version: 66.04
glider: 16
mission: 13
dive: 239
start: 7 19 109 20 16 57
data:
$ID,16
$MISSION,13
$DIVE,239
$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,-2111844.2
$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,34
$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
$GPS1,200807,6246.401,-1247.194,67,1.2,67,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-56.5
$GPS2,201638,6246.409,-1247.257,15,1.5,15,-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,128.9,26041,-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,16,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-61.12,0.000,2,0.000,0.000,74,2610,3109
$GC,82,-1.03,-146.6,4.2,-6.7,3,105,11.68,2.58,-5.62,0.000,4,0.175,0.050,2129,1192,3418
$GC,201,-1.03,-146.6,21.5,-8.0,8,205,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2594,3419
$GC,522,-1.03,-146.6,54.1,-10.6,24,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2594,3419
$GC,832,-1.03,-146.6,87.6,-10.6,39,837,0.00,2.35,0.00,0.000,4,0.000,0.063,2130,3865,3419
$GC,873,-1.03,-146.6,91.9,-10.2,41,877,0.00,2.17,0.00,0.000,6,0.000,0.025,2130,2573,3419
$GC,1200,-1.03,-146.6,120.7,-9.1,57,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2572,3419
$GC,1509,-1.03,-146.6,149.4,-9.9,72,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2572,3419
$GC,1817,-1.03,-146.6,181.6,-10.5,87,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2571,3419
$GC,2127,-1.03,-146.6,213.9,-9.9,102,2131,0.00,2.38,0.00,0.000,4,0.000,0.062,2130,3861,3419
$GC,2155,-1.03,-146.6,216.9,-10.5,103,2159,0.00,2.10,0.00,0.000,6,0.000,0.026,2130,2599,3419
$GC,2476,-1.03,-146.6,248.7,-9.6,119,2480,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1212,3419
$GC,2503,-1.03,-146.6,251.3,-9.6,120,2507,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2610,3419
$GC,2818,-1.03,-146.6,282.6,-10.4,135,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3419
$GC,3128,-1.03,-146.6,313.2,-9.5,150,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3419
$GC,3437,-1.03,-146.6,343.5,-9.8,165,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3419
$GC,3746,-1.03,-146.6,372.8,-9.4,180,3750,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1212,3418
$GC,3773,-1.03,-146.6,375.6,-10.0,181,3777,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,4090,-1.03,-146.6,405.5,-9.2,196,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,4398,-1.03,-146.6,433.9,-9.2,211,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,4708,-1.03,-146.6,462.8,-9.5,226,4712,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1215,3417
$GC,4741,-1.03,-146.6,466.1,-9.7,227,4747,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2599,3417
$GC,5057,-1.03,-146.6,495.8,-9.4,243,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3417
$GC,5367,-1.03,-146.6,525.8,-9.7,258,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3416
$GC,5676,-1.03,-146.6,555.1,-9.7,273,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3416
$GC,5984,-1.03,-146.6,583.1,-8.7,288,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3416
$GC,6294,-1.03,-146.6,610.1,-9.1,303,6298,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1216,3415
$GC,6334,-1.07,-146.6,613.7,-9.2,305,6338,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2600,3415
$GC,6661,-1.07,-146.6,636.5,-5.7,321,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3415
$GC,6970,-1.07,-146.6,657.4,-8.1,336,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3415
$GC,7280,-1.11,-146.6,684.2,-8.2,351,7284,0.00,2.42,0.00,0.000,4,0.000,0.039,2130,1214,3415
$GC,7303,-1.16,-146.6,686.0,-7.6,352,7307,0.00,2.42,0.00,0.000,6,0.000,0.037,2130,2599,3415
$GC,7629,-1.16,-146.6,711.0,-8.1,368,7633,0.00,2.45,0.00,0.000,4,0.000,0.040,2130,1207,3415
$GC,7708,-1.23,-146.6,717.8,-8.7,371,7715,0.15,2.45,0.00,0.000,6,0.035,0.038,2080,2597,3415
$STATE,7979,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7980,begin apogee
$GC,7987,-0.31,0.0,747.6,11.5,385,8122,1.02,0.00,129.43,1.068,6,0.095,0.000,2289,2306,2817
$STATE,8123,end apogee,CONTROL_FINISHED_OK
$STATE,8123,begin climb
$GC,8126,1.03,146.6,752.4,0.0,392,8265,1.35,2.60,130.40,1.059,4,0.069,0.047,2578,908,2218
$GC,8453,0.94,146.6,735.5,7.9,406,8457,0.00,2.47,0.00,0.000,6,0.000,0.036,2578,2302,2211
$GC,8774,0.87,146.6,710.4,8.2,422,8779,0.15,2.65,0.00,0.000,4,0.097,0.065,2550,3707,2210
$GC,8830,0.77,146.6,705.5,8.6,424,8837,0.12,2.45,0.00,0.000,6,0.104,0.029,2527,2306,2209
$GC,9147,0.86,184.8,685.1,6.2,440,9189,0.00,2.65,33.92,1.006,4,0.000,0.051,2527,905,2060
$GC,9229,0.96,220.1,679.4,6.3,443,9270,0.20,2.50,33.65,1.002,6,0.050,0.036,2571,2308,1918
$GC,9588,0.96,220.1,649.1,9.6,461,9593,0.00,2.58,0.00,0.000,4,0.000,0.048,2571,896,1910
$GC,9638,0.96,220.1,643.8,9.8,463,9643,0.00,2.47,0.00,0.000,6,0.000,0.035,2572,2301,1909
$GC,9954,1.00,259.4,620.0,6.2,478,9995,0.00,2.65,36.10,0.977,4,0.000,0.047,2572,905,1758
$GC,10013,1.03,287.5,616.2,6.5,480,10047,0.00,2.50,27.65,0.956,6,0.000,0.036,2572,2304,1643
$GC,10373,1.10,287.5,588.1,8.2,498,10378,0.12,2.62,0.00,0.000,4,0.066,0.062,2603,3704,1636
$GC,10390,1.10,287.5,586.4,8.3,499,10394,0.00,2.45,0.00,0.000,6,0.000,0.030,2603,2297,1636
$GC,10723,1.10,287.5,554.8,9.4,515,10727,0.00,2.55,0.00,0.000,4,0.000,0.051,2604,899,1634
$GC,10740,1.10,287.5,553.2,9.4,516,10744,0.00,2.47,0.00,0.000,6,0.000,0.035,2603,2302,1633
$GC,11067,1.10,287.5,522.0,9.5,532,11068,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2302,1633
$GC,11375,1.10,287.5,491.9,10.1,547,11379,0.00,2.55,0.00,0.000,4,0.000,0.046,2603,892,1633
$GC,11403,1.10,287.5,489.0,10.4,548,11407,0.00,2.47,0.00,0.000,6,0.000,0.034,2603,2302,1632
$GC,11723,1.10,287.5,456.5,10.1,564,11725,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2302,1632
$GC,12033,1.10,287.5,424.2,10.4,579,12038,0.00,2.53,0.00,0.000,4,0.000,0.044,2603,897,1632
$GC,12066,1.10,287.5,420.5,10.8,580,12073,0.00,2.45,0.00,0.000,6,0.000,0.034,2602,2301,1632
$GC,12382,1.10,287.5,388.4,9.9,596,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2301,1632
$GC,12692,1.10,287.5,356.0,10.7,611,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2301,1632
$GC,13001,1.10,287.5,323.0,10.7,626,13005,0.00,2.53,0.00,0.000,4,0.000,0.044,2603,896,1632
$GC,13028,1.10,287.5,319.9,10.9,627,13033,0.00,2.45,0.00,0.000,6,0.000,0.032,2603,2302,1632
$GC,13350,1.10,287.5,285.6,10.4,643,13354,0.00,2.58,0.00,0.000,4,0.000,0.058,2603,3699,1632
$GC,13371,1.10,287.5,283.0,11.4,644,13375,0.00,2.40,0.00,0.000,6,0.000,0.027,2603,2297,1632
$GC,13698,1.10,287.5,248.3,10.8,660,13702,0.00,2.50,0.00,0.000,4,0.000,0.044,2603,897,1632
$GC,13731,1.10,287.5,244.7,10.3,661,13737,0.00,2.45,0.00,0.000,6,0.000,0.032,2603,2304,1632
$GC,14047,1.10,287.5,211.7,10.4,677,14048,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2304,1632
$GC,14356,1.10,287.5,179.6,9.9,692,14357,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2304,1632
$GC,14666,1.10,287.5,145.7,11.8,707,14667,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2304,1633
$GC,14975,1.10,287.5,109.0,11.9,722,14976,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2304,1633
$GC,15284,1.10,287.5,72.7,11.1,737,15288,0.00,2.50,0.00,0.000,4,0.000,0.042,2603,898,1633
$GC,15305,1.10,287.5,70.0,11.8,738,15310,0.00,2.45,0.00,0.000,6,0.000,0.032,2603,2305,1633
$GC,15627,1.10,287.5,41.2,7.8,754,15632,0.00,2.58,0.00,0.000,4,0.000,0.058,2603,3705,1633
$GC,15668,1.10,287.5,37.8,9.8,756,15672,0.00,2.42,0.00,0.000,6,0.000,0.027,2603,2294,1634
$GC,16001,1.15,287.5,11.3,8.8,772,16006,0.00,2.47,0.00,0.000,4,0.000,0.042,2603,901,1634
$GC,16058,1.09,287.5,6.4,9.7,774,16064,0.00,2.42,0.00,0.000,6,0.000,0.032,2603,2303,1633
$STATE,16103,end climb,SURFACE_DEPTH_REACHED
$STATE,16103,begin surface coast
$FINISH,0.8,1.026544
$STATE,16125,end surface coast,CONTROL_FINISHED_OK
$STATE,16125,begin surface
$SM_CCo,16208,0.00,0.000,0,0,1631,290.93
$SM_GC,1.64,11.77,0.00,0.00,0.075,0.000,0.000,62,2602,1631,-10.45,0.06,290.93
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1812
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.0,54.7
$24V_AH,23.6,38.504
$10V_AH,10.1,19.629
$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,26.575,119.575,391.150,0.000,0.000,36.440,52.494,226.885,6.000,0.000,0.000,15.203,1395.363,12628.607,484.414,1616.940,592.416,0.000,1313.700,0.000,1572.620,0.000,43.814,0.000
$DEVICE_MAMPS,174.876,65.195,1068.431,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.338,530.003,468.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38024,778
$CAP_FILE_SIZE,114404,0
$CFSIZE,260165632,245075968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200709,004824,6246.063,-1244.919,26,1.9,43,-11.8