version: 66.04
glider: 16
mission: 13
dive: 263
start: 7 24 109 19 59 12
data:
$ID,16
$MISSION,13
$DIVE,263
$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,-2112237.5
$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,39
$R_STBD_OVSHOOT,25
$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
$GPS1,195236,6237.118,-1159.531,41,1.4,46,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.7
$GPS2,195855,6237.124,-1159.539,11,1.9,17,-11.3
$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,139.6,21290,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,80,0.00,0.00,-55.67,0.000,6,0.000,0.000,71,2597,3417
$GC,83,-1.03,-146.6,8.1,-15.7,3,105,11.82,2.38,0.00,0.000,4,0.180,0.054,2130,3867,3418
$GC,287,-0.99,-146.6,45.3,-11.0,12,291,0.00,2.17,0.00,0.000,6,0.000,0.025,2130,2582,3419
$GC,615,-0.94,-146.6,78.7,-9.8,28,619,0.12,2.40,0.00,0.000,4,0.126,0.037,2151,1217,3420
$GC,648,-1.00,-146.6,82.0,-9.0,29,655,0.00,2.42,0.00,0.000,6,0.000,0.035,2151,2599,3420
$GC,964,-1.00,-146.6,109.7,-8.9,45,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2599,3420
$GC,1275,-1.00,-146.6,136.9,-8.8,60,1279,0.00,2.45,0.00,0.000,4,0.000,0.036,2151,1207,3420
$GC,1331,-1.06,-146.6,142.0,-8.4,62,1338,0.00,2.42,0.00,0.000,6,0.000,0.034,2151,2599,3420
$GC,1647,-1.06,-146.6,169.0,-8.1,78,1649,0.12,0.00,0.00,0.000,6,0.049,0.000,2108,2599,3420
$GC,1958,-0.96,-146.6,201.1,-10.3,93,1963,0.17,2.45,0.00,0.000,4,0.092,0.036,2144,1208,3420
$GC,2014,-1.02,-146.6,206.4,-8.6,95,2020,0.00,2.45,0.00,0.000,6,0.000,0.035,2145,2603,3421
$GC,2329,-1.02,-146.6,234.4,-9.2,111,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2603,3420
$GC,2639,-1.02,-146.6,264.8,-10.5,126,2643,0.00,2.45,0.00,0.000,4,0.000,0.037,2145,1211,3420
$GC,2672,-1.07,-146.6,268.5,-10.5,127,2677,0.00,2.45,0.00,0.000,6,0.000,0.034,2144,2605,3420
$GC,2989,-1.07,-146.6,301.3,-10.3,142,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2605,3419
$GC,3298,-1.07,-146.6,332.3,-9.8,157,3302,0.00,2.45,0.00,0.000,4,0.000,0.036,2145,1210,3419
$GC,3348,-1.13,-146.6,337.2,-9.9,159,3353,0.15,2.45,0.00,0.000,6,0.044,0.035,2097,2606,3420
$GC,3664,-1.02,-146.6,371.9,-10.5,174,3668,0.17,2.45,0.00,0.000,4,0.097,0.037,2134,1212,3419
$GC,3691,-1.02,-146.6,374.5,-8.7,175,3695,0.00,2.42,0.00,0.000,6,0.000,0.035,2134,2605,3419
$GC,4014,-1.02,-146.6,400.2,-8.2,191,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2605,3419
$GC,4323,-1.02,-146.6,428.0,-9.4,206,4327,0.00,2.45,0.00,0.000,4,0.000,0.038,2134,1211,3419
$GC,4362,-1.02,-146.6,431.8,-9.8,208,4366,0.00,2.45,0.00,0.000,6,0.000,0.035,2134,2609,3419
$GC,4689,-1.02,-146.6,463.4,-9.6,224,4693,0.00,2.45,0.00,0.000,4,0.000,0.036,2134,1214,3419
$GC,4722,-1.02,-146.6,466.5,-9.2,225,4728,0.00,2.42,0.00,0.000,6,0.000,0.035,2134,2599,3419
$GC,5038,-1.02,-146.6,494.0,-8.2,241,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2600,3419
$GC,5347,-1.02,-146.6,518.0,-7.6,256,5351,0.00,2.42,0.00,0.000,4,0.000,0.037,2134,1216,3419
$GC,5396,-1.02,-146.6,521.8,-7.8,258,5400,0.00,2.42,0.00,0.000,6,0.000,0.035,2134,2600,3419
$GC,5712,-1.02,-146.6,548.0,-9.0,273,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2600,3419
$GC,6021,-1.02,-146.6,578.1,-9.8,288,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2600,3418
$GC,6331,-1.02,-146.6,605.1,-7.8,303,6335,0.00,2.45,0.00,0.000,4,0.000,0.038,2134,1208,3418
$GC,6364,-1.06,-146.6,607.6,-7.9,304,6369,0.00,2.45,0.00,0.000,6,0.000,0.035,2134,2601,3418
$GC,6680,-1.06,-146.6,627.8,-6.0,319,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2601,3418
$GC,6990,-1.06,-146.6,648.8,-7.4,334,6994,0.00,2.35,0.00,0.000,4,0.000,0.068,2134,3861,3418
$GC,7078,-1.06,-146.6,656.3,-8.2,338,7082,0.00,2.12,0.00,0.000,6,0.000,0.026,2134,2600,3418
$GC,7405,-1.06,-146.6,681.9,-8.2,354,7409,0.00,2.45,0.00,0.000,4,0.000,0.040,2134,1211,3417
$GC,7473,-1.13,-146.6,687.2,-7.9,357,7477,0.00,2.45,0.00,0.000,6,0.000,0.037,2134,2601,3417
$GC,7799,-1.13,-146.6,713.9,-8.1,373,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2601,3417
$GC,8109,-1.13,-146.6,736.9,-7.2,388,8113,0.00,2.35,0.00,0.000,4,0.000,0.071,2134,3861,3416
$GC,8182,-1.13,-146.6,742.4,-7.2,391,8186,0.00,2.15,0.00,0.000,6,0.000,0.028,2134,2603,3416
$GC,8510,-1.41,-146.6,764.9,-3.4,407,8512,0.38,0.00,0.00,0.000,6,0.052,0.000,2048,2601,3415
$STATE,8754,end dive,NO_VERTICAL_VELOCITY
$STATE,8754,begin apogee
$GC,8762,-0.31,0.0,764.8,0.0,419,8897,1.20,0.00,129.30,1.096,6,0.100,0.000,2289,2305,2817
$STATE,8898,end apogee,CONTROL_FINISHED_OK
$STATE,8898,begin climb
$GC,8901,1.03,146.6,764.5,0.0,426,9039,1.33,2.72,130.50,1.081,4,0.061,0.067,2580,3701,2218
$GC,9117,1.25,348.6,764.2,0.6,436,9308,0.22,2.47,182.27,1.071,6,0.043,0.030,2637,2303,1395
$GC,9636,1.25,348.6,701.5,13.5,461,9641,0.00,2.67,0.00,0.000,4,0.000,0.064,2637,3709,1384
$GC,9745,1.20,348.6,686.4,14.4,466,9749,0.00,2.50,0.00,0.000,6,0.000,0.031,2637,2303,1383
$GC,10071,1.20,348.6,642.7,13.5,482,10075,0.00,2.60,0.00,0.000,4,0.000,0.054,2637,895,1382
$GC,10104,1.20,348.6,638.1,13.7,483,10110,0.00,2.53,0.00,0.000,6,0.000,0.036,2637,2311,1381
$GC,10419,1.20,348.6,595.3,14.0,499,10421,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2311,1381
$GC,10729,1.20,348.6,555.2,12.3,514,10733,0.00,2.60,0.00,0.000,4,0.000,0.049,2637,889,1380
$GC,10769,1.20,348.6,550.5,13.0,516,10773,0.00,2.50,0.00,0.000,6,0.000,0.036,2637,2299,1379
$GC,11095,1.20,348.6,513.3,11.4,532,11096,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2299,1379
$GC,11404,1.20,348.6,477.8,11.1,547,11409,0.00,2.62,0.00,0.000,4,0.000,0.060,2637,3707,1379
$GC,11428,1.20,348.6,475.2,11.1,548,11433,0.00,2.47,0.00,0.000,6,0.000,0.029,2637,2295,1379
$GC,11750,1.14,348.6,439.2,11.0,564,11752,0.15,0.00,0.00,0.000,6,0.097,0.000,2609,2294,1379
$GC,12059,1.14,348.6,407.3,10.3,579,12063,0.00,2.53,0.00,0.000,4,0.000,0.048,2609,895,1379
$GC,12103,1.14,348.6,402.4,10.5,581,12107,0.00,2.47,0.00,0.000,6,0.000,0.033,2608,2310,1379
$GC,12429,1.14,348.6,366.5,11.2,597,12430,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2312,1379
$GC,12739,1.14,348.6,331.6,11.1,612,12743,0.00,2.55,0.00,0.000,4,0.000,0.044,2609,895,1380
$GC,12756,1.14,348.6,329.5,11.4,613,12760,0.00,2.45,0.00,0.000,6,0.000,0.032,2609,2305,1379
$GC,13089,1.14,348.6,292.4,10.8,629,13090,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2305,1379
$GC,13398,1.14,348.6,259.0,10.9,644,13402,0.00,2.53,0.00,0.000,4,0.000,0.043,2609,895,1379
$GC,13426,1.14,348.6,256.0,10.9,645,13430,0.00,2.47,0.00,0.000,6,0.000,0.032,2608,2309,1379
$GC,13741,1.14,348.6,222.5,10.6,660,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2309,1379
$GC,14050,1.14,348.6,189.0,11.0,675,14051,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2309,1379
$GC,14360,1.14,348.6,154.2,11.3,690,14364,0.00,2.55,0.00,0.000,4,0.000,0.044,2609,891,1379
$GC,14400,1.19,348.6,149.5,11.8,692,14404,0.00,2.47,0.00,0.000,6,0.000,0.032,2609,2305,1379
$GC,14726,1.19,348.6,113.2,11.2,708,14728,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2305,1380
$GC,15036,1.19,348.6,76.6,12.5,723,15041,0.00,2.55,0.00,0.000,4,0.000,0.042,2609,888,1380
$GC,15064,1.23,348.6,72.7,13.2,724,15068,0.00,2.47,0.00,0.000,6,0.000,0.031,2610,2304,1380
$GC,15382,1.29,348.6,31.2,12.9,739,15387,0.12,2.53,0.00,0.000,4,0.048,0.041,2651,892,1380
$GC,15427,1.25,348.6,24.6,14.6,741,15431,0.00,2.47,0.00,0.000,6,0.000,0.031,2651,2311,1381
$STATE,15602,end climb,SURFACE_DEPTH_REACHED
$STATE,15603,begin surface coast
$FINISH,0.8,1.015730
$STATE,15623,end surface coast,CONTROL_FINISHED_OK
$STATE,15623,begin surface
$SM_CCo,15707,0.00,0.000,0,0,1378,352.99
$SM_GC,1.57,12.45,0.00,0.00,0.094,0.000,0.000,73,2597,1378,-10.46,-0.08,352.99
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1805
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,23.6,41.593
$10V_AH,10.1,21.501
$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,28.425,123.950,442.075,0.000,0.000,17.994,27.888,208.854,6.500,0.000,0.000,17.922,1376.037,12028.948,506.516,1650.265,521.202,0.000,1362.337,0.000,1601.167,0.000,44.477,0.000
$DEVICE_MAMPS,180.245,71.331,1096.043,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.411,510.953,433.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37940,751
$CAP_FILE_SIZE,113947,0
$CFSIZE,260165632,243597312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250709,002206,6237.505,-1152.843,31,1.3,31,-11.2