version: 66.04
glider: 16
mission: 13
dive: 292
start: 7 30 109 20 50 58
data:
$ID,16
$MISSION,13
$DIVE,292
$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,-2112814.8
$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,35
$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
$GPS1,203754,6208.943,-957.498,38,1.6,38,-10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.2
$GPS2,205038,6208.977,-957.475,16,1.6,16,-10.0
$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,148.6,9811,-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,15,-1.03,-146.6,0.0,0.0,0,87,0.00,0.00,-66.03,0.000,6,0.000,0.000,67,2605,3415
$GC,91,-1.03,-146.6,7.8,-8.9,4,112,11.95,2.35,0.00,0.000,4,0.183,0.054,2131,3863,3417
$GC,226,-0.95,-146.6,39.8,-13.0,10,231,0.10,2.17,0.00,0.000,6,0.105,0.026,2149,2580,3418
$GC,554,-0.95,-146.6,75.9,-8.9,26,558,0.00,2.40,0.00,0.000,4,0.000,0.038,2149,1213,3418
$GC,598,-1.02,-146.6,80.1,-8.7,28,603,0.00,2.45,0.00,0.000,6,0.000,0.035,2149,2601,3418
$GC,920,-1.02,-146.6,103.4,-7.1,44,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2601,3418
$GC,1230,-1.02,-146.6,126.1,-7.5,59,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2601,3418
$GC,1538,-1.02,-146.6,154.8,-9.8,74,1542,0.00,2.45,0.00,0.000,4,0.000,0.038,2149,1214,3418
$GC,1600,-1.07,-146.6,160.5,-9.3,77,1605,0.12,2.42,0.00,0.000,6,0.044,0.035,2107,2601,3418
$GC,1928,-0.97,-146.6,194.9,-10.3,93,1932,0.17,2.35,0.00,0.000,4,0.092,0.063,2145,3867,3418
$GC,1960,-0.97,-146.6,198.0,-8.8,94,1966,0.00,2.15,0.00,0.000,6,0.000,0.026,2144,2600,3418
$GC,2279,-0.97,-146.6,225.4,-9.2,110,2283,0.00,2.45,0.00,0.000,4,0.000,0.038,2145,1209,3418
$GC,2319,-1.02,-146.6,229.3,-9.2,112,2323,0.00,2.45,0.00,0.000,6,0.000,0.035,2145,2601,3418
$GC,2645,-1.02,-146.6,260.1,-9.2,128,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2602,3417
$GC,2955,-1.02,-146.6,287.1,-8.5,143,2959,0.00,2.45,0.00,0.000,4,0.000,0.038,2144,1214,3417
$GC,2989,-1.07,-146.6,290.0,-7.9,144,2995,0.00,2.45,0.00,0.000,6,0.000,0.035,2144,2603,3417
$GC,3304,-1.07,-146.6,316.6,-8.6,160,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2603,3417
$GC,3614,-1.07,-146.6,343.8,-8.9,175,3618,0.00,2.45,0.00,0.000,4,0.000,0.038,2145,1213,3417
$GC,3676,-1.13,-146.6,349.5,-8.9,177,3683,0.15,2.45,0.00,0.000,6,0.044,0.035,2099,2602,3416
$GC,3992,-1.00,-146.6,386.7,-11.8,193,3994,0.20,0.00,0.00,0.000,6,0.094,0.000,2138,2601,3416
$GC,4301,-1.00,-146.6,413.9,-8.5,208,4305,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1214,3416
$GC,4341,-1.05,-146.6,417.0,-7.7,210,4345,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2605,3416
$GC,4668,-1.05,-146.6,444.2,-8.6,226,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2605,3416
$GC,4977,-1.05,-146.6,471.2,-8.6,241,4981,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1213,3415
$GC,5004,-1.05,-146.6,473.7,-8.6,242,5008,0.00,2.45,0.00,0.000,6,0.000,0.036,2138,2603,3415
$GC,5320,-1.05,-146.6,501.9,-9.1,257,5324,0.00,2.47,0.00,0.000,4,0.000,0.038,2138,1206,3415
$GC,5360,-1.09,-146.6,505.3,-8.4,259,5364,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2601,3415
$GC,5686,-1.09,-146.6,532.7,-8.5,275,5691,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1213,3415
$GC,5727,-1.14,-146.6,536.3,-9.0,277,5732,0.12,2.45,0.00,0.000,6,0.048,0.035,2099,2601,3415
$GC,6056,-1.02,-146.6,578.8,-14.4,293,6058,0.17,0.00,0.00,0.000,6,0.095,0.000,2133,2602,3415
$GC,6363,-1.02,-146.6,615.1,-9.7,308,6367,0.00,2.45,0.00,0.000,4,0.000,0.038,2133,1214,3414
$GC,6403,-1.02,-146.6,618.1,-7.5,310,6408,0.00,2.45,0.00,0.000,6,0.000,0.036,2133,2606,3414
$GC,6731,-1.02,-146.6,636.1,-4.7,326,6735,0.00,2.45,0.00,0.000,4,0.000,0.038,2133,1213,3414
$GC,6817,-1.07,-146.6,641.3,-6.5,330,6821,0.00,2.45,0.00,0.000,6,0.000,0.036,2133,2603,3414
$GC,7144,-1.07,-146.6,672.6,-11.9,346,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2603,3414
$GC,7453,-1.07,-146.6,708.1,-9.7,361,7457,0.00,2.47,0.00,0.000,4,0.000,0.039,2132,1206,3413
$GC,7589,-1.16,-146.6,718.8,-7.2,367,7594,0.12,2.47,0.00,0.000,6,0.048,0.038,2094,2607,3413
$STATE,7748,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7748,begin apogee
$GC,7755,-0.31,0.0,733.4,9.3,375,7891,1.00,0.00,129.30,1.052,6,0.121,0.000,2287,2302,2816
$STATE,7892,end apogee,CONTROL_FINISHED_OK
$STATE,7892,begin climb
$GC,7895,1.03,146.6,738.4,0.0,382,8034,1.35,2.58,130.50,1.043,4,0.061,0.044,2584,914,2218
$GC,8265,0.92,146.6,713.9,9.1,398,8270,0.12,2.47,0.00,0.000,6,0.091,0.035,2561,2305,2212
$GC,8592,0.95,243.5,691.5,4.2,414,8687,0.00,2.58,87.60,1.019,4,0.000,0.045,2561,914,1822
$GC,8743,1.03,311.4,684.8,5.2,421,8813,0.10,2.47,62.60,1.003,6,0.054,0.036,2592,2297,1546
$GC,9135,1.03,311.4,641.6,13.7,440,9139,0.00,2.65,0.00,0.000,4,0.000,0.063,2592,3702,1537
$GC,9179,1.03,311.4,635.4,14.3,442,9184,0.00,2.45,0.00,0.000,6,0.000,0.029,2592,2313,1537
$GC,9501,1.03,311.5,603.9,7.5,458,9505,0.00,2.60,0.00,0.000,4,0.000,0.050,2592,895,1535
$GC,9540,1.03,311.5,600.5,8.8,460,9545,0.00,2.50,0.00,0.000,6,0.000,0.035,2592,2306,1534
$GC,9867,1.03,311.5,566.7,11.2,476,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2306,1533
$GC,10176,1.03,311.5,531.8,10.8,491,10180,0.00,2.55,0.00,0.000,4,0.000,0.046,2592,901,1534
$GC,10209,1.07,311.5,528.2,10.2,492,10213,0.00,2.47,0.00,0.000,6,0.000,0.035,2592,2301,1533
$GC,10525,1.07,311.5,495.4,10.7,507,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2300,1533
$GC,10834,1.07,311.5,460.5,11.4,522,10838,0.00,2.55,0.00,0.000,4,0.000,0.045,2592,893,1533
$GC,10867,1.11,311.5,456.6,11.4,523,10872,0.00,2.47,0.00,0.000,6,0.000,0.033,2592,2301,1532
$GC,11183,1.11,311.5,419.5,11.7,538,11188,0.00,2.60,0.00,0.000,4,0.000,0.059,2592,3709,1533
$GC,11210,1.11,311.5,416.0,12.5,539,11215,0.00,2.45,0.00,0.000,6,0.000,0.028,2592,2300,1533
$GC,11526,1.11,311.5,378.3,11.9,554,11530,0.00,2.53,0.00,0.000,4,0.000,0.046,2591,900,1534
$GC,11566,1.16,311.5,373.5,12.2,555,11573,0.00,2.45,0.00,0.000,6,0.000,0.033,2592,2304,1532
$GC,11882,1.16,311.5,341.1,9.6,571,11883,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2304,1532
$GC,12191,1.16,311.5,311.2,9.2,586,12195,0.00,2.53,0.00,0.000,4,0.000,0.043,2592,898,1532
$GC,12224,1.16,311.5,308.1,9.2,587,12230,0.00,2.47,0.00,0.000,6,0.000,0.033,2592,2309,1532
$GC,12540,1.16,311.5,278.2,9.4,603,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2309,1532
$GC,12848,1.16,311.5,249.6,9.2,618,12852,0.00,2.53,0.00,0.000,4,0.000,0.044,2592,895,1533
$GC,12894,1.22,311.5,245.0,9.9,620,12899,0.15,2.47,0.00,0.000,6,0.050,0.033,2634,2308,1533
$GC,13222,1.15,311.5,204.9,12.4,636,13224,0.12,0.00,0.00,0.000,6,0.094,0.000,2610,2309,1533
$GC,13530,1.15,311.5,170.2,11.5,651,13535,0.00,2.53,0.00,0.000,4,0.000,0.043,2610,898,1533
$GC,13558,1.15,311.5,166.8,11.9,652,13563,0.00,2.45,0.00,0.000,6,0.000,0.033,2610,2299,1533
$GC,13874,1.15,311.5,131.0,11.0,667,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2300,1533
$GC,14185,1.15,311.5,96.3,11.5,682,14189,0.00,2.50,0.00,0.000,4,0.000,0.043,2610,898,1533
$GC,14207,1.15,311.5,93.4,11.9,683,14211,0.00,2.45,0.00,0.000,6,0.000,0.033,2610,2309,1533
$GC,14534,1.15,311.5,58.5,11.7,699,14535,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2309,1533
$GC,14843,1.15,311.5,22.2,9.6,714,14844,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2309,1534
$STATE,15046,end climb,SURFACE_DEPTH_REACHED
$STATE,15046,begin surface coast
$FINISH,0.7,1.025163
$STATE,15068,end surface coast,CONTROL_FINISHED_OK
$STATE,15068,begin surface
$SM_CCo,15153,0.00,0.000,0,0,1531,315.21
$SM_GC,1.74,12.30,0.00,0.00,0.097,0.000,0.000,78,2602,1531,-10.45,0.06,315.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1819
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.2,67.3
$24V_AH,23.6,45.596
$10V_AH,10.1,23.801
$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,28.275,129.100,410.000,0.000,0.000,53.926,80.231,368.669,6.000,0.000,0.000,16.409,1346.792,11657.040,495.299,1626.404,788.541,0.000,1339.676,0.000,1577.267,0.000,43.447,0.000
$DEVICE_MAMPS,182.546,62.894,1051.557,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,530.361,493.249,439.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38016,725
$CAP_FILE_SIZE,119934,0
$CFSIZE,260165632,241766400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,010437,6209.195,-952.370,30,1.8,30,-9.9