version: 66.04
glider: 16
mission: 13
dive: 291
start: 7 30 109 15 28 38
data:
$ID,16
$MISSION,13
$DIVE,291
$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,-2112797.5
$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,27
$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
$GPS1,152006,6207.695,-1007.139,40,1.2,40,-10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.1
$GPS2,152822,6207.766,-1006.852,12,2.5,31,-10.1
$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,119.4,15484,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.50,0.000,2,0.000,0.000,73,2608,3350
$GC,123,-1.03,-146.6,5.4,-4.5,5,145,11.75,2.35,-1.05,0.000,4,0.177,0.071,2131,3854,3417
$GC,399,-0.94,-146.6,48.2,-16.0,17,404,0.12,2.17,0.00,0.000,6,0.098,0.025,2154,2574,3418
$GC,720,-0.94,-146.6,77.7,-3.6,33,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2573,3418
$GC,1031,-0.94,-146.6,102.5,-8.9,48,1035,0.00,2.40,0.00,0.000,4,0.000,0.038,2154,1212,3419
$GC,1127,-1.00,-146.6,111.6,-9.1,52,1131,0.00,2.45,0.00,0.000,6,0.000,0.034,2154,2601,3418
$GC,1444,-1.00,-146.6,134.8,-6.7,67,1449,0.00,2.45,0.00,0.000,4,0.000,0.036,2154,1212,3419
$GC,1500,-1.08,-146.6,139.1,-7.2,69,1508,0.15,2.45,0.00,0.000,6,0.039,0.035,2104,2601,3419
$GC,1817,-0.96,-146.6,174.2,-12.5,85,1822,0.20,2.33,0.00,0.000,4,0.094,0.061,2147,3859,3419
$GC,1866,-0.96,-146.6,180.0,-10.9,87,1870,0.00,2.15,0.00,0.000,6,0.000,0.026,2148,2589,3419
$GC,2188,-0.96,-146.6,211.7,-9.3,103,2192,0.00,2.42,0.00,0.000,4,0.000,0.038,2148,1212,3419
$GC,2228,-1.01,-146.6,215.2,-8.7,105,2233,0.00,2.45,0.00,0.000,6,0.000,0.035,2148,2601,3419
$GC,2556,-1.01,-146.6,243.9,-8.9,121,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2602,3418
$GC,2866,-1.01,-146.6,271.0,-8.2,136,2870,0.00,2.45,0.00,0.000,4,0.000,0.038,2148,1214,3418
$GC,2917,-1.07,-146.6,275.3,-7.6,138,2921,0.00,2.45,0.00,0.000,6,0.000,0.035,2148,2601,3418
$GC,3239,-1.07,-146.6,300.1,-7.7,154,3243,0.00,2.45,0.00,0.000,4,0.000,0.038,2148,1213,3417
$GC,3280,-1.14,-146.6,303.1,-7.4,156,3285,0.17,2.45,0.00,0.000,6,0.041,0.035,2095,2603,3417
$GC,3607,-1.01,-146.6,337.8,-10.7,172,3609,0.22,0.00,0.00,0.000,6,0.096,0.000,2137,2603,3417
$GC,3916,-1.01,-146.6,364.1,-8.3,187,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3417
$GC,4225,-1.01,-146.6,390.6,-8.9,202,4229,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1214,3416
$GC,4293,-1.05,-146.6,396.6,-8.5,205,4297,0.00,2.45,0.00,0.000,6,0.000,0.036,2138,2603,3416
$GC,4620,-1.05,-146.6,427.5,-9.6,221,4624,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1214,3416
$GC,4660,-1.09,-146.6,431.2,-8.9,223,4664,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2603,3416
$GC,4986,-1.09,-146.6,459.8,-8.7,239,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3416
$GC,5296,-1.09,-146.6,486.6,-8.9,254,5300,0.00,2.45,0.00,0.000,4,0.000,0.038,2137,1213,3415
$GC,5370,-1.13,-146.6,493.0,-9.0,257,5375,0.12,2.45,0.00,0.000,6,0.048,0.035,2099,2601,3416
$GC,5687,-1.02,-146.6,526.0,-10.0,272,5689,0.20,0.00,0.00,0.000,6,0.099,0.000,2136,2601,3415
$GC,5997,-1.02,-146.6,550.1,-8.0,287,6001,0.00,2.45,0.00,0.000,4,0.000,0.038,2136,1214,3415
$GC,6029,-1.02,-146.6,553.1,-8.4,288,6035,0.00,2.45,0.00,0.000,6,0.000,0.035,2136,2603,3415
$GC,6346,-1.02,-146.6,579.5,-8.2,304,6350,0.00,2.45,0.00,0.000,4,0.000,0.038,2136,1213,3415
$GC,6386,-1.02,-146.6,582.8,-8.2,306,6390,0.00,2.45,0.00,0.000,6,0.000,0.036,2136,2603,3414
$GC,6712,-1.02,-146.6,612.6,-9.3,322,6716,0.00,2.47,0.00,0.000,4,0.000,0.038,2134,1206,3414
$GC,6756,-1.07,-146.6,616.8,-9.1,324,6761,0.00,2.47,0.00,0.000,6,0.000,0.036,2136,2610,3414
$GC,7078,-1.07,-146.6,645.4,-8.6,340,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2610,3414
$GC,7387,-1.07,-146.6,671.4,-8.5,355,7391,0.00,2.47,0.00,0.000,4,0.000,0.038,2136,1211,3414
$GC,7466,-1.12,-146.6,678.6,-10.0,358,7472,0.00,2.45,0.00,0.000,6,0.000,0.036,2136,2599,3414
$GC,7781,-1.12,-146.6,706.5,-8.5,374,7785,0.00,2.45,0.00,0.000,4,0.000,0.038,2136,1212,3413
$GC,7814,-1.18,-146.6,709.0,-7.2,375,7822,0.15,2.45,0.00,0.000,6,0.044,0.037,2090,2602,3413
$GC,8132,-1.08,-146.6,739.6,-9.8,391,8137,0.17,2.35,0.00,0.000,4,0.097,0.069,2127,3858,3413
$GC,8187,-1.08,-146.6,744.0,-6.7,393,8193,0.00,2.15,0.00,0.000,6,0.000,0.028,2127,2601,3413
$GC,8503,-1.08,-146.6,766.2,-8.2,409,8508,0.00,2.47,0.00,0.000,4,0.000,0.043,2127,1209,3413
$GC,8548,-1.15,-146.6,770.1,-9.9,411,8553,0.00,2.47,0.00,0.000,6,0.000,0.038,2127,2606,3413
$GC,8869,-1.15,-146.6,795.3,-8.5,427,8873,0.00,2.35,0.00,0.000,4,0.000,0.074,2127,3857,3411
$GC,8932,-1.15,-146.6,800.1,-6.3,429,8939,0.00,2.17,0.00,0.000,6,0.000,0.031,2127,2608,3411
$STATE,9060,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9060,begin apogee
$GC,9067,-0.31,0.0,809.9,8.1,436,9202,0.85,0.00,129.77,1.111,6,0.126,0.000,2289,2293,2817
$STATE,9203,end apogee,CONTROL_FINISHED_OK
$STATE,9203,begin climb
$GC,9206,1.03,146.6,812.9,0.0,443,9350,1.35,2.62,132.20,1.095,4,0.070,0.053,2580,900,2217
$GC,9608,0.91,146.6,789.1,9.3,461,9613,0.12,2.50,0.00,0.000,6,0.095,0.038,2557,2300,2209
$GC,9930,0.93,229.0,768.4,4.7,477,10013,0.00,2.65,74.75,1.071,4,0.000,0.049,2557,904,1880
$GC,10084,0.95,246.5,757.3,6.9,484,10106,0.00,2.50,16.48,0.985,6,0.000,0.038,2557,2300,1812
$GC,10415,1.01,246.5,729.9,9.1,500,10420,0.00,2.65,0.00,0.000,4,0.000,0.067,2556,3708,1805
$GC,10460,1.01,246.5,725.2,10.3,502,10464,0.00,2.50,0.00,0.000,6,0.000,0.031,2557,2299,1805
$GC,10781,1.06,246.5,698.5,7.9,518,10783,0.15,0.00,0.00,0.000,6,0.050,0.000,2599,2299,1803
$GC,11090,1.00,247.0,672.6,7.5,533,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2299,1803
$GC,11399,0.94,247.0,644.6,10.0,548,11404,0.17,2.58,0.00,0.000,4,0.095,0.052,2561,892,1802
$GC,11421,0.94,247.0,642.3,10.6,549,11426,0.00,2.50,0.00,0.000,6,0.000,0.036,2561,2303,1800
$GC,11743,0.99,247.0,614.3,7.8,565,11744,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2303,1801
$GC,12052,1.04,247.0,589.7,8.6,580,12057,0.12,2.62,0.00,0.000,4,0.053,0.062,2598,3707,1801
$GC,12081,0.97,247.0,586.7,10.7,581,12086,0.15,2.47,0.00,0.000,6,0.098,0.030,2571,2295,1801
$GC,12397,0.97,247.0,558.3,8.6,596,12401,0.00,2.55,0.00,0.000,4,0.000,0.049,2570,892,1801
$GC,12424,0.97,247.0,555.8,8.1,597,12428,0.00,2.50,0.00,0.000,6,0.000,0.035,2570,2308,1800
$GC,12740,0.97,247.0,527.3,9.7,612,12744,0.00,2.60,0.00,0.000,4,0.000,0.061,2570,3704,1800
$GC,12761,0.97,247.0,525.0,10.0,613,12765,0.00,2.45,0.00,0.000,6,0.000,0.028,2569,2296,1800
$GC,13082,0.97,247.0,495.0,9.5,629,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2296,1800
$GC,13391,0.97,247.0,466.4,8.9,644,13396,0.00,2.60,0.00,0.000,4,0.000,0.058,2570,3701,1800
$GC,13413,0.97,247.0,464.1,9.1,645,13418,0.00,2.45,0.00,0.000,6,0.000,0.028,2570,2294,1801
$GC,13736,0.97,247.0,436.4,8.2,661,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2294,1801
$GC,14045,0.97,247.0,410.8,8.4,676,14049,0.00,2.62,0.00,0.000,4,0.000,0.058,2570,3709,1801
$GC,14072,0.97,247.0,408.2,8.6,677,14076,0.00,2.45,0.00,0.000,6,0.000,0.028,2570,2298,1801
$GC,14387,0.97,247.0,382.1,8.2,692,14388,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2298,1801
$GC,14697,0.97,247.0,356.2,8.4,707,14698,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2298,1801
$GC,15007,1.02,247.0,329.7,8.9,722,15008,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2297,1801
$GC,15315,1.06,247.0,301.6,9.0,737,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2298,1802
$GC,15625,1.11,247.0,272.4,9.6,752,15630,0.15,2.58,0.00,0.000,4,0.044,0.056,2614,3701,1801
$GC,15665,0.98,247.0,267.6,12.5,754,15670,0.20,2.42,0.00,0.000,6,0.089,0.028,2575,2300,1802
$GC,15992,0.98,247.0,236.4,9.4,770,15993,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1802
$GC,16301,0.98,247.0,207.5,9.5,785,16302,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1802
$GC,16610,0.98,247.0,179.8,8.7,800,16611,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1802
$GC,16920,1.03,292.8,157.8,5.9,815,16962,0.00,0.00,40.47,0.668,6,0.000,0.000,2575,2300,1622
$GC,17274,1.14,329.1,140.1,6.3,832,17313,0.15,2.58,32.58,0.650,4,0.044,0.046,2618,902,1474
$GC,17337,1.14,329.1,133.5,12.4,835,17341,0.00,2.47,0.00,0.000,6,0.000,0.033,2618,2301,1471
$GC,17664,1.14,329.1,87.5,15.8,851,17665,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2301,1468
$GC,17973,1.14,329.1,49.8,11.1,866,17977,0.00,2.53,0.00,0.000,4,0.000,0.043,2618,900,1466
$GC,18006,1.14,329.1,45.7,11.4,867,18012,0.00,2.45,0.00,0.000,6,0.000,0.033,2618,2302,1465
$GC,18324,1.14,329.1,8.2,11.7,883,18328,0.00,2.53,0.00,0.000,4,0.000,0.041,2618,895,1465
$STATE,18370,end climb,SURFACE_DEPTH_REACHED
$STATE,18371,begin surface coast
$FINISH,0.7,1.026316
$STATE,18394,end surface coast,CONTROL_FINISHED_OK
$STATE,18394,begin surface
$SM_CCo,18481,0.00,0.000,0,0,1461,332.63
$SM_GC,1.49,12.27,0.00,0.00,0.091,0.000,0.000,68,2602,1461,-10.47,0.08,332.63
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1815
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.3,68.5
$24V_AH,23.5,45.447
$10V_AH,10.1,23.727
$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,28.975,153.650,426.250,0.000,0.000,36.115,58.146,191.816,6.500,0.000,0.000,32.552,1636.195,14195.211,574.149,1964.693,601.751,0.000,1571.471,0.000,1894.798,0.000,45.063,0.000
$DEVICE_MAMPS,177.177,73.632,1110.616,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.075,603.680,494.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44360,886
$CAP_FILE_SIZE,138579,0
$CFSIZE,260165632,241807360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,203754,6208.943,-957.498,38,1.6,38,-10.0