version: 66.04
glider: 16
mission: 13
dive: 288
start: 7 30 109 0 15 30
data:
$ID,16
$MISSION,13
$DIVE,288
$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,-2112717.5
$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,34
$R_STBD_OVSHOOT,19
$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
$GPS1,000706,6213.392,-1024.757,26,1.2,26,-10.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.9
$GPS2,001513,6213.460,-1024.720,12,1.6,17,-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,127.8,33939,-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,-146.6,0.0,0.0,0,91,0.00,0.00,-70.90,0.000,2,0.000,0.000,72,2595,3084
$GC,94,-1.03,-146.6,4.1,-3.9,4,118,11.75,2.42,-6.05,0.000,4,0.175,0.074,2129,3864,3418
$GC,264,-0.92,-146.6,32.8,-12.8,11,269,0.15,2.20,0.00,0.000,6,0.101,0.026,2157,2579,3419
$GC,580,-0.92,-146.6,69.8,-10.4,26,584,0.00,2.40,0.00,0.000,4,0.000,0.061,2157,3868,3420
$GC,608,-0.92,-146.6,72.4,-9.2,27,612,0.00,2.17,0.00,0.000,6,0.000,0.026,2157,2587,3420
$GC,924,-0.92,-146.6,96.4,-6.6,42,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2586,3420
$GC,1236,-0.97,-146.6,120.0,-7.7,57,1240,0.00,2.42,0.00,0.000,4,0.000,0.038,2158,1215,3420
$GC,1292,-1.05,-146.6,124.1,-7.5,59,1299,0.12,2.45,0.00,0.000,6,0.043,0.035,2114,2608,3420
$GC,1608,-0.96,-146.6,153.5,-9.8,75,1610,0.17,0.00,0.00,0.000,6,0.096,0.000,2148,2607,3420
$GC,1916,-0.96,-146.6,179.7,-8.5,90,1921,0.00,2.47,0.00,0.000,4,0.000,0.038,2148,1209,3420
$GC,1967,-1.01,-146.6,184.0,-8.3,92,1971,0.00,2.45,0.00,0.000,6,0.000,0.035,2148,2600,3420
$GC,2288,-1.01,-146.6,212.2,-8.9,108,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2600,3420
$GC,2597,-1.01,-146.6,240.5,-9.3,123,2601,0.00,2.42,0.00,0.000,4,0.000,0.038,2148,1217,3420
$GC,2653,-1.07,-146.6,245.6,-9.5,125,2657,0.00,2.45,0.00,0.000,6,0.000,0.035,2148,2605,3420
$GC,2969,-1.07,-146.6,274.2,-9.2,140,2973,0.00,2.45,0.00,0.000,4,0.000,0.038,2148,1218,3420
$GC,2996,-1.11,-146.6,276.9,-8.9,141,3001,0.15,2.45,0.00,0.000,6,0.043,0.035,2101,2608,3419
$GC,3313,-0.99,-146.6,312.3,-11.2,156,3315,0.20,0.00,0.00,0.000,6,0.097,0.000,2139,2608,3419
$GC,3622,-0.99,-146.6,339.9,-8.8,171,3626,0.00,2.47,0.00,0.000,4,0.000,0.038,2138,1209,3418
$GC,3663,-1.03,-146.6,343.5,-8.8,173,3667,0.00,2.45,0.00,0.000,6,0.000,0.035,2139,2599,3419
$GC,3990,-1.03,-146.6,371.8,-8.8,189,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2599,3419
$GC,4299,-1.03,-146.6,399.7,-9.2,204,4306,0.00,2.45,0.00,0.000,4,0.000,0.038,2139,1212,3418
$GC,4357,-1.07,-146.6,405.2,-9.4,206,4362,0.00,2.45,0.00,0.000,6,0.000,0.035,2139,2601,3418
$GC,4674,-1.07,-146.6,435.1,-9.6,221,4678,0.00,2.45,0.00,0.000,4,0.000,0.038,2139,1216,3418
$GC,4701,-1.07,-146.6,438.0,-9.6,222,4705,0.00,2.45,0.00,0.000,6,0.000,0.035,2139,2608,3418
$GC,5016,-1.07,-146.6,466.0,-8.6,237,5020,0.00,2.47,0.00,0.000,4,0.000,0.038,2139,1209,3417
$GC,5050,-1.07,-146.6,468.8,-7.9,238,5056,0.00,2.45,0.00,0.000,6,0.000,0.035,2139,2601,3417
$GC,5365,-1.07,-146.6,494.7,-8.4,254,5370,0.00,2.45,0.00,0.000,4,0.000,0.038,2139,1215,3417
$GC,5393,-1.07,-146.6,497.2,-8.8,255,5397,0.00,2.45,0.00,0.000,6,0.000,0.035,2139,2605,3417
$GC,5715,-1.07,-146.6,526.7,-9.4,271,5719,0.00,2.45,0.00,0.000,4,0.000,0.038,2139,1209,3416
$GC,5766,-1.13,-146.6,531.5,-8.7,273,5771,0.12,2.45,0.00,0.000,6,0.048,0.036,2099,2605,3416
$GC,6087,-1.02,-146.6,568.7,-12.0,289,6089,0.20,0.00,0.00,0.000,6,0.096,0.000,2137,2605,3416
$GC,6397,-1.02,-146.6,600.8,-10.4,304,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2605,3416
$GC,6705,-1.02,-146.6,630.0,-8.7,319,6709,0.00,2.47,0.00,0.000,4,0.000,0.039,2137,1211,3416
$GC,6732,-1.07,-146.6,632.3,-8.4,320,6736,0.00,2.45,0.00,0.000,6,0.000,0.036,2137,2606,3416
$GC,7055,-1.07,-146.6,657.2,-7.7,336,7059,0.00,2.35,0.00,0.000,4,0.000,0.069,2135,3863,3416
$GC,7088,-1.07,-146.6,660.1,-8.9,337,7094,0.00,2.15,0.00,0.000,6,0.000,0.028,2137,2597,3416
$GC,7403,-1.07,-146.6,685.2,-8.0,353,7407,0.00,2.45,0.00,0.000,4,0.000,0.041,2137,1214,3416
$GC,7506,-1.16,-146.6,693.6,-7.7,357,7511,0.15,2.45,0.00,0.000,6,0.044,0.038,2091,2600,3415
$GC,7822,-1.07,-146.6,724.1,-9.6,372,7827,0.17,2.38,0.00,0.000,4,0.095,0.071,2128,3863,3415
$GC,7873,-1.07,-146.6,728.8,-8.7,374,7877,0.00,2.15,0.00,0.000,6,0.000,0.028,2128,2603,3415
$GC,8194,-1.07,-146.6,754.1,-8.0,390,8198,0.00,2.50,0.00,0.000,4,0.000,0.044,2128,1206,3415
$GC,8260,-1.12,-146.6,759.5,-8.4,393,8265,0.00,2.47,0.00,0.000,6,0.000,0.039,2128,2598,3414
$GC,8582,-1.12,-146.6,785.2,-7.6,409,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2599,3413
$STATE,8867,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8867,begin apogee
$GC,8874,-0.31,0.0,808.9,8.8,423,9010,0.80,0.00,131.20,1.116,6,0.099,0.000,2290,2301,2817
$STATE,9011,end apogee,CONTROL_FINISHED_OK
$STATE,9011,begin climb
$GC,9014,1.03,146.6,814.3,0.0,430,9158,1.35,2.60,132.23,1.106,4,0.074,0.048,2575,911,2216
$GC,9347,0.99,165.7,799.6,6.8,445,9371,0.00,2.50,17.40,1.016,6,0.000,0.038,2575,2304,2141
$GC,9694,0.93,165.7,774.7,7.8,462,9699,0.00,2.65,0.00,0.000,4,0.000,0.068,2575,3703,2136
$GC,9739,0.84,165.7,770.7,8.7,464,9744,0.17,2.47,0.00,0.000,6,0.110,0.031,2544,2306,2136
$GC,10061,0.85,176.3,747.7,7.1,480,10073,0.00,0.00,10.50,0.945,6,0.000,0.000,2544,2307,2098
$GC,10369,0.87,196.5,726.7,6.8,495,10394,0.00,2.65,19.83,1.012,4,0.000,0.053,2543,902,2014
$GC,10429,0.92,196.9,722.2,7.5,497,10435,0.00,2.53,0.00,0.000,6,0.000,0.038,2543,2306,2012
$GC,10745,0.93,205.6,698.7,7.2,513,10760,0.00,2.70,9.45,0.910,4,0.000,0.067,2544,3710,1978
$GC,10813,0.93,210.0,693.5,7.4,516,10824,0.00,2.50,5.90,0.800,6,0.000,0.031,2543,2300,1960
$GC,11141,1.02,233.1,670.8,6.7,532,11171,0.17,2.65,22.85,0.999,4,0.051,0.052,2587,906,1865
$GC,11229,1.02,233.1,663.1,9.2,536,11234,0.00,2.53,0.00,0.000,6,0.000,0.038,2588,2309,1861
$GC,11557,1.02,233.1,634.7,8.4,552,11561,0.00,2.62,0.00,0.000,4,0.000,0.065,2587,3701,1860
$GC,11601,0.93,233.1,630.6,9.4,554,11606,0.12,2.47,0.00,0.000,6,0.114,0.031,2566,2299,1860
$GC,11922,0.93,235.2,605.9,7.4,570,11926,0.00,2.65,0.00,0.000,4,0.000,0.062,2566,3706,1859
$GC,12007,0.93,235.2,598.4,9.3,574,12011,0.00,2.47,0.00,0.000,6,0.000,0.031,2567,2302,1860
$GC,12333,0.94,236.6,572.6,7.5,590,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2302,1859
$GC,12642,0.95,248.8,550.8,7.1,605,12662,0.00,0.00,15.18,0.887,6,0.000,0.000,2567,2300,1801
$GC,12973,0.99,248.8,524.1,8.5,621,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2302,1799
$GC,13282,1.03,248.8,495.7,9.2,636,13286,0.00,2.60,0.00,0.000,4,0.000,0.060,2566,3702,1798
$GC,13303,1.03,248.8,493.5,9.4,637,13307,0.00,2.45,0.00,0.000,6,0.000,0.028,2566,2297,1798
$GC,13625,1.08,248.8,465.6,8.5,653,13626,0.12,0.00,0.00,0.000,6,0.052,0.000,2598,2296,1798
$GC,13933,1.03,248.8,435.1,9.8,668,13934,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2296,1798
$GC,14243,1.03,248.8,404.4,10.1,683,14244,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2296,1798
$GC,14552,0.99,248.8,373.1,10.1,698,14557,0.12,2.60,0.00,0.000,4,0.094,0.058,2576,3704,1799
$GC,14579,0.99,248.8,370.2,9.3,699,14583,0.00,2.45,0.00,0.000,6,0.000,0.028,2576,2296,1799
$GC,14895,0.99,248.8,342.3,8.9,714,14896,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2296,1798
$GC,15204,0.99,248.8,315.3,8.4,729,15205,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2296,1799
$GC,15513,0.99,248.8,288.3,8.8,744,15517,0.00,2.60,0.00,0.000,4,0.000,0.057,2576,3710,1799
$GC,15534,0.99,248.8,286.2,9.2,745,15538,0.00,2.45,0.00,0.000,6,0.000,0.028,2576,2300,1799
$GC,15857,0.99,248.8,257.7,9.1,761,15858,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2300,1800
$GC,16165,0.99,248.8,229.6,9.1,776,16169,0.00,2.60,0.00,0.000,4,0.000,0.057,2576,3710,1800
$GC,16192,0.99,248.8,227.0,8.8,777,16196,0.00,2.45,0.00,0.000,6,0.000,0.028,2576,2297,1800
$GC,16508,0.99,248.8,200.3,8.0,792,16509,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2297,1800
$GC,16817,1.00,257.4,177.7,7.2,807,16831,0.00,2.62,9.20,0.614,4,0.000,0.056,2576,3709,1767
$GC,16871,1.01,262.4,173.6,7.3,809,16883,0.00,2.47,5.78,0.541,6,0.000,0.027,2576,2292,1747
$GC,17193,1.07,269.9,150.6,7.2,825,17203,0.00,0.00,8.48,0.585,6,0.000,0.000,2576,2292,1716
$GC,17503,1.12,269.9,127.3,7.6,840,17505,0.12,0.00,0.00,0.000,6,0.048,0.000,2614,2291,1714
$GC,17812,1.07,269.9,98.5,10.1,855,17817,0.12,2.60,0.00,0.000,4,0.091,0.055,2591,3702,1714
$GC,17839,1.07,269.9,95.7,9.9,856,17843,0.00,2.45,0.00,0.000,6,0.000,0.028,2590,2293,1713
$GC,18155,1.07,269.9,68.1,8.2,871,18159,0.00,2.50,0.00,0.000,4,0.000,0.044,2590,898,1714
$GC,18177,1.11,269.9,66.2,8.7,872,18182,0.00,2.45,0.00,0.000,6,0.000,0.032,2590,2304,1713
$GC,18500,1.16,269.9,40.0,7.8,888,18505,0.10,2.53,0.00,0.000,4,0.051,0.041,2626,892,1713
$GC,18564,1.11,269.9,33.3,10.4,891,18569,0.12,2.47,0.00,0.000,6,0.088,0.032,2602,2305,1713
$GC,18892,1.11,269.9,4.4,7.7,907,18893,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2305,1714
$STATE,18909,end climb,SURFACE_DEPTH_REACHED
$STATE,18909,begin surface coast
$FINISH,0.7,1.026466
$STATE,18931,end surface coast,CONTROL_FINISHED_OK
$STATE,18931,begin surface
$SM_CCo,19014,0.00,0.000,0,0,1709,271.79
$SM_GC,1.64,12.15,0.00,0.00,0.091,0.000,0.000,70,2601,1709,-10.47,0.03,271.79
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1825
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.7,66.9
$24V_AH,23.5,44.939
$10V_AH,10.1,23.481
$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,28.700,159.350,387.975,0.000,0.000,36.245,56.539,195.067,6.500,0.000,0.000,17.240,1688.316,14722.415,516.639,1953.075,616.126,0.000,1517.043,0.000,1903.170,0.000,45.074,0.000
$DEVICE_MAMPS,174.876,73.632,1115.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.660,619.337,530.499,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47391,909
$CAP_FILE_SIZE,143187,0
$CFSIZE,260165632,241995776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,053337,6212.134,-1019.216,36,1.1,36,-10.2