version: 66.04
glider: 16
mission: 13
dive: 277
start: 7 27 109 18 9 40
data:
$ID,16
$MISSION,13
$DIVE,277
$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,-2112538.5
$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,34
$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
$GPS1,175906,6228.253,-1111.587,38,1.7,43,-10.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-57.9
$GPS2,180920,6228.284,-1111.847,14,1.3,14,-10.8
$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,131.7,11841,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-66.97,0.000,6,0.000,0.000,71,2604,3417
$GC,87,-1.03,-146.6,3.7,-4.6,3,109,11.98,2.53,0.00,0.000,4,0.184,0.034,2132,1192,3418
$GC,166,-1.03,-146.6,27.7,-10.8,6,170,0.00,2.50,0.00,0.000,6,0.000,0.035,2132,2604,3418
$GC,482,-0.98,-146.6,64.1,-10.5,21,486,0.00,2.33,0.00,0.000,4,0.000,0.061,2132,3860,3418
$GC,526,-0.93,-146.6,68.9,-10.7,23,531,0.12,2.17,0.00,0.000,6,0.138,0.025,2151,2572,3418
$GC,848,-0.93,-146.6,98.7,-9.5,39,852,0.00,2.40,0.00,0.000,4,0.000,0.037,2151,1206,3419
$GC,911,-0.99,-146.6,104.5,-9.1,42,915,0.00,2.45,0.00,0.000,6,0.000,0.033,2151,2600,3419
$GC,1237,-0.99,-146.6,133.4,-8.8,58,1241,0.00,2.33,0.00,0.000,4,0.000,0.061,2151,3860,3420
$GC,1278,-0.99,-146.6,137.1,-9.6,60,1282,0.00,2.12,0.00,0.000,6,0.000,0.025,2152,2596,3419
$GC,1611,-0.99,-146.6,167.4,-9.3,76,1615,0.00,2.42,0.00,0.000,4,0.000,0.037,2152,1216,3419
$GC,1661,-1.06,-146.6,172.3,-9.6,78,1666,0.10,2.45,0.00,0.000,6,0.051,0.034,2115,2610,3419
$GC,1978,-0.98,-146.6,207.8,-11.3,93,1979,0.15,0.00,0.00,0.000,6,0.092,0.000,2143,2610,3419
$GC,2286,-0.98,-146.6,238.0,-9.8,108,2290,0.00,2.45,0.00,0.000,4,0.000,0.036,2144,1218,3419
$GC,2313,-0.98,-146.6,240.8,-10.2,109,2317,0.00,2.42,0.00,0.000,6,0.000,0.034,2143,2599,3419
$GC,2628,-0.98,-146.6,271.4,-9.6,124,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2599,3419
$GC,2938,-0.98,-146.6,301.2,-9.6,139,2942,0.00,2.42,0.00,0.000,4,0.000,0.036,2143,1218,3418
$GC,3002,-1.03,-146.6,306.8,-9.1,142,3006,0.00,2.42,0.00,0.000,6,0.000,0.035,2144,2599,3418
$GC,3334,-1.03,-146.6,337.1,-9.2,158,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2599,3418
$GC,3643,-1.03,-146.6,365.0,-8.9,173,3647,0.00,2.42,0.00,0.000,4,0.000,0.037,2144,1218,3418
$GC,3694,-1.09,-146.6,369.6,-8.8,175,3699,0.00,2.42,0.00,0.000,6,0.000,0.035,2144,2602,3418
$GC,4022,-1.09,-146.6,398.2,-8.5,191,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2603,3418
$GC,4331,-1.09,-146.6,423.6,-8.0,206,4335,0.00,2.45,0.00,0.000,4,0.000,0.036,2143,1209,3417
$GC,4376,-1.15,-146.6,427.3,-7.7,208,4381,0.15,2.45,0.00,0.000,6,0.044,0.035,2096,2606,3417
$GC,4697,-1.03,-146.6,461.4,-10.8,224,4699,0.20,0.00,0.00,0.000,6,0.097,0.000,2135,2607,3416
$GC,5007,-1.03,-146.6,490.3,-9.5,239,5011,0.00,2.45,0.00,0.000,4,0.000,0.037,2135,1213,3416
$GC,5051,-1.07,-146.6,494.7,-9.6,241,5055,0.00,2.45,0.00,0.000,6,0.000,0.035,2135,2608,3416
$GC,5372,-1.07,-146.6,525.3,-9.3,257,5376,0.00,2.45,0.00,0.000,4,0.000,0.036,2135,1214,3416
$GC,5413,-1.07,-146.6,528.8,-8.7,259,5417,0.00,2.42,0.00,0.000,6,0.000,0.035,2135,2600,3416
$GC,5739,-1.07,-146.6,558.0,-9.1,275,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2600,3416
$GC,6048,-1.07,-146.6,587.0,-9.7,290,6052,0.00,2.42,0.00,0.000,4,0.000,0.037,2135,1218,3415
$GC,6116,-1.07,-146.6,593.9,-10.2,293,6120,0.00,2.42,0.00,0.000,6,0.000,0.035,2135,2601,3415
$GC,6437,-1.07,-146.6,629.2,-10.7,309,6441,0.00,2.42,0.00,0.000,4,0.000,0.037,2135,1218,3415
$GC,6470,-1.12,-146.6,632.6,-10.5,310,6476,0.00,2.42,0.00,0.000,6,0.000,0.035,2135,2600,3415
$GC,6787,-1.12,-146.6,658.6,-6.8,326,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2600,3415
$GC,7098,-1.12,-146.6,675.1,-4.6,341,7102,0.00,2.35,0.00,0.000,4,0.000,0.068,2135,3864,3414
$GC,7142,-1.12,-146.6,677.8,-5.8,343,7146,0.00,2.12,0.00,0.000,6,0.000,0.025,2134,2601,3414
$GC,7474,-1.12,-146.6,700.7,-8.5,359,7478,0.00,2.45,0.00,0.000,4,0.000,0.039,2135,1211,3414
$GC,7553,-1.19,-146.6,708.2,-8.9,362,7560,0.17,2.45,0.00,0.000,6,0.042,0.036,2082,2602,3414
$GC,7869,-1.08,-146.6,742.7,-10.9,378,7874,0.17,2.45,0.00,0.000,4,0.098,0.038,2120,1215,3414
$GC,7936,-1.08,-146.6,748.7,-8.1,381,7940,0.00,2.45,0.00,0.000,6,0.000,0.037,2120,2602,3414
$STATE,8213,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8213,begin apogee
$GC,8220,-0.31,0.0,773.0,8.8,395,8355,0.90,0.00,129.05,1.083,6,0.137,0.000,2288,2298,2817
$STATE,8356,end apogee,CONTROL_FINISHED_OK
$STATE,8356,begin climb
$GC,8359,1.03,146.6,776.5,0.0,402,8498,1.38,2.58,131.12,1.071,4,0.077,0.044,2580,908,2217
$GC,8682,0.97,146.6,760.4,8.4,416,8687,0.00,2.47,0.00,0.000,6,0.000,0.035,2580,2301,2211
$GC,9010,0.94,172.3,738.3,6.6,432,9039,0.00,2.72,23.35,1.004,4,0.000,0.062,2579,3698,2113
$GC,9092,0.84,172.3,732.5,7.9,435,9099,0.17,2.42,0.00,0.000,6,0.094,0.028,2547,2314,2111
$GC,9408,0.91,235.3,713.8,5.3,451,9474,0.00,2.67,58.25,1.033,4,0.000,0.050,2547,906,1856
$GC,9521,0.99,240.2,706.4,7.3,456,9532,0.12,2.47,5.75,0.765,6,0.050,0.035,2584,2303,1837
$GC,9842,0.99,240.2,679.4,8.1,471,9846,0.00,2.55,0.00,0.000,4,0.000,0.047,2584,902,1832
$GC,9881,0.99,240.2,675.9,9.0,473,9886,0.00,2.50,0.00,0.000,6,0.000,0.035,2584,2309,1831
$GC,10209,0.99,240.2,648.2,8.8,489,10213,0.00,2.60,0.00,0.000,4,0.000,0.061,2584,3700,1830
$GC,10259,0.94,240.2,643.3,10.6,491,10263,0.00,2.45,0.00,0.000,6,0.000,0.028,2584,2304,1830
$GC,10575,0.94,240.2,611.7,10.9,506,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2303,1830
$GC,10884,0.94,240.2,576.7,11.1,521,10888,0.00,2.53,0.00,0.000,4,0.000,0.048,2584,900,1829
$GC,10912,0.94,240.2,573.6,11.0,522,10916,0.00,2.47,0.00,0.000,6,0.000,0.034,2584,2302,1828
$GC,11232,0.94,240.2,542.9,9.2,538,11237,0.00,2.60,0.00,0.000,4,0.000,0.060,2584,3700,1828
$GC,11255,0.94,240.2,540.7,9.7,539,11259,0.00,2.42,0.00,0.000,6,0.000,0.028,2584,2298,1828
$GC,11581,0.94,240.2,512.7,8.9,555,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2297,1829
$GC,11890,0.94,240.2,484.0,9.4,570,11895,0.00,2.60,0.00,0.000,4,0.000,0.058,2584,3700,1828
$GC,11913,0.94,240.2,481.6,9.7,571,11917,0.00,2.42,0.00,0.000,6,0.000,0.027,2584,2299,1829
$GC,12233,0.94,240.2,452.5,8.9,587,12237,0.00,2.53,0.00,0.000,4,0.000,0.046,2584,899,1828
$GC,12256,0.94,240.2,450.5,8.2,588,12261,0.00,2.45,0.00,0.000,6,0.000,0.032,2584,2301,1827
$GC,12584,0.94,240.2,423.0,8.1,604,12588,0.00,2.60,0.00,0.000,4,0.000,0.058,2585,3706,1829
$GC,12611,0.94,240.2,420.6,8.4,605,12615,0.00,2.45,0.00,0.000,6,0.000,0.027,2584,2293,1828
$GC,12932,0.94,240.2,394.6,8.0,621,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2292,1829
$GC,13241,0.94,240.2,370.1,8.3,636,13246,0.00,2.60,0.00,0.000,4,0.000,0.056,2585,3701,1829
$GC,13264,0.94,240.2,368.0,8.3,637,13268,0.00,2.42,0.00,0.000,6,0.000,0.026,2584,2297,1829
$GC,13584,0.94,240.2,340.9,8.6,653,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2296,1829
$GC,13894,0.94,240.2,314.3,8.6,668,13895,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2296,1829
$GC,14204,0.94,240.2,286.7,9.3,683,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2296,1829
$GC,14512,0.94,240.2,259.2,8.5,698,14513,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2296,1829
$GC,14821,0.94,240.2,234.0,7.9,713,14826,0.00,2.60,0.00,0.000,4,0.000,0.055,2584,3706,1830
$GC,14849,0.94,240.2,231.6,8.6,714,14854,0.00,2.42,0.00,0.000,6,0.000,0.026,2584,2298,1829
$GC,15165,0.94,240.2,206.9,8.1,729,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2298,1829
$GC,15474,0.94,240.2,181.9,8.3,744,15475,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2297,1829
$GC,15784,0.94,240.2,154.4,9.1,759,15788,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3706,1829
$GC,15828,0.94,240.2,149.7,10.6,761,15832,0.00,2.42,0.00,0.000,6,0.000,0.026,2584,2298,1829
$GC,16150,0.94,240.2,116.8,10.6,777,16151,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2296,1829
$GC,16460,0.94,240.2,82.7,10.7,792,16461,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2296,1829
$GC,16769,0.95,250.8,55.5,7.1,807,16783,0.00,2.60,9.40,0.546,4,0.000,0.054,2584,3701,1794
$GC,16840,0.95,250.8,50.0,8.5,810,16844,0.00,2.42,0.00,0.000,6,0.000,0.026,2584,2299,1794
$GC,17162,1.04,292.6,29.3,6.1,826,17205,0.00,2.55,37.75,0.583,4,0.000,0.043,2584,906,1622
$GC,17229,1.15,310.5,24.7,6.9,829,17251,0.12,2.47,16.30,0.550,6,0.050,0.031,2618,2307,1551
$STATE,17461,end climb,SURFACE_DEPTH_REACHED
$STATE,17461,begin surface coast
$FINISH,0.7,1.013621
$STATE,17487,end surface coast,CONTROL_FINISHED_OK
$STATE,17487,begin surface
$SM_CCo,17570,0.00,0.000,0,0,1541,313.00
$SM_GC,1.36,12.00,0.00,0.00,0.077,0.000,0.000,70,2604,1541,-10.46,0.11,313.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.022243
$HUMID,1812
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.3,30.9
$24V_AH,23.6,43.450
$10V_AH,10.1,22.620
$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,27.750,153.550,410.975,0.000,0.000,36.445,55.976,328.477,6.750,0.000,0.000,14.826,1548.283,13575.154,505.022,1832.797,722.138,0.000,1453.818,0.000,1781.890,0.000,47.889,0.000
$DEVICE_MAMPS,184.080,68.263,1083.004,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,617.928,574.562,492.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41124,842
$CAP_FILE_SIZE,132960,0
$CFSIZE,260165632,242688000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270709,230336,6226.898,-1108.892,29,1.2,29,-10.7