version: 66.04
glider: 16
mission: 13
dive: 283
start: 7 29 109 0 5 19
data:
$ID,16
$MISSION,13
$DIVE,283
$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,-2112646.5
$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,21
$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
$GPS1,235930,6219.869,-1043.587,39,1.1,39,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-61.9
$GPS2,000501,6219.892,-1043.512,14,1.1,31,-10.5
$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,151.5,11660,-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,12,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-59.75,0.000,6,0.000,0.000,71,2595,3417
$GC,81,-1.03,-146.6,6.5,-12.2,3,103,11.80,2.50,0.00,0.000,4,0.179,0.034,2129,1195,3418
$GC,128,-0.63,-146.6,24.6,-26.2,5,133,0.50,2.50,0.00,0.000,6,0.131,0.035,2220,2607,3419
$GC,455,-0.82,-146.6,50.1,-7.8,21,460,0.17,2.47,0.00,0.000,4,0.050,0.035,2167,1197,3419
$GC,496,-0.88,-146.6,53.8,-9.4,23,500,0.00,2.47,0.00,0.000,6,0.000,0.033,2166,2605,3419
$GC,823,-0.94,-146.6,81.5,-7.8,39,827,0.00,2.47,0.00,0.000,4,0.000,0.035,2167,1197,3420
$GC,874,-1.06,-146.6,85.5,-7.2,41,879,0.17,2.47,0.00,0.000,6,0.038,0.034,2112,2602,3420
$GC,1191,-0.96,-146.6,117.6,-10.1,56,1193,0.20,0.00,0.00,0.000,6,0.091,0.000,2150,2602,3420
$GC,1499,-0.96,-146.6,143.0,-8.1,71,1504,0.00,2.47,0.00,0.000,4,0.000,0.035,2150,1195,3420
$GC,1527,-1.01,-146.6,145.3,-8.4,72,1532,0.00,2.47,0.00,0.000,6,0.000,0.034,2150,2603,3420
$GC,1844,-1.01,-146.6,170.2,-7.9,87,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2603,3420
$GC,2152,-1.01,-146.6,194.3,-8.0,102,2156,0.00,2.47,0.00,0.000,4,0.000,0.036,2150,1197,3420
$GC,2202,-1.07,-146.6,198.6,-8.0,104,2207,0.12,2.47,0.00,0.000,6,0.046,0.035,2106,2605,3420
$GC,2519,-0.97,-146.6,232.6,-11.0,119,2521,0.20,0.00,0.00,0.000,6,0.092,0.000,2147,2605,3420
$GC,2827,-0.97,-146.6,261.2,-9.4,134,2831,0.00,2.47,0.00,0.000,4,0.000,0.036,2147,1198,3420
$GC,2860,-1.02,-146.6,264.3,-9.8,135,2866,0.00,2.47,0.00,0.000,6,0.000,0.035,2147,2609,3420
$GC,3177,-1.02,-146.6,294.7,-9.8,151,3181,0.00,2.50,0.00,0.000,4,0.000,0.036,2147,1191,3420
$GC,3210,-1.07,-146.6,298.2,-10.2,152,3216,0.00,2.47,0.00,0.000,6,0.000,0.035,2147,2600,3420
$GC,3525,-1.07,-146.6,328.2,-9.1,168,3529,0.00,2.47,0.00,0.000,4,0.000,0.037,2147,1195,3419
$GC,3553,-1.07,-146.6,330.7,-9.3,169,3557,0.00,2.47,0.00,0.000,6,0.000,0.035,2147,2603,3419
$GC,3868,-1.07,-146.6,357.5,-8.4,184,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2603,3419
$GC,4177,-1.07,-146.6,382.3,-8.0,199,4182,0.00,2.47,0.00,0.000,4,0.000,0.037,2147,1198,3419
$GC,4234,-1.13,-146.6,386.8,-7.9,201,4241,0.15,2.47,0.00,0.000,6,0.043,0.035,2100,2608,3419
$GC,4550,-1.01,-146.6,420.2,-10.7,217,4552,0.20,0.00,0.00,0.000,6,0.094,0.000,2138,2607,3419
$GC,4859,-1.01,-146.6,447.8,-9.0,232,4864,0.00,2.47,0.00,0.000,4,0.000,0.037,2138,1198,3418
$GC,4900,-1.05,-146.6,451.3,-8.4,234,4904,0.00,2.47,0.00,0.000,6,0.000,0.035,2138,2609,3418
$GC,5226,-1.05,-146.6,480.6,-9.1,250,5230,0.00,2.50,0.00,0.000,4,0.000,0.037,2138,1191,3418
$GC,5260,-1.09,-146.6,483.6,-9.2,251,5266,0.00,2.47,0.00,0.000,6,0.000,0.035,2138,2600,3418
$GC,5575,-1.09,-146.6,511.9,-8.9,267,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3418
$GC,5884,-1.09,-146.6,538.8,-9.0,282,5889,0.00,2.47,0.00,0.000,4,0.000,0.037,2138,1194,3418
$GC,5930,-1.15,-146.6,542.8,-9.5,284,5935,0.15,2.47,0.00,0.000,6,0.044,0.035,2091,2603,3418
$GC,6251,-1.02,-146.6,580.7,-11.1,300,6253,0.22,0.00,0.00,0.000,6,0.094,0.000,2135,2603,3418
$GC,6560,-1.02,-146.6,608.8,-9.0,315,6565,0.00,2.47,0.00,0.000,4,0.000,0.037,2135,1197,3417
$GC,6582,-1.02,-146.6,610.7,-8.5,316,6587,0.00,2.47,0.00,0.000,6,0.000,0.035,2135,2605,3417
$GC,6903,-1.02,-146.6,637.6,-7.8,332,6908,0.00,2.35,0.00,0.000,4,0.000,0.069,2134,3863,3417
$GC,6948,-1.02,-146.6,641.5,-8.9,334,6952,0.00,2.17,0.00,0.000,6,0.000,0.026,2135,2579,3417
$GC,7270,-1.06,-146.6,663.7,-6.8,350,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2577,3417
$GC,7578,-1.11,-146.6,684.4,-6.7,365,7583,0.00,2.42,0.00,0.000,4,0.000,0.042,2135,1211,3417
$GC,7613,-1.20,-146.6,687.1,-7.6,366,7619,0.17,2.45,0.00,0.000,6,0.041,0.036,2080,2600,3416
$GC,7929,-1.09,-146.6,719.7,-10.9,382,7933,0.17,2.35,0.00,0.000,4,0.096,0.071,2118,3857,3416
$GC,7984,-1.09,-146.6,725.0,-9.3,384,7990,0.00,2.12,0.00,0.000,6,0.000,0.028,2118,2603,3416
$STATE,8173,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8173,begin apogee
$GC,8181,-0.31,0.0,740.7,8.0,394,8316,0.90,0.00,129.70,1.068,6,0.126,0.000,2290,2302,2817
$STATE,8317,end apogee,CONTROL_FINISHED_OK
$STATE,8317,begin climb
$GC,8320,1.03,146.6,747.1,0.0,401,8460,1.38,2.70,131.50,1.057,4,0.075,0.064,2581,3701,2218
$GC,8718,0.91,146.6,723.9,9.3,418,8723,0.12,2.45,0.00,0.000,6,0.097,0.030,2558,2311,2213
$GC,9040,0.90,180.0,701.1,6.4,434,9072,0.00,0.00,30.42,1.003,6,0.000,0.000,2558,2310,2083
$GC,9367,0.92,195.5,677.1,7.0,450,9390,0.00,2.65,14.77,0.945,4,0.000,0.064,2558,3700,2020
$GC,9407,0.94,216.1,674.3,6.8,451,9434,0.00,2.47,20.65,0.971,6,0.000,0.030,2558,2300,1935
$GC,9743,0.94,216.1,649.1,7.6,468,9748,0.00,2.62,0.00,0.000,4,0.000,0.064,2558,3701,1930
$GC,9788,0.94,216.1,644.9,9.3,470,9792,0.00,2.45,0.00,0.000,6,0.000,0.030,2558,2300,1930
$GC,10109,0.94,216.1,619.1,8.4,486,10113,0.00,2.55,0.00,0.000,4,0.000,0.051,2558,898,1929
$GC,10172,0.94,216.1,613.9,8.7,489,10176,0.00,2.47,0.00,0.000,6,0.000,0.036,2558,2302,1928
$GC,10505,1.00,229.6,590.3,7.0,505,10527,0.00,2.70,12.88,0.894,4,0.000,0.063,2558,3698,1880
$GC,10573,1.00,229.6,585.0,8.2,508,10577,0.00,2.47,0.00,0.000,6,0.000,0.030,2558,2296,1879
$GC,10900,1.07,236.6,561.9,7.3,524,10915,0.15,2.67,7.68,0.795,4,0.048,0.061,2601,3698,1851
$GC,10938,0.95,236.6,558.5,9.8,525,10945,0.17,2.47,0.00,0.000,6,0.097,0.029,2569,2292,1852
$GC,11254,0.95,236.6,533.3,8.0,541,11258,0.00,2.53,0.00,0.000,4,0.000,0.048,2568,892,1850
$GC,11282,0.95,236.6,530.8,8.9,542,11286,0.00,2.50,0.00,0.000,6,0.000,0.034,2568,2312,1849
$GC,11603,0.96,240.2,506.7,7.4,558,11612,0.00,2.60,4.93,0.656,4,0.000,0.061,2568,3699,1837
$GC,11635,0.96,240.2,504.0,7.9,559,11642,0.00,2.45,0.00,0.000,6,0.000,0.028,2568,2295,1836
$GC,11951,0.96,240.2,479.2,7.7,575,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2295,1835
$GC,12260,0.96,246.5,456.1,7.3,590,12269,0.00,0.00,7.22,0.721,6,0.000,0.000,2569,2295,1813
$GC,12570,0.97,248.6,433.6,7.4,605,12575,0.00,2.60,0.00,0.000,4,0.000,0.058,2568,3704,1811
$GC,12592,0.97,248.6,431.7,7.6,606,12596,0.00,2.45,0.00,0.000,6,0.000,0.027,2568,2294,1811
$GC,12914,1.01,248.6,406.3,8.0,622,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2294,1811
$GC,13222,1.01,248.6,381.7,7.8,637,13231,0.00,2.62,3.67,0.505,4,0.000,0.057,2568,3700,1803
$GC,13266,1.01,248.6,378.0,9.1,639,13270,0.00,2.45,0.00,0.000,6,0.000,0.027,2568,2292,1803
$GC,13594,1.05,248.6,352.2,8.0,655,13595,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2291,1803
$GC,13903,1.09,248.6,327.1,8.2,670,13905,0.12,0.00,0.00,0.000,6,0.046,0.000,2607,2290,1803
$GC,14212,1.04,248.6,295.4,10.3,685,14216,0.00,2.60,0.00,0.000,4,0.000,0.056,2607,3705,1803
$GC,14240,0.95,248.6,292.3,10.7,686,14245,0.20,2.42,0.00,0.000,6,0.091,0.026,2568,2300,1803
$GC,14556,1.00,248.6,265.3,8.3,701,14558,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1803
$GC,14866,1.05,248.6,238.7,8.7,716,14870,0.00,2.58,0.00,0.000,4,0.000,0.055,2569,3700,1803
$GC,14899,1.05,248.6,235.6,9.3,717,14905,0.00,2.42,0.00,0.000,6,0.000,0.026,2569,2291,1803
$GC,15215,1.10,248.6,208.5,8.6,733,15220,0.15,2.58,0.00,0.000,4,0.044,0.054,2616,3702,1803
$GC,15242,1.02,248.6,205.5,10.7,734,15247,0.17,2.42,0.00,0.000,6,0.093,0.026,2582,2295,1803
$GC,15559,1.02,248.6,177.2,9.1,749,15560,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2294,1804
$GC,15867,1.02,248.6,149.1,9.2,764,15871,0.00,2.58,0.00,0.000,4,0.000,0.055,2582,3702,1803
$GC,15908,1.02,248.6,145.1,10.2,765,15914,0.00,2.42,0.00,0.000,6,0.000,0.026,2582,2292,1803
$GC,16224,1.02,248.6,116.6,8.7,781,16225,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2292,1803
$GC,16533,1.02,248.6,90.2,8.7,796,16537,0.00,2.58,0.00,0.000,4,0.000,0.054,2582,3700,1803
$GC,16595,1.02,248.6,84.3,9.6,799,16599,0.00,2.42,0.00,0.000,6,0.000,0.026,2582,2292,1803
$GC,16922,1.02,248.6,55.0,8.5,815,16926,0.00,2.47,0.00,0.000,4,0.000,0.042,2582,896,1804
$GC,16990,1.06,248.6,49.2,8.6,818,16994,0.00,2.45,0.00,0.000,6,0.000,0.031,2582,2306,1803
$GC,17312,1.13,261.1,25.1,7.1,834,17335,0.12,2.62,12.77,0.549,4,0.047,0.055,2624,3702,1752
$GC,17382,1.05,261.1,18.1,11.5,837,17387,0.17,2.42,0.00,0.000,6,0.091,0.025,2590,2296,1751
$STATE,17562,end climb,SURFACE_DEPTH_REACHED
$STATE,17562,begin surface coast
$FINISH,0.7,1.026443
$STATE,17584,end surface coast,CONTROL_FINISHED_OK
$STATE,17584,begin surface
$SM_CCo,17668,0.00,0.000,0,0,1749,261.98
$SM_GC,1.35,12.02,0.00,0.00,0.087,0.000,0.000,70,2606,1749,-10.45,0.17,261.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.022243
$HUMID,1803
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,676.0,74.3
$24V_AH,23.6,44.237
$10V_AH,10.1,23.092
$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,29.950,165.250,376.200,0.000,0.000,18.044,28.533,138.126,6.000,0.000,0.000,31.294,1565.781,13579.990,516.568,1836.569,496.096,0.000,1453.350,0.000,1775.870,0.000,39.922,0.000
$DEVICE_MAMPS,178.711,70.564,1068.431,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,622.602,576.543,509.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44218,847
$CAP_FILE_SIZE,136020,0
$CFSIZE,260165632,242307072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,290709,050118,6219.426,-1035.769,42,1.8,54,-10.4