2600,3419
$GC,2337,-1.02,-146.6,203.8,-8.3,111,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2600,3419
$GC,2647,-1.02,-146.6,230.0,-8.4,126,2651,0.00,2.42,0.00,0.000,4,0.000,0.037,2147,1219,3419
$GC,2691,-1.08,-146.6,233.7,-7.9,128,2696,0.12,2.42,0.00,0.000,6,0.047,0.035,2107,2600,3419
$GC,3013,-0.98,-146.6,267.6,-10.9,144,3015,0.20,0.00,0.00,0.000,6,0.092,0.000,2145,2600,3419
$GC,3321,-0.98,-146.6,294.2,-8.4,159,3325,0.00,2.42,0.00,0.000,4,0.000,0.037,2145,1218,3419
$GC,3361,-1.05,-146.6,297.5,-7.9,161,3365,0.00,2.42,0.00,0.000,6,0.000,0.035,2145,2600,3419
$GC,3689,-1.05,-146.6,324.6,-8.4,177,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2600,3419
$GC,3998,-1.05,-146.6,350.9,-8.6,192,4002,0.00,2.42,0.00,0.000,4,0.000,0.037,2145,1218,3418
$GC,4042,-1.11,-146.6,354.9,-8.6,194,4047,0.12,2.42,0.00,0.000,6,0.047,0.035,2105,2600,3418
$GC,4364,-1.01,-146.6,388.0,-10.2,210,4366,0.17,0.00,0.00,0.000,6,0.091,0.000,2138,2600,3418
$GC,4672,-1.01,-146.6,412.9,-7.7,225,4676,0.00,2.42,0.00,0.000,4,0.000,0.037,2138,1220,3418
$GC,4700,-1.01,-146.6,415.0,-7.9,226,4704,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2599,3418
$GC,5017,-1.01,-146.6,438.8,-7.7,241,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3417
$GC,5325,-1.01,-146.6,461.9,-7.6,256,5329,0.00,2.42,0.00,0.000,4,0.000,0.036,2138,1219,3417
$GC,5352,-1.01,-146.6,464.1,-7.4,257,5357,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2600,3417
$GC,5668,-1.01,-146.6,488.2,-7.6,272,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3417
$GC,5977,-1.01,-146.6,512.2,-8.0,287,5981,0.00,2.42,0.00,0.000,4,0.000,0.037,2138,1219,3417
$GC,6017,-1.06,-146.6,515.2,-7.3,289,6021,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2600,3417
$GC,6345,-1.06,-146.6,543.0,-9.1,305,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3416
$GC,6653,-1.06,-146.6,572.3,-9.7,320,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3416
$GC,6964,-1.06,-146.6,601.6,-9.3,335,6968,0.00,2.42,0.00,0.000,4,0.000,0.038,2138,1218,3416
$GC,6991,-1.11,-146.6,604.3,-9.5,336,6995,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2600,3416
$GC,7308,-1.11,-146.6,629.0,-7.2,351,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3415
$GC,7618,-1.16,-146.6,647.7,-5.8,366,7623,0.15,2.42,0.00,0.000,4,0.044,0.037,2091,1220,3415
$GC,7646,-1.16,-146.6,649.9,-7.4,367,7651,0.00,2.42,0.00,0.000,6,0.000,0.036,2091,2601,3415
$GC,7967,-1.07,-146.6,674.9,-7.7,383,7969,0.17,0.00,0.00,0.000,6,0.096,0.000,2125,2601,3415
$GC,8277,-1.07,-146.6,694.3,-7.0,398,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2601,3415
$GC,8585,-1.07,-146.6,716.4,-7.7,413,8589,0.00,2.35,0.00,0.000,4,0.000,0.071,2125,3856,3414
$GC,8634,-1.07,-146.6,720.9,-8.7,415,8638,0.00,2.12,0.00,0.000,6,0.000,0.028,2125,2609,3414
$GC,8956,-1.07,-146.6,746.1,-8.5,431,8961,0.00,2.50,0.00,0.000,4,0.000,0.044,2125,1204,3414
$GC,9020,-1.14,-146.6,750.9,-6.6,434,9024,0.00,2.47,0.00,0.000,6,0.000,0.041,2125,2597,3413
$STATE,9075,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9075,begin apogee
$GC,9083,-0.31,0.0,755.9,8.7,437,9218,0.82,0.00,129.05,1.081,6,0.100,0.000,2290,2293,2817
$STATE,9219,end apogee,CONTROL_FINISHED_OK
$STATE,9219,begin climb
$GC,9222,1.03,146.6,760.8,0.0,444,9360,1.35,2.58,130.57,1.073,4,0.073,0.047,2578,911,2218
$GC,9571,0.96,154.8,741.3,7.2,459,9588,0.00,2.47,7.78,0.863,6,0.000,0.035,2578,2305,2184
$GC,9898,0.95,195.3,718.7,6.1,475,9941,0.00,2.75,37.80,1.032,4,0.000,0.066,2578,3699,2020
$GC,9988,0.86,195.3,711.6,8.9,479,9993,0.15,2.45,0.00,0.000,6,0.097,0.030,2550,2316,2018
$GC,10315,0.87,203.8,689.8,7.2,495,10329,0.00,2.65,8.07,0.865,4,0.000,0.051,2550,908,1983
$GC,10353,0.87,203.8,686.7,8.0,496,10359,0.00,2.50,0.00,0.000,6,0.000,0.037,2550,2304,1983
$GC,10668,0.87,203.8,661.6,8.0,512,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2304,1981
$GC,10978,0.87,203.8,637.5,7.5,527,10982,0.00,2.55,0.00,0.000,4,0.000,0.048,2550,901,1981
$GC,11011,0.93,203.8,634.8,8.0,528,11017,0.00,2.50,0.00,0.000,6,0.000,0.037,2550,2305,1980
$GC,11327,0.99,219.7,612.7,7.0,544,11350,0.12,2.67,15.50,0.933,4,0.054,0.064,2585,3704,1921
$GC,11384,0.91,219.7,607.9,9.1,546,11389,0.15,2.50,0.00,0.000,6,0.100,0.030,2557,2294,1920
$GC,11701,1.00,242.9,586.4,6.7,561,11731,0.00,2.72,23.05,0.943,4,0.000,0.061,2557,3702,1825
$GC,11760,1.00,242.9,581.7,8.0,563,11766,0.00,2.50,0.00,0.000,6,0.000,0.029,2557,2292,1824
$GC,12076,1.06,242.9,556.5,8.2,579,12078,0.15,0.00,0.00,0.000,6,0.051,0.000,2599,2292,1822
$GC,12385,1.02,242.9,526.5,9.3,594,12389,0.00,2.62,0.00,0.000,4,0.000,0.060,2598,3702,1822
$GC,12407,0.96,242.9,524.2,10.2,595,12412,0.15,2.47,0.00,0.000,6,0.098,0.028,2570,2290,1822
$GC,12729,0.96,242.9,498.7,7.5,611,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2290,1821
$GC,13037,0.96,242.9,475.3,7.6,626,13042,0.00,2.60,0.00,0.000,4,0.000,0.058,2570,3702,1821
$GC,13059,0.96,242.9,473.4,8.1,627,13064,0.00,2.45,0.00,0.000,6,0.000,0.027,2570,2294,1821
$GC,13380,0.96,242.9,447.9,8.0,643,13381,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2294,1821
$GC,13689,0.96,242.9,422.2,8.2,658,13693,0.00,2.62,0.00,0.000,4,0.000,0.058,2570,3711,1821
$GC,13710,0.96,242.9,420.2,8.7,659,13715,0.00,2.45,0.00,0.000,6,0.000,0.027,2570,2299,1821
$GC,14032,0.96,242.9,394.9,7.7,675,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2298,1822
$GC,14341,0.96,242.9,370.9,7.8,690,14342,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2298,1822
$GC,14650,1.00,242.9,347.0,8.0,705,14655,0.00,2.58,0.00,0.000,4,0.000,0.057,2570,3705,1822
$GC,14678,1.00,242.9,344.6,8.8,706,14682,0.00,2.42,0.00,0.000,6,0.000,0.026,2570,2294,1822
$GC,14999,1.00,242.9,319.0,8.0,722,15001,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2294,1822
$GC,15309,1.00,242.9,293.9,8.1,737,15310,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2293,1822
$GC,15619,1.05,242.9,268.5,8.0,752,15623,0.00,2.60,0.00,0.000,4,0.000,0.056,2570,3707,1822
$GC,15652,1.05,242.9,265.5,8.9,753,15658,0.00,2.42,0.00,0.000,6,0.000,0.026,2570,2300,1822
$GC,15967,1.09,242.9,240.4,7.8,769,15969,0.12,0.00,0.00,0.000,6,0.047,0.000,2606,2299,1822
$GC,16277,1.03,242.9,210.0,10.1,784,16279,0.12,0.00,0.00,0.000,6,0.094,0.000,2583,2299,1822
$GC,16586,1.03,242.9,182.3,8.9,799,16590,0.00,2.58,0.00,0.000,4,0.000,0.056,2583,3711,1822
$GC,16627,1.03,242.9,178.6,9.3,801,16631,0.00,2.42,0.00,0.000,6,0.000,0.026,2583,2299,1822
$GC,16953,1.03,242.9,148.8,9.3,817,16955,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2299,1822
$GC,17263,1.03,242.9,119.2,9.8,832,17264,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2299,1822
$GC,17573,1.03,242.9,87.1,10.4,847,17578,0.00,2.58,0.00,0.000,4,0.000,0.055,2583,3704,1822
$GC,17602,1.03,242.9,83.7,11.4,848,17606,0.00,2.42,0.00,0.000,6,0.000,0.026,2583,2295,1822
$GC,17918,1.03,242.9,49.5,10.6,863,17922,0.00,2.47,0.00,0.000,4,0.000,0.044,2583,903,1822
$GC,17950,1.03,242.9,46.1,9.6,864,17957,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2304,1822
$GC,18269,1.08,242.9,20.3,7.7,880,18273,0.00,2.55,0.00,0.000,4,0.000,0.056,2583,3700,1823
$GC,18353,1.08,242.9,13.0,8.3,884,18358,0.00,2.42,0.00,0.000,6,0.000,0.026,2583,2291,1823
$STATE,18492,end climb,SURFACE_DEPTH_REACHED
$STATE,18492,begin surface coast
$FINISH,0.8,1.026568
$STATE,18514,end surface coast,CONTROL_FINISHED_OK
$STATE,18514,begin surface
$SM_CCo,18537,3.60,0.382,0,0,1797,250.21
$SM_GC,2.73,0.00,0.00,3.60,0.000,0.000,0.382,73,2605,1797,-10.52,0.14,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1795
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.2,14.2
$24V_AH,23.6,41.321
$10V_AH,10.1,21.354
$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,27.900,148.900,351.825,3.600,0.000,54.113,79.484,256.542,7.000,0.000,0.000,12.075,1634.617,14490.354,482.068,1871.539,711.680,0.000,1435.435,0.000,1823.423,0.000,51.033,0.000
$DEVICE_MAMPS,174.876,73.632,1080.703,381.966,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,652.808,612.922,519.950,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44316,892
$CAP_FILE_SIZE,140116,0
$CFSIZE,260165632,243683328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,240709,150431,6238.500,-1200.330,40,1.4,40,-11.3