version: 66.04
glider: 16
mission: 13
dive: 278
start: 7 27 109 23 9 40
data:
$ID,16
$MISSION,13
$DIVE,278
$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,-2112554.8
$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,26
$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
$GPS1,230336,6226.898,-1108.892,29,1.2,29,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-61.3
$GPS2,230920,6226.901,-1108.803,15,1.3,15,-10.7
$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,125.7,8329,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-60.97,0.000,2,0.000,0.000,70,2603,3245
$GC,81,-1.03,-146.6,5.1,-9.1,3,103,11.80,0.00,-2.90,0.000,6,0.178,0.000,2131,2603,3417
$GC,414,-0.97,-146.6,52.7,-11.1,19,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,722,-0.93,-146.6,81.7,-8.6,34,726,0.12,2.33,0.00,0.000,4,0.100,0.061,2155,3858,3419
$GC,766,-0.97,-146.6,85.6,-8.0,36,770,0.00,2.15,0.00,0.000,6,0.000,0.025,2155,2580,3419
$GC,1088,-0.97,-146.6,110.2,-7.9,52,1092,0.00,2.40,0.00,0.000,4,0.000,0.037,2155,1212,3419
$GC,1155,-1.05,-146.6,115.6,-8.4,55,1159,0.00,2.45,0.00,0.000,6,0.000,0.034,2155,2606,3419
$GC,1476,-1.05,-146.6,141.5,-8.3,71,1480,0.00,2.45,0.00,0.000,4,0.000,0.035,2155,1216,3420
$GC,1510,-1.12,-146.6,144.4,-8.6,72,1517,0.17,2.42,0.00,0.000,6,0.038,0.034,2099,2602,3420
$GC,1826,-1.00,-146.6,181.1,-12.1,88,1831,0.17,2.33,0.00,0.000,4,0.095,0.062,2137,3860,3419
$GC,1859,-1.00,-146.6,184.8,-10.8,89,1865,0.00,2.12,0.00,0.000,6,0.000,0.025,2137,2600,3420
$GC,2174,-1.00,-146.6,213.9,-8.9,105,2179,0.00,2.42,0.00,0.000,4,0.000,0.037,2137,1217,3420
$GC,2219,-1.00,-146.6,217.8,-8.1,107,2223,0.00,2.42,0.00,0.000,6,0.000,0.034,2137,2601,3420
$GC,2542,-1.00,-146.6,247.9,-9.9,123,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2601,3419
$GC,2849,-1.00,-146.6,278.6,-9.9,138,2853,0.00,2.45,0.00,0.000,4,0.000,0.036,2137,1210,3419
$GC,2888,-1.00,-146.6,282.6,-9.9,140,2892,0.00,2.45,0.00,0.000,6,0.000,0.035,2137,2605,3419
$GC,3215,-1.00,-146.6,315.8,-10.1,156,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2605,3419
$GC,3524,-1.00,-146.6,345.7,-9.5,171,3528,0.00,2.45,0.00,0.000,4,0.000,0.036,2137,1214,3419
$GC,3580,-1.00,-146.6,350.8,-8.8,173,3587,0.00,2.45,0.00,0.000,6,0.000,0.035,2137,2608,3419
$GC,3896,-1.00,-146.6,378.1,-8.6,189,3901,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1216,3418
$GC,3924,-1.00,-146.6,380.6,-8.6,190,3928,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2600,3418
$GC,4239,-1.00,-146.6,408.4,-8.9,205,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2600,3418
$GC,4549,-1.00,-146.6,436.8,-9.2,220,4553,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1211,3418
$GC,4582,-1.00,-146.6,440.0,-9.0,221,4586,0.00,2.45,0.00,0.000,6,0.000,0.035,2137,2605,3418
$GC,4904,-1.00,-146.6,470.5,-9.9,237,4908,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1211,3417
$GC,4932,-1.00,-146.6,473.3,-10.2,238,4936,0.00,2.45,0.00,0.000,6,0.000,0.035,2137,2608,3417
$GC,5247,-1.00,-146.6,503.4,-9.1,253,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2608,3417
$GC,5556,-1.00,-146.6,530.0,-8.4,268,5561,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1215,3417
$GC,5613,-1.05,-146.6,534.7,-8.3,270,5619,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2600,3417
$GC,5929,-1.05,-146.6,561.4,-8.2,286,5933,0.00,2.42,0.00,0.000,4,0.000,0.037,2137,1218,3417
$GC,5970,-1.10,-146.6,564.3,-7.2,288,5974,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2599,3417
$GC,6297,-1.10,-146.6,585.6,-7.6,304,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2599,3417
$GC,6605,-1.10,-146.6,620.5,-12.5,319,6610,0.00,2.42,0.00,0.000,4,0.000,0.037,2137,1217,3417
$GC,6713,-1.18,-146.6,633.2,-11.3,324,6717,0.15,2.42,0.00,0.000,6,0.042,0.036,2090,2599,3417
$GC,7040,-1.09,-146.6,667.8,-9.9,340,7042,0.15,0.00,0.00,0.000,6,0.095,0.000,2119,2599,3417
$GC,7348,-1.09,-146.6,695.2,-9.0,355,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2599,3417
$GC,7658,-1.09,-146.6,719.1,-6.1,370,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2599,3416
$GC,7967,-1.09,-146.6,740.9,-9.0,385,7971,0.00,2.45,0.00,0.000,4,0.000,0.040,2119,1214,3416
$GC,8061,-1.09,-146.6,749.1,-8.3,389,8065,0.00,2.45,0.00,0.000,6,0.000,0.038,2119,2597,3416
$STATE,8292,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8292,begin apogee
$GC,8299,-0.31,0.0,769.4,8.7,400,8434,0.82,0.00,129.75,1.082,6,0.096,0.000,2287,2305,2817
$STATE,8435,end apogee,CONTROL_FINISHED_OK
$STATE,8435,begin climb
$GC,8438,1.03,146.6,775.3,0.0,407,8577,1.35,2.58,131.18,1.072,4,0.065,0.045,2581,917,2217
$GC,8784,0.93,146.6,758.3,7.9,422,8788,0.00,2.45,0.00,0.000,6,0.000,0.037,2581,2303,2210
$GC,9117,0.84,155.3,733.1,7.2,438,9128,0.20,0.00,7.72,0.861,6,0.093,0.000,2542,2303,2183
$GC,9426,0.94,247.5,716.9,4.4,453,9517,0.00,2.60,85.72,1.052,4,0.000,0.048,2542,913,1807
$GC,9541,1.07,286.3,710.7,6.2,458,9586,0.25,2.50,36.92,1.016,6,0.046,0.035,2599,2305,1649
$GC,9905,1.07,286.3,670.0,12.5,476,9909,0.00,2.65,0.00,0.000,4,0.000,0.064,2599,3703,1640
$GC,9960,1.03,286.3,662.8,12.2,478,9966,0.00,2.45,0.00,0.000,6,0.000,0.030,2599,2316,1639
$GC,10276,1.03,286.3,631.0,9.6,494,10277,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2316,1637
$GC,10585,1.03,286.3,600.1,10.9,509,10589,0.00,2.60,0.00,0.000,4,0.000,0.051,2599,897,1636
$GC,10640,1.03,286.3,593.4,11.9,511,10646,0.00,2.50,0.00,0.000,6,0.000,0.035,2600,2303,1635
$GC,10956,1.03,286.3,556.7,11.0,527,10957,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2304,1635
$GC,11265,1.03,286.3,524.4,10.4,542,11269,0.00,2.62,0.00,0.000,4,0.000,0.061,2600,3709,1635
$GC,11292,1.03,286.3,521.3,11.5,543,11296,0.00,2.47,0.00,0.000,6,0.000,0.028,2599,2297,1635
$GC,11608,1.03,286.3,485.9,11.7,558,11612,0.00,2.55,0.00,0.000,4,0.000,0.048,2600,892,1635
$GC,11640,1.03,286.3,481.8,11.9,559,11646,0.00,2.47,0.00,0.000,6,0.000,0.034,2600,2303,1636
$GC,11956,1.03,286.3,446.7,10.7,575,11960,0.00,2.60,0.00,0.000,4,0.000,0.059,2600,3701,1635
$GC,11978,1.03,286.3,444.2,11.7,576,11982,0.00,2.45,0.00,0.000,6,0.000,0.028,2599,2296,1635
$GC,12299,1.03,286.3,412.1,9.8,592,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2296,1635
$GC,12608,1.03,286.3,380.5,10.3,607,12612,0.00,2.60,0.00,0.000,4,0.000,0.058,2599,3704,1635
$GC,12636,1.03,286.3,377.5,9.8,608,12640,0.00,2.45,0.00,0.000,6,0.000,0.028,2599,2293,1635
$GC,12951,1.03,286.3,346.2,9.8,623,12955,0.00,2.50,0.00,0.000,4,0.000,0.045,2599,901,1635
$GC,12978,1.03,286.3,343.4,10.6,624,12982,0.00,2.45,0.00,0.000,6,0.000,0.032,2599,2299,1635
$GC,13299,1.03,286.3,312.4,9.5,640,13303,0.00,2.60,0.00,0.000,4,0.000,0.058,2599,3707,1635
$GC,13321,1.03,286.3,310.1,9.4,641,13325,0.00,2.45,0.00,0.000,6,0.000,0.027,2599,2293,1635
$GC,13641,1.03,286.3,280.0,9.5,657,13645,0.00,2.50,0.00,0.000,4,0.000,0.044,2600,898,1635
$GC,13674,1.03,286.3,276.4,10.1,658,13680,0.00,2.45,0.00,0.000,6,0.000,0.032,2599,2300,1635
$GC,13990,1.03,286.3,245.8,9.6,674,13995,0.00,2.58,0.00,0.000,4,0.000,0.057,2599,3700,1635
$GC,14031,1.03,286.3,241.6,10.6,676,14035,0.00,2.42,0.00,0.000,6,0.000,0.027,2599,2299,1635
$GC,14357,1.03,286.3,209.9,9.7,692,14358,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2299,1635
$GC,14667,1.03,286.3,179.7,10.0,707,14668,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2299,1635
$GC,14976,1.03,286.3,147.0,10.8,722,14980,0.00,2.50,0.00,0.000,4,0.000,0.043,2599,898,1635
$GC,14997,1.03,286.3,144.5,10.9,723,15001,0.00,2.45,0.00,0.000,6,0.000,0.032,2599,2301,1635
$GC,15320,1.03,286.3,110.6,10.7,739,15324,0.00,2.58,0.00,0.000,4,0.000,0.057,2599,3700,1636
$GC,15359,1.03,286.3,105.9,11.4,741,15364,0.00,2.42,0.00,0.000,6,0.000,0.027,2599,2296,1636
$GC,15687,1.03,286.3,72.5,9.9,757,15691,0.00,2.50,0.00,0.000,4,0.000,0.043,2599,896,1635
$GC,15727,1.03,286.3,68.5,9.4,759,15732,0.00,2.45,0.00,0.000,6,0.000,0.031,2599,2302,1635
$GC,16055,1.07,286.3,37.5,8.9,775,16056,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2302,1636
$GC,16364,1.07,286.3,12.3,8.3,790,16368,0.00,2.50,0.00,0.000,4,0.000,0.041,2599,901,1636
$GC,16398,1.13,286.3,9.2,8.8,791,16404,0.00,2.45,0.00,0.000,6,0.000,0.032,2599,2305,1636
$STATE,16484,end climb,SURFACE_DEPTH_REACHED
$STATE,16484,begin surface coast
$FINISH,0.5,1.026308
$STATE,16507,end surface coast,CONTROL_FINISHED_OK
$STATE,16507,begin surface
$SM_CCo,16591,0.00,0.000,0,0,1634,290.19
$SM_GC,1.70,12.02,0.00,0.00,0.087,0.000,0.000,65,2600,1634,-10.45,0.03,290.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1824
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.4,26.9
$24V_AH,23.6,43.580
$10V_AH,10.1,22.695
$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,27.225,148.750,391.300,0.000,0.000,18.284,28.593,153.339,6.500,0.000,0.000,15.616,1457.771,12742.896,498.685,1729.920,504.413,0.000,1393.299,0.000,1680.362,0.000,44.652,0.000
$DEVICE_MAMPS,177.944,64.428,1082.237,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,583.452,542.999,483.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41221,797
$CAP_FILE_SIZE,122082,0
$CFSIZE,260165632,242638848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280709,034730,6226.067,-1101.485,42,0.9,42,-10.7