version: 66.04
glider: 16
mission: 13
dive: 269
start: 7 26 109 1 13 20
data:
$ID,16
$MISSION,13
$DIVE,269
$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,-2112371.2
$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,30
$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
$GPS1,010730,6230.727,-1141.414,41,1.4,41,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.3
$GPS2,011301,6230.738,-1141.433,14,2.0,19,-11.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$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,117.8,37086,-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,-146.6,0.0,0.0,0,71,0.00,0.00,-53.70,0.000,6,0.000,0.000,78,2606,3416
$GC,74,-1.03,-146.6,3.8,-8.5,2,96,11.93,2.35,0.00,0.000,4,0.185,0.054,2129,3863,3418
$GC,188,-0.94,-146.6,32.1,-11.5,7,192,0.12,2.17,0.00,0.000,6,0.103,0.025,2152,2578,3418
$GC,514,-0.94,-146.6,63.4,-9.6,23,518,0.00,2.40,0.00,0.000,4,0.000,0.035,2151,1210,3420
$GC,571,-1.01,-146.6,68.5,-8.9,25,577,0.00,2.42,0.00,0.000,6,0.000,0.033,2152,2594,3419
$GC,887,-1.01,-146.6,96.2,-9.3,41,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2594,3420
$GC,1198,-1.01,-146.6,127.3,-10.1,56,1202,0.00,2.42,0.00,0.000,4,0.000,0.035,2153,1214,3420
$GC,1226,-1.05,-146.6,130.4,-10.2,57,1231,0.00,2.45,0.00,0.000,6,0.000,0.034,2152,2608,3420
$GC,1543,-1.05,-146.6,160.8,-9.3,72,1546,0.00,2.45,0.00,0.000,4,0.000,0.036,2152,1208,3420
$GC,1570,-1.10,-146.6,163.6,-9.6,73,1575,0.15,2.45,0.00,0.000,6,0.040,0.034,2105,2602,3420
$GC,1893,-0.98,-146.6,202.4,-12.3,89,1895,0.20,0.00,0.00,0.000,6,0.099,0.000,2142,2602,3420
$GC,2200,-0.98,-146.6,232.9,-9.4,104,2205,0.00,2.45,0.00,0.000,4,0.000,0.036,2142,1210,3420
$GC,2241,-1.03,-146.6,236.5,-8.8,106,2245,0.00,2.45,0.00,0.000,6,0.000,0.035,2142,2605,3420
$GC,2568,-1.03,-146.6,266.4,-9.1,122,2573,0.00,2.45,0.00,0.000,4,0.000,0.036,2142,1210,3420
$GC,2596,-1.03,-146.6,269.3,-9.8,123,2600,0.00,2.45,0.00,0.000,6,0.000,0.034,2143,2606,3419
$GC,2912,-1.03,-146.6,298.0,-9.2,138,2916,0.00,2.45,0.00,0.000,4,0.000,0.036,2142,1211,3419
$GC,2939,-1.03,-146.6,300.6,-9.1,139,2944,0.00,2.45,0.00,0.000,6,0.000,0.034,2142,2609,3419
$GC,3255,-1.03,-146.6,330.7,-9.7,154,3259,0.00,2.45,0.00,0.000,4,0.000,0.036,2142,1213,3419
$GC,3288,-1.07,-146.6,334.0,-9.9,155,3294,0.00,2.42,0.00,0.000,6,0.000,0.034,2142,2599,3419
$GC,3604,-1.07,-146.6,364.7,-9.6,171,3608,0.00,2.42,0.00,0.000,4,0.000,0.036,2142,1215,3419
$GC,3626,-1.07,-146.6,367.0,-9.6,172,3630,0.00,2.42,0.00,0.000,6,0.000,0.034,2142,2600,3419
$GC,3947,-1.07,-146.6,397.6,-9.7,188,3951,0.00,2.42,0.00,0.000,4,0.000,0.036,2142,1211,3419
$GC,3981,-1.11,-146.6,400.8,-9.4,189,3986,0.12,2.42,0.00,0.000,6,0.046,0.034,2103,2600,3419
$GC,4297,-1.00,-146.6,437.5,-11.6,204,4299,0.20,0.00,0.00,0.000,6,0.098,0.000,2140,2600,3419
$GC,4606,-1.00,-146.6,467.2,-9.4,219,4610,0.00,2.42,0.00,0.000,4,0.000,0.036,2140,1215,3418
$GC,4657,-1.05,-146.6,471.9,-8.7,221,4661,0.00,2.42,0.00,0.000,6,0.000,0.034,2140,2603,3419
$GC,4978,-1.05,-146.6,499.9,-8.6,237,4983,0.00,2.45,0.00,0.000,4,0.000,0.036,2140,1208,3419
$GC,5005,-1.05,-146.6,502.3,-8.3,238,5009,0.00,2.45,0.00,0.000,6,0.000,0.034,2140,2607,3419
$GC,5326,-1.05,-146.6,528.7,-8.3,254,5330,0.00,2.42,0.00,0.000,4,0.000,0.037,2140,1216,3419
$GC,5359,-1.10,-146.6,531.5,-8.2,255,5363,0.00,2.42,0.00,0.000,6,0.000,0.034,2140,2600,3418
$GC,5675,-1.10,-146.6,556.2,-7.6,270,5679,0.00,2.42,0.00,0.000,4,0.000,0.036,2140,1215,3418
$GC,5709,-1.14,-146.6,558.9,-8.0,271,5715,0.15,2.42,0.00,0.000,6,0.044,0.034,2095,2599,3418
$GC,6025,-1.03,-146.6,595.0,-12.6,287,6027,0.20,0.00,0.00,0.000,6,0.097,0.000,2133,2599,3418
$GC,6335,-1.03,-146.6,626.0,-9.7,302,6339,0.00,2.42,0.00,0.000,4,0.000,0.036,2133,1215,3417
$GC,6413,-1.08,-146.6,633.7,-9.3,305,6419,0.00,2.42,0.00,0.000,6,0.000,0.035,2133,2599,3418
$GC,6729,-1.08,-146.6,664.5,-9.3,321,6733,0.00,2.35,0.00,0.000,4,0.000,0.067,2133,3861,3418
$GC,6756,-1.08,-146.6,667.1,-9.5,322,6760,0.00,2.12,0.00,0.000,6,0.000,0.025,2133,2597,3418
$GC,7078,-1.12,-146.6,695.4,-10.5,338,7082,0.00,2.35,0.00,0.000,4,0.000,0.067,2133,3861,3417
$GC,7116,-1.12,-146.6,700.0,-12.4,339,7126,0.00,2.12,0.00,0.000,6,0.000,0.025,2133,2599,3417
$GC,7433,-1.16,-146.6,729.3,-8.2,355,7437,0.12,2.45,0.00,0.000,4,0.046,0.039,2093,1212,3417
$GC,7527,-1.16,-146.6,738.4,-10.5,359,7532,0.00,2.45,0.00,0.000,6,0.000,0.036,2094,2603,3416
$GC,7843,-1.08,-146.6,767.5,-9.1,374,7848,0.15,2.35,0.00,0.000,4,0.101,0.070,2121,3857,3417
$GC,7871,-1.08,-146.6,770.0,-9.1,375,7875,0.00,2.12,0.00,0.000,6,0.000,0.028,2122,2614,3416
$STATE,8004,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8004,begin apogee
$GC,8011,-0.31,0.0,780.1,8.1,382,8147,0.85,0.00,130.60,1.090,6,0.110,0.000,2290,2305,2817
$STATE,8147,end apogee,CONTROL_FINISHED_OK
$STATE,8148,begin climb
$GC,8150,1.03,146.6,785.4,0.0,389,8290,1.35,2.62,131.68,1.085,4,0.070,0.050,2579,904,2219
$GC,8310,0.92,151.6,781.9,7.3,395,8321,0.00,2.50,5.78,0.793,6,0.000,0.035,2579,2301,2199
$GC,8643,0.83,151.6,757.1,8.0,412,8648,0.17,2.65,0.00,0.000,4,0.095,0.065,2541,3702,2193
$GC,8706,0.77,167.2,752.5,7.0,415,8728,0.00,2.45,14.80,0.976,6,0.000,0.030,2542,2305,2135
$GC,9037,0.84,231.0,730.8,5.3,431,9103,0.00,2.70,59.80,1.053,4,0.000,0.063,2541,3693,1875
$GC,9127,0.88,231.0,725.4,7.5,435,9131,0.00,2.47,0.00,0.000,6,0.000,0.030,2542,2303,1873
$GC,9449,1.03,292.4,706.7,5.4,451,9511,0.20,0.00,58.42,1.040,6,0.046,0.000,2598,2303,1624
$GC,9821,1.03,292.4,671.4,9.4,469,9825,0.00,2.62,0.00,0.000,4,0.000,0.063,2598,3701,1615
$GC,9862,1.03,292.4,667.5,10.2,471,9866,0.00,2.47,0.00,0.000,6,0.000,0.031,2598,2297,1615
$GC,10188,1.03,292.4,640.2,8.7,487,10192,0.00,2.62,0.00,0.000,4,0.000,0.062,2598,3703,1612
$GC,10215,1.03,292.4,637.5,9.8,488,10220,0.00,2.47,0.00,0.000,6,0.000,0.031,2597,2300,1613
$GC,10531,1.03,292.4,605.8,10.5,503,10535,0.00,2.55,0.00,0.000,4,0.000,0.051,2598,898,1611
$GC,10570,1.03,292.4,601.4,11.5,505,10575,0.00,2.50,0.00,0.000,6,0.000,0.035,2598,2311,1610
$GC,10898,1.03,292.4,566.8,10.7,521,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2311,1611
$GC,11207,1.03,292.4,531.8,11.3,536,11211,0.00,2.58,0.00,0.000,4,0.000,0.045,2598,888,1610
$GC,11234,1.03,292.4,528.7,10.9,537,11238,0.00,2.50,0.00,0.000,6,0.000,0.033,2598,2307,1610
$GC,11550,1.03,292.4,495.7,10.0,552,11554,0.00,2.60,0.00,0.000,4,0.000,0.059,2598,3708,1610
$GC,11571,1.03,292.4,493.2,10.9,553,11575,0.00,2.45,0.00,0.000,6,0.000,0.027,2598,2296,1610
$GC,11892,1.03,292.4,462.5,9.7,569,11896,0.00,2.53,0.00,0.000,4,0.000,0.048,2598,898,1610
$GC,11919,1.03,292.4,459.8,10.0,570,11923,0.00,2.47,0.00,0.000,6,0.000,0.032,2597,2308,1609
$GC,12235,1.03,292.4,428.2,10.1,585,12239,0.00,2.58,0.00,0.000,4,0.000,0.058,2597,3701,1610
$GC,12262,1.03,292.4,425.2,10.7,586,12266,0.00,2.42,0.00,0.000,6,0.000,0.027,2598,2299,1610
$GC,12578,1.03,292.4,392.0,10.8,601,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2299,1610
$GC,12887,1.03,292.4,359.1,10.6,616,12888,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2299,1610
$GC,13196,1.03,292.4,328.2,9.8,631,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2299,1610
$GC,13506,1.03,292.4,298.1,9.6,646,13507,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2298,1610
$GC,13815,1.03,292.4,268.7,9.8,661,13818,0.00,2.58,0.00,0.000,4,0.000,0.055,2598,3701,1610
$GC,13838,1.03,292.4,266.2,10.6,662,13843,0.00,2.42,0.00,0.000,6,0.000,0.026,2598,2297,1610
$GC,14165,1.03,292.4,232.7,10.5,678,14169,0.00,2.50,0.00,0.000,4,0.000,0.044,2597,902,1610
$GC,14193,1.03,292.4,229.7,10.6,679,14197,0.00,2.42,0.00,0.000,6,0.000,0.031,2598,2302,1610
$GC,14514,1.03,292.4,194.6,11.0,695,14518,0.00,2.58,0.00,0.000,4,0.000,0.056,2597,3700,1610
$GC,14546,1.03,292.4,190.7,11.6,696,14552,0.00,2.42,0.00,0.000,6,0.000,0.026,2598,2297,1611
$GC,14862,1.03,292.4,156.9,10.3,712,14867,0.00,2.50,0.00,0.000,4,0.000,0.042,2597,897,1611
$GC,14890,1.03,292.4,154.0,10.1,713,14894,0.00,2.45,0.00,0.000,6,0.000,0.031,2598,2302,1610
$GC,15206,1.03,292.4,124.1,9.4,728,15210,0.00,2.58,0.00,0.000,4,0.000,0.056,2598,3701,1611
$GC,15233,1.03,292.4,121.3,10.0,729,15238,0.00,2.42,0.00,0.000,6,0.000,0.026,2597,2295,1611
$GC,15549,1.03,292.4,90.2,10.2,744,15550,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2295,1611
$GC,15859,1.08,292.4,58.6,9.9,759,15863,0.00,2.60,0.00,0.000,4,0.000,0.054,2598,3708,1611
$GC,15937,1.08,292.4,49.8,10.8,762,15944,0.00,2.42,0.00,0.000,6,0.000,0.026,2598,2295,1612
$GC,16253,1.08,292.4,20.6,8.6,778,16254,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2295,1612
$STATE,16458,end climb,SURFACE_DEPTH_REACHED
$STATE,16458,begin surface coast
$FINISH,0.7,1.026623
$STATE,16478,end surface coast,CONTROL_FINISHED_OK
$STATE,16478,begin surface
$SM_CCo,16563,0.00,0.000,0,0,1609,296.32
$SM_GC,1.67,12.12,0.00,0.00,0.091,0.000,0.000,80,2605,1609,-10.45,0.14,296.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1804
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.1,62.9
$24V_AH,23.6,42.340
$10V_AH,10.1,21.966
$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,28.050,172.725,401.075,0.000,0.000,18.306,27.886,152.787,6.250,0.000,0.000,19.078,1465.921,12701.884,512.593,1711.576,500.347,0.000,1417.365,0.000,1659.351,0.000,43.148,0.000
$DEVICE_MAMPS,184.847,69.797,1089.907,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,576.772,538.830,464.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41184,789
$CAP_FILE_SIZE,127572,0
$CFSIZE,260165632,243204096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260709,055036,6228.183,-1138.800,36,1.0,36,-11.0