version: 66.04
glider: 16
mission: 13
dive: 266
start: 7 25 109 10 23 8
data:
$ID,16
$MISSION,13
$DIVE,266
$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,-2112320
$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,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
$GPS1,101406,6234.462,-1149.080,40,1.8,45,-11.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-62.8
$GPS2,102252,6234.539,-1149.135,13,2.3,32,-11.2
$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,148.3,11475,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-58.28,0.000,6,0.000,0.000,75,2597,3416
$GC,81,-1.03,-146.6,7.1,-13.3,3,102,12.10,2.38,0.00,0.000,4,0.190,0.057,2132,3861,3418
$GC,232,-0.95,-146.6,39.2,-12.0,9,239,0.10,2.17,0.00,0.000,6,0.103,0.025,2150,2573,3418
$GC,548,-0.95,-146.6,69.9,-7.7,25,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2573,3419
$GC,858,-0.95,-146.6,91.4,-6.8,40,862,0.00,2.40,0.00,0.000,4,0.000,0.037,2150,1211,3419
$GC,892,-1.00,-146.6,93.9,-7.0,41,898,0.00,2.45,0.00,0.000,6,0.000,0.034,2150,2602,3420
$GC,1208,-1.00,-146.6,117.8,-8.1,57,1212,0.00,2.45,0.00,0.000,4,0.000,0.035,2150,1211,3420
$GC,1241,-1.06,-146.6,120.4,-7.7,58,1247,0.00,2.45,0.00,0.000,6,0.000,0.034,2150,2606,3420
$GC,1559,-1.06,-146.6,146.8,-8.6,74,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2606,3419
$GC,1866,-1.06,-146.6,174.3,-9.1,89,1870,0.00,2.45,0.00,0.000,4,0.000,0.036,2150,1212,3419
$GC,1910,-1.13,-146.6,178.4,-9.0,91,1915,0.17,2.42,0.00,0.000,6,0.039,0.034,2096,2600,3419
$GC,2232,-1.00,-146.6,216.0,-11.7,107,2237,0.20,2.33,0.00,0.000,4,0.097,0.061,2138,3858,3419
$GC,2271,-1.00,-146.6,220.2,-9.8,109,2275,0.00,2.12,0.00,0.000,6,0.000,0.025,2138,2594,3419
$GC,2605,-1.00,-146.6,250.3,-8.7,125,2609,0.00,2.42,0.00,0.000,4,0.000,0.037,2138,1213,3419
$GC,2638,-1.00,-146.6,253.2,-8.2,126,2645,0.00,2.45,0.00,0.000,6,0.000,0.034,2138,2608,3419
$GC,2954,-1.00,-146.6,278.7,-8.1,142,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2608,3419
$GC,3263,-1.00,-146.6,303.4,-7.9,157,3267,0.00,2.45,0.00,0.000,4,0.000,0.036,2138,1215,3419
$GC,3314,-1.04,-146.6,307.4,-7.7,159,3318,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2599,3419
$GC,3629,-1.04,-146.6,332.3,-8.0,174,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2599,3418
$GC,3939,-1.04,-146.6,357.3,-8.2,189,3943,0.00,2.42,0.00,0.000,4,0.000,0.036,2138,1217,3418
$GC,3983,-1.08,-146.6,361.1,-8.1,191,3987,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2599,3418
$GC,4304,-1.08,-146.6,388.4,-8.5,207,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2599,3418
$GC,4613,-1.08,-146.6,415.4,-8.7,222,4618,0.00,2.45,0.00,0.000,4,0.000,0.037,2138,1208,3418
$GC,4664,-1.13,-146.6,420.0,-8.7,224,4669,0.12,2.45,0.00,0.000,6,0.047,0.035,2099,2601,3418
$GC,4980,-1.03,-146.6,455.2,-11.8,239,4985,0.17,2.35,0.00,0.000,4,0.096,0.065,2132,3865,3418
$GC,5020,-1.03,-146.6,459.6,-10.3,241,5024,0.00,2.12,0.00,0.000,6,0.000,0.025,2132,2599,3418
$GC,5353,-1.03,-146.6,492.7,-10.0,257,5357,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1218,3418
$GC,5415,-1.03,-146.6,498.7,-10.2,260,5419,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,5742,-1.03,-146.6,529.0,-9.0,276,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3417
$GC,6051,-1.03,-146.6,553.4,-7.5,291,6055,0.00,2.45,0.00,0.000,4,0.000,0.037,2132,1211,3417
$GC,6097,-1.03,-146.6,556.9,-7.2,293,6101,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2606,3417
$GC,6430,-1.03,-146.6,582.0,-7.5,309,6434,0.00,2.45,0.00,0.000,4,0.000,0.036,2132,1212,3417
$GC,6475,-1.08,-146.6,585.4,-7.2,311,6479,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2599,3417
$GC,6802,-1.08,-146.6,614.1,-10.4,327,6806,0.00,2.35,0.00,0.000,4,0.000,0.067,2132,3863,3417
$GC,6914,-1.08,-146.6,627.6,-11.5,332,6917,0.00,2.12,0.00,0.000,6,0.000,0.025,2132,2600,3417
$GC,7240,-1.08,-146.6,658.8,-8.9,348,7244,0.00,2.35,0.00,0.000,4,0.000,0.066,2132,3856,3416
$GC,7286,-1.08,-146.6,662.9,-9.2,350,7290,0.00,2.10,0.00,0.000,6,0.000,0.026,2132,2600,3416
$GC,7619,-1.08,-146.6,691.0,-8.4,366,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3416
$GC,7929,-1.08,-146.6,715.4,-7.8,381,7933,0.00,2.45,0.00,0.000,4,0.000,0.042,2132,1218,3415
$GC,7957,-1.14,-146.6,717.6,-8.0,382,7961,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2603,3415
$STATE,8270,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8270,begin apogee
$GC,8277,-0.31,0.0,742.1,7.2,397,8413,0.80,0.00,129.25,1.069,6,0.115,0.000,2289,2300,2816
$STATE,8414,end apogee,CONTROL_FINISHED_OK
$STATE,8414,begin climb
$GC,8417,1.03,146.6,747.2,0.0,404,8555,1.35,2.72,130.30,1.060,4,0.067,0.064,2580,3708,2218
$GC,8607,0.89,146.6,741.4,8.7,412,8612,0.15,2.47,0.00,0.000,6,0.097,0.029,2552,2316,2215
$GC,8928,0.93,187.8,720.3,6.1,428,8972,0.00,2.67,37.03,1.023,4,0.000,0.063,2552,3702,2050
$GC,9006,0.89,187.8,714.5,8.2,431,9010,0.00,2.50,0.00,0.000,6,0.000,0.029,2552,2299,2049
$GC,9322,0.89,187.8,689.6,7.9,446,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2300,2046
$GC,9631,0.89,187.8,666.1,7.7,461,9636,0.00,2.62,0.00,0.000,4,0.000,0.064,2552,3704,2044
$GC,9664,0.89,187.8,663.0,9.2,462,9671,0.00,2.47,0.00,0.000,6,0.000,0.030,2552,2299,2044
$GC,9980,0.89,187.8,635.8,8.7,478,9984,0.00,2.65,0.00,0.000,4,0.000,0.062,2552,3704,2042
$GC,10036,0.89,187.8,630.6,9.8,480,10042,0.00,2.47,0.00,0.000,6,0.000,0.030,2552,2297,2042
$GC,10352,0.89,187.8,602.5,8.8,496,10356,0.00,2.58,0.00,0.000,4,0.000,0.052,2552,895,2042
$GC,10396,0.89,187.8,598.3,9.5,498,10400,0.00,2.50,0.00,0.000,6,0.000,0.035,2552,2305,2041
$GC,10717,0.89,190.6,572.8,7.4,514,10722,0.00,2.62,0.00,0.000,4,0.000,0.064,2552,3706,2041
$GC,10773,0.89,190.6,568.2,8.1,516,10779,0.00,2.47,0.00,0.000,6,0.000,0.030,2552,2298,2041
$GC,11089,1.00,251.2,549.4,5.4,532,11153,0.12,2.67,57.80,0.949,4,0.051,0.049,2587,895,1792
$GC,11187,1.00,251.2,541.8,9.2,536,11192,0.00,2.53,0.00,0.000,6,0.000,0.035,2588,2309,1787
$GC,11503,1.00,251.2,511.5,9.8,551,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2309,1785
$GC,11813,1.00,251.2,483.4,8.6,566,11817,0.00,2.60,0.00,0.000,4,0.000,0.060,2587,3708,1784
$GC,11840,1.00,251.2,480.8,8.5,567,11844,0.00,2.47,0.00,0.000,6,0.000,0.028,2587,2295,1784
$GC,12155,1.00,251.2,453.8,8.9,582,12159,0.00,2.53,0.00,0.000,4,0.000,0.048,2587,896,1783
$GC,12178,1.00,251.2,451.6,9.2,583,12183,0.00,2.47,0.00,0.000,6,0.000,0.033,2588,2304,1782
$GC,12506,1.00,251.2,424.5,7.6,599,12510,0.00,2.60,0.00,0.000,4,0.000,0.058,2587,3702,1782
$GC,12534,1.00,251.2,422.2,8.4,600,12538,0.00,2.45,0.00,0.000,6,0.000,0.027,2587,2297,1783
$GC,12850,1.00,251.2,398.4,7.7,615,12851,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2296,1782
$GC,13160,1.00,251.2,371.6,9.1,630,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2296,1782
$GC,13468,1.00,251.2,343.0,9.3,645,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2296,1782
$GC,13778,1.00,251.2,314.6,8.9,660,13779,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2296,1783
$GC,14087,1.00,251.2,286.9,8.9,675,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2296,1783
$GC,14396,1.00,251.2,258.7,9.5,690,14400,0.00,2.60,0.00,0.000,4,0.000,0.056,2587,3707,1783
$GC,14429,1.00,251.2,255.4,9.7,691,14435,0.00,2.45,0.00,0.000,6,0.000,0.027,2587,2293,1783
$GC,14745,1.00,251.2,225.8,9.2,707,14746,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2293,1783
$GC,15053,1.00,251.2,198.3,8.6,722,15058,0.00,2.60,0.00,0.000,4,0.000,0.055,2587,3705,1783
$GC,15081,1.00,251.2,195.8,9.5,723,15085,0.00,2.42,0.00,0.000,6,0.000,0.026,2587,2297,1783
$GC,15397,1.00,251.2,170.1,8.2,738,15398,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2297,1783
$GC,15706,1.00,251.2,145.6,8.0,753,15707,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2297,1782
$GC,16015,1.00,251.2,120.0,8.3,768,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2298,1783
$GC,16325,1.00,251.2,92.6,9.6,783,16329,0.00,2.58,0.00,0.000,4,0.000,0.054,2587,3705,1784
$GC,16375,1.00,251.2,87.1,10.8,785,16379,0.00,2.42,0.00,0.000,6,0.000,0.026,2587,2301,1784
$GC,16691,1.00,251.2,51.6,11.2,800,16695,0.00,2.50,0.00,0.000,4,0.000,0.044,2587,901,1784
$GC,16746,1.00,251.2,45.8,11.0,802,16753,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2301,1783
$GC,17063,1.04,251.2,18.3,8.2,818,17067,0.00,2.58,0.00,0.000,4,0.000,0.056,2587,3701,1784
$GC,17118,1.04,251.2,13.2,9.2,820,17124,0.00,2.40,0.00,0.000,6,0.000,0.025,2587,2296,1784
$STATE,17245,end climb,SURFACE_DEPTH_REACHED
$STATE,17245,begin surface coast
$FINISH,0.7,1.026542
$STATE,17268,end surface coast,CONTROL_FINISHED_OK
$STATE,17268,begin surface
$SM_CCo,17352,0.00,0.000,0,0,1779,254.38
$SM_GC,1.52,11.95,0.00,0.00,0.086,0.000,0.000,73,2605,1779,-10.46,0.14,254.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1806
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.4,99.7
$24V_AH,23.6,41.961
$10V_AH,10.1,21.734
$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,27.250,153.125,354.375,0.000,0.000,35.948,63.439,212.082,5.500,0.000,0.000,32.969,1513.594,13469.923,476.708,1798.281,614.000,0.000,1390.760,0.000,1737.406,0.000,38.676,0.000
$DEVICE_MAMPS,190.216,66.729,1069.198,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,605.524,565.229,495.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41102,828
$CAP_FILE_SIZE,128705,0
$CFSIZE,260165632,243396608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250709,151336,6233.613,-1144.778,39,1.4,39,-11.1