version: 66.04
glider: 16
mission: 13
dive: 245
start: 7 21 109 1 49 4
data:
$ID,16
$MISSION,13
$DIVE,245
$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,-2111951
$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,37
$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
$GPS1,013955,6244.146,-1229.899,40,1.8,40,-11.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-54.4
$GPS2,014844,6244.114,-1230.085,12,1.3,12,-11.6
$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,143.2,11472,-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,-146.6,0.0,0.0,0,83,0.00,0.00,-65.62,0.000,6,0.000,0.000,61,2600,3416
$GC,86,-1.03,-146.6,6.3,-7.9,4,108,11.93,2.53,0.00,0.000,4,0.180,0.038,2132,1198,3418
$GC,177,-1.03,-146.6,31.3,-13.3,8,181,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2602,3419
$GC,504,-1.03,-146.6,65.0,-9.0,24,508,0.00,2.33,0.00,0.000,4,0.000,0.063,2132,3860,3419
$GC,554,-1.03,-146.6,69.8,-8.8,26,558,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2573,3419
$GC,870,-1.03,-146.6,96.2,-9.0,41,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2572,3419
$GC,1180,-1.03,-146.6,123.3,-9.2,56,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2572,3420
$GC,1488,-1.03,-146.6,152.5,-9.4,71,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2572,3419
$GC,1798,-1.03,-146.6,180.9,-9.2,86,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2571,3419
$GC,2107,-1.03,-146.6,210.0,-9.5,101,2111,0.00,2.40,0.00,0.000,4,0.000,0.039,2132,1208,3418
$GC,2140,-1.03,-146.6,213.2,-8.8,102,2147,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2601,3419
$GC,2456,-1.03,-146.6,243.3,-9.5,118,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2601,3420
$GC,2765,-1.03,-146.6,273.9,-10.2,133,2769,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1205,3419
$GC,2804,-1.03,-146.6,277.8,-9.6,134,2810,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2600,3419
$GC,3120,-1.03,-146.6,309.7,-10.3,150,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2600,3419
$GC,3429,-1.03,-146.6,341.0,-9.8,165,3433,0.00,2.45,0.00,0.000,4,0.000,0.038,2134,1208,3419
$GC,3457,-1.03,-146.6,343.7,-10.0,166,3461,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2602,3419
$GC,3773,-1.03,-146.6,373.0,-9.1,181,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2601,3419
$GC,4083,-1.03,-146.6,400.7,-9.0,196,4087,0.00,2.45,0.00,0.000,4,0.000,0.038,2133,1207,3418
$GC,4134,-1.03,-146.6,405.4,-8.7,198,4138,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2601,3418
$GC,4449,-1.03,-146.6,433.2,-8.8,213,4453,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1211,3418
$GC,4482,-1.03,-146.6,436.3,-8.8,214,4489,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2608,3418
$GC,4798,-1.03,-146.6,463.0,-8.5,230,4803,0.00,2.45,0.00,0.000,4,0.000,0.038,2133,1213,3418
$GC,4826,-1.03,-146.6,465.4,-8.5,231,4830,0.00,2.42,0.00,0.000,6,0.000,0.035,2133,2599,3418
$GC,5142,-1.03,-146.6,492.1,-8.5,246,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2599,3418
$GC,5452,-1.03,-146.6,516.8,-8.0,261,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3417
$GC,5760,-1.03,-146.6,543.2,-8.5,276,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2599,3417
$GC,6070,-1.03,-146.6,570.0,-8.7,291,6074,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1209,3417
$GC,6137,-1.08,-146.6,575.8,-8.8,294,6141,0.00,2.45,0.00,0.000,6,0.000,0.036,2133,2602,3417
$GC,6458,-1.08,-146.6,603.0,-7.8,310,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,6767,-1.08,-146.6,628.9,-9.0,325,6772,0.00,2.45,0.00,0.000,4,0.000,0.039,2132,1211,3417
$GC,6853,-1.13,-146.6,636.7,-9.2,329,6857,0.00,2.45,0.00,0.000,6,0.000,0.036,2133,2606,3417
$GC,7179,-1.13,-146.6,664.9,-8.2,345,7183,0.00,2.45,0.00,0.000,4,0.000,0.039,2133,1213,3416
$GC,7230,-1.19,-146.6,668.8,-7.3,347,7235,0.15,2.42,0.00,0.000,6,0.044,0.037,2088,2601,3417
$GC,7546,-1.09,-146.6,699.3,-9.7,362,7551,0.17,2.35,0.00,0.000,4,0.095,0.069,2122,3859,3416
$GC,7631,-1.09,-146.6,706.7,-8.7,366,7635,0.00,2.12,0.00,0.000,6,0.000,0.028,2122,2605,3416
$GC,7963,-1.09,-146.6,734.3,-8.9,382,7968,0.00,2.47,0.00,0.000,4,0.000,0.043,2122,1208,3415
$GC,8058,-1.09,-146.6,743.1,-9.3,386,8063,0.00,2.47,0.00,0.000,6,0.000,0.038,2122,2609,3415
$GC,8375,-1.09,-146.6,772.3,-9.3,401,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2609,3414
$STATE,8455,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8455,begin apogee
$GC,8462,-0.31,0.0,779.3,8.6,405,8597,0.82,0.00,129.70,1.097,6,0.097,0.000,2289,2292,2817
$STATE,8598,end apogee,CONTROL_FINISHED_OK
$STATE,8598,begin climb
$GC,8600,1.03,146.6,785.4,0.0,412,8741,1.38,2.75,131.68,1.086,4,0.065,0.064,2584,3704,2218
$GC,8764,0.87,146.6,781.1,7.6,420,8770,0.17,2.47,0.00,0.000,6,0.095,0.031,2551,2313,2215
$GC,9087,0.86,190.3,760.4,6.0,436,9132,0.00,2.67,39.47,1.047,4,0.000,0.064,2551,3705,2041
$GC,9184,0.82,190.3,752.4,8.9,440,9188,0.00,2.47,0.00,0.000,6,0.000,0.030,2551,2300,2039
$GC,9499,0.82,190.3,727.5,7.9,455,9504,0.00,2.58,0.00,0.000,4,0.000,0.053,2551,896,2035
$GC,9549,0.82,190.3,723.1,8.6,457,9554,0.00,2.50,0.00,0.000,6,0.000,0.036,2551,2302,2033
$GC,9865,0.82,190.3,697.3,8.2,472,9870,0.00,2.65,0.00,0.000,4,0.000,0.065,2551,3704,2033
$GC,9898,0.82,190.3,694.1,9.1,473,9905,0.00,2.47,0.00,0.000,6,0.000,0.030,2551,2298,2033
$GC,10214,0.82,190.3,668.6,7.9,489,10218,0.00,2.62,0.00,0.000,4,0.000,0.063,2551,3702,2033
$GC,10254,0.82,190.3,665.2,9.0,491,10258,0.00,2.47,0.00,0.000,6,0.000,0.030,2551,2295,2033
$GC,10581,0.86,190.3,639.6,8.3,507,10585,0.00,2.55,0.00,0.000,4,0.000,0.052,2551,898,2031
$GC,10630,0.86,190.3,635.2,9.3,509,10635,0.00,2.47,0.00,0.000,6,0.000,0.036,2551,2303,2030
$GC,10946,0.86,195.1,609.8,7.3,524,10956,0.00,2.62,4.00,0.626,4,0.000,0.063,2551,3700,2021
$GC,10973,0.86,195.1,607.3,9.0,525,10978,0.00,2.47,0.00,0.000,6,0.000,0.029,2551,2289,2022
$GC,11296,0.91,195.1,582.4,7.6,541,11300,0.00,2.53,0.00,0.000,4,0.000,0.051,2551,895,2021
$GC,11351,0.91,195.1,577.7,8.9,543,11356,0.00,2.47,0.00,0.000,6,0.000,0.035,2551,2300,2020
$GC,11667,0.97,212.7,554.3,6.9,558,11690,0.00,2.72,17.52,0.904,4,0.000,0.061,2551,3704,1949
$GC,11719,0.98,214.4,550.5,7.4,560,11723,0.00,2.47,0.00,0.000,6,0.000,0.028,2551,2297,1949
$GC,12041,1.07,246.4,529.5,6.4,576,12079,0.20,0.00,33.10,0.915,6,0.045,0.000,2601,2294,1811
$GC,12389,1.02,246.4,497.4,9.3,593,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2295,1805
$GC,12699,0.97,246.4,466.6,10.1,608,12704,0.15,2.60,0.00,0.000,4,0.095,0.059,2573,3700,1804
$GC,12738,0.97,246.4,462.6,9.4,610,12742,0.00,2.42,0.00,0.000,6,0.000,0.028,2573,2300,1804
$GC,13072,0.97,246.4,433.1,8.8,626,13073,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2300,1803
$GC,13381,0.97,246.4,406.9,8.6,641,13385,0.00,2.53,0.00,0.000,4,0.000,0.048,2573,898,1804
$GC,13402,0.97,246.4,404.7,9.0,642,13407,0.00,2.47,0.00,0.000,6,0.000,0.033,2573,2310,1802
$GC,13723,0.97,246.4,377.6,8.3,658,13728,0.00,2.58,0.00,0.000,4,0.000,0.059,2573,3701,1803
$GC,13746,0.97,246.4,375.6,8.8,659,13750,0.00,2.42,0.00,0.000,6,0.000,0.028,2573,2296,1803
$GC,14066,0.97,246.4,348.8,8.5,675,14071,0.00,2.50,0.00,0.000,4,0.000,0.046,2573,899,1803
$GC,14088,0.97,246.4,346.8,8.7,676,14093,0.00,2.45,0.00,0.000,6,0.000,0.033,2573,2304,1802
$GC,14410,0.97,246.4,319.1,8.6,692,14414,0.00,2.58,0.00,0.000,4,0.000,0.058,2573,3705,1803
$GC,14442,0.97,246.4,316.0,8.7,693,14447,0.00,2.42,0.00,0.000,6,0.000,0.028,2572,2298,1804
$GC,14758,0.97,246.4,288.4,8.7,708,14759,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2295,1803
$GC,15068,1.02,246.4,261.3,8.7,723,15069,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2295,1803
$GC,15377,1.06,246.4,234.7,8.4,738,15381,0.00,2.58,0.00,0.000,4,0.000,0.057,2573,3707,1803
$GC,15404,1.06,246.4,232.1,9.5,739,15408,0.00,2.42,0.00,0.000,6,0.000,0.028,2573,2298,1804
$GC,15720,1.11,246.4,206.5,8.1,754,15725,0.12,2.47,0.00,0.000,4,0.048,0.044,2613,900,1804
$GC,15742,1.11,246.4,204.5,9.3,755,15746,0.00,2.45,0.00,0.000,6,0.000,0.032,2613,2309,1803
$GC,16064,1.05,246.4,171.9,10.1,771,16066,0.12,0.00,0.00,0.000,6,0.094,0.000,2588,2308,1804
$GC,16373,1.05,246.4,144.3,8.6,786,16374,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2308,1804
$GC,16681,1.05,246.4,118.8,8.0,801,16683,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2308,1804
$GC,16992,1.05,246.4,93.7,8.7,816,16993,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2308,1804
$GC,17301,1.05,246.4,65.3,9.2,831,17302,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2308,1804
$GC,17609,1.05,246.4,36.7,8.7,846,17613,0.00,2.50,0.00,0.000,4,0.000,0.042,2588,902,1804
$GC,17628,1.09,246.4,35.3,8.4,847,17632,0.00,2.42,0.00,0.000,6,0.000,0.032,2588,2301,1804
$GC,17955,1.14,246.4,9.4,8.6,863,17960,0.00,2.58,0.00,0.000,4,0.000,0.058,2588,3705,1805
$GC,17973,1.14,246.4,7.4,8.4,864,17977,0.00,2.42,0.00,0.000,6,0.000,0.027,2588,2289,1805
$STATE,18029,end climb,SURFACE_DEPTH_REACHED
$STATE,18029,begin surface coast
$FINISH,0.6,1.015148
$STATE,18071,end surface coast,CONTROL_FINISHED_OK
$STATE,18072,begin surface
$SM_CCo,18095,0.75,0.132,0,0,1797,250.21
$SM_GC,2.17,0.00,0.00,0.75,0.000,0.000,0.132,74,2610,1797,-10.51,0.28,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1798
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.5,12.8
$24V_AH,23.6,39.256
$10V_AH,10.1,20.098
$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,27.225,154.775,355.475,0.750,0.000,36.005,57.728,205.121,7.000,0.000,0.000,12.895,1581.432,14098.867,507.538,1793.755,647.045,0.000,1406.457,0.000,1749.396,0.000,49.398,0.000
$DEVICE_MAMPS,180.245,69.030,1096.810,131.924,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,630.294,596.017,515.004,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44274,869
$CAP_FILE_SIZE,131969,0
$CFSIZE,260165632,244674560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210709,065206,6243.417,-1227.359,45,1.3,45,-11.6