version: 66.04
glider: 16
mission: 13
dive: 286
start: 7 29 109 14 30 7
data:
$ID,16
$MISSION,13
$DIVE,286
$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,-2112686.5
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,142424,6216.430,-1030.810,28,1.4,46,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-58.9
$GPS2,142950,6216.440,-1030.665,13,1.6,13,-10.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$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,131.3,41136,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,99,0.00,0.00,-74.47,0.000,6,0.000,0.000,71,2603,3417
$GC,103,-1.03,-146.6,7.8,-10.2,4,124,11.73,2.35,0.00,0.000,4,0.176,0.057,2131,3857,3417
$GC,360,-1.03,-146.6,54.0,-11.6,15,364,0.00,2.20,0.00,0.000,6,0.000,0.026,2131,2566,3419
$GC,677,-1.03,-146.6,83.7,-9.4,30,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2564,3419
$GC,986,-0.99,-146.6,112.4,-9.1,45,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2565,3419
$GC,1295,-0.95,-146.6,142.1,-9.7,60,1297,0.12,0.00,0.00,0.000,6,0.100,0.000,2155,2565,3419
$GC,1603,-0.95,-146.6,167.1,-8.0,75,1607,0.00,2.40,0.00,0.000,4,0.000,0.040,2155,1208,3419
$GC,1643,-1.03,-146.6,170.3,-7.7,77,1648,0.00,2.45,0.00,0.000,6,0.000,0.035,2155,2597,3419
$GC,1970,-1.03,-146.6,196.6,-8.3,93,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2597,3420
$GC,2279,-1.03,-146.6,223.0,-8.8,108,2284,0.00,2.45,0.00,0.000,4,0.000,0.038,2155,1209,3420
$GC,2330,-1.11,-146.6,227.4,-8.8,110,2335,0.17,2.45,0.00,0.000,6,0.039,0.035,2100,2610,3420
$GC,2646,-0.99,-146.6,266.2,-12.7,125,2651,0.17,2.33,0.00,0.000,4,0.097,0.064,2138,3861,3420
$GC,2679,-0.99,-146.6,270.2,-11.4,126,2685,0.00,2.15,0.00,0.000,6,0.000,0.027,2139,2592,3419
$GC,2996,-0.99,-146.6,301.3,-9.6,142,3000,0.00,2.42,0.00,0.000,4,0.000,0.038,2139,1216,3419
$GC,3052,-1.03,-146.6,307.1,-9.7,144,3058,0.00,2.45,0.00,0.000,6,0.000,0.036,2139,2606,3419
$GC,3368,-1.03,-146.6,338.7,-10.1,160,3373,0.00,2.47,0.00,0.000,4,0.000,0.038,2139,1208,3419
$GC,3396,-1.03,-146.6,341.6,-10.0,161,3400,0.00,2.45,0.00,0.000,6,0.000,0.035,2139,2600,3419
$GC,3712,-1.03,-146.6,372.8,-9.7,176,3716,0.00,2.45,0.00,0.000,4,0.000,0.038,2139,1215,3419
$GC,3745,-1.03,-146.6,376.0,-10.0,177,3751,0.00,2.45,0.00,0.000,6,0.000,0.036,2138,2602,3418
$GC,4061,-1.03,-146.6,404.7,-8.8,193,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2603,3418
$GC,4370,-1.03,-146.6,429.5,-7.3,208,4374,0.00,2.45,0.00,0.000,4,0.000,0.038,2139,1216,3418
$GC,4426,-1.08,-146.6,433.5,-7.0,210,4433,0.00,2.45,0.00,0.000,6,0.000,0.037,2139,2607,3418
$GC,4743,-1.08,-146.6,454.1,-5.6,226,4747,0.00,2.47,0.00,0.000,4,0.000,0.038,2139,1208,3419
$GC,4770,-1.08,-146.6,455.7,-6.0,227,4774,0.00,2.45,0.00,0.000,6,0.000,0.036,2138,2600,3418
$GC,5087,-1.08,-146.6,476.9,-7.2,242,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3418
$GC,5395,-1.08,-146.6,501.9,-8.4,257,5399,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1208,3418
$GC,5445,-1.13,-146.6,506.1,-7.6,259,5450,0.12,2.47,0.00,0.000,6,0.048,0.036,2097,2609,3418
$GC,5767,-1.02,-146.6,539.8,-11.1,275,5769,0.20,0.00,0.00,0.000,6,0.097,0.000,2134,2609,3418
$GC,6075,-1.02,-146.6,570.9,-10.2,290,6080,0.00,2.47,0.00,0.000,4,0.000,0.039,2134,1212,3418
$GC,6211,-1.08,-146.6,584.3,-9.8,296,6215,0.00,2.45,0.00,0.000,6,0.000,0.037,2134,2600,3418
$GC,6531,-1.08,-146.6,613.0,-8.4,312,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2600,3417
$GC,6841,-1.08,-146.6,634.9,-6.5,327,6845,0.00,2.35,0.00,0.000,4,0.000,0.069,2134,3857,3417
$GC,6936,-1.08,-146.6,642.3,-8.7,331,6940,0.00,2.12,0.00,0.000,6,0.000,0.028,2134,2604,3417
$GC,7257,-1.08,-146.6,668.3,-7.9,347,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2602,3416
$GC,7567,-1.13,-146.6,695.6,-9.8,362,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2602,3416
$GC,7876,-1.18,-146.6,722.8,-8.4,377,7878,0.15,0.00,0.00,0.000,6,0.044,0.000,2090,2601,3415
$GC,8185,-1.10,-146.6,752.5,-10.2,392,8190,0.15,2.50,0.00,0.000,4,0.100,0.044,2118,1209,3415
$GC,8213,-1.10,-146.6,755.4,-10.7,393,8218,0.00,2.47,0.00,0.000,6,0.000,0.040,2118,2599,3415
$STATE,8403,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8403,begin apogee
$GC,8410,-0.31,0.0,772.4,8.5,402,8546,0.85,0.00,130.50,1.096,6,0.099,0.000,2290,2298,2816
$STATE,8546,end apogee,CONTROL_FINISHED_OK
$STATE,8546,begin climb
$GC,8549,1.03,146.6,777.5,0.0,409,8694,1.35,2.58,131.82,1.085,4,0.068,0.048,2579,915,2216
$GC,8947,0.93,146.6,755.9,8.2,427,8951,0.00,2.47,0.00,0.000,6,0.000,0.037,2579,2302,2210
$GC,9274,0.82,146.6,730.7,7.9,443,9279,0.17,2.67,0.00,0.000,4,0.096,0.067,2542,3709,2208
$GC,9319,0.77,151.6,727.3,7.3,445,9328,0.00,2.47,4.53,0.705,6,0.000,0.031,2542,2307,2198
$GC,9647,0.78,162.7,703.5,7.1,461,9668,0.00,2.72,11.50,0.940,4,0.000,0.065,2542,3705,2152
$GC,9691,0.74,162.7,700.1,7.6,463,9696,0.00,2.47,0.00,0.000,6,0.000,0.031,2542,2300,2151
$GC,10018,0.83,250.2,682.5,4.5,479,10107,0.00,2.72,82.18,1.044,4,0.000,0.064,2542,3700,1795
$GC,10126,0.99,319.8,677.9,5.1,484,10198,0.15,2.50,65.62,1.025,6,0.051,0.031,2583,2297,1512
$GC,10514,0.99,319.8,645.4,9.1,503,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2297,1501
$GC,10824,1.03,319.8,615.5,10.3,518,10829,0.00,2.65,0.00,0.000,4,0.000,0.064,2583,3702,1499
$GC,10857,1.03,319.8,611.5,11.4,519,10863,0.00,2.47,0.00,0.000,6,0.000,0.032,2583,2300,1498
$GC,11173,1.08,319.8,580.6,8.8,535,11174,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2299,1497
$GC,11483,1.14,319.8,550.4,10.1,550,11488,0.12,2.55,0.00,0.000,4,0.051,0.051,2619,897,1497
$GC,11522,1.14,319.8,545.3,13.2,552,11527,0.00,2.50,0.00,0.000,6,0.000,0.036,2619,2308,1496
$GC,11850,1.09,319.8,504.8,12.3,568,11855,0.12,2.58,0.00,0.000,4,0.096,0.048,2596,892,1495
$GC,11906,1.14,319.8,498.2,11.4,570,11912,0.00,2.50,0.00,0.000,6,0.000,0.035,2596,2308,1495
$GC,12222,1.14,319.8,463.7,11.0,586,12226,0.00,2.58,0.00,0.000,4,0.000,0.061,2595,3701,1495
$GC,12243,1.14,319.8,461.0,11.6,587,12248,0.00,2.45,0.00,0.000,6,0.000,0.030,2595,2298,1495
$GC,12564,1.14,319.8,424.2,11.6,603,12568,0.00,2.53,0.00,0.000,4,0.000,0.048,2596,895,1495
$GC,12616,1.18,319.8,418.1,12.0,605,12621,0.00,2.47,0.00,0.000,6,0.000,0.034,2596,2304,1495
$GC,12939,1.18,319.8,380.8,11.5,621,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2304,1495
$GC,13247,1.18,319.8,348.5,10.0,636,13251,0.00,2.53,0.00,0.000,4,0.000,0.044,2595,894,1495
$GC,13270,1.18,319.8,346.1,9.8,637,13275,0.10,2.47,0.00,0.000,6,0.053,0.034,2628,2305,1494
$GC,13598,1.12,319.8,304.6,13.2,653,13603,0.12,2.53,0.00,0.000,4,0.100,0.044,2605,897,1495
$GC,13625,1.12,319.8,300.9,12.2,654,13629,0.00,2.45,0.00,0.000,6,0.000,0.034,2605,2300,1495
$GC,13946,1.12,319.8,264.5,11.1,670,13947,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1495
$GC,14256,1.12,319.8,228.2,12.2,685,14260,0.00,2.53,0.00,0.000,4,0.000,0.044,2605,894,1495
$GC,14288,1.12,319.8,223.9,12.2,686,14295,0.00,2.47,0.00,0.000,6,0.000,0.033,2605,2306,1495
$GC,14604,1.12,319.8,184.5,12.4,702,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2306,1495
$GC,14914,1.12,319.8,151.2,9.6,717,14918,0.00,2.53,0.00,0.000,4,0.000,0.043,2604,896,1496
$GC,14947,1.12,319.8,148.0,8.9,718,14951,0.00,2.47,0.00,0.000,6,0.000,0.033,2604,2309,1495
$GC,15264,1.12,319.8,119.4,11.5,733,15266,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2309,1496
$GC,15572,1.12,319.8,82.2,9.8,748,15573,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2309,1496
$GC,15883,1.21,365.5,67.0,5.9,763,15927,0.00,2.65,38.03,0.611,4,0.000,0.043,2604,897,1325
$GC,15996,1.32,365.5,57.6,8.7,768,16001,0.20,2.47,0.00,0.000,6,0.047,0.032,2653,2302,1321
$GC,16324,1.26,365.5,15.9,13.6,784,16328,0.00,2.53,0.00,0.000,4,0.000,0.044,2653,897,1320
$GC,16391,1.18,365.5,6.3,14.7,787,16396,0.20,2.47,0.00,0.000,6,0.086,0.032,2614,2308,1319
$STATE,16420,end climb,SURFACE_DEPTH_REACHED
$STATE,16421,begin surface coast
$FINISH,0.5,1.015505
$STATE,16444,end surface coast,CONTROL_FINISHED_OK
$STATE,16444,begin surface
$SM_CCo,16528,0.00,0.000,0,0,1316,368.20
$SM_GC,1.51,12.27,0.00,0.00,0.091,0.000,0.000,68,2603,1316,-10.47,0.08,368.20
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1830
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.8,54.8
$24V_AH,23.5,44.660
$10V_AH,10.1,23.318
$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,28.500,139.575,464.175,0.000,0.000,18.042,44.230,141.098,6.250,0.000,0.000,13.715,1459.383,12564.334,577.989,1758.757,491.109,0.000,1488.095,0.000,1713.229,0.000,43.097,0.000
$DEVICE_MAMPS,175.643,69.030,1096.043,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,579.659,536.555,461.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41190,790
$CAP_FILE_SIZE,123878,0
$CFSIZE,260165632,242143232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,290709,190637,6215.229,-1027.349,26,1.7,26,-10.3