version: 66.04
glider: 16
mission: 13
dive: 274
start: 7 27 109 3 10 55
data:
$ID,16
$MISSION,13
$DIVE,274
$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,-2112490.5
$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,41
$R_STBD_OVSHOOT,45
$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
$GPS1,030436,6229.947,-1121.544,32,1.6,32,-10.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-43.2
$GPS2,031038,6229.985,-1121.646,14,1.7,14,-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,127.3,20732,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,119,0.00,0.00,-101.25,0.000,2,0.000,0.000,70,2619,3310
$GC,123,-1.03,-146.6,4.6,-4.0,5,145,12.10,0.00,-1.77,0.000,6,0.189,0.000,2129,2619,3419
$GC,456,-0.96,-146.6,54.4,-11.5,21,461,0.10,2.25,0.00,0.000,4,0.106,0.061,2147,3836,3420
$GC,480,-0.96,-146.6,57.2,-10.9,22,484,0.00,2.12,0.00,0.000,6,0.000,0.025,2147,2579,3420
$GC,808,-0.96,-146.6,87.8,-9.5,38,812,0.00,2.33,0.00,0.000,4,0.000,0.059,2147,3837,3420
$GC,848,-0.96,-146.6,91.9,-9.9,40,852,0.00,2.08,0.00,0.000,6,0.000,0.025,2147,2596,3420
$GC,1181,-0.96,-146.6,124.6,-10.3,56,1185,0.00,2.42,0.00,0.000,4,0.000,0.036,2147,1214,3421
$GC,1221,-1.02,-146.6,128.6,-10.3,58,1225,0.00,2.38,0.00,0.000,6,0.000,0.033,2147,2579,3420
$GC,1554,-1.02,-146.6,164.3,-10.5,74,1558,0.00,2.38,0.00,0.000,4,0.000,0.061,2147,3866,3420
$GC,1581,-1.02,-146.6,167.6,-11.6,75,1585,0.00,2.15,0.00,0.000,6,0.000,0.025,2147,2593,3420
$GC,1909,-1.02,-146.6,202.3,-10.6,91,1913,0.00,2.42,0.00,0.000,4,0.000,0.037,2147,1213,3420
$GC,1953,-1.08,-146.6,207.0,-10.0,93,1958,0.12,2.45,0.00,0.000,6,0.044,0.034,2105,2608,3420
$GC,2274,-0.98,-146.6,245.6,-12.0,109,2276,0.20,0.00,0.00,0.000,6,0.094,0.000,2143,2608,3421
$GC,2583,-0.98,-146.6,273.9,-9.0,124,2587,0.00,2.45,0.00,0.000,4,0.000,0.036,2143,1218,3420
$GC,2630,-1.03,-146.6,277.8,-7.9,126,2634,0.00,2.42,0.00,0.000,6,0.000,0.034,2143,2600,3420
$GC,2951,-1.03,-146.6,305.8,-8.6,142,2955,0.00,2.42,0.00,0.000,4,0.000,0.036,2143,1217,3420
$GC,2979,-1.03,-146.6,308.3,-8.7,143,2983,0.00,2.42,0.00,0.000,6,0.000,0.035,2143,2600,3420
$GC,3294,-1.03,-146.6,335.8,-8.9,158,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2600,3419
$GC,3604,-1.03,-146.6,363.6,-9.0,173,3608,0.00,2.42,0.00,0.000,4,0.000,0.037,2143,1218,3419
$GC,3638,-1.07,-146.6,366.6,-9.1,174,3644,0.00,2.42,0.00,0.000,6,0.000,0.035,2143,2601,3419
$GC,3953,-1.07,-146.6,395.0,-9.2,190,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2601,3418
$GC,4262,-1.07,-146.6,423.2,-9.1,205,4267,0.00,2.42,0.00,0.000,4,0.000,0.037,2144,1218,3418
$GC,4330,-1.13,-146.6,429.4,-8.8,208,4335,0.15,2.42,0.00,0.000,6,0.044,0.035,2096,2601,3418
$GC,4651,-1.01,-146.6,465.8,-11.5,224,4656,0.17,2.35,0.00,0.000,4,0.096,0.065,2135,3864,3418
$GC,4702,-1.01,-146.6,471.0,-9.5,226,4705,0.00,2.12,0.00,0.000,6,0.000,0.025,2134,2599,3418
$GC,5023,-1.01,-146.6,498.7,-8.3,242,5027,0.00,2.42,0.00,0.000,4,0.000,0.038,2135,1218,3418
$GC,5090,-1.01,-146.6,504.3,-8.2,245,5094,0.00,2.42,0.00,0.000,6,0.000,0.034,2134,2601,3418
$GC,5412,-1.01,-146.6,532.6,-9.0,261,5416,0.00,2.45,0.00,0.000,4,0.000,0.036,2134,1209,3417
$GC,5439,-1.01,-146.6,535.4,-9.3,262,5443,0.00,2.45,0.00,0.000,6,0.000,0.034,2135,2605,3417
$GC,5755,-1.01,-146.6,562.7,-8.2,277,5759,0.00,2.45,0.00,0.000,4,0.000,0.037,2134,1212,3417
$GC,5782,-1.01,-146.6,564.8,-7.6,278,5787,0.00,2.45,0.00,0.000,6,0.000,0.035,2135,2609,3417
$GC,6098,-1.01,-146.6,587.5,-7.3,293,6102,0.00,2.42,0.00,0.000,4,0.000,0.037,2135,1218,3417
$GC,6137,-1.06,-146.6,590.3,-7.2,294,6143,0.00,2.42,0.00,0.000,6,0.000,0.035,2135,2600,3417
$GC,6453,-1.06,-146.6,617.9,-10.0,310,6457,0.00,2.42,0.00,0.000,4,0.000,0.037,2134,1218,3417
$GC,6481,-1.10,-146.6,620.9,-10.4,311,6486,0.00,2.42,0.00,0.000,6,0.000,0.035,2135,2599,3417
$GC,6798,-1.10,-146.6,650.5,-9.4,326,6802,0.00,2.42,0.00,0.000,4,0.000,0.036,2135,1217,3416
$GC,6832,-1.14,-146.6,653.9,-9.4,327,6839,0.12,2.42,0.00,0.000,6,0.048,0.035,2093,2599,3417
$GC,7148,-1.06,-146.6,688.2,-11.3,343,7153,0.17,2.35,0.00,0.000,4,0.094,0.067,2127,3860,3416
$GC,7288,-1.06,-146.6,702.3,-10.3,349,7292,0.00,2.12,0.00,0.000,6,0.000,0.026,2127,2602,3416
$GC,7609,-1.06,-146.6,729.2,-7.8,365,7613,0.00,2.45,0.00,0.000,4,0.000,0.040,2127,1215,3415
$GC,7693,-1.10,-146.6,736.0,-7.8,368,7699,0.00,2.45,0.00,0.000,6,0.000,0.036,2127,2605,3416
$GC,8009,-1.10,-146.6,761.3,-8.5,384,8013,0.00,2.33,0.00,0.000,4,0.000,0.071,2127,3857,3415
$STATE,8029,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8029,begin apogee
$GC,8039,-0.31,0.0,763.3,9.2,385,8172,0.80,0.00,130.05,1.067,6,0.101,0.000,2288,2322,2817
$STATE,8173,end apogee,CONTROL_FINISHED_OK
$STATE,8173,begin climb
$GC,8177,1.03,146.6,768.4,0.0,392,8316,1.38,2.65,131.15,1.058,4,0.071,0.061,2583,3701,2218
$GC,8355,0.86,146.6,762.2,8.9,399,8362,0.20,2.47,0.00,0.000,6,0.093,0.029,2546,2300,2215
$GC,8672,0.91,197.9,741.4,5.7,415,8720,0.00,0.00,46.35,1.030,6,0.000,0.000,2545,2300,2010
$GC,9020,0.94,219.4,717.4,6.8,432,9046,0.00,2.60,20.23,0.981,4,0.000,0.049,2545,902,1922
$GC,9081,0.99,221.3,713.1,7.4,435,9086,0.15,2.50,0.00,0.000,6,0.048,0.035,2588,2304,1919
$GC,9409,0.93,221.3,685.3,9.0,451,9414,0.12,2.62,0.00,0.000,4,0.097,0.062,2565,3702,1917
$GC,9436,0.93,221.3,682.6,9.4,452,9441,0.00,2.47,0.00,0.000,6,0.000,0.028,2565,2293,1918
$GC,9753,0.93,221.3,654.4,9.7,467,9757,0.00,2.62,0.00,0.000,4,0.000,0.061,2565,3698,1916
$GC,9774,0.93,221.3,652.1,10.1,468,9778,0.00,2.45,0.00,0.000,6,0.000,0.028,2565,2299,1916
$GC,10094,0.93,221.3,621.4,9.4,484,10099,0.00,2.55,0.00,0.000,4,0.000,0.049,2565,898,1916
$GC,10112,0.93,221.3,619.7,9.6,485,10116,0.00,2.47,0.00,0.000,6,0.000,0.034,2565,2300,1914
$GC,10439,0.93,221.3,589.5,9.1,501,10443,0.00,2.60,0.00,0.000,4,0.000,0.061,2565,3705,1915
$GC,10466,0.93,221.3,586.9,9.1,502,10470,0.00,2.47,0.00,0.000,6,0.000,0.028,2565,2294,1915
$GC,10782,0.96,248.5,564.6,6.6,517,10815,0.00,2.62,26.83,0.921,4,0.000,0.047,2565,897,1803
$GC,10828,1.03,268.2,561.3,6.8,519,10853,0.00,2.50,19.67,0.894,6,0.000,0.033,2565,2299,1723
$GC,11179,1.09,269.1,535.7,7.5,536,11184,0.15,2.60,0.00,0.000,4,0.049,0.058,2606,3699,1717
$GC,11212,1.01,269.1,532.2,10.1,537,11219,0.15,2.45,0.00,0.000,6,0.094,0.027,2578,2298,1717
$GC,11528,1.01,269.1,504.4,9.0,553,11532,0.00,2.53,0.00,0.000,4,0.000,0.046,2578,898,1716
$GC,11549,1.01,269.1,502.3,9.5,554,11554,0.00,2.47,0.00,0.000,6,0.000,0.032,2578,2305,1714
$GC,11871,1.01,269.1,470.6,10.3,570,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2305,1715
$GC,12180,1.01,269.1,439.9,9.7,585,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2305,1715
$GC,12489,1.01,269.1,409.4,9.9,600,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2305,1714
$GC,12799,1.01,269.1,379.5,9.9,615,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2305,1715
$GC,13107,1.01,269.1,350.2,9.1,630,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2305,1715
$GC,13417,1.01,269.1,322.4,8.8,645,13418,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2305,1715
$GC,13727,1.01,269.1,294.7,8.9,660,13728,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2306,1715
$GC,14035,1.01,269.1,268.4,8.3,675,14036,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2306,1715
$GC,14344,1.01,269.1,243.7,7.8,690,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2306,1715
$GC,14654,1.01,269.1,220.0,7.6,705,14658,0.00,2.53,0.00,0.000,4,0.000,0.041,2578,893,1715
$GC,14678,1.02,275.5,218.4,7.3,706,14691,0.00,2.45,6.80,0.594,6,0.000,0.032,2578,2301,1692
$GC,15009,1.06,275.5,192.5,8.0,722,15010,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2301,1691
$GC,15319,1.11,275.5,167.6,7.9,737,15321,0.10,0.00,0.00,0.000,6,0.052,0.000,2610,2301,1691
$GC,15628,1.06,275.5,139.5,9.2,752,15629,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2301,1691
$GC,15937,1.06,275.5,109.1,10.2,767,15938,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2301,1692
$GC,16247,1.06,275.5,74.9,10.7,782,16251,0.00,2.58,0.00,0.000,4,0.000,0.057,2610,3704,1692
$GC,16268,1.01,275.5,72.4,11.1,783,16274,0.15,2.42,0.00,0.000,6,0.088,0.026,2581,2296,1691
$GC,16591,1.10,300.4,49.2,6.6,799,16621,0.00,2.67,23.05,0.591,4,0.000,0.053,2581,3702,1590
$GC,16645,1.20,319.4,45.4,6.9,801,16670,0.20,2.45,17.85,0.572,6,0.041,0.026,2639,2296,1514
$GC,16989,1.14,319.4,8.8,11.8,818,16994,0.15,2.50,0.00,0.000,4,0.092,0.041,2610,895,1509
$STATE,17036,end climb,SURFACE_DEPTH_REACHED
$STATE,17037,begin surface coast
$FINISH,0.6,1.026525
$STATE,17060,end surface coast,CONTROL_FINISHED_OK
$STATE,17060,begin surface
$SM_CCo,17147,0.00,0.000,0,0,1505,321.83
$SM_GC,1.50,12.10,0.00,0.00,0.085,0.000,0.000,80,2607,1505,-10.45,0.20,321.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1804
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.0,73.0
$24V_AH,23.6,43.052
$10V_AH,10.1,22.380
$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,28.800,156.825,421.975,0.000,0.000,18.152,28.786,183.854,6.250,0.000,0.000,14.518,1504.178,13165.188,575.421,1726.207,531.495,0.000,1473.544,0.000,1680.730,0.000,44.400,0.000
$DEVICE_MAMPS,188.682,71.331,1066.897,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,604.519,559.362,478.622,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41187,821
$CAP_FILE_SIZE,128935,0
$CFSIZE,260165632,242880512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270709,075809,6228.761,-1119.429,41,1.8,50,-10.9