version: 66.04
glider: 16
mission: 13
dive: 270
start: 7 26 109 5 56 1
data:
$ID,16
$MISSION,13
$DIVE,270
$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,-2112388.5
$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,31
$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
$GPS1,055036,6228.183,-1138.800,36,1.0,36,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-62.0
$GPS2,055544,6228.183,-1138.835,16,1.3,16,-11.0
$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,111.0,33820,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.05,0.000,2,0.000,0.000,80,2607,3388
$GC,84,-1.03,-146.6,5.9,-10.6,3,106,11.95,2.35,-0.45,0.000,4,0.186,0.069,2129,3854,3418
$GC,258,-0.96,-146.6,39.6,-11.3,10,265,0.10,2.15,0.00,0.000,6,0.104,0.025,2146,2575,3419
$GC,575,-0.96,-146.6,69.2,-8.9,26,580,0.00,2.35,0.00,0.000,4,0.000,0.058,2148,3851,3419
$GC,640,-0.96,-146.6,75.5,-10.0,29,644,0.00,2.12,0.00,0.000,6,0.000,0.025,2148,2592,3419
$GC,973,-0.96,-146.6,106.8,-9.3,45,977,0.00,2.42,0.00,0.000,4,0.000,0.036,2148,1211,3419
$GC,1023,-1.02,-146.6,111.6,-9.1,47,1027,0.00,2.42,0.00,0.000,6,0.000,0.033,2148,2595,3419
$GC,1339,-1.02,-146.6,139.3,-8.5,62,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2594,3420
$GC,1648,-1.02,-146.6,165.0,-8.3,77,1652,0.00,2.42,0.00,0.000,4,0.000,0.035,2148,1214,3420
$GC,1698,-1.07,-146.6,169.3,-8.3,79,1702,0.00,2.42,0.00,0.000,6,0.000,0.033,2148,2600,3419
$GC,2014,-1.07,-146.6,196.6,-8.8,94,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2600,3419
$GC,2323,-1.07,-146.6,224.9,-9.3,109,2328,0.00,2.42,0.00,0.000,4,0.000,0.036,2148,1215,3419
$GC,2369,-1.13,-146.6,228.9,-8.8,111,2374,0.17,2.42,0.00,0.000,6,0.040,0.034,2095,2600,3419
$GC,2696,-1.00,-146.6,269.1,-12.6,127,2698,0.22,0.00,0.00,0.000,6,0.095,0.000,2137,2600,3419
$GC,3007,-1.00,-146.6,300.5,-10.0,142,3011,0.00,2.42,0.00,0.000,4,0.000,0.036,2136,1214,3419
$GC,3040,-1.00,-146.6,304.3,-10.6,143,3046,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2600,3419
$GC,3356,-1.00,-146.6,336.4,-10.2,159,3360,0.00,2.45,0.00,0.000,4,0.000,0.036,2138,1205,3419
$GC,3383,-1.00,-146.6,339.0,-9.2,160,3387,0.00,2.45,0.00,0.000,6,0.000,0.034,2138,2602,3419
$GC,3698,-1.00,-146.6,368.8,-9.6,175,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2601,3418
$GC,4008,-1.00,-146.6,398.0,-9.3,190,4012,0.00,2.45,0.00,0.000,4,0.000,0.036,2138,1210,3418
$GC,4042,-1.00,-146.6,401.3,-9.6,191,4047,0.00,2.45,0.00,0.000,6,0.000,0.034,2138,2606,3418
$GC,4358,-1.00,-146.6,430.9,-9.4,206,4362,0.00,2.45,0.00,0.000,4,0.000,0.036,2139,1214,3418
$GC,4386,-1.00,-146.6,433.6,-10.5,207,4391,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2601,3418
$GC,4702,-1.00,-146.6,463.2,-9.3,222,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2601,3418
$GC,5011,-1.00,-146.6,493.0,-9.6,237,5015,0.00,2.45,0.00,0.000,4,0.000,0.036,2138,1209,3418
$GC,5039,-1.00,-146.6,495.7,-9.5,238,5043,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2601,3418
$GC,5361,-1.00,-146.6,525.7,-9.3,254,5365,0.00,2.33,0.00,0.000,4,0.000,0.065,2138,3856,3418
$GC,5382,-1.00,-146.6,528.1,-9.9,255,5386,0.00,2.12,0.00,0.000,6,0.000,0.025,2138,2593,3417
$GC,5710,-1.00,-146.6,558.2,-9.1,271,5715,0.00,2.42,0.00,0.000,4,0.000,0.038,2138,1212,3418
$GC,5761,-1.05,-146.6,562.8,-8.1,273,5765,0.00,2.45,0.00,0.000,6,0.000,0.034,2137,2610,3417
$GC,6076,-1.05,-146.6,589.1,-8.1,288,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2610,3417
$GC,6386,-1.05,-146.6,614.0,-8.1,303,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2610,3417
$GC,6695,-1.05,-146.6,638.2,-7.7,318,6699,0.00,2.45,0.00,0.000,4,0.000,0.037,2138,1218,3417
$GC,6751,-1.10,-146.6,642.4,-7.4,320,6757,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2602,3417
$GC,7068,-1.10,-146.6,665.5,-8.2,336,7072,0.00,2.33,0.00,0.000,4,0.000,0.067,2138,3855,3417
$GC,7118,-1.10,-146.6,670.3,-9.5,338,7121,0.00,2.12,0.00,0.000,6,0.000,0.025,2138,2597,3417
$GC,7439,-1.10,-146.6,698.4,-8.4,354,7443,0.00,2.45,0.00,0.000,4,0.000,0.039,2137,1208,3417
$GC,7479,-1.16,-146.6,701.5,-8.1,355,7486,0.15,2.45,0.00,0.000,6,0.043,0.035,2092,2603,3417
$GC,7795,-1.08,-146.6,734.3,-10.5,371,7800,0.15,2.35,0.00,0.000,4,0.100,0.067,2122,3864,3416
$GC,7918,-1.08,-146.6,746.3,-10.2,376,7924,0.00,2.15,0.00,0.000,6,0.000,0.026,2122,2597,3416
$GC,8238,-1.08,-146.6,775.3,-9.0,392,8242,0.00,2.45,0.00,0.000,4,0.000,0.042,2122,1209,3416
$GC,8282,-1.13,-146.6,779.6,-8.6,394,8286,0.00,2.45,0.00,0.000,6,0.000,0.037,2122,2600,3416
$GC,8604,-1.13,-146.6,805.9,-7.2,410,8608,0.00,2.35,0.00,0.000,4,0.000,0.071,2122,3856,3415
$GC,8654,-1.13,-146.6,809.8,-7.6,412,8658,0.00,2.15,0.00,0.000,6,0.000,0.028,2122,2603,3415
$STATE,8704,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8704,begin apogee
$GC,8711,-0.31,0.0,815.1,10.2,415,8847,0.82,0.00,130.57,1.106,6,0.097,0.000,2289,2305,2817
$STATE,8848,end apogee,CONTROL_FINISHED_OK
$STATE,8848,begin climb
$GC,8851,1.03,146.6,820.1,0.0,422,8991,1.35,2.62,132.02,1.098,4,0.067,0.051,2580,906,2216
$GC,9031,0.84,146.6,815.8,7.6,429,9038,0.20,2.50,0.00,0.000,6,0.087,0.035,2541,2302,2213
$GC,9347,0.88,181.4,795.3,6.3,445,9389,0.00,2.70,32.03,1.053,4,0.000,0.064,2543,3701,2076
$GC,9452,0.89,194.6,788.2,7.0,449,9472,0.00,2.47,12.90,0.973,6,0.000,0.030,2541,2307,2023
$GC,9791,0.94,202.6,764.5,7.2,466,9805,0.10,2.67,8.07,0.890,4,0.056,0.062,2572,3700,1991
$GC,9858,0.84,202.6,758.0,10.2,469,9863,0.15,2.47,0.00,0.000,6,0.096,0.030,2544,2298,1991
$GC,10185,0.91,205.6,733.0,7.4,485,10194,0.00,2.65,4.53,0.713,4,0.000,0.062,2543,3704,1978
$GC,10228,0.91,205.6,729.4,8.8,487,10232,0.00,2.47,0.00,0.000,6,0.000,0.029,2543,2299,1977
$GC,10549,1.00,236.5,707.6,6.4,503,10583,0.15,0.00,30.90,1.024,6,0.048,0.000,2586,2299,1852
$GC,10878,1.00,236.5,681.6,7.7,519,10883,0.00,2.62,0.00,0.000,4,0.000,0.061,2586,3702,1847
$GC,10911,0.94,236.5,678.8,8.6,520,10919,0.12,2.45,0.00,0.000,6,0.098,0.029,2564,2299,1847
$GC,11228,0.95,243.8,658.3,7.2,536,11242,0.00,2.67,7.35,0.828,4,0.000,0.060,2565,3702,1821
$GC,11277,0.95,243.8,654.0,9.3,538,11281,0.00,2.47,0.00,0.000,6,0.000,0.029,2564,2299,1822
$GC,11598,1.00,243.8,625.2,8.6,554,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2299,1821
$GC,11908,1.04,243.8,600.1,8.0,569,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2299,1820
$GC,12217,1.08,243.8,575.3,8.2,584,12222,0.15,2.62,0.00,0.000,4,0.047,0.058,2606,3711,1820
$GC,12261,0.97,243.8,570.6,11.3,586,12266,0.20,2.47,0.00,0.000,6,0.091,0.028,2568,2291,1820
$GC,12583,0.97,243.8,541.2,9.3,602,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2290,1820
$GC,12891,0.97,243.8,512.5,9.0,617,12896,0.00,2.62,0.00,0.000,4,0.000,0.057,2568,3708,1820
$GC,12924,0.97,243.8,509.2,10.5,618,12930,0.00,2.45,0.00,0.000,6,0.000,0.026,2568,2294,1821
$GC,13240,0.97,243.8,481.9,8.7,634,13241,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2294,1820
$GC,13549,0.97,243.8,455.0,8.5,649,13553,0.00,2.60,0.00,0.000,4,0.000,0.056,2568,3702,1821
$GC,13570,0.97,243.8,452.9,9.0,650,13574,0.00,2.42,0.00,0.000,6,0.000,0.025,2568,2298,1820
$GC,13892,0.97,243.8,425.8,8.3,666,13893,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2298,1820
$GC,14200,0.97,243.8,401.3,7.7,681,14205,0.00,2.58,0.00,0.000,4,0.000,0.055,2568,3703,1820
$GC,14222,0.97,243.8,399.3,8.5,682,14226,0.00,2.42,0.00,0.000,6,0.000,0.026,2568,2298,1820
$GC,14544,1.01,243.8,373.5,8.1,698,14546,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2297,1821
$GC,14853,1.05,243.8,349.3,7.9,713,14854,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2297,1820
$GC,15162,1.10,243.8,324.5,8.0,728,15164,0.15,0.00,0.00,0.000,6,0.044,0.000,2606,2296,1820
$GC,15472,1.04,243.8,293.7,10.1,743,15476,0.00,2.58,0.00,0.000,4,0.000,0.055,2607,3704,1820
$GC,15528,0.95,243.8,287.4,11.4,745,15535,0.20,2.42,0.00,0.000,6,0.088,0.027,2568,2297,1820
$GC,15844,1.00,243.8,260.1,8.6,761,15845,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2296,1821
$GC,16154,1.04,243.8,233.6,8.3,776,16158,0.00,2.58,0.00,0.000,4,0.000,0.054,2568,3705,1821
$GC,16182,1.04,243.8,231.1,8.6,777,16186,0.00,2.42,0.00,0.000,6,0.000,0.025,2568,2295,1821
$GC,16498,1.09,243.8,205.9,8.1,792,16500,0.15,0.00,0.00,0.000,6,0.044,0.000,2606,2294,1821
$GC,16807,1.04,243.8,173.7,10.9,807,16808,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2294,1820
$GC,17117,0.98,243.8,139.3,11.0,822,17118,0.17,0.00,0.00,0.000,6,0.084,0.000,2572,2293,1821
$GC,17426,1.03,243.8,111.1,8.9,837,17428,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2293,1821
$GC,17735,1.07,243.8,82.4,9.0,852,17736,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2293,1821
$GC,18046,1.12,243.8,55.5,8.1,867,18051,0.15,2.47,0.00,0.000,4,0.044,0.042,2614,904,1821
$GC,18080,1.06,243.8,52.1,10.1,868,18087,0.12,2.42,0.00,0.000,6,0.087,0.031,2590,2306,1821
$GC,18396,1.09,271.5,30.0,6.6,884,18423,0.00,0.00,25.60,0.579,6,0.000,0.000,2590,2306,1710
$STATE,18724,end climb,SURFACE_DEPTH_REACHED
$STATE,18724,begin surface coast
$FINISH,0.7,1.026552
$STATE,18744,end surface coast,CONTROL_FINISHED_OK
$STATE,18744,begin surface
$SM_CCo,18828,0.00,0.000,0,0,1700,274.00
$SM_GC,1.56,11.77,0.00,0.00,0.075,0.000,0.000,72,2605,1700,-10.46,0.11,274.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1809
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.3,47.7
$24V_AH,23.5,42.465
$10V_AH,10.1,22.047
$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,28.725,152.275,383.975,0.000,0.000,18.052,27.816,137.834,6.750,0.000,0.000,16.566,1658.151,14579.988,519.103,1881.117,494.516,0.000,1478.346,0.000,1834.724,0.000,46.332,0.000
$DEVICE_MAMPS,186.381,70.564,1106.014,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,661.791,615.383,520.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47327,901
$CAP_FILE_SIZE,136819,0
$CFSIZE,260165632,243134464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260709,111127,6227.177,-1136.804,41,2.4,60,-11.0