version: 66.04
glider: 16
mission: 13
dive: 267
start: 7 25 109 15 22 24
data:
$ID,16
$MISSION,13
$DIVE,267
$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,-2112337.2
$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,40
$R_STBD_OVSHOOT,30
$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
$GPS1,151336,6233.613,-1144.778,39,1.4,39,-11.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-63.5
$GPS2,152207,6233.630,-1144.824,11,1.5,16,-11.1
$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,159.6,7887,-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,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-54.15,0.000,6,0.000,0.000,73,2605,3416
$GC,81,-1.03,-146.6,7.9,-15.0,3,102,11.77,2.35,0.00,0.000,4,0.179,0.058,2129,3854,3418
$GC,245,-0.96,-146.6,40.8,-11.2,10,250,0.10,2.15,0.00,0.000,6,0.104,0.025,2148,2582,3418
$GC,568,-0.96,-146.6,71.2,-9.3,26,572,0.00,2.40,0.00,0.000,4,0.000,0.036,2148,1217,3419
$GC,601,-1.01,-146.6,74.6,-9.6,27,608,0.00,2.42,0.00,0.000,6,0.000,0.034,2148,2595,3419
$GC,918,-1.01,-146.6,105.7,-9.8,43,922,0.00,2.33,0.00,0.000,4,0.000,0.061,2147,3860,3419
$GC,958,-1.01,-146.6,109.9,-10.4,45,962,0.00,2.12,0.00,0.000,6,0.000,0.025,2148,2596,3419
$GC,1290,-1.01,-146.6,141.3,-9.2,61,1295,0.00,2.42,0.00,0.000,4,0.000,0.036,2147,1214,3420
$GC,1325,-1.06,-146.6,144.5,-9.2,62,1331,0.00,2.42,0.00,0.000,6,0.000,0.034,2148,2600,3420
$GC,1640,-1.06,-146.6,172.7,-9.0,78,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2600,3420
$GC,1950,-1.06,-146.6,201.8,-9.7,93,1954,0.00,2.45,0.00,0.000,4,0.000,0.036,2148,1210,3420
$GC,1990,-1.12,-146.6,205.6,-9.3,95,1995,0.15,2.45,0.00,0.000,6,0.041,0.034,2101,2603,3421
$GC,2318,-1.00,-146.6,244.7,-11.8,111,2322,0.17,2.33,0.00,0.000,4,0.100,0.061,2137,3860,3419
$GC,2362,-1.00,-146.6,249.5,-10.1,113,2367,0.00,2.12,0.00,0.000,6,0.000,0.025,2137,2594,3419
$GC,2688,-1.00,-146.6,281.0,-9.5,129,2692,0.00,2.42,0.00,0.000,4,0.000,0.037,2137,1214,3419
$GC,2729,-1.05,-146.6,284.8,-9.5,131,2733,0.00,2.45,0.00,0.000,6,0.000,0.034,2137,2610,3420
$GC,3056,-1.05,-146.6,316.1,-9.6,147,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2610,3419
$GC,3365,-1.05,-146.6,346.1,-9.6,162,3369,0.00,2.45,0.00,0.000,4,0.000,0.036,2137,1218,3419
$GC,3398,-1.05,-146.6,349.4,-9.4,163,3404,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2598,3419
$GC,3714,-1.05,-146.6,379.8,-9.7,179,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2599,3419
$GC,4022,-1.05,-146.6,409.3,-9.5,194,4027,0.00,2.42,0.00,0.000,4,0.000,0.036,2137,1218,3419
$GC,4063,-1.05,-146.6,413.1,-9.5,196,4067,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2600,3419
$GC,4390,-1.05,-146.6,442.4,-8.8,212,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2600,3419
$GC,4699,-1.05,-146.6,469.6,-8.9,227,4703,0.00,2.42,0.00,0.000,4,0.000,0.036,2138,1221,3419
$GC,4739,-1.09,-146.6,473.2,-8.6,229,4743,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2601,3419
$GC,5066,-1.09,-146.6,504.3,-9.8,245,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2601,3418
$GC,5374,-1.09,-146.6,533.8,-9.3,260,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2602,3418
$GC,5684,-1.09,-146.6,561.6,-9.0,275,5688,0.00,2.42,0.00,0.000,4,0.000,0.037,2137,1219,3418
$GC,5718,-1.14,-146.6,564.8,-9.1,276,5723,0.12,2.42,0.00,0.000,6,0.045,0.035,2098,2605,3418
$GC,6035,-1.05,-146.6,602.2,-12.4,291,6037,0.17,0.00,0.00,0.000,6,0.097,0.000,2131,2605,3417
$GC,6344,-1.05,-146.6,631.0,-8.1,306,6348,0.00,2.42,0.00,0.000,4,0.000,0.036,2131,1220,3418
$GC,6384,-1.10,-146.6,633.9,-6.9,308,6388,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3418
$GC,6711,-1.10,-146.6,654.4,-6.2,324,6715,0.00,2.35,0.00,0.000,4,0.000,0.069,2131,3858,3417
$GC,6768,-1.10,-146.6,658.8,-7.4,326,6774,0.00,2.12,0.00,0.000,6,0.000,0.026,2131,2601,3417
$GC,7083,-1.10,-146.6,682.1,-8.6,342,7088,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1213,3417
$GC,7124,-1.16,-146.6,685.7,-9.0,344,7129,0.12,2.45,0.00,0.000,6,0.046,0.036,2092,2603,3417
$GC,7451,-1.08,-146.6,720.4,-10.3,360,7453,0.15,0.00,0.00,0.000,6,0.097,0.000,2121,2604,3416
$GC,7759,-1.08,-146.6,746.4,-8.4,375,7763,0.00,2.33,0.00,0.000,4,0.000,0.070,2121,3857,3416
$GC,7827,-1.08,-146.6,751.7,-6.8,378,7831,0.00,2.12,0.00,0.000,6,0.000,0.031,2122,2614,3414
$STATE,8027,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8027,begin apogee
$GC,8034,-0.31,0.0,768.1,9.4,388,8170,0.85,0.00,129.90,1.087,6,0.102,0.000,2291,2298,2816
$STATE,8171,end apogee,CONTROL_FINISHED_OK
$STATE,8171,begin climb
$GC,8174,1.03,146.6,772.6,0.0,395,8313,1.38,2.70,131.02,1.076,4,0.078,0.061,2581,3702,2217
$GC,8548,0.90,146.6,750.7,8.0,411,8553,0.15,2.45,0.00,0.000,6,0.097,0.030,2553,2309,2213
$GC,8870,0.91,202.8,729.2,5.6,427,8923,0.00,0.00,51.08,1.042,6,0.000,0.000,2553,2309,1990
$GC,9219,0.92,214.7,709.8,7.1,444,9239,0.00,2.70,11.57,0.927,4,0.000,0.063,2553,3701,1941
$GC,9279,0.92,214.7,704.2,9.3,446,9285,0.00,2.47,0.00,0.000,6,0.000,0.030,2554,2299,1940
$GC,9595,0.92,214.7,673.8,9.0,462,9599,0.00,2.58,0.00,0.000,4,0.000,0.052,2553,894,1937
$GC,9617,0.97,214.7,671.7,9.1,463,9621,0.00,2.50,0.00,0.000,6,0.000,0.035,2553,2301,1936
$GC,9939,1.02,222.9,648.9,7.2,479,9953,0.12,2.62,8.35,0.857,4,0.054,0.047,2589,899,1907
$GC,9993,0.96,222.9,643.8,10.1,481,9997,0.00,2.50,0.00,0.000,6,0.000,0.035,2589,2308,1906
$GC,10310,0.91,222.9,605.7,12.7,496,10312,0.17,0.00,0.00,0.000,6,0.094,0.000,2556,2308,1906
$GC,10620,1.01,263.9,580.2,6.1,511,10665,0.10,2.67,39.92,0.956,4,0.060,0.061,2585,3707,1740
$GC,10706,1.01,263.9,573.9,8.0,515,10710,0.00,2.50,0.00,0.000,6,0.000,0.029,2585,2293,1738
$GC,11033,1.01,263.9,547.7,8.7,531,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2292,1733
$GC,11342,1.01,263.9,517.5,10.0,546,11346,0.00,2.62,0.00,0.000,4,0.000,0.059,2585,3702,1733
$GC,11368,1.01,263.9,514.7,9.9,547,11373,0.00,2.45,0.00,0.000,6,0.000,0.027,2585,2295,1733
$GC,11685,1.01,263.9,485.8,8.8,562,11686,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2295,1733
$GC,11993,1.01,263.9,461.4,7.6,577,11994,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2295,1733
$GC,12302,1.01,263.9,437.5,8.1,592,12307,0.00,2.60,0.00,0.000,4,0.000,0.058,2585,3704,1733
$GC,12330,1.01,263.9,435.1,8.8,593,12334,0.00,2.45,0.00,0.000,6,0.000,0.027,2585,2294,1733
$GC,12645,1.01,263.9,408.5,8.4,608,12647,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2293,1733
$GC,12955,1.01,263.9,382.6,8.3,623,12959,0.00,2.60,0.00,0.000,4,0.000,0.057,2584,3704,1733
$GC,12982,1.01,263.9,380.1,8.7,624,12986,0.00,2.45,0.00,0.000,6,0.000,0.026,2584,2292,1733
$GC,13298,1.01,263.9,353.7,8.2,639,13299,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2291,1732
$GC,13606,1.01,263.9,328.7,8.1,654,13608,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2292,1733
$GC,13916,1.01,263.9,302.9,8.4,669,13917,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2291,1733
$GC,14226,1.01,263.9,275.7,9.1,684,14230,0.00,2.60,0.00,0.000,4,0.000,0.055,2584,3706,1733
$GC,14247,1.01,263.9,273.6,9.1,685,14251,0.00,2.42,0.00,0.000,6,0.000,0.026,2585,2297,1733
$GC,14568,1.01,263.9,243.2,9.7,701,14569,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2297,1733
$GC,14878,1.01,263.9,214.5,9.1,716,14879,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2297,1733
$GC,15186,1.01,263.9,186.5,9.0,731,15191,0.00,2.60,0.00,0.000,4,0.000,0.054,2584,3709,1732
$GC,15208,1.01,263.9,184.2,9.6,732,15213,0.00,2.42,0.00,0.000,6,0.000,0.026,2585,2299,1733
$GC,15530,1.01,263.9,155.8,8.7,748,15531,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2298,1733
$GC,15840,1.01,263.9,128.0,8.9,763,15841,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2298,1733
$GC,16149,1.01,263.9,100.1,8.6,778,16150,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2298,1733
$GC,16459,1.05,297.5,77.9,6.4,793,16490,0.00,0.00,29.80,0.611,6,0.000,0.000,2584,2298,1604
$GC,16788,1.12,297.5,51.0,10.7,809,16793,0.00,2.50,0.00,0.000,4,0.000,0.044,2585,904,1599
$GC,16807,1.20,297.5,48.7,11.6,810,16812,0.17,2.45,0.00,0.000,6,0.048,0.031,2633,2312,1598
$GC,17135,1.15,297.5,9.1,11.4,826,17140,0.12,2.53,0.00,0.000,4,0.089,0.041,2609,898,1598
$GC,17175,1.15,297.5,4.9,9.5,828,17179,0.00,2.42,0.00,0.000,6,0.000,0.031,2608,2301,1597
$STATE,17188,end climb,SURFACE_DEPTH_REACHED
$STATE,17188,begin surface coast
$FINISH,0.8,1.026517
$STATE,17219,end surface coast,CONTROL_FINISHED_OK
$STATE,17219,begin surface
$SM_CCo,17303,0.00,0.000,0,0,1595,299.76
$SM_GC,1.90,12.48,0.00,0.00,0.103,0.000,0.000,81,2601,1595,-10.45,0.03,299.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1813
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.7,50.7
$24V_AH,23.6,42.096
$10V_AH,10.1,21.812
$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,28.325,132.800,401.650,0.000,0.000,35.975,55.626,223.384,6.500,0.000,0.000,16.458,1515.982,13426.131,508.620,1743.035,616.346,0.000,1395.551,0.000,1695.772,0.000,46.321,0.000
$DEVICE_MAMPS,178.711,69.797,1086.839,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,611.225,566.815,483.647,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41114,830
$CAP_FILE_SIZE,127881,0
$CFSIZE,260165632,243335168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250709,201201,6230.736,-1146.229,38,2.0,38,-11.1