version: 66.04
glider: 16
mission: 13
dive: 252
start: 7 22 109 12 45 34
data:
$ID,16
$MISSION,13
$DIVE,252
$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,-2112071.5
$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,38
$R_STBD_OVSHOOT,28
$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
$GPS1,123805,6240.670,-1213.027,42,1.0,46,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-57.9
$GPS2,124514,6240.692,-1213.211,16,1.1,16,-11.4
$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,136.3,34622,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.90,0.000,2,0.000,0.000,69,2600,3240
$GC,81,-1.03,-146.6,4.6,-7.3,3,104,11.98,2.47,-3.00,0.000,4,0.186,0.048,2129,1198,3417
$GC,196,-1.03,-146.6,26.4,-10.0,8,200,0.00,2.47,0.00,0.000,6,0.000,0.034,2129,2600,3418
$GC,523,-0.98,-146.6,61.4,-10.8,24,527,0.00,2.33,0.00,0.000,4,0.000,0.062,2129,3861,3419
$GC,564,-0.93,-146.6,66.4,-12.1,26,569,0.12,2.17,0.00,0.000,6,0.096,0.025,2153,2573,3419
$GC,896,-0.93,-146.6,100.6,-10.3,42,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2572,3419
$GC,1205,-0.93,-146.6,132.9,-10.5,57,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2572,3420
$GC,1515,-0.93,-146.6,164.5,-10.2,72,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2572,3420
$GC,1823,-0.93,-146.6,194.6,-9.6,87,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2572,3420
$GC,2135,-0.93,-146.6,226.4,-10.6,102,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2572,3420
$GC,2443,-0.93,-146.6,259.6,-10.8,117,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2572,3420
$GC,2751,-0.93,-146.6,293.3,-11.2,132,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2572,3419
$GC,3063,-0.93,-146.6,326.4,-10.2,147,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2572,3419
$GC,3370,-0.93,-146.6,355.0,-8.8,162,3374,0.00,2.38,0.00,0.000,4,0.000,0.038,2152,1217,3419
$GC,3400,-1.00,-146.6,357.7,-9.0,163,3404,0.00,2.42,0.00,0.000,6,0.000,0.035,2152,2601,3419
$GC,3715,-1.00,-146.6,385.4,-8.5,178,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2602,3419
$GC,4025,-1.00,-146.6,411.9,-8.4,193,4029,0.00,2.42,0.00,0.000,4,0.000,0.037,2153,1212,3418
$GC,4053,-1.06,-146.6,414.3,-8.5,194,4058,0.12,2.45,0.00,0.000,6,0.045,0.034,2111,2611,3418
$GC,4374,-0.99,-146.6,449.7,-11.4,210,4376,0.17,0.00,0.00,0.000,6,0.091,0.000,2145,2611,3418
$GC,4683,-0.99,-146.6,477.3,-8.6,225,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2611,3417
$GC,4992,-0.99,-146.6,503.7,-8.4,240,4996,0.00,2.45,0.00,0.000,4,0.000,0.037,2145,1215,3418
$GC,5042,-1.06,-146.6,507.8,-8.2,242,5046,0.00,2.42,0.00,0.000,6,0.000,0.035,2143,2599,3418
$GC,5358,-1.06,-146.6,533.6,-8.4,257,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2599,3417
$GC,5666,-1.06,-146.6,559.2,-8.2,272,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2599,3417
$GC,5977,-1.06,-146.6,582.5,-7.4,287,5981,0.00,2.42,0.00,0.000,4,0.000,0.037,2145,1217,3417
$GC,6017,-1.13,-146.6,585.5,-7.6,289,6022,0.15,2.42,0.00,0.000,6,0.044,0.035,2099,2599,3417
$GC,6344,-1.04,-146.6,619.8,-11.1,305,6348,0.17,2.35,0.00,0.000,4,0.094,0.066,2132,3864,3417
$GC,6371,-1.04,-146.6,622.8,-10.7,306,6375,0.00,2.12,0.00,0.000,6,0.000,0.025,2132,2597,3417
$GC,6692,-1.04,-146.6,653.7,-9.3,322,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2595,3417
$GC,7002,-1.04,-146.6,681.1,-8.9,337,7006,0.00,2.35,0.00,0.000,4,0.000,0.067,2132,3856,3417
$GC,7052,-1.04,-146.6,685.8,-9.2,339,7056,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2596,3417
$GC,7373,-1.04,-146.6,712.0,-7.6,355,7377,0.00,2.35,0.00,0.000,4,0.000,0.067,2132,3856,3417
$GC,7435,-1.04,-146.6,717.3,-8.7,358,7439,0.00,2.10,0.00,0.000,6,0.000,0.028,2132,2605,3417
$GC,7770,-1.08,-146.6,740.2,-6.2,374,7774,0.00,2.47,0.00,0.000,4,0.000,0.043,2132,1202,3416
$GC,7809,-1.14,-146.6,743.6,-8.0,375,7816,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,2604,3416
$GC,8126,-1.20,-146.6,767.4,-8.6,391,8131,0.15,2.35,0.00,0.000,4,0.044,0.071,2086,3857,3416
$STATE,8208,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8208,begin apogee
$GC,8217,-0.31,0.0,776.5,10.1,395,8351,1.00,0.00,129.65,1.087,6,0.105,0.000,2287,2310,2817
$STATE,8352,end apogee,CONTROL_FINISHED_OK
$STATE,8352,begin climb
$GC,8355,1.03,146.6,784.9,0.0,402,8494,1.38,2.65,131.10,1.081,4,0.075,0.051,2579,897,2217
$GC,8752,0.94,146.6,767.7,8.8,419,8756,0.00,2.50,0.00,0.000,6,0.000,0.035,2579,2302,2210
$GC,9073,0.89,173.4,740.7,6.6,435,9104,0.12,2.72,23.88,1.016,4,0.095,0.064,2555,3695,2110
$GC,9149,0.81,173.4,735.1,7.6,438,9154,0.00,2.47,0.00,0.000,6,0.000,0.030,2555,2300,2109
$GC,9466,0.81,177.9,713.0,7.3,453,9473,0.00,0.00,5.03,0.745,6,0.000,0.000,2555,2300,2092
$GC,9774,0.81,177.9,689.8,7.9,468,9779,0.00,2.62,0.00,0.000,4,0.000,0.063,2555,3701,2090
$GC,9814,0.76,177.9,686.5,8.2,470,9819,0.15,2.47,0.00,0.000,6,0.101,0.030,2527,2296,2089
$GC,10143,0.85,188.6,664.4,7.1,486,10159,0.00,2.67,10.93,0.917,4,0.000,0.062,2527,3705,2048
$GC,10187,0.90,188.6,661.0,7.7,487,10192,0.12,2.50,0.00,0.000,6,0.054,0.029,2562,2292,2047
$GC,10509,0.94,221.0,636.6,6.4,503,10543,0.00,0.00,31.35,0.988,6,0.000,0.000,2562,2292,1915
$GC,10861,0.95,229.2,611.7,7.2,520,10871,0.00,0.00,8.45,0.838,6,0.000,0.000,2562,2292,1882
$GC,11170,0.95,236.2,589.5,7.3,535,11185,0.00,2.67,7.75,0.810,4,0.000,0.060,2562,3697,1852
$GC,11237,0.95,236.2,584.0,8.2,538,11242,0.00,2.45,0.00,0.000,6,0.000,0.028,2562,2298,1853
$GC,11564,0.95,238.0,559.9,7.4,554,11568,0.00,2.55,0.00,0.000,4,0.000,0.049,2562,895,1851
$GC,11597,1.00,238.0,557.2,8.4,555,11604,0.00,2.47,0.00,0.000,6,0.000,0.033,2562,2304,1850
$GC,11913,1.00,238.0,532.0,8.1,571,11918,0.00,2.60,0.00,0.000,4,0.000,0.060,2562,3703,1850
$GC,11941,1.00,238.0,529.4,9.3,572,11945,0.00,2.42,0.00,0.000,6,0.000,0.028,2562,2299,1851
$GC,12257,1.04,238.0,502.8,8.3,587,12262,0.10,2.50,0.00,0.000,4,0.057,0.047,2591,892,1850
$GC,12284,1.04,238.0,500.0,10.4,588,12289,0.00,2.47,0.00,0.000,6,0.000,0.032,2590,2305,1850
$GC,12602,1.04,238.0,469.7,9.6,603,12603,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2305,1850
$GC,12910,0.99,238.0,440.8,9.2,618,12915,0.00,2.58,0.00,0.000,4,0.000,0.058,2589,3704,1850
$GC,12933,0.93,238.0,438.5,9.6,619,12938,0.15,2.42,0.00,0.000,6,0.096,0.027,2561,2297,1850
$GC,13254,0.98,238.0,412.3,8.3,635,13258,0.00,2.50,0.00,0.000,4,0.000,0.044,2561,896,1850
$GC,13282,1.03,238.0,409.7,8.9,636,13287,0.10,2.45,0.00,0.000,6,0.053,0.031,2591,2302,1850
$GC,13598,1.03,238.0,378.6,10.0,651,13599,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2303,1850
$GC,13907,1.03,238.0,348.3,9.6,666,13908,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2302,1850
$GC,14217,1.03,238.0,318.6,9.3,681,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2302,1850
$GC,14526,1.03,238.0,290.1,9.2,696,14527,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2302,1851
$GC,14835,1.03,238.0,260.8,9.4,711,14836,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2302,1851
$GC,15144,1.03,238.0,231.3,9.8,726,15145,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2302,1851
$GC,15453,1.03,238.0,200.9,10.1,741,15457,0.00,2.50,0.00,0.000,4,0.000,0.041,2592,897,1851
$GC,15476,1.03,238.0,198.6,10.5,742,15481,0.00,2.45,0.00,0.000,6,0.000,0.031,2592,2308,1851
$GC,15803,1.03,238.0,164.4,10.9,758,15805,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2308,1851
$GC,16113,1.03,238.0,132.9,9.8,773,16114,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2308,1851
$GC,16422,1.03,238.0,106.5,7.8,788,16423,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2308,1852
$GC,16732,1.06,265.8,85.0,6.5,803,16761,0.00,0.00,27.27,0.618,6,0.000,0.000,2592,2308,1732
$GC,17062,1.06,265.8,60.5,8.9,819,17063,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2308,1728
$GC,17370,1.10,265.8,28.6,8.3,834,17374,0.00,2.53,0.00,0.000,4,0.000,0.041,2592,895,1728
$GC,17398,1.10,265.8,26.3,8.1,835,17402,0.00,2.45,0.00,0.000,6,0.000,0.031,2592,2300,1726
$STATE,17690,end climb,SURFACE_DEPTH_REACHED
$STATE,17690,begin surface coast
$FINISH,1.5,1.026579
$STATE,17712,end surface coast,CONTROL_FINISHED_OK
$STATE,17712,begin surface
$SM_CCo,17795,0.00,0.000,0,0,1723,268.36
$SM_GC,1.30,11.90,0.00,0.00,0.081,0.000,0.000,73,2601,1723,-10.46,0.03,268.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1801
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.4,60.9
$24V_AH,23.6,40.141
$10V_AH,10.1,20.643
$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,27.900,113.450,375.400,0.000,0.000,35.985,71.043,139.257,6.250,0.000,0.000,16.255,1541.796,13949.207,465.830,1742.550,524.883,0.000,1341.718,0.000,1700.300,0.000,43.122,0.000
$DEVICE_MAMPS,185.614,71.331,1086.839,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,626.237,581.388,499.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44300,850
$CAP_FILE_SIZE,122133,0
$CFSIZE,260165632,244260864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220709,174341,6239.633,-1215.690,52,1.9,56,-11.5