version: 66.04
glider: 16
mission: 13
dive: 238
start: 7 19 109 15 10 22
data:
$ID,16
$MISSION,13
$DIVE,238
$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,-2111828.2
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,150136,6245.859,-1251.087,57,1.2,57,-11.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-52.7
$GPS2,151002,6245.825,-1251.288,11,1.9,11,-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,123.9,28710,-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,-146.6,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,6,0.000,0.000,73,2599,3416
$GC,91,-1.03,-146.6,3.9,-5.7,3,113,12.02,2.50,0.00,0.000,4,0.187,0.031,2130,1191,3418
$GC,253,-1.03,-146.6,37.7,-8.9,10,258,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2597,3418
$GC,575,-1.03,-146.6,69.2,-9.8,26,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2598,3418
$GC,885,-1.03,-146.6,93.1,-8.3,41,890,0.00,2.47,0.00,0.000,4,0.000,0.036,2130,1191,3419
$GC,914,-1.03,-146.6,95.8,-9.1,42,919,0.00,2.47,0.00,0.000,6,0.000,0.034,2130,2602,3419
$GC,1231,-1.03,-146.6,124.2,-9.3,57,1235,0.00,2.33,0.00,0.000,4,0.000,0.063,2128,3863,3419
$GC,1286,-1.03,-146.6,129.9,-10.2,59,1293,0.00,2.15,0.00,0.000,6,0.000,0.025,2130,2578,3419
$GC,1601,-1.03,-146.6,160.8,-10.0,75,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2578,3419
$GC,1911,-1.03,-146.6,187.8,-8.5,90,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2578,3419
$GC,2220,-1.03,-146.6,215.9,-9.3,105,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,2529,-1.03,-146.6,243.3,-8.5,120,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2578,3419
$GC,2839,-1.03,-146.6,269.3,-8.4,135,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,3148,-1.03,-146.6,296.0,-8.5,150,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3418
$GC,3457,-1.03,-146.6,322.5,-8.7,165,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3418
$GC,3767,-1.03,-146.6,349.7,-8.6,180,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3418
$GC,4075,-1.03,-146.6,377.3,-9.2,195,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3418
$GC,4385,-1.03,-146.6,405.1,-8.8,210,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3417
$GC,4695,-1.03,-146.6,433.1,-9.1,225,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3417
$GC,5003,-1.03,-146.6,460.5,-8.8,240,5007,0.00,2.40,0.00,0.000,4,0.000,0.040,2130,1214,3416
$GC,5031,-1.03,-146.6,462.9,-8.5,241,5035,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2610,3416
$GC,5347,-1.03,-146.6,489.4,-8.3,256,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3416
$GC,5656,-1.03,-146.6,516.9,-9.2,271,5660,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1215,3416
$GC,5684,-1.03,-146.6,519.7,-9.9,272,5688,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3416
$GC,6006,-1.03,-146.6,550.1,-9.6,288,6010,0.00,2.33,0.00,0.000,4,0.000,0.067,2130,3856,3416
$GC,6034,-1.03,-146.6,553.0,-10.3,289,6037,0.00,2.12,0.00,0.000,6,0.000,0.026,2130,2592,3416
$GC,6355,-1.03,-146.6,582.7,-8.8,305,6359,0.00,2.40,0.00,0.000,4,0.000,0.041,2131,1217,3416
$GC,6395,-1.08,-146.6,586.1,-8.1,306,6401,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2599,3416
$GC,6710,-1.08,-146.6,610.7,-7.7,322,6714,0.00,2.35,0.00,0.000,4,0.000,0.068,2130,3861,3415
$GC,6782,-1.08,-146.6,617.1,-8.6,325,6786,0.00,2.12,0.00,0.000,6,0.000,0.026,2130,2599,3415
$GC,7104,-1.08,-146.6,645.7,-9.1,341,7108,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1207,3415
$GC,7171,-1.15,-146.6,651.9,-8.5,344,7175,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2600,3416
$GC,7491,-1.15,-146.6,679.5,-8.4,360,7495,0.00,2.35,0.00,0.000,4,0.000,0.071,2130,3857,3415
$GC,7510,-1.15,-146.6,681.1,-8.8,361,7514,0.00,2.12,0.00,0.000,6,0.000,0.027,2130,2596,3415
$GC,7842,-1.15,-146.6,707.0,-7.7,377,7846,0.00,2.45,0.00,0.000,4,0.000,0.042,2130,1208,3414
$GC,7886,-1.23,-146.6,710.4,-7.6,379,7891,0.17,2.45,0.00,0.000,6,0.041,0.038,2079,2597,3414
$GC,8210,-1.12,-146.6,742.4,-10.9,395,8215,0.17,2.38,0.00,0.000,4,0.101,0.071,2115,3861,3414
$GC,8295,-1.12,-146.6,751.4,-10.5,399,8298,0.00,2.15,0.00,0.000,6,0.000,0.029,2115,2604,3413
$STATE,8356,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8356,begin apogee
$GC,8364,-0.31,0.0,756.9,8.9,402,8499,0.90,0.00,128.77,1.081,6,0.130,0.000,2286,2306,2816
$STATE,8500,end apogee,CONTROL_FINISHED_OK
$STATE,8500,begin climb
$GC,8503,1.03,146.6,760.5,0.0,409,8641,1.40,2.70,130.55,1.069,4,0.077,0.063,2582,3705,2217
$GC,8793,0.86,146.6,743.7,8.7,421,8800,0.17,2.47,0.00,0.000,6,0.096,0.030,2550,2305,2212
$GC,9109,0.86,178.7,722.9,6.4,437,9144,0.00,2.70,28.88,1.013,4,0.000,0.063,2549,3697,2087
$GC,9198,0.83,198.4,716.6,6.8,441,9223,0.00,2.47,19.08,0.983,6,0.000,0.030,2549,2298,2007
$GC,9551,0.86,219.5,692.1,6.8,458,9576,0.00,2.70,20.05,0.983,4,0.000,0.064,2549,3706,1922
$GC,9616,0.86,219.5,687.3,8.4,461,9620,0.00,2.47,0.00,0.000,6,0.000,0.030,2549,2300,1920
$GC,9937,0.93,224.5,663.3,7.3,477,9948,0.00,2.60,5.88,0.777,4,0.000,0.054,2549,894,1900
$GC,9993,0.99,224.5,658.6,9.0,479,10000,0.12,2.50,0.00,0.000,6,0.054,0.036,2582,2303,1899
$GC,10309,0.99,224.5,631.9,8.1,495,10314,0.00,2.62,0.00,0.000,4,0.000,0.065,2584,3706,1898
$GC,10360,0.92,224.5,627.2,9.4,497,10365,0.12,2.47,0.00,0.000,6,0.104,0.030,2561,2298,1898
$GC,10676,0.97,224.5,603.2,7.7,512,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2298,1897
$GC,10985,1.01,228.9,579.5,7.3,527,10992,0.00,0.00,4.97,0.695,6,0.000,0.000,2560,2298,1883
$GC,11294,1.08,242.2,556.9,7.0,542,11317,0.15,2.65,13.93,0.882,4,0.052,0.061,2600,3700,1829
$GC,11357,1.00,242.2,551.2,10.3,544,11363,0.10,2.45,0.00,0.000,6,0.105,0.029,2579,2299,1828
$GC,11672,1.00,242.2,525.8,8.1,560,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2299,1826
$GC,11982,1.00,242.2,500.7,8.1,575,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2299,1826
$GC,12291,1.00,242.2,473.7,9.3,590,12292,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2299,1826
$GC,12601,1.00,242.2,444.4,9.9,605,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2299,1826
$GC,12909,1.00,242.2,414.1,9.6,620,12910,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2299,1826
$GC,13219,1.00,242.2,384.2,9.7,635,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2299,1826
$GC,13528,1.00,242.2,355.7,9.0,650,13529,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2299,1826
$GC,13837,1.00,242.2,328.0,8.9,665,13841,0.00,2.47,0.00,0.000,4,0.000,0.045,2578,897,1826
$GC,13861,1.00,242.2,326.0,8.6,666,13865,0.00,2.45,0.00,0.000,6,0.000,0.032,2579,2304,1825
$GC,14187,1.00,242.2,298.8,8.0,682,14188,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2304,1826
$GC,14496,1.00,242.2,273.6,8.1,697,14497,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2304,1826
$GC,14806,1.00,242.2,248.8,8.1,712,14807,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2304,1826
$GC,15115,1.00,242.2,223.7,8.1,727,15116,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2304,1826
$GC,15424,1.00,242.2,199.6,7.6,742,15428,0.00,2.50,0.00,0.000,4,0.000,0.042,2579,897,1826
$GC,15457,1.00,242.2,196.9,7.8,743,15463,0.00,2.45,0.00,0.000,6,0.000,0.032,2578,2305,1826
$GC,15772,1.00,242.2,171.4,8.1,759,15773,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2305,1826
$GC,16082,1.00,242.2,143.2,9.5,774,16083,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2305,1826
$GC,16391,1.00,242.2,113.5,9.5,789,16392,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2305,1827
$GC,16701,1.00,246.5,89.0,7.4,804,16711,0.00,2.50,5.57,0.507,4,0.000,0.042,2579,895,1811
$GC,16741,1.00,246.5,86.0,7.5,806,16745,0.00,2.45,0.00,0.000,6,0.000,0.032,2579,2307,1809
$GC,17075,1.10,296.9,65.7,5.8,822,17125,0.00,2.65,44.78,0.619,4,0.000,0.056,2578,3700,1605
$GC,17144,1.22,341.1,61.9,6.0,825,17190,0.22,2.45,39.28,0.605,6,0.039,0.027,2641,2292,1424
$GC,17512,1.22,341.1,19.3,13.3,843,17517,0.00,2.47,0.00,0.000,4,0.000,0.042,2641,901,1416
$GC,17591,1.15,341.1,11.1,12.1,846,17598,0.15,2.45,0.00,0.000,6,0.087,0.031,2611,2306,1414
$STATE,17657,end climb,SURFACE_DEPTH_REACHED
$STATE,17657,begin surface coast
$FINISH,0.9,1.026456
$STATE,17679,end surface coast,CONTROL_FINISHED_OK
$STATE,17679,begin surface
$SM_CCo,17762,0.00,0.000,0,0,1408,345.14
$SM_GC,1.45,11.38,0.00,0.00,0.050,0.000,0.000,76,2610,1408,-10.45,0.31,345.14
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1795
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.4,40.3
$24V_AH,23.6,38.370
$10V_AH,10.1,19.554
$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,27.100,113.325,441.725,0.000,0.000,36.229,58.359,227.675,6.250,0.000,0.000,11.160,1523.147,13833.906,529.764,1772.841,608.462,0.000,1432.999,0.000,1734.715,0.000,43.377,0.000
$DEVICE_MAMPS,187.148,71.331,1081.470,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,616.696,584.475,501.454,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44417,851
$CAP_FILE_SIZE,123641,0
$CFSIZE,260165632,245116928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,190709,200807,6246.401,-1247.194,67,1.2,67,-11.8