version: 66.04
glider: 16
mission: 13
dive: 273
start: 7 26 109 21 57 2
data:
$ID,16
$MISSION,13
$DIVE,273
$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,566.1524
$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,-2112475.2
$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,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
$GPS1,213600,6228.130,-1129.055,39,1.6,39,-10.9
$_CALLS,5
$_XMS_NAKs,41
$_XMS_TOUTs,7
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-57.6
$GPS2,215645,6228.205,-1129.269,15,2.0,16,-10.9
$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,114.2,25792,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-58.65,0.000,6,0.000,0.000,69,2611,3417
$GC,81,-1.03,-146.6,6.9,-12.8,3,97,12.20,0.00,0.00,0.000,6,0.187,0.000,2128,2611,3417
$GC,410,-0.95,-146.6,57.9,-11.6,19,412,0.12,0.00,0.00,0.000,6,0.103,0.000,2151,2610,3418
$GC,716,-0.95,-146.6,82.3,-7.6,34,721,0.00,2.50,0.00,0.000,4,0.000,0.035,2151,1192,3419
$GC,847,-1.01,-146.6,92.4,-8.4,40,851,0.00,2.47,0.00,0.000,6,0.000,0.033,2151,2601,3419
$GC,1174,-1.01,-146.6,122.3,-9.4,56,1178,0.00,2.47,0.00,0.000,4,0.000,0.035,2151,1195,3419
$GC,1202,-1.05,-146.6,125.1,-9.7,57,1206,0.00,2.47,0.00,0.000,6,0.000,0.033,2151,2604,3420
$GC,1518,-1.05,-146.6,152.9,-8.3,72,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2603,3420
$GC,1828,-1.05,-146.6,178.3,-8.0,87,1831,0.00,2.47,0.00,0.000,4,0.000,0.035,2151,1194,3419
$GC,1861,-1.11,-146.6,181.1,-7.7,88,1866,0.15,2.47,0.00,0.000,6,0.043,0.034,2105,2602,3420
$GC,2177,-1.00,-146.6,214.2,-10.9,103,2179,0.20,0.00,0.00,0.000,6,0.091,0.000,2144,2602,3419
$GC,2486,-1.00,-146.6,241.0,-8.3,118,2491,0.00,2.47,0.00,0.000,4,0.000,0.036,2144,1197,3419
$GC,2514,-1.00,-146.6,243.6,-8.4,119,2518,0.00,2.47,0.00,0.000,6,0.000,0.034,2144,2606,3418
$GC,2829,-1.00,-146.6,270.4,-8.8,134,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2606,3418
$GC,3139,-1.00,-146.6,296.7,-8.4,149,3143,0.00,2.47,0.00,0.000,4,0.000,0.036,2144,1198,3418
$GC,3172,-1.00,-146.6,299.6,-8.2,150,3179,0.00,2.47,0.00,0.000,6,0.000,0.035,2144,2610,3418
$GC,3489,-1.00,-146.6,325.4,-8.0,166,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2610,3418
$GC,3798,-1.00,-146.6,350.0,-8.0,181,3803,0.00,2.50,0.00,0.000,4,0.000,0.037,2144,1191,3417
$GC,3860,-1.05,-146.6,354.9,-7.5,183,3866,0.00,2.47,0.00,0.000,6,0.000,0.035,2144,2600,3417
$GC,4175,-1.05,-146.6,380.8,-8.5,199,4179,0.00,2.47,0.00,0.000,4,0.000,0.036,2144,1195,3417
$GC,4203,-1.05,-146.6,383.2,-9.2,200,4208,0.00,2.47,0.00,0.000,6,0.000,0.034,2144,2605,3417
$GC,4519,-1.05,-146.6,411.3,-9.1,215,4523,0.00,2.47,0.00,0.000,4,0.000,0.037,2144,1198,3416
$GC,4546,-1.05,-146.6,413.7,-8.5,216,4550,0.00,2.47,0.00,0.000,6,0.000,0.034,2144,2609,3417
$GC,4863,-1.05,-146.6,440.2,-8.1,231,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2609,3416
$GC,5171,-1.05,-146.6,464.4,-7.7,246,5175,0.00,2.50,0.00,0.000,4,0.000,0.037,2144,1191,3416
$GC,5216,-1.11,-146.6,467.8,-7.3,248,5221,0.12,2.47,0.00,0.000,6,0.049,0.035,2104,2601,3416
$GC,5537,-1.01,-146.6,499.1,-9.8,264,5539,0.17,0.00,0.00,0.000,6,0.094,0.000,2138,2602,3415
$GC,5846,-1.01,-146.6,525.1,-8.6,279,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2601,3416
$GC,6156,-1.01,-146.6,552.0,-8.8,294,6160,0.00,2.47,0.00,0.000,4,0.000,0.037,2138,1198,3416
$GC,6183,-1.01,-146.6,554.5,-8.3,295,6187,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2603,3415
$GC,6499,-1.01,-146.6,581.0,-8.7,310,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3415
$GC,6808,-1.01,-146.6,606.4,-7.9,325,6813,0.00,2.47,0.00,0.000,4,0.000,0.037,2138,1198,3415
$GC,6887,-1.07,-146.6,612.8,-8.3,328,6893,0.00,2.47,0.00,0.000,6,0.000,0.035,2138,2608,3415
$GC,7202,-1.07,-146.6,640.8,-9.3,344,7206,0.00,2.33,0.00,0.000,4,0.000,0.068,2138,3856,3415
$GC,7253,-1.07,-146.6,645.9,-10.3,346,7257,0.00,2.15,0.00,0.000,6,0.000,0.025,2138,2582,3415
$GC,7582,-1.07,-146.6,675.6,-8.3,362,7586,0.00,2.40,0.00,0.000,4,0.000,0.040,2138,1215,3414
$GC,7615,-1.13,-146.6,678.6,-8.2,363,7622,0.12,2.42,0.00,0.000,6,0.047,0.035,2096,2600,3414
$GC,7932,-1.04,-146.6,708.0,-9.1,379,7936,0.17,2.35,0.00,0.000,4,0.100,0.069,2133,3860,3414
$GC,8032,-1.04,-146.6,716.2,-8.0,383,8038,0.00,2.12,0.00,0.000,6,0.000,0.028,2133,2608,3414
$GC,8348,-1.04,-146.6,738.0,-6.8,399,8352,0.00,2.47,0.00,0.000,4,0.000,0.043,2134,1207,3413
$GC,8383,-1.10,-146.6,740.4,-7.0,400,8390,0.00,2.45,0.00,0.000,6,0.000,0.036,2134,2602,3413
$GC,8699,-1.10,-146.6,764.9,-8.0,416,8703,0.00,2.35,0.00,0.000,4,0.000,0.071,2134,3857,3412
$GC,8721,-1.10,-146.6,766.8,-8.6,417,8725,0.00,2.15,0.00,0.000,6,0.000,0.028,2134,2606,3413
$STATE,8880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8880,begin apogee
$GC,8887,-0.31,0.0,779.4,7.3,425,9023,0.77,0.00,129.30,1.093,6,0.100,0.000,2290,2294,2816
$STATE,9024,end apogee,CONTROL_FINISHED_OK
$STATE,9024,begin climb
$GC,9027,1.03,146.6,785.3,0.0,432,9166,1.35,2.60,131.40,1.081,4,0.070,0.051,2579,906,2217
$GC,9219,0.96,146.6,779.0,9.0,440,9224,0.00,2.50,0.00,0.000,6,0.000,0.035,2580,2305,2212
$GC,9542,0.89,161.0,755.1,7.0,456,9561,0.15,0.00,13.27,0.959,6,0.096,0.000,2552,2305,2159
$GC,9871,0.92,185.8,733.0,6.7,472,9900,0.00,2.72,23.60,1.009,4,0.000,0.064,2551,3700,2059
$GC,9937,0.87,185.8,728.6,7.5,475,9941,0.00,2.47,0.00,0.000,6,0.000,0.030,2551,2305,2058
$GC,10265,0.92,232.3,707.7,5.9,491,10314,0.00,2.67,44.20,1.032,4,0.000,0.062,2552,3701,1868
$GC,10350,0.92,236.3,701.9,7.4,495,10360,0.00,2.50,4.95,0.721,6,0.000,0.029,2551,2295,1853
$GC,10677,1.00,236.3,677.7,7.5,511,10682,0.12,2.65,0.00,0.000,4,0.051,0.061,2589,3702,1847
$GC,10740,0.92,236.3,671.5,10.5,514,10745,0.15,2.47,0.00,0.000,6,0.097,0.029,2562,2299,1847
$GC,11067,0.96,236.3,645.4,8.0,530,11071,0.00,2.65,0.00,0.000,4,0.000,0.061,2561,3709,1847
$GC,11100,0.96,236.3,642.6,9.0,531,11106,0.00,2.50,0.00,0.000,6,0.000,0.030,2561,2292,1846
$GC,11415,0.96,236.3,618.9,7.5,547,11420,0.00,2.65,0.00,0.000,4,0.000,0.061,2559,3707,1846
$GC,11442,0.96,236.3,616.8,7.6,548,11447,0.00,2.47,0.00,0.000,6,0.000,0.029,2561,2296,1846
$GC,11759,1.03,250.0,594.1,7.0,563,11778,0.10,0.00,13.00,0.889,6,0.055,0.000,2591,2296,1796
$GC,12087,1.03,250.0,566.1,8.5,579,12091,0.00,2.53,0.00,0.000,4,0.000,0.048,2589,901,1795
$GC,12126,1.03,250.0,562.4,9.5,580,12133,0.00,2.47,0.00,0.000,6,0.000,0.035,2591,2306,1795
$GC,12442,1.03,250.0,532.7,9.7,596,12447,0.00,2.60,0.00,0.000,4,0.000,0.060,2591,3706,1794
$GC,12493,0.97,250.0,527.3,10.8,598,12497,0.00,2.45,0.00,0.000,6,0.000,0.027,2591,2298,1794
$GC,12808,0.97,250.0,496.0,9.8,613,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2297,1794
$GC,13118,0.97,250.0,466.4,9.8,628,13123,0.00,2.60,0.00,0.000,4,0.000,0.057,2591,3701,1794
$GC,13146,0.93,250.0,463.5,10.1,629,13151,0.15,2.45,0.00,0.000,6,0.095,0.027,2563,2291,1794
$GC,13463,0.98,250.0,436.9,8.4,644,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2290,1794
$GC,13771,1.04,250.0,411.4,8.0,659,13776,0.10,2.60,0.00,0.000,4,0.053,0.057,2592,3701,1794
$GC,13793,1.04,250.0,409.3,9.2,660,13797,0.00,2.42,0.00,0.000,6,0.000,0.026,2593,2298,1794
$GC,14115,1.04,250.0,380.2,8.8,676,14116,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2297,1794
$GC,14423,1.04,250.0,352.8,9.0,691,14424,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2297,1794
$GC,14733,1.04,250.0,325.0,9.0,706,14737,0.00,2.60,0.00,0.000,4,0.000,0.055,2594,3708,1794
$GC,14755,0.99,250.0,322.7,9.8,707,14759,0.00,2.45,0.00,0.000,6,0.000,0.026,2594,2293,1795
$GC,15076,0.99,250.0,292.8,9.7,723,15077,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2293,1795
$GC,15385,0.99,250.0,262.2,10.0,738,15389,0.00,2.60,0.00,0.000,4,0.000,0.055,2594,3706,1795
$GC,15406,0.94,250.0,259.9,10.4,739,15411,0.15,2.42,0.00,0.000,6,0.091,0.026,2565,2299,1795
$GC,15728,0.99,250.0,232.3,8.5,755,15732,0.00,2.50,0.00,0.000,4,0.000,0.044,2565,900,1794
$GC,15756,1.05,250.0,229.8,8.8,756,15761,0.10,2.45,0.00,0.000,6,0.054,0.031,2594,2307,1794
$GC,16073,1.05,250.0,199.5,9.5,771,16077,0.00,2.55,0.00,0.000,4,0.000,0.057,2595,3701,1795
$GC,16100,1.00,250.0,196.5,10.8,772,16104,0.00,2.42,0.00,0.000,6,0.000,0.026,2595,2297,1795
$GC,16416,1.00,250.0,166.4,9.3,787,16417,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2296,1795
$GC,16726,1.00,250.0,136.8,9.8,802,16727,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2296,1795
$GC,17036,1.00,250.0,107.0,9.9,817,17040,0.00,2.58,0.00,0.000,4,0.000,0.054,2595,3700,1795
$GC,17064,0.96,250.0,103.9,10.1,818,17069,0.15,2.42,0.00,0.000,6,0.090,0.025,2566,2294,1794
$GC,17381,1.03,263.3,78.0,7.0,833,17399,0.00,0.00,13.12,0.585,6,0.000,0.000,2566,2294,1742
$GC,17711,1.14,297.2,53.8,6.3,849,17748,0.17,2.65,31.05,0.599,4,0.044,0.054,2621,3705,1604
$GC,17776,1.14,297.2,47.1,10.1,851,17781,0.00,2.45,0.00,0.000,6,0.000,0.026,2621,2301,1602
$GC,18098,1.14,297.2,12.6,12.0,867,18103,0.00,2.58,0.00,0.000,4,0.000,0.053,2621,3705,1599
$GC,18139,1.06,297.2,7.2,14.2,869,18144,0.17,2.42,0.00,0.000,6,0.087,0.025,2586,2292,1599
$STATE,18175,end climb,SURFACE_DEPTH_REACHED
$STATE,18175,begin surface coast
$FINISH,0.9,1.026568
$STATE,18197,end surface coast,CONTROL_FINISHED_OK
$STATE,18197,begin surface
$SM_CCo,18221,160.25,0.568,0,0,508,566.15
$SM_GC,1.28,0.00,0.00,160.25,0.000,0.000,0.568,71,2619,508,-10.52,0.54,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1778
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,751.3,37.5
$24V_AH,23.6,42.920
$10V_AH,10.1,22.304
$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,28.875,164.850,403.900,160.250,0.000,90.716,238.627,519.057,6.750,0.000,0.000,16.870,1605.795,14310.989,691.942,1830.466,1185.295,0.000,1641.403,0.000,1780.081,0.000,45.604,0.000
$DEVICE_MAMPS,187.148,71.331,1092.975,567.580,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,641.804,594.161,502.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44323,872
$CAP_FILE_SIZE,149879,0
$CFSIZE,260165632,242925568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270709,030436,6229.947,-1121.544,32,1.6,32,-10.9