version: 66.04
glider: 16
mission: 13
dive: 294
start: 7 31 109 5 34 13
data:
$ID,16
$MISSION,13
$DIVE,294
$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,-2112846.8
$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,38
$R_STBD_OVSHOOT,24
$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
$GPS1,052901,6209.108,-947.971,42,1.3,42,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-66.6
$GPS2,053356,6209.124,-947.881,14,1.1,14,-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,203.4,7855,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-57.25,0.000,6,0.000,0.000,74,2596,3417
$GC,81,-1.03,-146.6,6.7,-12.3,3,103,11.95,2.38,0.00,0.000,4,0.185,0.058,2130,3860,3419
$GC,293,-0.93,-146.6,47.2,-11.5,12,298,0.12,2.17,0.00,0.000,6,0.097,0.026,2153,2576,3420
$GC,609,-0.93,-146.6,73.8,-7.6,27,613,0.00,2.40,0.00,0.000,4,0.000,0.037,2153,1212,3420
$GC,651,-1.00,-146.6,76.7,-7.2,29,655,0.00,2.45,0.00,0.000,6,0.000,0.035,2153,2603,3421
$GC,978,-1.00,-146.6,103.7,-8.6,45,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2603,3421
$GC,1287,-1.00,-146.6,129.5,-8.5,60,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2604,3421
$GC,1596,-1.00,-146.6,155.0,-7.6,75,1601,0.00,2.45,0.00,0.000,4,0.000,0.037,2153,1212,3421
$GC,1630,-1.06,-146.6,157.5,-6.8,76,1637,0.12,2.45,0.00,0.000,6,0.044,0.035,2110,2605,3421
$GC,1946,-0.96,-146.6,189.6,-11.0,92,1951,0.17,2.33,0.00,0.000,4,0.094,0.062,2146,3864,3421
$GC,1991,-0.96,-146.6,194.2,-9.4,94,1995,0.00,2.15,0.00,0.000,6,0.000,0.026,2146,2593,3421
$GC,2320,-0.96,-146.6,225.2,-9.7,110,2324,0.00,2.42,0.00,0.000,4,0.000,0.038,2147,1212,3421
$GC,2370,-1.01,-146.6,230.4,-9.3,112,2374,0.00,2.45,0.00,0.000,6,0.000,0.035,2146,2605,3421
$GC,2686,-1.01,-146.6,262.3,-10.6,127,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2605,3421
$GC,2995,-1.01,-146.6,293.7,-9.9,142,2999,0.00,2.47,0.00,0.000,4,0.000,0.038,2147,1205,3421
$GC,3051,-1.06,-146.6,299.1,-9.9,144,3057,0.00,2.45,0.00,0.000,6,0.000,0.035,2147,2599,3421
$GC,3367,-1.06,-146.6,329.1,-9.4,160,3371,0.00,2.45,0.00,0.000,4,0.000,0.038,2147,1210,3421
$GC,3400,-1.11,-146.6,332.3,-9.3,161,3407,0.15,2.45,0.00,0.000,6,0.041,0.035,2099,2601,3420
$GC,3716,-0.99,-146.6,368.3,-11.6,177,3718,0.22,0.00,0.00,0.000,6,0.097,0.000,2143,2601,3420
$GC,4025,-0.99,-146.6,395.2,-8.2,192,4029,0.00,2.45,0.00,0.000,4,0.000,0.038,2143,1212,3420
$GC,4058,-1.03,-146.6,398.1,-8.2,193,4064,0.00,2.45,0.00,0.000,6,0.000,0.035,2143,2606,3420
$GC,4374,-1.03,-146.6,423.6,-8.0,209,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2606,3420
$GC,4683,-1.03,-146.6,449.2,-8.3,224,4687,0.00,2.47,0.00,0.000,4,0.000,0.038,2143,1205,3419
$GC,4729,-1.09,-146.6,453.0,-8.3,226,4733,0.00,2.45,0.00,0.000,6,0.000,0.035,2143,2599,3419
$GC,5050,-1.09,-146.6,482.5,-9.4,242,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2598,3420
$GC,5359,-1.09,-146.6,512.9,-9.8,257,5363,0.00,2.45,0.00,0.000,4,0.000,0.038,2143,1210,3420
$GC,5392,-1.14,-146.6,516.4,-10.2,258,5399,0.15,2.45,0.00,0.000,6,0.044,0.036,2096,2601,3419
$GC,5709,-1.02,-146.6,555.7,-12.9,274,5713,0.20,2.35,0.00,0.000,4,0.096,0.066,2137,3864,3419
$GC,5749,-1.02,-146.6,560.4,-11.4,276,5752,0.00,2.15,0.00,0.000,6,0.000,0.026,2137,2590,3419
$GC,6082,-1.02,-146.6,592.0,-8.5,292,6086,0.00,2.42,0.00,0.000,4,0.000,0.040,2137,1211,3419
$GC,6126,-1.08,-146.6,595.9,-8.5,294,6131,0.00,2.45,0.00,0.000,6,0.000,0.036,2137,2603,3419
$GC,6448,-1.08,-146.6,621.8,-7.8,310,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2603,3419
$GC,6757,-1.08,-146.6,646.0,-7.8,325,6762,0.00,2.45,0.00,0.000,4,0.000,0.039,2137,1212,3418
$GC,6802,-1.13,-146.6,649.8,-8.4,327,6808,0.12,2.45,0.00,0.000,6,0.045,0.037,2097,2609,3418
$GC,7132,-1.04,-146.6,683.9,-10.3,343,7137,0.17,2.45,0.00,0.000,4,0.099,0.038,2135,1214,3419
$GC,7184,-1.10,-146.6,688.4,-7.7,345,7188,0.00,2.45,0.00,0.000,6,0.000,0.036,2134,2604,3417
$STATE,7332,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7332,begin apogee
$GC,7339,-0.31,0.0,700.8,8.5,352,7475,0.77,0.00,129.88,1.030,6,0.107,0.000,2287,2299,2817
$STATE,7476,end apogee,CONTROL_FINISHED_OK
$STATE,7476,begin climb
$GC,7479,1.03,146.6,706.5,0.0,359,7617,1.38,2.55,130.12,1.022,4,0.070,0.044,2583,914,2218
$GC,7783,0.95,146.6,692.5,7.8,372,7787,0.00,2.47,0.00,0.000,6,0.000,0.035,2583,2306,2213
$GC,8105,0.88,148.6,668.7,7.4,388,8110,0.15,2.62,0.00,0.000,4,0.089,0.061,2554,3705,2212
$GC,8177,0.79,148.6,663.2,7.7,391,8182,0.00,2.45,0.00,0.000,6,0.000,0.028,2554,2300,2212
$GC,8494,0.82,173.4,641.9,6.7,406,8524,0.00,2.58,24.15,0.946,4,0.000,0.046,2554,905,2109
$GC,8587,0.82,173.4,634.9,7.7,410,8591,0.00,2.47,0.00,0.000,6,0.000,0.034,2554,2302,2106
$GC,8908,0.82,173.4,610.5,7.8,426,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2302,2105
$GC,9218,0.82,176.0,586.9,7.4,441,9222,0.00,2.60,0.00,0.000,4,0.000,0.061,2554,3701,2104
$GC,9250,0.82,176.0,584.2,8.2,442,9257,0.00,2.45,0.00,0.000,6,0.000,0.028,2554,2296,2104
$GC,9566,0.89,233.8,564.5,5.5,458,9626,0.00,0.00,55.45,0.938,6,0.000,0.000,2554,2295,1862
$GC,9937,0.99,271.9,541.5,6.2,476,9975,0.00,0.00,35.65,0.907,6,0.000,0.000,2554,2295,1708
$GC,10285,1.10,293.6,517.2,6.8,493,10312,0.17,2.67,20.88,0.865,4,0.043,0.058,2606,3701,1617
$GC,10352,1.04,293.6,511.0,10.0,496,10357,0.00,2.47,0.00,0.000,6,0.000,0.028,2607,2296,1617
$GC,10679,1.04,293.6,479.5,9.9,512,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2296,1614
$GC,10988,1.04,293.6,447.5,10.8,527,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2296,1613
$GC,11298,1.04,293.6,413.7,11.1,542,11299,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2296,1613
$GC,11606,1.04,293.6,378.3,11.5,557,11608,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2296,1612
$GC,11916,1.04,293.6,343.8,10.8,572,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2296,1612
$GC,12226,1.04,293.6,309.4,11.2,587,12227,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2296,1612
$GC,12534,1.04,293.6,274.5,11.4,602,12538,0.00,2.50,0.00,0.000,4,0.000,0.045,2606,898,1611
$GC,12562,1.04,293.6,271.1,12.3,603,12566,0.00,2.47,0.00,0.000,6,0.000,0.033,2606,2309,1610
$GC,12883,1.04,293.6,234.6,11.6,619,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2309,1610
$GC,13191,1.04,293.6,196.9,12.4,634,13193,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2309,1610
$GC,13501,1.04,293.6,159.3,11.9,649,13505,0.00,2.53,0.00,0.000,4,0.000,0.042,2606,898,1610
$GC,13540,1.04,293.6,154.6,11.8,651,13545,0.00,2.45,0.00,0.000,6,0.000,0.033,2607,2300,1610
$GC,13868,1.04,293.6,115.1,12.0,667,13870,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2300,1610
$GC,14178,1.04,293.6,78.9,10.9,682,14180,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2300,1610
$GC,14487,1.04,293.6,47.2,9.5,697,14488,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2300,1610
$GC,14795,1.04,293.6,20.7,8.4,712,14797,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2300,1610
$STATE,15000,end climb,SURFACE_DEPTH_REACHED
$STATE,15000,begin surface coast
$FINISH,1.1,1.026441
$STATE,15022,end surface coast,CONTROL_FINISHED_OK
$STATE,15022,begin surface
$SM_CCo,15105,0.00,0.000,0,0,1608,296.57
$SM_GC,1.87,12.15,0.00,0.00,0.091,0.000,0.000,71,2613,1608,-10.45,0.37,296.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1834
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.5,35.0
$24V_AH,23.6,45.836
$10V_AH,10.1,23.939
$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,28.025,103.675,396.125,0.000,0.000,18.035,29.774,128.044,5.750,0.000,0.000,14.130,1320.166,11630.789,491.063,1523.583,432.908,0.000,1261.783,0.000,1486.483,0.000,39.824,0.000
$DEVICE_MAMPS,184.847,65.962,1030.081,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.460,498.059,442.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37957,723
$CAP_FILE_SIZE,106452,0
$CFSIZE,260165632,241672192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,094707,6206.896,-948.312,33,0.9,33,-9.9