version: 66.04
glider: 16
mission: 13
dive: 295
start: 7 31 109 9 55 43
data:
$ID,16
$MISSION,13
$DIVE,295
$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,-2112865
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,094707,6206.896,-948.312,33,0.9,33,-9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.1
$GPS2,095525,6206.841,-948.302,12,1.5,17,-9.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$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,154.1,49884,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,80,0.00,0.00,-60.65,0.000,6,0.000,0.000,71,2613,3416
$GC,83,-1.03,-146.6,6.3,-11.3,3,105,11.85,2.33,0.00,0.000,4,0.179,0.058,2132,3850,3418
$GC,355,-0.98,-146.6,54.2,-11.5,15,359,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2570,3418
$GC,683,-0.98,-146.6,87.7,-8.7,31,687,0.00,2.38,0.00,0.000,4,0.000,0.059,2132,3856,3418
$GC,716,-0.93,-146.6,90.6,-8.3,32,723,0.12,2.12,0.00,0.000,6,0.129,0.025,2153,2593,3418
$GC,1034,-0.93,-146.6,113.4,-8.1,48,1038,0.00,2.42,0.00,0.000,4,0.000,0.038,2153,1218,3419
$GC,1101,-1.00,-146.6,119.4,-8.6,51,1105,0.00,2.42,0.00,0.000,6,0.000,0.035,2153,2594,3419
$GC,1422,-1.00,-146.6,149.5,-9.5,67,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2594,3419
$GC,1732,-1.00,-146.6,178.9,-9.3,82,1736,0.00,2.42,0.00,0.000,4,0.000,0.037,2153,1218,3419
$GC,1794,-1.06,-146.6,184.4,-8.4,85,1799,0.12,2.42,0.00,0.000,6,0.046,0.035,2109,2600,3419
$GC,2121,-0.95,-146.6,223.8,-12.5,101,2123,0.22,0.00,0.00,0.000,6,0.096,0.000,2151,2600,3419
$GC,2431,-0.95,-146.6,252.2,-8.3,116,2435,0.00,2.42,0.00,0.000,4,0.000,0.038,2151,1219,3419
$GC,2471,-1.02,-146.6,255.5,-7.7,118,2475,0.00,2.42,0.00,0.000,6,0.000,0.035,2151,2600,3419
$GC,2798,-1.02,-146.6,282.6,-8.9,134,2802,0.00,2.42,0.00,0.000,4,0.000,0.038,2151,1210,3419
$GC,2831,-1.08,-146.6,285.8,-9.2,135,2836,0.12,2.45,0.00,0.000,6,0.047,0.035,2109,2601,3419
$GC,3147,-0.97,-146.6,321.4,-11.4,150,3152,0.17,2.33,0.00,0.000,4,0.097,0.064,2146,3860,3418
$GC,3175,-0.97,-146.6,324.4,-10.6,151,3179,0.00,2.12,0.00,0.000,6,0.000,0.026,2146,2601,3418
$GC,3496,-0.97,-146.6,353.5,-8.9,167,3500,0.00,2.42,0.00,0.000,4,0.000,0.038,2146,1215,3418
$GC,3557,-1.03,-146.6,358.6,-8.3,169,3563,0.00,2.45,0.00,0.000,6,0.000,0.035,2146,2607,3418
$GC,3873,-1.03,-146.6,386.8,-8.9,185,3877,0.00,2.45,0.00,0.000,4,0.000,0.038,2146,1215,3418
$GC,3912,-1.08,-146.6,390.2,-8.3,187,3917,0.10,2.45,0.00,0.000,6,0.049,0.035,2111,2608,3418
$GC,4243,-0.99,-146.6,425.1,-11.0,203,4245,0.17,0.00,0.00,0.000,6,0.094,0.000,2144,2609,3417
$GC,4548,-0.99,-146.6,453.2,-9.2,218,4552,0.00,2.45,0.00,0.000,4,0.000,0.038,2144,1210,3417
$GC,4604,-1.04,-146.6,458.3,-9.6,220,4608,0.00,2.45,0.00,0.000,6,0.000,0.035,2144,2604,3417
$GC,4920,-1.04,-146.6,486.8,-8.8,235,4924,0.00,2.45,0.00,0.000,4,0.000,0.038,2144,1212,3417
$GC,4960,-1.10,-146.6,490.0,-8.3,237,4965,0.12,2.45,0.00,0.000,6,0.046,0.035,2105,2606,3417
$GC,5289,-0.99,-146.6,525.1,-11.0,253,5291,0.20,0.00,0.00,0.000,6,0.095,0.000,2142,2605,3416
$GC,5597,-0.99,-146.6,551.4,-7.3,268,5601,0.00,2.45,0.00,0.000,4,0.000,0.038,2142,1211,3416
$GC,5704,-1.06,-146.6,558.6,-6.2,272,5710,0.00,2.45,0.00,0.000,6,0.000,0.036,2142,2602,3416
$GC,6020,-1.06,-146.6,578.7,-6.4,288,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2602,3415
$GC,6329,-1.06,-146.6,600.4,-7.8,303,6333,0.00,2.45,0.00,0.000,4,0.000,0.038,2142,1209,3416
$GC,6408,-1.12,-146.6,606.6,-6.8,306,6413,0.12,2.45,0.00,0.000,6,0.046,0.036,2102,2599,3415
$GC,6725,-1.02,-146.6,637.5,-9.9,321,6730,0.17,2.35,0.00,0.000,4,0.093,0.067,2136,3861,3415
$GC,6797,-1.02,-146.6,643.8,-8.3,324,6801,0.00,2.12,0.00,0.000,6,0.000,0.027,2136,2603,3415
$GC,7119,-1.02,-146.6,667.4,-8.1,340,7123,0.00,2.45,0.00,0.000,4,0.000,0.041,2136,1212,3415
$GC,7170,-1.09,-146.6,671.4,-7.8,342,7174,0.00,2.42,0.00,0.000,6,0.000,0.036,2136,2600,3415
$GC,7491,-1.09,-146.6,695.9,-7.4,358,7495,0.00,2.45,0.00,0.000,4,0.000,0.038,2136,1210,3414
$GC,7581,-1.15,-146.6,702.4,-7.7,362,7586,0.12,2.45,0.00,0.000,6,0.047,0.038,2097,2599,3414
$STATE,7715,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7715,begin apogee
$GC,7722,-0.31,0.0,715.9,10.4,369,7857,1.00,0.00,129.05,1.040,6,0.126,0.000,2288,2295,2816
$STATE,7858,end apogee,CONTROL_FINISHED_OK
$STATE,7858,begin climb
$GC,7861,1.03,146.6,719.4,0.0,376,8004,1.38,2.75,131.05,1.030,4,0.077,0.060,2578,3704,2218
$GC,8057,0.89,146.6,712.8,7.6,385,8062,0.12,2.42,0.00,0.000,6,0.092,0.028,2555,2311,2216
$GC,8379,0.93,178.2,693.0,6.4,401,8413,0.00,2.62,28.73,0.980,4,0.000,0.046,2555,909,2089
$GC,8512,0.94,187.2,683.9,7.2,407,8526,0.00,2.47,9.10,0.854,6,0.000,0.035,2555,2307,2053
$GC,8844,0.97,215.0,662.6,6.5,423,8877,0.00,2.60,26.60,0.966,4,0.000,0.044,2555,901,1940
$GC,8909,0.99,237.0,658.3,6.7,426,8938,0.10,2.50,21.75,0.946,6,0.054,0.035,2587,2303,1849
$GC,9262,0.99,237.0,627.7,9.4,443,9266,0.00,2.62,0.00,0.000,4,0.000,0.062,2587,3702,1844
$GC,9284,0.94,237.0,625.3,10.0,444,9289,0.12,2.45,0.00,0.000,6,0.100,0.028,2565,2302,1844
$GC,9605,0.94,237.0,598.9,8.3,460,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2302,1843
$GC,9914,0.94,237.0,573.0,8.3,475,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2302,1842
$GC,10224,0.94,237.0,546.8,8.6,490,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2302,1842
$GC,10533,0.98,237.0,518.9,8.4,505,10538,0.00,2.62,0.00,0.000,4,0.000,0.060,2565,3704,1842
$GC,10573,0.98,237.0,515.2,9.2,507,10577,0.00,2.45,0.00,0.000,6,0.000,0.028,2565,2299,1842
$GC,10900,0.98,237.0,487.2,8.7,523,10904,0.00,2.53,0.00,0.000,4,0.000,0.047,2565,898,1842
$GC,10962,0.98,237.0,481.3,9.5,526,10967,0.00,2.47,0.00,0.000,6,0.000,0.033,2565,2308,1840
$GC,11289,0.98,237.0,451.1,9.6,542,11293,0.00,2.60,0.00,0.000,4,0.000,0.060,2565,3707,1840
$GC,11317,0.98,237.0,448.3,9.9,543,11321,0.00,2.45,0.00,0.000,6,0.000,0.028,2565,2296,1841
$GC,11638,0.98,237.0,419.0,8.6,559,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2295,1840
$GC,11948,1.03,239.8,394.4,7.4,574,11952,0.00,2.60,0.00,0.000,4,0.000,0.058,2565,3701,1841
$GC,11981,1.03,239.8,391.7,8.3,575,11987,0.00,2.42,0.00,0.000,6,0.000,0.027,2565,2295,1841
$GC,12297,1.05,257.3,369.7,6.9,591,12318,0.10,0.00,18.25,0.775,6,0.051,0.000,2599,2295,1767
$GC,12626,1.05,257.3,340.3,9.5,607,12627,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2295,1764
$GC,12936,1.05,257.3,309.3,10.5,622,12937,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2295,1764
$GC,13244,1.05,257.3,274.7,11.6,637,13248,0.00,2.50,0.00,0.000,4,0.000,0.044,2599,895,1764
$GC,13272,1.05,257.3,271.3,11.8,638,13276,0.00,2.47,0.00,0.000,6,0.000,0.033,2599,2306,1762
$GC,13593,1.05,257.3,236.3,10.4,654,13594,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2306,1763
$GC,13901,1.05,257.3,208.2,8.5,669,13906,0.00,2.55,0.00,0.000,4,0.000,0.058,2598,3701,1763
$GC,13925,1.00,257.3,206.2,9.0,670,13930,0.00,2.42,0.00,0.000,6,0.000,0.027,2598,2302,1763
$GC,14248,1.00,257.3,179.1,8.7,686,14249,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2302,1763
$GC,14556,1.00,257.3,149.6,9.7,701,14560,0.00,2.58,0.00,0.000,4,0.000,0.056,2599,3705,1763
$GC,14580,0.96,257.3,147.3,10.0,702,14585,0.15,2.45,0.00,0.000,6,0.091,0.027,2570,2292,1763
$GC,14908,1.01,262.4,122.0,7.3,718,14919,0.00,2.60,5.57,0.514,4,0.000,0.055,2570,3699,1746
$GC,14949,1.06,262.4,118.7,8.1,720,14953,0.00,2.42,0.00,0.000,6,0.000,0.027,2570,2294,1746
$GC,15283,1.12,262.4,90.3,8.8,736,15284,0.15,0.00,0.00,0.000,6,0.043,0.000,2613,2292,1746
$GC,15591,1.08,262.4,60.9,9.5,751,15595,0.00,2.47,0.00,0.000,4,0.000,0.043,2613,902,1746
$GC,15677,1.08,262.4,51.4,10.8,755,15681,0.00,2.45,0.00,0.000,6,0.000,0.032,2613,2305,1746
$GC,16004,1.08,262.4,18.3,10.0,771,16008,0.00,2.58,0.00,0.000,4,0.000,0.058,2613,3706,1746
$GC,16071,1.02,262.4,10.9,11.0,774,16076,0.17,2.42,0.00,0.000,6,0.087,0.027,2579,2299,1746
$STATE,16184,end climb,SURFACE_DEPTH_REACHED
$STATE,16184,begin surface coast
$FINISH,0.7,1.012971
$STATE,16225,end surface coast,CONTROL_FINISHED_OK
$STATE,16226,begin surface
$SM_CCo,16310,0.00,0.000,0,0,1743,263.45
$SM_GC,1.63,12.10,0.00,0.00,0.094,0.000,0.000,75,2603,1743,-10.47,0.08,263.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1822
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.1,100.7
$24V_AH,23.6,45.958
$10V_AH,10.1,24.015
$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,29.050,148.050,370.100,0.000,0.000,36.333,78.035,194.932,5.250,0.000,0.000,17.393,1478.297,12475.355,493.658,1753.983,606.388,0.000,1383.992,0.000,1706.287,0.000,37.057,0.000
$DEVICE_MAMPS,179.478,66.729,1040.052,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.988,538.233,474.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41152,782
$CAP_FILE_SIZE,127770,0
$CFSIZE,260165632,241590272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,142837,6205.605,-947.664,28,1.7,28,-9.9