version: 66.04
glider: 16
mission: 13
dive: 234
start: 7 18 109 19 39 56
data:
$ID,16
$MISSION,13
$DIVE,234
$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,-2111766.8
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,193437,6249.964,-1304.118,36,0.9,36,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-63.3
$GPS2,193938,6249.947,-1304.159,16,1.1,16,-12.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$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,128.1,41827,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,61,0.00,0.00,-41.97,0.000,2,0.000,0.000,72,2607,2987
$GC,64,-1.03,-146.6,4.1,-10.6,2,90,11.93,2.55,-8.07,0.000,4,0.183,0.051,2132,1198,3418
$GC,223,-1.03,-146.6,26.3,-11.0,9,228,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2600,3419
$GC,552,-1.03,-146.6,62.3,-12.1,25,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,860,-1.03,-146.6,98.0,-11.6,40,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,1170,-1.03,-146.6,131.6,-10.9,55,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,1478,-1.03,-146.6,166.2,-10.7,70,1482,0.00,2.47,0.00,0.000,4,0.000,0.036,2132,1190,3419
$GC,1505,-1.03,-146.6,169.1,-10.7,71,1509,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2601,3418
$GC,1822,-1.03,-146.6,195.2,-7.1,86,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3419
$GC,2130,-1.03,-146.6,217.2,-7.3,101,2135,0.00,2.47,0.00,0.000,4,0.000,0.037,2132,1191,3420
$GC,2153,-1.03,-146.6,218.9,-7.4,102,2157,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2603,3419
$GC,2474,-1.03,-146.6,243.8,-7.9,118,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3419
$GC,2782,-1.03,-146.6,270.0,-8.8,133,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3419
$GC,3092,-1.03,-146.6,298.3,-9.1,148,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3419
$GC,3402,-1.03,-146.6,325.4,-8.7,163,3406,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1192,3419
$GC,3441,-1.03,-146.6,328.8,-8.6,164,3447,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2606,3419
$GC,3757,-1.03,-146.6,355.5,-8.5,180,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2606,3419
$GC,4066,-1.03,-146.6,382.6,-8.5,195,4071,0.00,2.47,0.00,0.000,4,0.000,0.038,2131,1195,3419
$GC,4094,-1.03,-146.6,385.2,-8.5,196,4098,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2608,3419
$GC,4410,-1.03,-146.6,411.8,-8.4,211,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3419
$GC,4720,-1.03,-146.6,437.1,-8.0,226,4724,0.00,2.47,0.00,0.000,4,0.000,0.038,2133,1195,3419
$GC,4764,-1.03,-146.6,440.8,-8.0,228,4768,0.00,2.47,0.00,0.000,6,0.000,0.035,2133,2610,3419
$GC,5085,-1.03,-146.6,468.5,-9.2,244,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2610,3419
$GC,5394,-1.03,-146.6,497.8,-9.3,259,5399,0.00,2.47,0.00,0.000,4,0.000,0.037,2133,1196,3418
$GC,5428,-1.03,-146.6,500.9,-9.0,260,5434,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2600,3418
$GC,5744,-1.03,-146.6,530.5,-9.6,276,5747,0.00,2.33,0.00,0.000,4,0.000,0.067,2132,3858,3418
$GC,5777,-1.03,-146.6,534.0,-9.7,277,5781,0.00,2.15,0.00,0.000,6,0.000,0.025,2132,2579,3418
$GC,6098,-1.03,-146.6,565.1,-9.5,293,6102,0.00,2.40,0.00,0.000,4,0.000,0.039,2132,1206,3418
$GC,6154,-1.07,-146.6,570.3,-8.8,295,6160,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2609,3418
$GC,6470,-1.07,-146.6,599.7,-9.3,311,6475,0.00,2.33,0.00,0.000,4,0.000,0.067,2132,3863,3418
$GC,6498,-1.07,-146.6,602.5,-10.4,312,6502,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2596,3418
$GC,6824,-1.07,-146.6,631.8,-8.0,328,6829,0.00,2.42,0.00,0.000,4,0.000,0.040,2132,1212,3418
$GC,6876,-1.13,-146.6,635.6,-7.4,330,6880,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,7191,-1.13,-146.6,659.5,-7.7,345,7195,0.00,2.33,0.00,0.000,4,0.000,0.068,2132,3857,3417
$GC,7219,-1.13,-146.6,661.6,-8.3,346,7222,0.00,2.12,0.00,0.000,6,0.000,0.026,2133,2592,3417
$GC,7540,-1.13,-146.6,687.4,-7.9,362,7544,0.00,2.42,0.00,0.000,4,0.000,0.041,2133,1211,3417
$GC,7568,-1.18,-146.6,689.8,-8.5,363,7573,0.15,2.45,0.00,0.000,6,0.042,0.036,2084,2607,3417
$GC,7884,-1.08,-146.6,721.2,-9.5,378,7889,0.17,2.33,0.00,0.000,4,0.098,0.070,2121,3857,3417
$GC,7936,-1.08,-146.6,726.0,-8.5,380,7940,0.00,2.12,0.00,0.000,6,0.000,0.028,2121,2602,3416
$GC,8264,-1.08,-146.6,752.7,-8.2,396,8268,0.00,2.45,0.00,0.000,4,0.000,0.044,2121,1206,3415
$GC,8297,-1.13,-146.6,755.6,-8.4,397,8302,0.00,2.45,0.00,0.000,6,0.000,0.036,2122,2601,3415
$STATE,8425,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8425,begin apogee
$GC,8432,-0.31,0.0,766.5,8.9,403,8567,0.82,0.00,129.02,1.078,6,0.099,0.000,2289,2297,2817
$STATE,8568,end apogee,CONTROL_FINISHED_OK
$STATE,8568,begin climb
$GC,8571,1.03,146.6,772.6,0.0,410,8710,1.40,0.00,130.10,1.069,6,0.071,0.000,2583,2297,2218
$GC,9020,0.98,177.0,750.7,6.5,432,9054,0.00,2.72,27.67,1.016,4,0.000,0.063,2583,3694,2095
$GC,9085,0.86,177.0,745.7,8.0,435,9090,0.17,2.45,0.00,0.000,6,0.106,0.030,2551,2309,2093
$GC,9413,0.89,201.7,723.5,6.7,451,9442,0.00,2.65,22.95,0.999,4,0.000,0.051,2551,906,1993
$GC,9460,0.91,218.9,720.1,6.9,453,9484,0.00,2.50,17.30,0.968,6,0.000,0.035,2551,2309,1924
$GC,9806,0.96,218.9,694.1,7.7,470,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2308,1919
$GC,10116,1.03,231.5,672.3,7.1,485,10136,0.15,0.00,12.10,0.920,6,0.051,0.000,2592,2309,1872
$GC,10445,0.99,231.5,643.4,9.0,501,10450,0.00,2.60,0.00,0.000,4,0.000,0.064,2593,3704,1869
$GC,10467,0.92,231.5,641.1,10.0,502,10472,0.17,2.45,0.00,0.000,6,0.105,0.029,2561,2299,1870
$GC,10788,0.97,231.5,615.3,8.1,518,10793,0.00,2.55,0.00,0.000,4,0.000,0.051,2560,893,1868
$GC,10829,1.02,231.5,612.0,9.2,520,10833,0.00,2.47,0.00,0.000,6,0.000,0.035,2561,2302,1867
$GC,11156,1.02,231.5,586.2,7.9,536,11161,0.00,2.60,0.00,0.000,4,0.000,0.061,2561,3706,1867
$GC,11196,1.02,231.5,582.7,9.4,538,11200,0.00,2.45,0.00,0.000,6,0.000,0.029,2561,2293,1867
$GC,11528,1.06,231.5,553.3,9.4,554,11533,0.15,2.53,0.00,0.000,4,0.051,0.048,2601,895,1867
$GC,11573,0.99,231.5,548.2,12.1,556,11578,0.12,2.47,0.00,0.000,6,0.095,0.034,2577,2309,1866
$GC,11894,0.99,231.5,513.6,10.7,572,11898,0.00,2.58,0.00,0.000,4,0.000,0.060,2577,3704,1867
$GC,11921,0.99,231.5,510.7,11.2,573,11925,0.00,2.42,0.00,0.000,6,0.000,0.028,2577,2295,1867
$GC,12242,0.99,231.5,478.8,9.8,589,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2295,1866
$GC,12552,0.99,231.5,449.9,8.9,604,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2295,1867
$GC,12860,0.99,231.5,423.5,8.4,619,12861,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2295,1867
$GC,13170,0.99,231.5,399.0,7.9,634,13171,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2295,1867
$GC,13479,0.99,231.5,374.2,7.9,649,13480,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2294,1866
$GC,13788,0.99,231.5,348.7,8.3,664,13792,0.00,2.58,0.00,0.000,4,0.000,0.058,2577,3700,1867
$GC,13809,0.99,231.5,346.7,9.6,665,13814,0.00,2.40,0.00,0.000,6,0.000,0.027,2577,2297,1868
$GC,14130,0.99,231.5,320.5,7.9,681,14135,0.00,2.47,0.00,0.000,4,0.000,0.044,2577,902,1868
$GC,14152,0.99,231.5,318.6,8.3,682,14156,0.00,2.42,0.00,0.000,6,0.000,0.032,2576,2301,1868
$GC,14474,0.99,231.5,293.9,7.8,698,14478,0.00,2.55,0.00,0.000,4,0.000,0.057,2577,3698,1867
$GC,14495,0.99,231.5,291.9,8.2,699,14499,0.00,2.40,0.00,0.000,6,0.000,0.027,2577,2295,1867
$GC,14821,0.99,231.5,266.6,8.1,715,14825,0.00,2.47,0.00,0.000,4,0.000,0.044,2577,897,1867
$GC,14844,0.99,231.5,264.7,8.4,716,14848,0.00,2.45,0.00,0.000,6,0.000,0.032,2577,2309,1867
$GC,15165,0.99,231.5,238.5,7.8,732,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2309,1868
$GC,15474,1.00,236.7,215.2,7.3,747,15482,0.00,0.00,5.78,0.567,6,0.000,0.000,2577,2309,1851
$GC,15784,1.01,243.0,193.1,7.3,762,15793,0.00,0.00,7.20,0.591,6,0.000,0.000,2576,2309,1826
$GC,16092,1.01,243.0,170.1,7.6,777,16094,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2309,1825
$GC,16402,1.01,243.0,146.4,7.5,792,16404,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2309,1825
$GC,16712,1.04,275.8,126.8,6.4,807,16748,0.00,2.58,30.42,0.648,4,0.000,0.042,2577,898,1689
$GC,16765,1.11,282.9,122.9,7.3,808,16780,0.12,2.47,7.35,0.548,6,0.048,0.031,2609,2308,1663
$GC,17102,1.11,282.9,86.8,12.1,825,17107,0.00,2.55,0.00,0.000,4,0.000,0.056,2609,3699,1659
$GC,17124,1.11,282.9,83.7,12.8,826,17129,0.00,2.42,0.00,0.000,6,0.000,0.027,2609,2294,1659
$GC,17447,1.11,282.9,44.5,12.3,842,17452,0.00,2.47,0.00,0.000,4,0.000,0.044,2609,900,1658
$GC,17488,1.11,282.9,39.7,10.3,844,17492,0.00,2.45,0.00,0.000,6,0.000,0.031,2610,2311,1656
$GC,17815,1.11,282.9,8.5,8.7,860,17819,0.00,2.53,0.00,0.000,4,0.000,0.054,2610,3698,1656
$GC,17842,1.11,282.9,5.5,9.4,861,17846,0.00,2.40,0.00,0.000,6,0.000,0.027,2610,2299,1657
$STATE,17887,end climb,SURFACE_DEPTH_REACHED
$STATE,17888,begin surface coast
$FINISH,0.7,1.013763
$STATE,17930,end surface coast,CONTROL_FINISHED_OK
$STATE,17930,begin surface
$SM_CCo,18014,0.00,0.000,0,0,1655,285.04
$SM_GC,1.66,12.10,0.00,0.00,0.086,0.000,0.000,68,2609,1655,-10.47,0.28,285.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1793
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,51.2
$24V_AH,23.6,37.810
$10V_AH,10.1,19.246
$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,27.475,148.100,389.900,0.000,0.000,18.023,29.202,134.177,6.250,0.000,0.000,16.178,1568.499,14020.320,491.218,1762.182,472.828,0.000,1401.700,0.000,1715.646,0.000,43.099,0.000
$DEVICE_MAMPS,182.546,69.797,1077.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,630.958,594.911,487.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44249,865
$CAP_FILE_SIZE,127861,0
$CFSIZE,260165632,245350400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190709,004130,6248.275,-1301.611,38,0.9,43,-11.9