version: 66.04
glider: 16
mission: 13
dive: 264
start: 7 25 109 0 27 41
data:
$ID,16
$MISSION,13
$DIVE,264
$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,-2112271
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,002206,6237.505,-1152.843,31,1.3,31,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-65.4
$GPS2,002725,6237.534,-1152.770,15,1.2,32,-11.2
$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,153.2,17718,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,81,0.00,0.00,-61.28,0.000,2,0.000,0.000,73,2598,3042
$GC,84,-1.03,-146.6,4.1,-6.1,3,110,11.80,2.40,-7.12,0.000,4,0.179,0.076,2130,3858,3417
$GC,268,-0.97,-146.6,32.5,-13.6,11,272,0.00,2.20,0.00,0.000,6,0.000,0.025,2130,2565,3418
$GC,595,-0.91,-146.6,68.8,-11.1,27,600,0.15,2.38,0.00,0.000,4,0.105,0.037,2158,1214,3418
$GC,646,-1.01,-146.6,73.9,-9.8,29,650,0.00,2.45,0.00,0.000,6,0.000,0.034,2158,2603,3418
$GC,962,-1.06,-146.6,102.3,-8.9,44,964,0.15,0.00,0.00,0.000,6,0.041,0.000,2110,2603,3418
$GC,1271,-0.96,-146.6,138.6,-11.8,59,1273,0.20,0.00,0.00,0.000,6,0.094,0.000,2148,2603,3418
$GC,1580,-0.96,-146.6,168.2,-9.1,74,1584,0.00,2.45,0.00,0.000,4,0.000,0.037,2149,1214,3418
$GC,1625,-1.03,-146.6,172.2,-8.9,76,1629,0.00,2.45,0.00,0.000,6,0.000,0.035,2149,2604,3418
$GC,1952,-1.03,-146.6,200.4,-8.6,92,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2605,3418
$GC,2263,-1.03,-146.6,226.5,-8.4,107,2268,0.00,2.45,0.00,0.000,4,0.000,0.036,2148,1212,3418
$GC,2291,-1.07,-146.6,229.0,-8.1,108,2295,0.00,2.42,0.00,0.000,6,0.000,0.034,2148,2600,3418
$GC,2613,-1.07,-146.6,256.1,-8.6,124,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2600,3418
$GC,2922,-1.07,-146.6,283.3,-8.9,139,2926,0.00,2.45,0.00,0.000,4,0.000,0.037,2149,1207,3418
$GC,2963,-1.14,-146.6,286.8,-9.2,141,2968,0.17,2.45,0.00,0.000,6,0.042,0.035,2097,2601,3418
$GC,3293,-1.02,-146.6,325.1,-11.8,157,3295,0.20,0.00,0.00,0.000,6,0.096,0.000,2135,2601,3418
$GC,3599,-1.02,-146.6,354.7,-9.4,172,3603,0.00,2.45,0.00,0.000,4,0.000,0.037,2134,1212,3418
$GC,3639,-1.06,-146.6,358.2,-8.5,174,3643,0.00,2.45,0.00,0.000,6,0.000,0.035,2135,2601,3418
$GC,3966,-1.06,-146.6,386.9,-8.8,190,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2601,3418
$GC,4274,-1.06,-146.6,414.4,-9.0,205,4279,0.00,2.45,0.00,0.000,4,0.000,0.037,2135,1211,3418
$GC,4319,-1.10,-146.6,418.5,-8.9,207,4323,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2603,3417
$GC,4646,-1.10,-146.6,449.5,-9.9,223,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2603,3418
$GC,4955,-1.10,-146.6,480.2,-10.0,238,4959,0.00,2.45,0.00,0.000,4,0.000,0.037,2135,1212,3418
$GC,5005,-1.10,-146.6,485.3,-9.8,240,5009,0.00,2.42,0.00,0.000,6,0.000,0.035,2135,2599,3418
$GC,5332,-1.10,-146.6,518.0,-9.7,256,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2600,3418
$GC,5641,-1.10,-146.6,546.2,-8.8,271,5645,0.00,2.45,0.00,0.000,4,0.000,0.038,2135,1206,3417
$GC,5682,-1.15,-146.6,549.7,-8.5,273,5687,0.12,2.45,0.00,0.000,6,0.048,0.035,2095,2601,3417
$GC,6017,-1.04,-146.6,587.6,-11.9,289,6022,0.20,2.35,0.00,0.000,4,0.097,0.066,2135,3863,3417
$GC,6057,-1.04,-146.6,592.2,-10.2,291,6061,0.00,2.12,0.00,0.000,6,0.000,0.025,2135,2597,3417
$GC,6391,-1.04,-146.6,625.1,-9.9,307,6395,0.00,2.45,0.00,0.000,4,0.000,0.039,2135,1209,3417
$GC,6480,-1.10,-146.6,633.6,-9.7,311,6485,0.00,2.45,0.00,0.000,6,0.000,0.035,2135,2602,3417
$GC,6803,-1.15,-146.6,661.0,-8.2,327,6807,0.12,2.35,0.00,0.000,4,0.046,0.067,2095,3861,3417
$GC,6830,-1.09,-146.6,663.9,-10.8,328,6835,0.12,2.12,0.00,0.000,6,0.096,0.026,2118,2602,3416
$GC,7146,-1.09,-146.6,690.6,-7.8,343,7150,0.00,2.45,0.00,0.000,4,0.000,0.041,2118,1217,3416
$GC,7191,-1.13,-146.6,694.0,-7.5,345,7195,0.00,2.45,0.00,0.000,6,0.000,0.037,2118,2603,3416
$GC,7512,-1.13,-146.6,719.2,-8.3,361,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2603,3415
$STATE,7673,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7674,begin apogee
$GC,7681,-0.31,0.0,733.0,8.6,369,7817,0.85,0.00,129.05,1.062,6,0.101,0.000,2289,2301,2816
$STATE,7817,end apogee,CONTROL_FINISHED_OK
$STATE,7818,begin climb
$GC,7821,1.03,146.6,739.4,0.0,376,7959,1.35,2.60,129.80,1.053,4,0.073,0.048,2577,914,2217
$GC,8195,0.95,146.6,722.4,7.5,393,8199,0.00,2.47,0.00,0.000,6,0.000,0.035,2577,2303,2210
$GC,8522,0.92,172.8,700.2,6.6,409,8547,0.00,0.00,23.50,0.990,6,0.000,0.000,2577,2304,2112
$GC,8853,0.92,172.8,674.5,8.0,425,8857,0.00,2.62,0.00,0.000,4,0.000,0.065,2577,3699,2107
$GC,8880,0.85,172.8,672.1,8.3,426,8886,0.17,2.45,0.00,0.000,6,0.094,0.029,2544,2307,2107
$GC,9197,0.85,172.8,647.9,7.9,441,9201,0.00,2.55,0.00,0.000,4,0.000,0.050,2545,904,2106
$GC,9241,0.85,172.8,644.3,8.1,443,9245,0.00,2.50,0.00,0.000,6,0.000,0.036,2544,2309,2104
$GC,9562,0.91,182.4,621.0,7.2,459,9576,0.00,2.67,8.95,0.861,4,0.000,0.064,2544,3697,2072
$GC,9617,0.92,198.3,617.2,7.0,461,9638,0.00,2.45,15.85,0.933,6,0.000,0.029,2544,2299,2008
$GC,9955,1.05,249.0,597.5,5.8,478,10010,0.20,2.65,48.30,0.977,4,0.047,0.050,2601,902,1800
$GC,10040,0.99,249.0,590.5,9.3,482,10045,0.12,2.50,0.00,0.000,6,0.097,0.036,2578,2308,1796
$GC,10367,1.00,253.7,565.8,7.3,498,10377,0.00,2.65,4.53,0.653,4,0.000,0.063,2578,3706,1782
$GC,10400,1.00,253.7,563.2,7.8,499,10406,0.00,2.47,0.00,0.000,6,0.000,0.029,2578,2302,1781
$GC,10716,1.01,265.3,540.6,7.1,515,10730,0.00,0.00,12.32,0.851,6,0.000,0.000,2578,2302,1735
$GC,11026,1.01,267.2,517.7,7.4,530,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2301,1731
$GC,11335,1.02,268.8,494.9,7.4,545,11344,0.00,2.62,4.10,0.584,4,0.000,0.058,2578,3701,1721
$GC,11373,1.02,268.8,492.0,8.1,546,11379,0.00,2.45,0.00,0.000,6,0.000,0.027,2578,2299,1721
$GC,11689,1.02,268.8,467.4,8.0,562,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2299,1720
$GC,11997,1.02,268.8,442.9,8.1,577,11999,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2299,1720
$GC,12307,1.02,268.8,418.0,8.0,592,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1720
$GC,12616,1.02,268.8,392.5,8.3,607,12617,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1720
$GC,12925,1.02,268.8,366.7,8.3,622,12929,0.00,2.58,0.00,0.000,4,0.000,0.056,2578,3701,1720
$GC,12946,1.02,268.8,364.7,8.4,623,12951,0.00,2.45,0.00,0.000,6,0.000,0.026,2578,2288,1720
$GC,13268,1.02,268.8,336.4,9.2,639,13269,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2288,1720
$GC,13577,1.02,268.8,306.2,10.0,654,13581,0.00,2.60,0.00,0.000,4,0.000,0.056,2578,3708,1720
$GC,13598,1.02,268.8,303.9,10.4,655,13602,0.00,2.45,0.00,0.000,6,0.000,0.026,2578,2292,1720
$GC,13920,1.02,268.8,269.7,10.9,671,13921,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2292,1720
$GC,14229,1.06,268.8,233.9,11.9,686,14233,0.00,2.58,0.00,0.000,4,0.000,0.055,2576,3702,1720
$GC,14250,1.06,268.8,231.0,11.8,687,14255,0.00,2.42,0.00,0.000,6,0.000,0.026,2578,2297,1721
$GC,14572,1.10,268.8,192.7,11.7,703,14574,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2296,1721
$GC,14881,1.15,268.8,156.8,11.5,718,14883,0.15,0.00,0.00,0.000,6,0.045,0.000,2624,2296,1721
$GC,15191,1.07,268.8,116.1,12.9,733,15196,0.17,2.58,0.00,0.000,4,0.086,0.054,2586,3701,1720
$GC,15213,1.07,268.8,113.3,11.6,734,15217,0.00,2.42,0.00,0.000,6,0.000,0.026,2586,2295,1721
$GC,15534,1.07,268.8,78.8,10.4,750,15536,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2294,1721
$GC,15844,1.11,268.8,48.1,10.6,765,15848,0.00,2.60,0.00,0.000,4,0.000,0.054,2586,3711,1721
$GC,15888,1.11,268.8,43.0,10.8,767,15892,0.00,2.42,0.00,0.000,6,0.000,0.026,2586,2300,1721
$GC,16210,1.17,268.8,15.3,7.7,783,16214,0.12,2.50,0.00,0.000,4,0.047,0.043,2626,897,1721
$GC,16251,1.11,268.8,11.6,9.5,785,16256,0.12,2.45,0.00,0.000,6,0.087,0.031,2601,2305,1720
$STATE,16348,end climb,SURFACE_DEPTH_REACHED
$STATE,16348,begin surface coast
$FINISH,0.7,1.018075
$STATE,16370,end surface coast,CONTROL_FINISHED_OK
$STATE,16370,begin surface
$SM_CCo,16453,0.00,0.000,0,0,1717,269.83
$SM_GC,1.87,11.93,0.00,0.00,0.082,0.000,0.000,74,2597,1717,-10.45,-0.06,269.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1802
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.2,40.3
$24V_AH,23.6,41.712
$10V_AH,10.1,21.575
$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,28.450,129.150,376.400,0.000,0.000,18.145,28.540,135.150,6.250,0.000,0.000,32.757,1460.001,12664.414,469.330,1717.373,458.529,0.000,1336.349,0.000,1649.024,0.000,44.394,0.000
$DEVICE_MAMPS,178.711,75.933,1062.295,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.241,541.067,459.586,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41145,791
$CAP_FILE_SIZE,121744,0
$CFSIZE,260165632,243527680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250709,050307,6235.299,-1150.463,37,1.5,37,-11.2