version: 66.04
glider: 16
mission: 13
dive: 281
start: 7 28 109 13 51 43
data:
$ID,16
$MISSION,13
$DIVE,281
$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,-2112597.5
$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,30
$R_STBD_OVSHOOT,25
$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
$GPS1,134600,6221.684,-1054.295,41,1.4,41,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.5
$GPS2,135126,6221.675,-1054.239,11,1.7,11,-10.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$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,137.3,20690,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,81,0.00,0.00,-61.03,0.000,2,0.000,0.000,78,2607,3363
$GC,84,-1.03,-146.6,5.6,-10.1,3,106,12.00,2.35,-0.82,0.000,4,0.187,0.071,2129,3854,3417
$GC,223,-0.94,-146.6,34.0,-11.7,9,228,0.12,2.17,0.00,0.000,6,0.104,0.025,2152,2572,3418
$GC,550,-0.94,-146.6,62.7,-7.9,25,554,0.00,2.40,0.00,0.000,4,0.000,0.037,2153,1209,3418
$GC,662,-1.01,-146.6,71.7,-8.2,30,667,0.00,2.45,0.00,0.000,6,0.000,0.034,2152,2601,3419
$GC,984,-1.01,-146.6,100.2,-9.0,46,988,0.00,2.45,0.00,0.000,4,0.000,0.036,2152,1205,3419
$GC,1011,-1.06,-146.6,102.7,-8.8,47,1016,0.12,2.45,0.00,0.000,6,0.043,0.033,2110,2599,3419
$GC,1330,-0.97,-146.6,136.2,-11.2,62,1335,0.17,2.33,0.00,0.000,4,0.091,0.061,2148,3860,3419
$GC,1374,-0.97,-146.6,141.4,-10.7,64,1378,0.00,2.12,0.00,0.000,6,0.000,0.025,2148,2596,3419
$GC,1700,-0.97,-146.6,173.7,-10.0,80,1704,0.00,2.42,0.00,0.000,4,0.000,0.037,2148,1214,3419
$GC,1751,-1.03,-146.6,178.6,-9.2,82,1756,0.00,2.45,0.00,0.000,6,0.000,0.034,2148,2608,3419
$GC,2073,-1.03,-146.6,207.6,-8.2,98,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2608,3419
$GC,2382,-1.03,-146.6,232.3,-7.7,113,2386,0.00,2.45,0.00,0.000,4,0.000,0.037,2148,1218,3419
$GC,2438,-1.10,-146.6,236.4,-6.7,115,2445,0.12,2.42,0.00,0.000,6,0.046,0.034,2107,2600,3419
$GC,2755,-0.99,-146.6,266.8,-9.7,131,2760,0.17,2.33,0.00,0.000,4,0.095,0.063,2143,3857,3419
$GC,2790,-0.99,-146.6,270.1,-9.1,132,2796,0.00,2.12,0.00,0.000,6,0.000,0.025,2143,2594,3419
$GC,3105,-0.99,-146.6,295.3,-8.1,148,3109,0.00,2.42,0.00,0.000,4,0.000,0.037,2143,1217,3419
$GC,3161,-1.04,-146.6,300.0,-8.5,150,3169,0.00,2.42,0.00,0.000,6,0.000,0.034,2143,2600,3419
$GC,3478,-1.04,-146.6,324.7,-7.8,166,3486,0.00,2.45,0.00,0.000,4,0.000,0.037,2143,1210,3418
$GC,3514,-1.09,-146.6,327.6,-7.7,167,3518,0.00,2.45,0.00,0.000,6,0.000,0.034,2143,2606,3418
$GC,3829,-1.09,-146.6,352.4,-8.1,182,3834,0.00,2.45,0.00,0.000,4,0.000,0.036,2143,1212,3418
$GC,3864,-1.14,-146.6,355.2,-7.9,183,3870,0.15,2.45,0.00,0.000,6,0.043,0.034,2097,2606,3418
$GC,4180,-1.01,-146.6,389.6,-11.6,199,4184,0.20,2.33,0.00,0.000,4,0.096,0.064,2138,3860,3417
$GC,4219,-1.01,-146.6,393.8,-10.0,201,4223,0.00,2.12,0.00,0.000,6,0.000,0.025,2138,2597,3418
$GC,4552,-1.01,-146.6,423.6,-8.5,217,4556,0.00,2.42,0.00,0.000,4,0.000,0.038,2138,1218,3417
$GC,4620,-1.06,-146.6,429.3,-8.5,220,4624,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2600,3417
$GC,4942,-1.06,-146.6,457.4,-8.6,236,4946,0.00,2.42,0.00,0.000,4,0.000,0.037,2138,1217,3417
$GC,4975,-1.06,-146.6,460.4,-8.8,237,4979,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2600,3417
$GC,5290,-1.06,-146.6,486.7,-8.5,252,5295,0.00,2.45,0.00,0.000,4,0.000,0.037,2138,1212,3417
$GC,5324,-1.06,-146.6,489.6,-8.3,253,5330,0.00,2.45,0.00,0.000,6,0.000,0.035,2137,2607,3417
$GC,5640,-1.06,-146.6,516.9,-8.5,269,5644,0.00,2.45,0.00,0.000,4,0.000,0.037,2138,1214,3416
$GC,5695,-1.11,-146.6,521.9,-8.8,271,5701,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2600,3416
$GC,6011,-1.11,-146.6,549.5,-8.9,287,6015,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1209,3416
$GC,6044,-1.15,-146.6,552.5,-8.7,288,6049,0.12,2.45,0.00,0.000,6,0.046,0.035,2097,2605,3416
$GC,6360,-1.04,-146.6,585.9,-10.1,303,6362,0.17,0.00,0.00,0.000,6,0.095,0.000,2129,2605,3416
$GC,6670,-1.04,-146.6,608.2,-6.1,318,6674,0.00,2.45,0.00,0.000,4,0.000,0.037,2129,1213,3416
$GC,6721,-1.04,-146.6,611.3,-6.2,320,6725,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2608,3416
$GC,7036,-1.04,-146.6,628.0,-5.7,335,7041,0.00,2.45,0.00,0.000,4,0.000,0.037,2129,1216,3416
$GC,7077,-1.04,-146.6,630.4,-6.1,337,7082,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3416
$GC,7404,-1.04,-146.6,656.1,-8.7,353,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3415
$GC,7713,-1.04,-146.6,687.7,-10.7,368,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3414
$GC,8023,-1.04,-146.6,719.7,-10.1,383,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3415
$GC,8332,-1.04,-146.6,744.6,-7.7,398,8336,0.00,2.45,0.00,0.000,4,0.000,0.040,2129,1217,3414
$GC,8372,-1.10,-146.6,747.1,-6.6,400,8376,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2603,3414
$STATE,8634,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8634,begin apogee
$GC,8642,-0.31,0.0,763.5,4.0,413,8776,0.80,0.00,129.20,1.081,6,0.113,0.000,2286,2298,2817
$STATE,8777,end apogee,CONTROL_FINISHED_OK
$STATE,8777,begin climb
$GC,8780,1.03,146.6,769.1,0.0,420,8920,1.40,2.58,131.38,1.071,4,0.088,0.048,2576,918,2218
$GC,9178,1.04,209.9,752.6,5.3,437,9242,0.00,2.47,57.30,1.050,6,0.000,0.035,2576,2304,1960
$GC,9568,1.04,209.9,716.1,10.4,456,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2304,1953
$GC,9875,1.04,209.9,687.7,8.5,471,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2304,1952
$GC,10185,1.07,242.6,665.1,6.4,486,10217,0.00,0.00,30.17,0.996,6,0.000,0.000,2576,2304,1828
$GC,10513,1.13,242.6,640.7,8.2,502,10518,0.15,2.62,0.00,0.000,4,0.053,0.064,2617,3701,1823
$GC,10553,1.01,242.6,636.4,11.8,504,10558,0.20,2.42,0.00,0.000,6,0.100,0.031,2580,2316,1823
$GC,10880,1.01,242.6,605.4,9.1,520,10884,0.00,2.58,0.00,0.000,4,0.000,0.051,2580,899,1822
$GC,10946,1.01,242.6,599.0,9.5,523,10951,0.00,2.50,0.00,0.000,6,0.000,0.035,2579,2308,1820
$GC,11268,1.01,242.6,570.4,9.0,539,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2308,1821
$GC,11577,1.01,242.6,542.2,9.0,554,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2309,1820
$GC,11886,1.01,242.6,513.4,9.2,569,11890,0.00,2.55,0.00,0.000,4,0.000,0.044,2580,891,1820
$GC,11913,1.01,242.6,510.9,9.7,570,11917,0.00,2.50,0.00,0.000,6,0.000,0.033,2580,2311,1820
$GC,12229,1.01,242.6,483.7,8.4,585,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2311,1820
$GC,12538,1.01,242.6,457.8,8.4,600,12542,0.00,2.58,0.00,0.000,4,0.000,0.059,2580,3709,1820
$GC,12564,1.01,242.6,455.3,9.6,601,12569,0.00,2.45,0.00,0.000,6,0.000,0.028,2580,2296,1820
$GC,12881,1.01,242.6,429.7,8.1,616,12885,0.00,2.50,0.00,0.000,4,0.000,0.046,2579,899,1820
$GC,12914,1.01,242.6,426.7,8.8,617,12918,0.00,2.47,0.00,0.000,6,0.000,0.032,2579,2311,1820
$GC,13229,1.01,242.6,401.8,7.7,632,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2311,1820
$GC,13539,1.01,242.6,376.3,8.6,647,13540,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2312,1820
$GC,13848,1.01,242.6,350.1,8.2,662,13849,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2312,1821
$GC,14157,1.01,242.6,324.3,8.5,677,14158,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2312,1820
$GC,14467,1.01,242.6,297.1,9.1,692,14468,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2312,1821
$GC,14775,1.01,242.6,267.1,10.3,707,14776,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2312,1821
$GC,15085,1.01,242.6,237.4,9.1,722,15088,0.00,2.50,0.00,0.000,4,0.000,0.042,2579,898,1821
$GC,15108,1.01,242.6,235.3,9.2,723,15112,0.00,2.45,0.00,0.000,6,0.000,0.032,2580,2305,1821
$GC,15434,1.01,242.6,207.5,8.3,739,15439,0.00,2.58,0.00,0.000,4,0.000,0.058,2580,3705,1821
$GC,15462,1.01,242.6,204.8,9.3,740,15466,0.00,2.42,0.00,0.000,6,0.000,0.027,2579,2293,1821
$GC,15783,1.01,242.6,178.2,8.3,756,15788,0.00,2.47,0.00,0.000,4,0.000,0.043,2579,899,1821
$GC,15806,1.01,242.6,176.2,8.4,757,15810,0.00,2.45,0.00,0.000,6,0.000,0.031,2580,2305,1821
$GC,16126,1.01,242.6,148.7,8.7,773,16131,0.00,2.58,0.00,0.000,4,0.000,0.057,2579,3708,1821
$GC,16160,1.01,242.6,145.5,9.4,774,16166,0.00,2.42,0.00,0.000,6,0.000,0.026,2580,2296,1822
$GC,16478,1.01,242.6,118.0,8.4,790,16479,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2294,1822
$GC,16785,1.01,242.6,91.5,8.6,805,16789,0.00,2.47,0.00,0.000,4,0.000,0.042,2580,901,1821
$GC,16806,1.01,242.6,89.6,8.2,806,16810,0.00,2.45,0.00,0.000,6,0.000,0.032,2580,2306,1821
$GC,17128,1.01,247.4,65.8,7.3,822,17138,0.00,2.58,5.12,0.480,4,0.000,0.057,2579,3708,1808
$GC,17155,1.01,247.4,63.3,9.7,823,17159,0.00,2.42,0.00,0.000,6,0.000,0.026,2580,2299,1808
$GC,17471,1.09,260.3,38.7,7.1,838,17493,0.00,2.55,12.40,0.557,4,0.000,0.041,2579,901,1755
$GC,17528,1.17,260.3,34.3,8.7,840,17533,0.17,2.45,0.00,0.000,6,0.042,0.031,2631,2300,1753
$GC,17846,1.09,260.3,3.7,10.0,855,17850,0.17,2.03,0.00,0.000,3,0.088,0.053,2594,3420,1753
$STATE,17851,end climb,SURFACE_DEPTH_REACHED
$STATE,17851,begin surface coast
$FINISH,0.6,1.019562
$STATE,17888,end surface coast,CONTROL_FINISHED_OK
$STATE,17888,begin surface
$SM_CCo,17974,0.00,0.000,0,0,1750,261.74
$SM_GC,1.41,12.07,0.00,0.00,0.088,0.000,0.000,72,2573,1750,-10.46,-0.76,261.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1829
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,751.0,21.4
$24V_AH,23.6,43.987
$10V_AH,10.1,22.933
$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,28.350,160.050,365.575,0.000,0.000,18.035,28.393,144.903,6.750,0.000,0.000,11.906,1583.258,13853.238,494.121,1850.753,515.405,0.000,1448.667,0.000,1809.332,0.000,44.671,0.000
$DEVICE_MAMPS,187.148,71.331,1080.703,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,634.117,584.561,506.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44400,857
$CAP_FILE_SIZE,132560,0
$CFSIZE,260165632,242442240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280709,185230,6220.587,-1048.673,36,1.4,36,-10.5