version: 66.04
glider: 16
mission: 13
dive: 293
start: 7 31 109 1 10 1
data:
$ID,16
$MISSION,13
$DIVE,293
$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,-2112831.8
$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,33
$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
$GPS1,010437,6209.195,-952.370,30,1.8,30,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.1
$GPS2,010944,6209.248,-952.312,16,1.8,16,-9.9
$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,175.6,8119,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-58.92,0.000,2,0.000,0.000,78,2603,3192
$GC,82,-1.03,-146.6,4.5,-6.6,3,105,11.88,2.33,-3.90,0.000,4,0.183,0.074,2132,3860,3415
$GC,302,-0.95,-146.6,39.2,-10.4,12,309,0.10,2.17,0.00,0.000,6,0.104,0.026,2149,2576,3416
$GC,620,-0.95,-146.6,62.8,-7.4,28,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2576,3416
$GC,928,-0.95,-146.6,89.0,-9.1,43,932,0.00,2.40,0.00,0.000,4,0.000,0.038,2150,1214,3417
$GC,968,-1.00,-146.6,92.9,-9.0,45,973,0.00,2.45,0.00,0.000,6,0.000,0.035,2150,2605,3417
$GC,1296,-1.00,-146.6,120.8,-8.0,61,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2605,3417
$GC,1605,-1.00,-146.6,144.5,-7.9,76,1610,0.00,2.47,0.00,0.000,4,0.000,0.037,2150,1203,3418
$GC,1639,-1.06,-146.6,147.3,-7.4,77,1646,0.00,2.45,0.00,0.000,6,0.000,0.035,2149,2600,3418
$GC,1955,-1.06,-146.6,172.2,-8.0,93,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2600,3417
$GC,2265,-1.06,-146.6,197.2,-8.4,108,2269,0.00,2.45,0.00,0.000,4,0.000,0.038,2150,1211,3417
$GC,2322,-1.12,-146.6,202.0,-8.5,110,2329,0.15,2.45,0.00,0.000,6,0.041,0.035,2103,2604,3417
$GC,2638,-1.00,-146.6,238.8,-12.1,126,2642,0.17,2.30,0.00,0.000,4,0.095,0.063,2140,3859,3417
$GC,2671,-1.00,-146.6,242.7,-10.7,127,2675,0.00,2.15,0.00,0.000,6,0.000,0.027,2140,2590,3417
$GC,2992,-1.00,-146.6,274.1,-9.8,143,2997,0.00,2.42,0.00,0.000,4,0.000,0.038,2140,1214,3417
$GC,3055,-1.00,-146.6,280.1,-9.8,146,3059,0.00,2.42,0.00,0.000,6,0.000,0.035,2140,2600,3417
$GC,3388,-1.00,-146.6,312.1,-9.7,162,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2600,3416
$GC,3697,-1.00,-146.6,342.0,-9.7,177,3701,0.00,2.45,0.00,0.000,4,0.000,0.038,2140,1209,3416
$GC,3765,-1.04,-146.6,348.5,-9.2,180,3769,0.00,2.45,0.00,0.000,6,0.000,0.035,2140,2600,3416
$GC,4093,-1.04,-146.6,379.9,-9.3,196,4097,0.00,2.45,0.00,0.000,4,0.000,0.038,2140,1212,3416
$GC,4120,-1.04,-146.6,382.5,-8.5,197,4124,0.00,2.45,0.00,0.000,6,0.000,0.035,2140,2605,3415
$GC,4436,-1.04,-146.6,413.4,-10.5,212,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2605,3415
$GC,4745,-1.04,-146.6,447.9,-11.5,227,4749,0.00,2.47,0.00,0.000,4,0.000,0.038,2140,1204,3415
$GC,4785,-1.08,-146.6,452.4,-11.2,229,4789,0.00,2.45,0.00,0.000,6,0.000,0.035,2140,2600,3415
$GC,5112,-1.08,-146.6,485.5,-9.5,245,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2600,3415
$GC,5420,-1.08,-146.6,512.3,-8.4,260,5424,0.00,2.45,0.00,0.000,4,0.000,0.038,2140,1212,3415
$GC,5461,-1.13,-146.6,515.8,-8.7,262,5465,0.12,2.45,0.00,0.000,6,0.047,0.035,2101,2606,3415
$GC,5790,-1.01,-146.6,554.0,-12.6,278,5795,0.17,2.47,0.00,0.000,4,0.098,0.038,2138,1205,3415
$GC,5830,-1.07,-146.6,559.1,-11.1,280,5834,0.00,2.45,0.00,0.000,6,0.000,0.036,2138,2600,3415
$GC,6157,-1.07,-146.6,594.4,-10.0,296,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2600,3415
$GC,6466,-1.07,-146.6,621.4,-8.3,311,6471,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1212,3415
$GC,6517,-1.14,-146.6,625.6,-7.7,313,6522,0.12,2.45,0.00,0.000,6,0.048,0.036,2098,2608,3415
$GC,6833,-1.04,-146.6,658.2,-10.3,328,6838,0.17,2.33,0.00,0.000,4,0.097,0.068,2131,3856,3415
$GC,6896,-1.04,-146.6,664.1,-9.5,331,6900,0.00,2.12,0.00,0.000,6,0.000,0.027,2131,2602,3415
$GC,7228,-1.04,-146.6,691.2,-8.7,347,7232,0.00,2.35,0.00,0.000,4,0.000,0.068,2132,3861,3414
$GC,7313,-1.04,-146.6,699.5,-9.7,350,7319,0.00,2.15,0.00,0.000,6,0.000,0.028,2131,2601,3415
$STATE,7399,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7399,begin apogee
$GC,7406,-0.31,0.0,707.2,8.8,355,7542,0.77,0.00,128.93,1.032,6,0.096,0.000,2289,2297,2816
$STATE,7542,end apogee,CONTROL_FINISHED_OK
$STATE,7542,begin climb
$GC,7545,1.03,146.6,712.9,0.0,362,7686,1.40,2.70,130.62,1.025,4,0.072,0.061,2583,3708,2218
$GC,7781,0.88,146.6,703.0,9.3,373,7786,0.17,2.47,0.00,0.000,6,0.111,0.028,2552,2306,2216
$GC,8103,0.86,163.0,681.1,6.9,389,8125,0.00,2.67,15.12,0.924,4,0.000,0.061,2552,3704,2152
$GC,8232,0.80,163.0,671.0,7.9,394,8238,0.00,2.47,0.00,0.000,6,0.000,0.028,2552,2297,2150
$GC,8548,0.83,194.1,649.1,6.4,410,8579,0.00,0.00,29.10,0.963,6,0.000,0.000,2552,2297,2025
$GC,8881,0.90,253.9,630.1,5.5,426,8943,0.00,2.70,55.78,0.976,4,0.000,0.061,2552,3703,1780
$GC,8968,0.96,271.4,624.6,6.9,430,8990,0.00,2.50,17.08,0.908,6,0.000,0.028,2552,2293,1709
$GC,9300,1.06,271.4,592.8,11.3,446,9305,0.17,2.53,0.00,0.000,4,0.049,0.048,2593,900,1703
$GC,9327,1.06,271.4,588.8,14.4,447,9331,0.00,2.50,0.00,0.000,6,0.000,0.035,2593,2309,1702
$GC,9642,1.06,271.4,550.8,10.6,462,9647,0.00,2.58,0.00,0.000,4,0.000,0.046,2593,891,1701
$GC,9665,1.06,271.4,548.4,10.4,463,9669,0.00,2.50,0.00,0.000,6,0.000,0.035,2593,2302,1700
$GC,9986,1.06,275.7,522.3,7.4,479,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2302,1701
$GC,10295,1.06,275.7,495.6,9.3,494,10299,0.00,2.60,0.00,0.000,4,0.000,0.061,2593,3701,1700
$GC,10328,1.02,275.7,492.2,10.2,495,10335,0.00,2.42,0.00,0.000,6,0.000,0.028,2593,2299,1700
$GC,10644,1.02,275.7,461.9,10.1,511,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2298,1700
$GC,10953,1.02,275.7,430.8,10.5,526,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2299,1700
$GC,11263,1.02,275.7,398.5,10.4,541,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2299,1700
$GC,11572,1.02,275.7,366.8,10.0,556,11573,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2298,1700
$GC,11881,1.02,275.7,337.1,9.7,571,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2298,1699
$GC,12191,1.02,275.7,307.3,9.9,586,12195,0.00,2.58,0.00,0.000,4,0.000,0.058,2593,3702,1699
$GC,12212,1.02,275.7,304.9,10.3,587,12217,0.00,2.42,0.00,0.000,6,0.000,0.028,2593,2297,1700
$GC,12533,1.02,275.7,273.0,9.9,603,12537,0.00,2.50,0.00,0.000,4,0.000,0.045,2593,893,1700
$GC,12561,1.02,275.7,270.1,10.7,604,12565,0.00,2.47,0.00,0.000,6,0.000,0.032,2593,2308,1699
$GC,12882,1.02,275.7,238.3,9.9,620,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2308,1699
$GC,13191,1.02,275.7,209.2,9.1,635,13192,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2308,1699
$GC,13501,1.02,275.7,179.0,10.6,650,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2308,1699
$GC,13812,1.02,275.7,143.8,11.5,665,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2308,1700
$GC,14119,1.02,275.7,109.7,10.5,680,14123,0.00,2.53,0.00,0.000,4,0.000,0.042,2593,894,1700
$GC,14140,1.02,275.7,107.3,10.5,681,14145,0.00,2.45,0.00,0.000,6,0.000,0.032,2593,2302,1699
$GC,14463,1.02,275.7,79.0,9.4,697,14464,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2302,1701
$GC,14773,1.02,275.7,47.3,10.2,712,14777,0.00,2.58,0.00,0.000,4,0.000,0.058,2593,3704,1700
$GC,14795,1.02,275.7,45.1,8.5,713,14800,0.00,2.42,0.00,0.000,6,0.000,0.027,2593,2296,1700
$GC,15118,1.02,275.7,20.5,7.9,729,15122,0.00,2.47,0.00,0.000,4,0.000,0.042,2593,902,1700
$GC,15145,1.08,275.7,18.1,8.6,730,15149,0.00,2.45,0.00,0.000,6,0.000,0.032,2593,2306,1700
$STATE,15355,end climb,SURFACE_DEPTH_REACHED
$STATE,15355,begin surface coast
$FINISH,0.7,1.016684
$STATE,15377,end surface coast,CONTROL_FINISHED_OK
$STATE,15377,begin surface
$SM_CCo,15462,0.00,0.000,0,0,1697,274.74
$SM_GC,1.62,12.23,0.00,0.00,0.096,0.000,0.000,74,2596,1697,-10.47,-0.14,274.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1841
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.7,41.1
$24V_AH,23.6,45.714
$10V_AH,10.1,23.871
$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,27.650,123.375,376.625,0.000,0.000,18.363,26.881,137.488,5.750,0.000,0.000,16.202,1365.231,11877.685,487.414,1582.514,454.086,0.000,1293.983,0.000,1542.562,0.000,39.832,0.000
$DEVICE_MAMPS,182.546,73.632,1031.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.193,507.095,473.330,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37987,741
$CAP_FILE_SIZE,111419,0
$CFSIZE,260165632,241717248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310709,052901,6209.108,-947.971,42,1.3,42,-9.9