version: 66.04
glider: 16
mission: 13
dive: 241
start: 7 20 109 5 54 45
data:
$ID,16
$MISSION,13
$DIVE,241
$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,-2111871.8
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,054836,6246.339,-1242.569,26,1.4,26,-11.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-55.8
$GPS2,055426,6246.342,-1242.622,14,1.4,14,-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,133.2,22540,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-57.75,0.000,6,0.000,0.000,72,2604,3417
$GC,81,-1.03,-146.6,6.9,-12.5,3,102,11.80,2.53,0.00,0.000,4,0.179,0.035,2132,1198,3418
$GC,209,-1.03,-146.6,32.9,-9.7,8,215,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2606,3419
$GC,526,-1.03,-146.6,64.5,-9.4,24,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3419
$GC,834,-1.03,-146.6,92.5,-9.0,39,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3419
$GC,1144,-1.03,-146.6,121.2,-9.2,54,1148,0.00,2.47,0.00,0.000,4,0.000,0.036,2132,1198,3420
$GC,1183,-1.03,-146.6,124.7,-8.8,56,1188,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2606,3420
$GC,1510,-1.03,-146.6,153.9,-9.1,72,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3420
$GC,1819,-1.03,-146.6,183.3,-9.8,87,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3420
$GC,2128,-1.03,-146.6,213.3,-9.5,102,2132,0.00,2.33,0.00,0.000,4,0.000,0.064,2132,3863,3420
$GC,2155,-1.03,-146.6,216.1,-10.1,103,2159,0.00,2.17,0.00,0.000,6,0.000,0.026,2133,2574,3420
$GC,2476,-1.03,-146.6,245.0,-9.0,119,2480,0.00,2.40,0.00,0.000,4,0.000,0.038,2134,1205,3419
$GC,2509,-1.03,-146.6,248.1,-9.0,120,2515,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2603,3420
$GC,2826,-1.03,-146.6,276.1,-8.9,136,2830,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1211,3419
$GC,2855,-1.03,-146.6,278.7,-9.1,137,2859,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2605,3419
$GC,3170,-1.03,-146.6,308.1,-9.5,152,3174,0.00,2.33,0.00,0.000,4,0.000,0.065,2132,3861,3419
$GC,3197,-1.03,-146.6,310.9,-10.2,153,3201,0.00,2.12,0.00,0.000,6,0.000,0.025,2132,2597,3419
$GC,3519,-1.03,-146.6,341.4,-9.4,169,3523,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1206,3419
$GC,3546,-1.03,-146.6,344.1,-9.7,170,3550,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2601,3419
$GC,3867,-1.03,-146.6,373.0,-8.9,186,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3419
$GC,4177,-1.03,-146.6,399.5,-8.5,201,4185,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1209,3418
$GC,4213,-1.03,-146.6,402.7,-8.3,202,4217,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2605,3418
$GC,4528,-1.03,-146.6,428.5,-8.0,217,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,4838,-1.03,-146.6,453.5,-8.4,232,4842,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1212,3418
$GC,4865,-1.03,-146.6,455.9,-8.2,233,4869,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2609,3418
$GC,5181,-1.03,-146.6,483.7,-9.3,248,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,5490,-1.03,-146.6,513.1,-9.6,263,5494,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1214,3418
$GC,5517,-1.03,-146.6,515.8,-9.1,264,5521,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,5838,-1.03,-146.6,547.1,-9.8,280,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3418
$GC,6148,-1.03,-146.6,577.5,-10.1,295,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,6457,-1.03,-146.6,608.7,-9.7,310,6461,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1208,3417
$GC,6490,-1.07,-146.6,611.8,-9.0,311,6496,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2601,3417
$GC,6806,-1.07,-146.6,637.5,-7.9,327,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3417
$GC,7115,-1.11,-146.6,663.5,-9.0,342,7119,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1209,3417
$GC,7159,-1.19,-146.6,667.3,-8.3,344,7164,0.15,2.45,0.00,0.000,6,0.042,0.037,2086,2601,3417
$GC,7481,-1.10,-146.6,699.2,-10.5,360,7486,0.17,2.35,0.00,0.000,4,0.096,0.070,2120,3858,3416
$GC,7535,-1.10,-146.6,704.7,-9.9,362,7541,0.00,2.12,0.00,0.000,6,0.000,0.028,2120,2601,3416
$GC,7851,-1.10,-146.6,732.2,-8.9,378,7855,0.00,2.45,0.00,0.000,4,0.000,0.041,2120,1215,3416
$GC,7884,-1.10,-146.6,735.4,-9.3,379,7890,0.00,2.45,0.00,0.000,6,0.000,0.037,2120,2605,3416
$STATE,7929,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7929,begin apogee
$GC,7936,-0.31,0.0,739.4,8.6,382,8072,0.82,0.00,129.50,1.064,6,0.092,0.000,2290,2298,2816
$STATE,8072,end apogee,CONTROL_FINISHED_OK
$STATE,8073,begin climb
$GC,8075,1.03,146.6,745.7,0.0,389,8213,1.35,2.72,129.95,1.056,4,0.069,0.064,2580,3707,2218
$GC,8371,0.90,146.6,733.1,7.6,402,8378,0.12,2.45,0.00,0.000,6,0.104,0.030,2557,2317,2213
$GC,8688,0.88,190.9,712.5,6.0,418,8730,0.00,0.00,40.10,1.017,6,0.000,0.000,2557,2316,2038
$GC,9036,0.88,190.9,687.1,7.9,435,9040,0.00,2.58,0.00,0.000,4,0.000,0.051,2557,902,2031
$GC,9069,0.88,195.8,684.5,7.3,436,9078,0.00,2.47,4.82,0.708,6,0.000,0.035,2557,2300,2018
$GC,9407,0.89,204.0,659.3,7.2,453,9421,0.00,2.70,8.73,0.861,4,0.000,0.063,2557,3717,1985
$GC,9462,0.89,204.0,654.9,8.4,455,9466,0.00,2.50,0.00,0.000,6,0.000,0.029,2557,2297,1984
$GC,9778,0.90,209.4,631.5,7.3,470,9791,0.00,2.62,6.57,0.793,4,0.000,0.050,2557,899,1962
$GC,9826,0.95,209.4,627.7,7.7,472,9830,0.00,2.50,0.00,0.000,6,0.000,0.035,2557,2305,1960
$GC,10148,1.01,227.0,604.8,6.9,488,10168,0.10,0.00,18.00,0.930,6,0.060,0.000,2586,2305,1891
$GC,10477,1.01,227.0,576.3,8.8,504,10481,0.00,2.60,0.00,0.000,4,0.000,0.062,2586,3701,1887
$GC,10494,1.01,227.0,574.7,9.2,505,10498,0.00,2.45,0.00,0.000,6,0.000,0.029,2587,2299,1886
$GC,10821,1.01,227.0,543.5,9.6,521,10825,0.00,2.60,0.00,0.000,4,0.000,0.061,2587,3702,1886
$GC,10877,0.94,227.0,537.7,10.7,523,10883,0.12,2.45,0.00,0.000,6,0.109,0.028,2564,2299,1886
$GC,11193,0.98,227.0,512.1,8.0,539,11197,0.00,2.53,0.00,0.000,4,0.000,0.048,2564,900,1886
$GC,11214,0.98,227.0,510.3,8.3,540,11218,0.00,2.47,0.00,0.000,6,0.000,0.034,2564,2306,1884
$GC,11536,1.02,227.0,484.6,8.2,556,11540,0.00,2.58,0.00,0.000,4,0.000,0.060,2564,3701,1885
$GC,11563,1.02,227.0,482.0,9.1,557,11567,0.00,2.45,0.00,0.000,6,0.000,0.028,2564,2292,1885
$GC,11879,1.07,227.0,456.6,7.9,572,11881,0.12,0.00,0.00,0.000,6,0.051,0.000,2601,2292,1885
$GC,12188,1.01,227.0,426.9,9.5,587,12193,0.12,2.60,0.00,0.000,4,0.097,0.058,2578,3701,1885
$GC,12210,1.01,227.0,424.6,9.9,588,12214,0.00,2.42,0.00,0.000,6,0.000,0.027,2577,2297,1885
$GC,12531,1.01,227.0,397.6,8.4,604,12532,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2297,1885
$GC,12840,1.01,227.0,372.5,7.8,619,12842,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1885
$GC,13149,1.01,227.0,347.9,7.9,634,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1885
$GC,13458,1.01,227.0,322.9,8.1,649,13463,0.00,2.60,0.00,0.000,4,0.000,0.057,2578,3708,1885
$GC,13486,1.01,227.0,320.5,8.8,650,13491,0.00,2.45,0.00,0.000,6,0.000,0.027,2577,2292,1885
$GC,13802,1.01,227.0,294.9,8.0,665,13806,0.00,2.50,0.00,0.000,4,0.000,0.046,2577,895,1885
$GC,13829,1.01,227.0,292.6,8.4,666,13833,0.00,2.45,0.00,0.000,6,0.000,0.031,2577,2304,1885
$GC,14145,1.01,227.0,267.9,7.9,681,14149,0.00,2.55,0.00,0.000,4,0.000,0.057,2577,3698,1885
$GC,14172,1.01,227.0,265.5,8.8,682,14176,0.00,2.42,0.00,0.000,6,0.000,0.027,2577,2294,1885
$GC,14488,1.02,242.1,242.3,7.0,697,14507,0.00,0.00,14.00,0.687,6,0.000,0.000,2577,2292,1829
$GC,14818,1.04,256.8,219.7,7.0,713,14836,0.00,0.00,14.55,0.673,6,0.000,0.000,2577,2292,1769
$GC,15147,1.09,259.7,195.9,7.4,729,15148,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2292,1766
$GC,15456,1.13,259.7,171.3,8.9,744,15466,0.12,2.53,3.67,0.435,4,0.047,0.044,2617,909,1757
$GC,15472,1.13,259.7,169.6,9.4,744,15478,0.00,2.45,0.00,0.000,6,0.000,0.032,2617,2308,1757
$GC,15788,1.06,259.7,130.0,13.1,760,15790,0.12,0.00,0.00,0.000,6,0.092,0.000,2592,2308,1756
$GC,16098,1.06,259.7,93.3,11.4,775,16099,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2308,1757
$GC,16406,1.06,259.7,62.0,9.3,790,16407,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2308,1756
$GC,16717,1.06,259.7,33.1,10.2,805,16721,0.00,2.50,0.00,0.000,4,0.000,0.042,2592,902,1756
$GC,16795,1.16,349.0,28.1,4.4,808,16878,0.00,2.42,77.35,0.591,6,0.000,0.032,2592,2304,1394
$STATE,17113,end climb,SURFACE_DEPTH_REACHED
$STATE,17113,begin surface coast
$FINISH,0.7,1.013397
$STATE,17132,end surface coast,CONTROL_FINISHED_OK
$STATE,17132,begin surface
$SM_CCo,17215,0.00,0.000,0,0,1380,352.50
$SM_GC,1.42,11.55,0.00,0.00,0.064,0.000,0.000,75,2612,1380,-10.45,0.34,352.50
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1780
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.7,22.1
$24V_AH,23.6,38.761
$10V_AH,10.1,19.784
$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,26.700,138.950,447.250,0.000,0.000,18.255,35.351,168.152,6.500,0.000,0.000,14.548,1485.311,13310.676,553.468,1704.067,509.333,0.000,1436.987,0.000,1656.518,0.000,45.905,0.000
$DEVICE_MAMPS,179.478,69.797,1063.829,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,603.878,565.876,480.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41055,825
$CAP_FILE_SIZE,122740,0
$CFSIZE,260165632,244940800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200709,104255,6246.385,-1237.710,38,1.5,38,-11.7