version: 66.04
glider: 16
mission: 13
dive: 249
start: 7 21 109 21 40 7
data:
$ID,16
$MISSION,13
$DIVE,249
$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,-2112028.2
$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,50
$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
$GPS1,212507,6241.083,-1218.889,35,1.8,35,-11.5
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-59.7
$GPS2,213950,6241.125,-1219.005,15,1.6,15,-11.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$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,133.2,39206,-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,13,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,-60.75,0.000,6,0.000,0.000,57,2625,3416
$GC,81,-1.03,-146.6,5.6,-9.8,3,103,11.95,2.55,0.00,0.000,4,0.182,0.033,2130,1193,3418
$GC,187,-1.03,-146.6,27.5,-9.6,7,194,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2576,3419
$GC,504,-1.03,-146.6,59.2,-9.8,23,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2576,3419
$GC,812,-1.03,-146.6,90.9,-10.4,38,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2576,3419
$GC,1122,-1.03,-146.6,122.9,-10.1,53,1126,0.00,2.38,0.00,0.000,4,0.000,0.062,2130,3861,3420
$GC,1150,-0.99,-146.6,126.0,-10.7,54,1154,0.00,2.15,0.00,0.000,6,0.000,0.025,2130,2582,3420
$GC,1471,-0.99,-146.6,158.0,-9.8,70,1475,0.00,2.40,0.00,0.000,4,0.000,0.037,2130,1211,3420
$GC,1498,-0.99,-146.6,161.0,-10.3,71,1502,0.00,2.45,0.00,0.000,6,0.000,0.034,2130,2605,3420
$GC,1815,-0.99,-146.6,194.1,-10.9,86,1819,0.00,2.33,0.00,0.000,4,0.000,0.063,2130,3863,3419
$GC,1843,-0.95,-146.6,197.4,-11.6,87,1847,0.10,2.12,0.00,0.000,6,0.100,0.025,2149,2597,3419
$GC,2163,-0.95,-146.6,229.0,-9.7,103,2167,0.00,2.42,0.00,0.000,4,0.000,0.038,2147,1215,3419
$GC,2209,-1.01,-146.6,233.5,-9.7,105,2213,0.00,2.45,0.00,0.000,6,0.000,0.035,2149,2609,3420
$GC,2530,-1.01,-146.6,264.3,-9.9,121,2534,0.00,2.45,0.00,0.000,4,0.000,0.036,2149,1214,3419
$GC,2558,-1.07,-146.6,267.0,-9.5,122,2562,0.00,2.45,0.00,0.000,6,0.000,0.035,2149,2610,3419
$GC,2874,-1.07,-146.6,297.3,-9.7,137,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2610,3419
$GC,3183,-1.07,-146.6,327.4,-9.8,152,3187,0.00,2.45,0.00,0.000,4,0.000,0.037,2149,1215,3418
$GC,3216,-1.13,-146.6,330.7,-9.6,153,3223,0.17,2.42,0.00,0.000,6,0.042,0.035,2097,2600,3418
$GC,3533,-1.02,-146.6,370.3,-12.6,169,3537,0.20,2.33,0.00,0.000,4,0.096,0.064,2139,3858,3418
$GC,3573,-1.02,-146.6,375.2,-11.0,171,3577,0.00,2.10,0.00,0.000,6,0.000,0.026,2139,2601,3418
$GC,3906,-1.02,-146.6,409.6,-10.1,187,3910,0.00,2.42,0.00,0.000,4,0.000,0.039,2139,1218,3418
$GC,3938,-1.02,-146.6,413.1,-10.1,188,3944,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2601,3418
$GC,4254,-1.02,-146.6,444.3,-9.9,204,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2600,3418
$GC,4564,-1.02,-146.6,475.1,-9.7,219,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2600,3417
$GC,4872,-1.02,-146.6,504.3,-9.4,234,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2599,3417
$GC,5184,-1.02,-146.6,531.9,-8.4,249,5188,0.00,2.45,0.00,0.000,4,0.000,0.038,2139,1209,3417
$GC,5234,-1.08,-146.6,536.6,-8.3,251,5238,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2603,3417
$GC,5550,-1.08,-146.6,562.6,-8.3,266,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2603,3417
$GC,5860,-1.08,-146.6,587.0,-8.0,281,5864,0.00,2.45,0.00,0.000,4,0.000,0.038,2139,1210,3416
$GC,5904,-1.14,-146.6,590.5,-7.6,283,5909,0.12,2.45,0.00,0.000,6,0.048,0.035,2100,2606,3416
$GC,6226,-1.06,-146.6,623.7,-10.7,299,6227,0.15,0.00,0.00,0.000,6,0.099,0.000,2128,2606,3416
$GC,6535,-1.06,-146.6,650.3,-8.4,314,6539,0.00,2.45,0.00,0.000,4,0.000,0.038,2128,1213,3416
$GC,6586,-1.06,-146.6,654.8,-8.7,316,6590,0.00,2.45,0.00,0.000,6,0.000,0.035,2128,2608,3416
$GC,6902,-1.06,-146.6,678.5,-7.1,331,6906,0.00,2.33,0.00,0.000,4,0.000,0.068,2128,3857,3416
$GC,6947,-1.06,-146.6,682.1,-8.2,333,6951,0.00,2.12,0.00,0.000,6,0.000,0.026,2128,2596,3416
$GC,7274,-1.06,-146.6,706.7,-7.7,349,7278,0.00,2.42,0.00,0.000,4,0.000,0.041,2129,1211,3415
$GC,7364,-1.10,-146.6,714.2,-8.7,353,7368,0.00,2.42,0.00,0.000,6,0.000,0.036,2128,2600,3415
$GC,7697,-1.10,-146.6,742.2,-8.3,369,7701,0.00,2.35,0.00,0.000,4,0.000,0.072,2128,3856,3414
$GC,7742,-1.10,-146.6,746.2,-7.2,371,7746,0.00,2.12,0.00,0.000,6,0.000,0.028,2128,2603,3414
$GC,8068,-1.10,-146.6,772.7,-7.7,387,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3414
$GC,8379,-1.56,-146.6,776.6,0.1,402,8381,0.50,0.00,0.00,0.000,6,0.051,0.000,2015,2600,3413
$STATE,8396,end dive,NO_VERTICAL_VELOCITY
$STATE,8396,begin apogee
$GC,8403,-0.31,0.0,776.7,0.0,403,8538,1.30,0.00,128.98,1.101,6,0.077,0.000,2292,2305,2816
$STATE,8539,end apogee,CONTROL_FINISHED_OK
$STATE,8539,begin climb
$GC,8542,1.03,146.6,776.6,0.0,410,8681,1.35,2.62,130.77,1.087,4,0.069,0.054,2581,909,2218
$GC,8939,0.93,156.0,761.6,7.2,427,8956,0.00,2.50,8.52,0.897,6,0.000,0.038,2581,2304,2180
$GC,9266,0.86,165.2,736.2,7.2,443,9281,0.17,2.67,9.75,0.920,4,0.100,0.066,2545,3700,2143
$GC,9345,0.81,165.2,730.3,8.0,445,9352,0.00,2.45,0.00,0.000,6,0.000,0.031,2545,2309,2141
$GC,9662,0.86,212.4,710.9,5.9,461,9708,0.00,0.00,44.05,1.045,6,0.000,0.000,2545,2308,1951
$GC,10014,0.95,229.9,687.8,6.9,478,10036,0.00,2.70,17.12,0.980,4,0.000,0.052,2544,896,1878
$GC,10054,1.03,230.2,684.9,7.5,479,10061,0.17,2.53,0.00,0.000,6,0.048,0.036,2589,2303,1876
$GC,10369,1.03,230.2,656.8,9.1,495,10374,0.00,2.62,0.00,0.000,4,0.000,0.065,2589,3699,1874
$GC,10432,0.94,230.2,650.7,10.4,498,10437,0.12,2.47,0.00,0.000,6,0.104,0.031,2567,2298,1874
$GC,10759,0.94,230.5,625.7,7.5,514,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2298,1873
$GC,11067,0.94,230.5,603.4,7.6,529,11068,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2298,1872
$GC,11377,0.95,235.6,580.5,7.3,544,11387,0.00,2.65,5.45,0.725,4,0.000,0.061,2567,3702,1856
$GC,11405,0.95,235.6,578.3,7.9,545,11409,0.00,2.47,0.00,0.000,6,0.000,0.028,2567,2294,1856
$GC,11720,0.95,235.6,553.4,8.0,560,11724,0.00,2.53,0.00,0.000,4,0.000,0.050,2567,902,1855
$GC,11747,0.95,235.6,551.0,8.3,561,11751,0.00,2.47,0.00,0.000,6,0.000,0.035,2567,2307,1853
$GC,12063,0.95,235.6,524.5,8.6,576,12068,0.00,2.60,0.00,0.000,4,0.000,0.061,2567,3707,1854
$GC,12097,0.95,235.6,521.3,8.7,577,12103,0.00,2.45,0.00,0.000,6,0.000,0.028,2567,2298,1854
$GC,12412,0.95,235.6,495.4,8.1,593,12413,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2298,1854
$GC,12722,0.95,239.0,471.8,7.4,608,12729,0.00,0.00,4.93,0.641,6,0.000,0.000,2567,2298,1842
$GC,13031,0.96,251.4,449.8,7.1,623,13052,0.00,2.65,13.10,0.803,4,0.000,0.057,2567,3698,1791
$GC,13069,0.96,251.4,446.9,7.5,624,13075,0.00,2.45,0.00,0.000,6,0.000,0.027,2567,2299,1791
$GC,13386,1.02,258.7,424.0,7.3,640,13396,0.00,0.00,8.18,0.724,6,0.000,0.000,2567,2299,1762
$GC,13694,1.10,283.9,402.9,6.6,655,13722,0.15,0.00,24.83,0.814,6,0.048,0.000,2605,2299,1659
$GC,14024,1.10,283.9,373.1,9.5,671,14028,0.00,2.58,0.00,0.000,4,0.000,0.057,2605,3700,1654
$GC,14045,1.10,283.9,370.7,9.4,672,14049,0.00,2.45,0.00,0.000,6,0.000,0.027,2605,2293,1654
$GC,14366,1.10,283.9,339.1,10.0,688,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2293,1653
$GC,14676,1.10,283.9,309.8,9.1,703,14677,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2293,1653
$GC,14985,1.10,283.9,280.3,9.6,718,14986,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2293,1653
$GC,15294,1.10,283.9,251.5,9.0,733,15298,0.00,2.58,0.00,0.000,4,0.000,0.056,2605,3701,1653
$GC,15316,1.10,283.9,249.4,9.3,734,15320,0.00,2.42,0.00,0.000,6,0.000,0.027,2605,2300,1653
$GC,15636,1.10,283.9,219.9,9.3,750,15638,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2299,1653
$GC,15946,1.10,283.9,188.7,10.5,765,15947,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2299,1653
$GC,16255,1.10,283.9,155.3,10.8,780,16257,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2299,1653
$GC,16565,1.10,283.9,122.4,10.7,795,16569,0.00,2.58,0.00,0.000,4,0.000,0.056,2605,3701,1653
$GC,16586,1.10,283.9,119.7,11.5,796,16590,0.00,2.42,0.00,0.000,6,0.000,0.027,2605,2292,1653
$GC,16907,1.10,283.9,80.4,11.8,812,16908,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2292,1653
$GC,17217,1.10,283.9,43.6,12.4,827,17221,0.00,2.58,0.00,0.000,4,0.000,0.055,2605,3701,1653
$GC,17261,1.10,283.9,38.1,11.8,829,17265,0.00,2.42,0.00,0.000,6,0.000,0.027,2605,2292,1653
$GC,17582,1.10,283.9,4.7,10.3,845,17586,0.00,2.47,0.00,0.000,4,0.000,0.043,2605,895,1653
$STATE,17601,end climb,SURFACE_DEPTH_REACHED
$STATE,17601,begin surface coast
$FINISH,0.9,1.026522
$STATE,17624,end surface coast,CONTROL_FINISHED_OK
$STATE,17625,begin surface
$SM_CCo,17711,0.00,0.000,0,0,1650,286.27
$SM_GC,1.72,11.98,0.00,0.00,0.083,0.000,0.000,59,2602,1650,-10.47,0.06,286.27
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1798
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.6,39.760
$10V_AH,10.1,20.409
$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,28.450,138.050,395.675,0.000,0.000,72.414,135.473,346.705,6.500,0.000,0.000,15.847,1542.838,13901.767,508.070,1774.355,863.626,0.000,1418.213,0.000,1729.786,0.000,43.993,0.000
$DEVICE_MAMPS,181.779,72.098,1100.645,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,621.942,577.699,472.087,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44266,847
$CAP_FILE_SIZE,133573,0
$CFSIZE,260165632,244432896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,220709,023631,6240.043,-1217.254,36,1.8,36,-11.5