version: 66.04
glider: 16
mission: 13
dive: 275
start: 7 27 109 8 7 24
data:
$ID,16
$MISSION,13
$DIVE,275
$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,-2112508
$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,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
$GPS1,075809,6228.761,-1119.429,41,1.8,50,-10.9
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-59.2
$GPS2,080708,6228.780,-1119.564,16,1.9,16,-10.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$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,123.5,18179,-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,-146.6,0.0,0.0,0,87,0.00,0.00,-65.38,0.000,6,0.000,0.000,78,2607,3415
$GC,91,-1.03,-146.6,7.7,-8.8,4,112,12.02,2.53,0.00,0.000,4,0.188,0.034,2129,1195,3417
$GC,181,-1.03,-146.6,31.9,-12.0,8,185,0.00,2.47,0.00,0.000,6,0.000,0.035,2128,2597,3417
$GC,509,-0.97,-146.6,68.9,-9.3,24,513,0.00,2.35,0.00,0.000,4,0.000,0.062,2129,3865,3418
$GC,559,-0.97,-146.6,73.8,-8.7,26,563,0.00,2.17,0.00,0.000,6,0.000,0.025,2129,2579,3418
$GC,875,-0.93,-146.6,103.3,-10.5,41,877,0.15,0.00,0.00,0.000,6,0.134,0.000,2154,2577,3418
$GC,1185,-0.93,-146.6,133.5,-9.9,56,1189,0.00,2.38,0.00,0.000,4,0.000,0.061,2154,3861,3418
$GC,1212,-0.93,-146.6,136.5,-10.6,57,1215,0.00,2.12,0.00,0.000,6,0.000,0.025,2154,2600,3418
$GC,1533,-0.93,-146.6,168.6,-9.9,73,1537,0.00,2.42,0.00,0.000,4,0.000,0.037,2154,1216,3419
$GC,1606,-1.01,-146.6,175.7,-9.7,76,1611,0.00,2.45,0.00,0.000,6,0.000,0.034,2155,2612,3418
$GC,1922,-1.01,-146.6,205.9,-9.1,91,1926,0.00,2.45,0.00,0.000,4,0.000,0.035,2154,1215,3418
$GC,1950,-1.07,-146.6,208.5,-9.6,92,1954,0.12,2.42,0.00,0.000,6,0.046,0.034,2111,2599,3418
$GC,2266,-0.97,-146.6,245.4,-12.0,107,2268,0.17,0.00,0.00,0.000,6,0.096,0.000,2143,2599,3418
$GC,2575,-0.97,-146.6,275.5,-9.4,122,2579,0.00,2.45,0.00,0.000,4,0.000,0.036,2143,1208,3418
$GC,2609,-1.01,-146.6,278.6,-9.0,123,2615,0.00,2.45,0.00,0.000,6,0.000,0.035,2144,2601,3418
$GC,2924,-1.01,-146.6,305.7,-8.5,139,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2601,3418
$GC,3233,-1.01,-146.6,332.4,-8.7,154,3238,0.00,2.45,0.00,0.000,4,0.000,0.037,2144,1211,3417
$GC,3279,-1.07,-146.6,336.6,-9.3,156,3283,0.00,2.45,0.00,0.000,6,0.000,0.035,2144,2607,3418
$GC,3599,-1.07,-146.6,365.7,-9.3,172,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2607,3417
$GC,3909,-1.07,-146.6,394.9,-9.2,187,3913,0.00,2.45,0.00,0.000,4,0.000,0.037,2144,1212,3417
$GC,3959,-1.13,-146.6,399.5,-9.1,189,3964,0.15,2.45,0.00,0.000,6,0.044,0.035,2097,2610,3416
$GC,4275,-1.00,-146.6,434.8,-11.0,204,4277,0.22,0.00,0.00,0.000,6,0.094,0.000,2140,2610,3416
$GC,4585,-1.00,-146.6,460.0,-7.8,219,4589,0.00,2.45,0.00,0.000,4,0.000,0.037,2140,1216,3416
$GC,4626,-1.05,-146.6,463.1,-7.5,221,4630,0.00,2.42,0.00,0.000,6,0.000,0.035,2140,2600,3416
$GC,4952,-1.05,-146.6,490.0,-8.6,237,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2600,3416
$GC,5262,-1.05,-146.6,516.7,-8.4,252,5266,0.00,2.45,0.00,0.000,4,0.000,0.037,2140,1207,3416
$GC,5296,-1.10,-146.6,519.7,-8.3,253,5302,0.00,2.45,0.00,0.000,6,0.000,0.035,2140,2601,3415
$GC,5611,-1.10,-146.6,544.6,-7.6,269,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2602,3415
$GC,5921,-1.10,-146.6,568.3,-8.0,284,5925,0.00,2.45,0.00,0.000,4,0.000,0.037,2140,1212,3415
$GC,5966,-1.17,-146.6,571.9,-7.8,286,5971,0.17,2.45,0.00,0.000,6,0.041,0.035,2088,2609,3415
$GC,6289,-1.05,-146.6,607.6,-11.3,302,6291,0.22,0.00,0.00,0.000,6,0.094,0.000,2131,2609,3414
$GC,6597,-1.05,-146.6,634.9,-8.6,317,6601,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1215,3415
$GC,6636,-1.05,-146.6,638.3,-8.9,319,6640,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2599,3415
$GC,6963,-1.05,-146.6,670.7,-10.8,335,6967,0.00,2.35,0.00,0.000,4,0.000,0.067,2131,3860,3414
$GC,7030,-1.05,-146.6,678.1,-10.5,338,7034,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2599,3414
$GC,7357,-1.05,-146.6,709.4,-8.8,354,7361,0.00,2.42,0.00,0.000,4,0.000,0.040,2131,1217,3414
$GC,7419,-1.10,-146.6,713.8,-6.9,356,7426,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2598,3414
$GC,7735,-1.10,-146.6,733.1,-6.1,372,7739,0.00,2.35,0.00,0.000,4,0.000,0.070,2131,3861,3414
$GC,7785,-1.10,-146.6,737.0,-8.0,374,7789,0.00,2.12,0.00,0.000,6,0.000,0.027,2131,2609,3414
$GC,8113,-1.10,-146.6,762.3,-8.3,390,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3413
$STATE,8213,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8213,begin apogee
$GC,8220,-0.31,0.0,771.2,8.7,395,8356,0.85,0.00,129.40,1.083,6,0.134,0.000,2291,2303,2816
$STATE,8356,end apogee,CONTROL_FINISHED_OK
$STATE,8356,begin climb
$GC,8359,1.03,146.6,775.9,0.0,402,8495,1.35,0.00,131.35,1.071,6,0.073,0.000,2579,2303,2218
$GC,8793,0.98,161.0,752.2,7.0,423,8814,0.00,2.70,13.48,0.953,4,0.000,0.063,2579,3700,2160
$GC,8861,0.87,161.0,746.8,8.1,426,8866,0.15,2.42,0.00,0.000,6,0.097,0.029,2551,2313,2158
$GC,9188,0.87,161.0,721.1,8.1,442,9192,0.00,2.60,0.00,0.000,4,0.000,0.062,2550,3701,2156
$GC,9228,0.80,161.0,717.8,8.6,444,9232,0.00,2.45,0.00,0.000,6,0.000,0.029,2551,2300,2156
$GC,9554,0.80,161.0,690.3,8.5,460,9559,0.00,2.62,0.00,0.000,4,0.000,0.062,2551,3701,2155
$GC,9611,0.73,161.0,685.4,8.6,462,9618,0.17,2.45,0.00,0.000,6,0.100,0.029,2518,2299,2155
$GC,9927,0.92,239.3,668.5,4.8,478,10005,0.20,2.60,71.85,1.020,4,0.044,0.050,2575,902,1840
$GC,10047,0.92,239.3,659.5,8.9,482,10054,0.00,2.50,0.00,0.000,6,0.000,0.035,2575,2302,1834
$GC,10363,0.92,239.3,634.2,7.9,498,10367,0.00,2.62,0.00,0.000,4,0.000,0.061,2575,3705,1831
$GC,10407,0.92,239.3,630.2,9.1,500,10411,0.00,2.45,0.00,0.000,6,0.000,0.029,2575,2300,1831
$GC,10734,0.92,239.3,601.9,9.0,516,10736,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1830
$GC,11043,0.92,240.1,576.3,7.5,531,11048,0.00,2.55,0.00,0.000,4,0.000,0.048,2575,894,1829
$GC,11066,0.92,243.7,574.6,7.4,532,11070,0.00,2.47,0.00,0.000,6,0.000,0.034,2575,2299,1828
$GC,11387,0.92,243.7,550.8,7.6,548,11392,0.00,2.60,0.00,0.000,4,0.000,0.061,2574,3707,1828
$GC,11432,0.92,243.7,546.7,9.0,550,11436,0.00,2.45,0.00,0.000,6,0.000,0.028,2575,2296,1828
$GC,11753,0.92,243.7,520.2,8.7,566,11754,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2296,1828
$GC,12063,0.92,243.7,493.4,8.3,581,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2296,1828
$GC,12371,0.92,243.7,467.9,8.2,596,12375,0.00,2.58,0.00,0.000,4,0.000,0.058,2574,3700,1828
$GC,12415,0.92,243.7,463.9,8.9,598,12419,0.00,2.42,0.00,0.000,6,0.000,0.027,2575,2300,1828
$GC,12736,0.92,243.7,436.2,8.9,614,12740,0.00,2.50,0.00,0.000,4,0.000,0.045,2575,904,1828
$GC,12757,0.92,243.7,434.0,9.2,615,12762,0.00,2.45,0.00,0.000,6,0.000,0.032,2575,2303,1828
$GC,13079,0.92,243.7,403.7,9.5,631,13083,0.00,2.58,0.00,0.000,4,0.000,0.058,2574,3701,1828
$GC,13101,0.92,243.7,401.4,10.0,632,13105,0.00,2.42,0.00,0.000,6,0.000,0.027,2575,2296,1828
$GC,13422,0.92,243.7,371.4,9.3,648,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2295,1828
$GC,13732,0.92,243.7,343.6,9.2,663,13737,0.00,2.60,0.00,0.000,4,0.000,0.056,2575,3707,1828
$GC,13773,0.92,243.7,339.5,10.2,665,13777,0.00,2.42,0.00,0.000,6,0.000,0.027,2574,2299,1828
$GC,14099,0.92,243.7,310.5,8.7,681,14101,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2298,1828
$GC,14409,0.92,243.7,284.7,8.1,696,14413,0.00,2.58,0.00,0.000,4,0.000,0.055,2574,3702,1828
$GC,14431,0.92,243.7,282.8,8.8,697,14435,0.00,2.42,0.00,0.000,6,0.000,0.026,2575,2295,1829
$GC,14752,0.92,243.7,256.4,8.2,713,14753,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2295,1829
$GC,15061,0.92,243.7,230.1,8.4,728,15065,0.00,2.58,0.00,0.000,4,0.000,0.055,2575,3701,1829
$GC,15101,0.92,243.7,226.5,9.4,730,15105,0.00,2.42,0.00,0.000,6,0.000,0.026,2575,2293,1829
$GC,15428,0.92,243.7,199.7,8.0,746,15429,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2292,1829
$GC,15737,0.92,243.7,175.0,8.2,761,15741,0.00,2.60,0.00,0.000,4,0.000,0.056,2575,3709,1829
$GC,15758,0.92,243.7,173.2,8.3,762,15762,0.00,2.42,0.00,0.000,6,0.000,0.026,2575,2298,1829
$GC,16080,0.92,243.7,146.9,8.1,778,16081,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2297,1829
$GC,16390,0.92,243.7,121.8,8.1,793,16394,0.00,2.58,0.00,0.000,4,0.000,0.055,2575,3702,1829
$GC,16417,0.92,243.7,119.3,9.2,794,16421,0.00,2.42,0.00,0.000,6,0.000,0.026,2575,2292,1829
$GC,16734,0.92,247.1,96.2,7.4,809,16747,0.00,2.65,6.47,0.531,4,0.000,0.054,2575,3702,1808
$GC,16765,0.92,247.1,93.5,9.4,810,16769,0.00,2.42,0.00,0.000,6,0.000,0.026,2575,2297,1809
$GC,17082,0.97,247.1,68.1,7.7,825,17083,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2296,1807
$GC,17393,1.02,253.8,45.5,7.3,840,17406,0.00,2.55,7.28,0.518,4,0.000,0.041,2575,903,1781
$GC,17431,1.09,253.8,42.3,8.6,841,17438,0.10,2.45,0.00,0.000,6,0.054,0.031,2605,2307,1780
$GC,17749,1.09,253.8,14.9,8.2,857,17753,0.00,2.55,0.00,0.000,4,0.000,0.055,2604,3701,1779
$GC,17772,1.03,253.8,13.0,7.8,858,17776,0.00,2.42,0.00,0.000,6,0.000,0.025,2605,2293,1780
$STATE,17864,end climb,SURFACE_DEPTH_REACHED
$STATE,17864,begin surface coast
$FINISH,0.6,1.026794
$STATE,17885,end surface coast,CONTROL_FINISHED_OK
$STATE,17885,begin surface
$SM_CCo,17969,0.00,0.000,0,0,1776,255.11
$SM_GC,1.45,12.02,0.00,0.00,0.085,0.000,0.000,73,2601,1776,-10.45,0.03,255.11
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1805
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.7,104.9
$24V_AH,23.6,43.179
$10V_AH,10.1,22.462
$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,28.100,163.400,359.825,0.000,0.000,36.351,57.714,243.609,5.750,0.000,0.000,16.861,1582.178,13952.267,496.174,1810.091,663.131,0.000,1432.004,0.000,1768.092,0.000,40.312,0.000
$DEVICE_MAMPS,187.915,69.797,1083.004,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,636.436,592.123,507.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44236,864
$CAP_FILE_SIZE,135273,0
$CFSIZE,260165632,242806784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270709,130831,6229.317,-1115.690,61,1.2,61,-10.8