version: 66.04
glider: 16
mission: 13
dive: 237
start: 7 19 109 10 23 0
data:
$ID,16
$MISSION,13
$DIVE,237
$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,-2111816.2
$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,39
$R_STBD_OVSHOOT,31
$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
$GPS1,101254,6247.106,-1252.530,40,1.1,40,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-55.2
$GPS2,102243,6247.031,-1252.646,11,1.1,16,-11.8
$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,126.9,30663,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-60.08,0.000,6,0.000,0.000,69,2608,3417
$GC,82,-1.03,-146.6,6.0,-10.2,3,103,12.10,2.55,0.00,0.000,4,0.188,0.038,2132,1197,3418
$GC,244,-1.03,-146.6,36.5,-10.5,10,248,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2598,3419
$GC,566,-1.03,-146.6,72.1,-9.8,26,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3419
$GC,874,-1.03,-146.6,101.5,-10.2,41,878,0.00,2.35,0.00,0.000,4,0.000,0.063,2132,3867,3420
$GC,924,-1.03,-146.6,106.8,-10.0,43,928,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2578,3420
$GC,1246,-1.03,-146.6,131.0,-6.4,59,1250,0.00,2.40,0.00,0.000,4,0.000,0.037,2132,1208,3420
$GC,1280,-1.03,-146.6,133.3,-6.8,60,1286,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2606,3421
$GC,1596,-1.03,-146.6,159.2,-9.1,76,1600,0.00,2.33,0.00,0.000,4,0.000,0.063,2132,3864,3420
$GC,1623,-1.03,-146.6,162.0,-10.2,77,1627,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2599,3421
$GC,1945,-1.03,-146.6,192.5,-9.3,93,1949,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1217,3421
$GC,1978,-1.03,-146.6,195.8,-9.1,94,1982,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3421
$GC,2293,-1.03,-146.6,223.8,-8.9,109,2297,0.00,2.33,0.00,0.000,4,0.000,0.064,2132,3860,3420
$GC,2321,-1.03,-146.6,226.3,-9.3,110,2325,0.00,2.12,0.00,0.000,6,0.000,0.025,2132,2595,3420
$GC,2643,-1.03,-146.6,253.8,-8.6,126,2647,0.00,2.42,0.00,0.000,4,0.000,0.038,2133,1212,3420
$GC,2676,-1.03,-146.6,256.8,-8.4,127,2683,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2609,3420
$GC,2992,-1.03,-146.6,284.4,-8.9,143,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3420
$GC,3301,-1.03,-146.6,312.8,-9.2,158,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3420
$GC,3610,-1.03,-146.6,341.2,-9.4,173,3615,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1212,3420
$GC,3643,-1.03,-146.6,344.4,-9.0,174,3650,0.00,2.42,0.00,0.000,6,0.000,0.035,2133,2597,3420
$GC,3960,-1.03,-146.6,372.6,-9.0,190,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2597,3419
$GC,4269,-1.03,-146.6,400.8,-9.2,205,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2596,3419
$GC,4578,-1.03,-146.6,428.9,-9.1,220,4582,0.00,2.42,0.00,0.000,4,0.000,0.038,2133,1217,3419
$GC,4622,-1.07,-146.6,433.0,-9.2,222,4626,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2603,3419
$GC,4949,-1.07,-146.6,463.7,-9.5,238,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2604,3419
$GC,5259,-1.07,-146.6,492.1,-9.0,253,5263,0.00,2.45,0.00,0.000,4,0.000,0.038,2133,1208,3418
$GC,5286,-1.07,-146.6,494.8,-9.3,254,5290,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2605,3418
$GC,5601,-1.07,-146.6,523.8,-9.3,269,5605,0.00,2.33,0.00,0.000,4,0.000,0.067,2132,3858,3418
$GC,5628,-1.07,-146.6,526.6,-10.0,270,5632,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2595,3418
$GC,5950,-1.07,-146.6,555.9,-9.0,286,5954,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1212,3418
$GC,6028,-1.12,-146.6,563.0,-8.3,289,6034,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2609,3417
$GC,6344,-1.12,-146.6,589.4,-8.1,305,6348,0.00,2.33,0.00,0.000,4,0.000,0.067,2132,3861,3417
$GC,6410,-1.12,-146.6,595.2,-8.4,308,6414,0.00,2.12,0.00,0.000,6,0.000,0.026,2133,2599,3418
$GC,6737,-1.12,-146.6,620.8,-7.7,324,6741,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1215,3417
$GC,6799,-1.17,-146.6,625.6,-7.8,326,6805,0.12,2.42,0.00,0.000,6,0.047,0.036,2093,2600,3417
$GC,7115,-1.09,-146.6,655.2,-10.0,342,7119,0.15,2.35,0.00,0.000,4,0.097,0.067,2122,3861,3417
$GC,7210,-1.09,-146.6,664.2,-9.3,346,7213,0.00,2.12,0.00,0.000,6,0.000,0.026,2122,2599,3417
$GC,7531,-1.09,-146.6,691.3,-8.6,362,7535,0.00,2.42,0.00,0.000,4,0.000,0.041,2122,1215,3416
$GC,7614,-1.09,-146.6,698.5,-8.9,365,7621,0.00,2.42,0.00,0.000,6,0.000,0.037,2122,2599,3416
$GC,7931,-1.09,-146.6,724.9,-8.3,381,7935,0.00,2.35,0.00,0.000,4,0.000,0.071,2122,3855,3416
$GC,7963,-1.09,-146.6,728.2,-9.7,382,7970,0.00,2.12,0.00,0.000,6,0.000,0.028,2122,2605,3415
$GC,8279,-1.09,-146.6,754.4,-7.7,398,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2603,3414
$STATE,8318,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8318,begin apogee
$GC,8325,-0.31,0.0,757.5,7.8,400,8460,0.82,0.00,128.98,1.088,6,0.102,0.000,2288,2308,2817
$STATE,8461,end apogee,CONTROL_FINISHED_OK
$STATE,8461,begin climb
$GC,8464,1.03,146.6,762.7,0.0,407,8602,1.38,2.70,130.02,1.080,4,0.074,0.063,2580,3707,2217
$GC,8652,0.89,146.6,756.4,8.0,415,8657,0.15,2.47,0.00,0.000,6,0.094,0.030,2552,2310,2214
$GC,8975,0.86,165.6,732.8,6.9,431,8996,0.00,0.00,17.05,0.983,6,0.000,0.000,2552,2310,2140
$GC,9305,0.86,165.6,707.7,7.7,447,9310,0.00,2.62,0.00,0.000,4,0.000,0.064,2552,3708,2137
$GC,9340,0.80,165.6,705.1,8.2,448,9346,0.00,2.50,0.00,0.000,6,0.000,0.031,2552,2293,2137
$GC,9655,0.82,184.3,682.8,6.9,464,9678,0.00,2.67,17.52,0.976,4,0.000,0.054,2551,894,2064
$GC,9734,0.84,197.5,677.5,7.0,467,9754,0.00,2.50,13.35,0.941,6,0.000,0.036,2552,2298,2011
$GC,10077,0.93,282.4,659.0,4.6,484,10162,0.00,2.62,79.45,1.029,4,0.000,0.049,2552,896,1664
$GC,10179,1.06,316.3,653.2,6.3,489,10217,0.20,2.53,32.42,0.986,6,0.046,0.036,2603,2300,1527
$GC,10529,1.06,316.3,622.0,9.7,506,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1516
$GC,10835,1.06,316.3,593.5,9.3,521,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1515
$GC,11144,1.06,316.3,562.7,10.2,536,11145,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2301,1514
$GC,11454,1.06,316.3,530.0,10.8,551,11458,0.00,2.55,0.00,0.000,4,0.000,0.048,2603,898,1513
$GC,11498,1.06,316.3,524.8,11.6,553,11502,0.00,2.47,0.00,0.000,6,0.000,0.035,2603,2303,1512
$GC,11818,1.06,316.3,489.6,10.8,569,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2303,1512
$GC,12128,1.06,316.3,456.5,10.8,584,12132,0.00,2.55,0.00,0.000,4,0.000,0.046,2603,893,1512
$GC,12150,1.06,316.3,453.9,12.2,585,12154,0.00,2.47,0.00,0.000,6,0.000,0.033,2604,2302,1512
$GC,12473,1.06,316.3,419.4,10.7,601,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2302,1512
$GC,12781,1.06,316.3,387.1,10.4,616,12785,0.00,2.55,0.00,0.000,4,0.000,0.044,2603,889,1512
$GC,12815,1.06,316.3,383.3,10.6,617,12821,0.00,2.47,0.00,0.000,6,0.000,0.033,2603,2301,1512
$GC,13131,1.06,316.3,350.8,10.1,633,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2301,1512
$GC,13440,1.06,316.3,319.0,10.2,648,13445,0.00,2.53,0.00,0.000,4,0.000,0.044,2603,895,1512
$GC,13474,1.06,316.3,315.1,10.9,649,13480,0.00,2.45,0.00,0.000,6,0.000,0.032,2603,2302,1512
$GC,13789,1.06,316.3,281.8,10.8,665,13790,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2302,1512
$GC,14099,1.06,316.3,249.2,10.5,680,14103,0.00,2.53,0.00,0.000,4,0.000,0.044,2604,894,1512
$GC,14131,1.06,316.3,245.5,10.7,681,14138,0.00,2.45,0.00,0.000,6,0.000,0.032,2604,2299,1512
$GC,14447,1.06,316.3,212.9,10.4,697,14448,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2299,1513
$GC,14757,1.06,316.3,179.5,11.1,712,14761,0.00,2.50,0.00,0.000,4,0.000,0.044,2603,895,1512
$GC,14790,1.06,316.3,175.6,11.2,713,14794,0.00,2.45,0.00,0.000,6,0.000,0.032,2603,2300,1512
$GC,15106,1.06,316.3,139.5,11.6,728,15107,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1512
$GC,15415,1.06,316.3,107.0,9.8,743,15416,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1513
$GC,15725,1.06,316.3,76.8,9.5,758,15729,0.00,2.53,0.00,0.000,4,0.000,0.042,2603,888,1513
$GC,15758,1.12,316.3,73.9,8.2,759,15764,0.00,2.45,0.00,0.000,6,0.000,0.031,2603,2299,1513
$GC,16076,1.21,339.1,50.9,6.7,775,16102,0.00,2.67,18.60,0.590,4,0.000,0.057,2603,3702,1432
$GC,16122,1.29,343.4,47.2,7.3,777,16133,0.17,2.45,5.35,0.472,6,0.044,0.027,2656,2293,1416
$GC,16452,1.24,343.4,8.4,14.8,793,16457,0.12,2.47,0.00,0.000,4,0.092,0.039,2632,896,1412
$STATE,16512,end climb,SURFACE_DEPTH_REACHED
$STATE,16512,begin surface coast
$FINISH,0.8,1.026506
$STATE,16535,end surface coast,CONTROL_FINISHED_OK
$STATE,16535,begin surface
$SM_CCo,16622,0.00,0.000,0,0,1409,345.38
$SM_GC,1.69,12.30,0.00,0.00,0.090,0.000,0.000,74,2600,1409,-10.46,0.00,345.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1820
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.6,66.4
$24V_AH,23.6,38.233
$10V_AH,10.1,19.474
$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,27.525,146.750,442.750,0.000,0.000,36.406,54.677,300.093,6.000,0.000,0.000,16.244,1450.291,12798.574,558.543,1711.943,688.088,0.000,1442.661,0.000,1666.439,0.000,41.819,0.000
$DEVICE_MAMPS,187.915,71.331,1087.606,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,579.402,542.791,473.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41096,797
$CAP_FILE_SIZE,125443,0
$CFSIZE,260165632,245174272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190709,150136,6245.859,-1251.087,57,1.2,57,-11.8