version: 66.04
glider: 16
mission: 13
dive: 279
start: 7 28 109 3 57 58
data:
$ID,16
$MISSION,13
$DIVE,279
$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,-2112567.2
$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,36
$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
$GPS1,034730,6226.067,-1101.485,42,0.9,42,-10.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-64.8
$GPS2,035738,6226.017,-1101.430,11,0.9,11,-10.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$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,142.5,30589,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.25,0.000,2,0.000,0.000,65,2602,3408
$GC,82,-1.03,-146.6,5.6,-9.3,3,104,11.90,2.38,0.00,0.000,4,0.180,0.058,2131,3861,3410
$GC,247,-0.98,-146.6,36.2,-10.9,10,251,0.00,2.17,0.00,0.000,6,0.000,0.025,2131,2579,3410
$GC,570,-0.94,-146.6,72.3,-11.7,26,572,0.12,0.00,0.00,0.000,6,0.098,0.000,2152,2577,3411
$GC,877,-0.94,-146.6,102.0,-8.5,41,881,0.00,2.40,0.00,0.000,4,0.000,0.037,2154,1214,3411
$GC,911,-1.00,-146.6,105.0,-8.3,42,917,0.00,2.42,0.00,0.000,6,0.000,0.034,2154,2597,3412
$GC,1228,-1.00,-146.6,131.1,-8.5,58,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2597,3412
$GC,1535,-1.00,-146.6,157.4,-8.2,73,1539,0.00,2.45,0.00,0.000,4,0.000,0.036,2154,1208,3412
$GC,1586,-1.08,-146.6,161.4,-7.7,75,1591,0.15,2.45,0.00,0.000,6,0.041,0.034,2106,2603,3412
$GC,1908,-0.97,-146.6,194.3,-10.1,91,1910,0.20,0.00,0.00,0.000,6,0.094,0.000,2145,2604,3412
$GC,2217,-0.97,-146.6,220.6,-8.6,106,2221,0.00,2.45,0.00,0.000,4,0.000,0.037,2145,1205,3411
$GC,2263,-1.02,-146.6,224.6,-9.0,108,2267,0.00,2.45,0.00,0.000,6,0.000,0.035,2145,2600,3412
$GC,2596,-1.02,-146.6,252.6,-8.4,124,2600,0.00,2.33,0.00,0.000,4,0.000,0.064,2145,3858,3411
$GC,2623,-1.02,-146.6,255.0,-9.4,125,2627,0.00,2.12,0.00,0.000,6,0.000,0.025,2145,2597,3411
$GC,2945,-1.02,-146.6,280.1,-7.6,141,2949,0.00,2.42,0.00,0.000,4,0.000,0.038,2145,1217,3411
$GC,2995,-1.07,-146.6,284.2,-7.9,143,2999,0.00,2.42,0.00,0.000,6,0.000,0.034,2145,2600,3411
$GC,3311,-1.07,-146.6,309.0,-8.2,158,3315,0.00,2.45,0.00,0.000,4,0.000,0.036,2145,1209,3411
$GC,3344,-1.12,-146.6,311.9,-8.5,159,3351,0.12,2.45,0.00,0.000,6,0.047,0.035,2104,2601,3411
$GC,3660,-1.01,-146.6,344.6,-10.5,175,3662,0.17,0.00,0.00,0.000,6,0.096,0.000,2137,2603,3410
$GC,3969,-1.01,-146.6,372.2,-9.3,190,3974,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1211,3410
$GC,4003,-1.01,-146.6,375.6,-9.2,191,4009,0.00,2.45,0.00,0.000,6,0.000,0.035,2137,2605,3410
$GC,4318,-1.01,-146.6,406.6,-10.1,207,4322,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1212,3410
$GC,4368,-1.01,-146.6,411.5,-9.8,209,4372,0.00,2.45,0.00,0.000,6,0.000,0.035,2137,2606,3410
$GC,4684,-1.01,-146.6,442.6,-9.6,224,4688,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1215,3410
$GC,4711,-1.01,-146.6,445.5,-10.2,225,4715,0.00,2.42,0.00,0.000,6,0.000,0.034,2137,2601,3410
$GC,5028,-1.01,-146.6,475.2,-9.3,240,5032,0.00,2.42,0.00,0.000,4,0.000,0.037,2137,1211,3410
$GC,5055,-1.01,-146.6,477.9,-9.2,241,5059,0.00,2.45,0.00,0.000,6,0.000,0.034,2137,2608,3410
$GC,5376,-1.01,-146.6,506.4,-8.8,257,5380,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1217,3410
$GC,5410,-1.01,-146.6,509.4,-8.6,258,5416,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2600,3409
$GC,5725,-1.01,-146.6,538.1,-9.5,274,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2600,3409
$GC,6034,-1.01,-146.6,568.8,-9.9,289,6038,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1209,3409
$GC,6114,-1.07,-146.6,576.8,-10.6,292,6120,0.00,2.45,0.00,0.000,6,0.000,0.035,2137,2601,3409
$GC,6429,-1.07,-146.6,608.5,-9.8,308,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2601,3409
$GC,6738,-1.07,-146.6,635.9,-8.3,323,6742,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1210,3409
$GC,6812,-1.12,-146.6,642.0,-8.7,326,6816,0.00,2.45,0.00,0.000,6,0.000,0.035,2137,2603,3409
$GC,7128,-1.16,-146.6,667.9,-8.0,341,7133,0.15,2.35,0.00,0.000,4,0.044,0.067,2091,3864,3408
$GC,7204,-1.06,-146.6,675.4,-10.2,344,7209,0.17,2.12,0.00,0.000,6,0.095,0.026,2124,2600,3408
$GC,7523,-1.06,-146.6,700.3,-7.2,359,7527,0.00,2.35,0.00,0.000,4,0.000,0.067,2124,3858,3408
$GC,7623,-1.06,-146.6,709.2,-8.3,363,7629,0.00,2.12,0.00,0.000,6,0.000,0.027,2124,2606,3407
$GC,7939,-1.06,-146.6,737.8,-9.4,379,7943,0.00,2.47,0.00,0.000,4,0.000,0.042,2124,1206,3407
$GC,7995,-1.10,-146.6,743.3,-10.2,381,8000,0.00,2.47,0.00,0.000,6,0.000,0.037,2125,2608,3406
$GC,8312,-1.10,-146.6,775.2,-9.7,396,8316,0.00,2.33,0.00,0.000,4,0.000,0.073,2124,3856,3406
$GC,8334,-1.10,-146.6,777.7,-10.7,397,8338,0.00,2.15,0.00,0.000,6,0.000,0.030,2125,2613,3406
$STATE,8396,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8396,begin apogee
$GC,8403,-0.31,0.0,783.1,9.3,400,8539,0.82,0.00,128.15,1.098,6,0.104,0.000,2289,2295,2816
$STATE,8540,end apogee,CONTROL_FINISHED_OK
$STATE,8540,begin climb
$GC,8543,1.03,146.6,788.1,0.0,407,8683,1.38,2.60,131.73,1.085,4,0.080,0.049,2578,905,2217
$GC,8809,0.96,146.6,771.9,8.9,418,8813,0.00,2.50,0.00,0.000,6,0.000,0.036,2578,2301,2211
$GC,9126,0.89,146.6,745.9,8.2,433,9131,0.12,2.65,0.00,0.000,4,0.094,0.065,2555,3701,2210
$GC,9198,0.79,146.6,739.4,8.5,436,9203,0.12,2.45,0.00,0.000,6,0.102,0.030,2532,2310,2209
$GC,9515,0.79,150.9,715.8,7.4,451,9519,0.00,2.58,0.00,0.000,4,0.000,0.051,2532,901,2208
$GC,9582,0.79,151.7,710.6,7.5,454,9586,0.00,2.50,0.00,0.000,6,0.000,0.036,2532,2304,2207
$GC,9903,0.85,204.1,690.2,5.7,470,9956,0.00,0.00,51.12,1.035,6,0.000,0.000,2532,2304,1985
$GC,10254,1.02,279.2,672.3,4.9,487,10331,0.17,2.70,70.75,1.029,4,0.048,0.064,2581,3704,1677
$GC,10355,1.02,279.2,664.7,9.2,491,10359,0.00,2.50,0.00,0.000,6,0.000,0.030,2581,2297,1674
$GC,10681,1.02,279.2,630.5,11.5,507,10686,0.00,2.58,0.00,0.000,4,0.000,0.051,2581,894,1668
$GC,10699,1.02,279.2,628.4,11.6,508,10703,0.00,2.50,0.00,0.000,6,0.000,0.035,2581,2300,1666
$GC,11025,1.02,279.2,594.8,9.3,524,11029,0.00,2.62,0.00,0.000,4,0.000,0.063,2581,3701,1665
$GC,11058,1.02,279.2,591.8,9.2,525,11065,0.00,2.47,0.00,0.000,6,0.000,0.031,2581,2296,1665
$GC,11375,1.02,279.2,565.0,8.8,541,11379,0.00,2.55,0.00,0.000,4,0.000,0.050,2581,898,1664
$GC,11424,1.06,279.2,560.4,9.5,543,11429,0.00,2.50,0.00,0.000,6,0.000,0.035,2581,2308,1663
$GC,11741,1.06,279.2,532.4,9.1,558,11745,0.00,2.60,0.00,0.000,4,0.000,0.061,2581,3706,1663
$GC,11773,1.06,279.2,529.4,9.3,559,11779,0.00,2.47,0.00,0.000,6,0.000,0.028,2581,2292,1663
$GC,12089,1.06,279.2,502.7,8.6,575,12090,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2292,1663
$GC,12399,1.06,279.2,475.9,8.5,590,12403,0.00,2.50,0.00,0.000,4,0.000,0.047,2581,899,1663
$GC,12432,1.10,279.2,472.8,8.2,591,12436,0.00,2.45,0.00,0.000,6,0.000,0.033,2581,2303,1662
$GC,12753,1.10,279.2,446.3,8.3,607,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2303,1662
$GC,13063,1.10,279.2,420.4,8.7,622,13064,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2303,1662
$GC,13371,1.10,279.2,395.2,8.1,637,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2303,1662
$GC,13680,1.10,279.2,369.6,8.4,652,13682,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2303,1663
$GC,13990,1.10,279.2,342.3,9.0,667,13991,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2303,1663
$GC,14300,1.10,279.2,313.4,9.4,682,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2304,1663
$GC,14608,1.10,279.2,285.2,9.1,697,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2303,1663
$GC,14918,1.15,279.2,256.8,9.3,712,14920,0.12,0.00,0.00,0.000,6,0.051,0.000,2622,2303,1663
$GC,15227,1.09,279.2,220.5,12.1,727,15229,0.12,0.00,0.00,0.000,6,0.091,0.000,2597,2304,1664
$GC,15536,1.09,279.2,187.9,10.4,742,15540,0.00,2.53,0.00,0.000,4,0.000,0.041,2597,889,1663
$GC,15558,1.09,279.2,185.4,10.5,743,15563,0.00,2.47,0.00,0.000,6,0.000,0.031,2597,2308,1663
$GC,15886,1.09,279.2,152.6,10.1,759,15890,0.00,2.58,0.00,0.000,4,0.000,0.058,2597,3703,1664
$GC,15907,1.09,279.2,150.1,11.0,760,15911,0.00,2.42,0.00,0.000,6,0.000,0.026,2597,2292,1664
$GC,16234,1.09,279.2,117.8,9.7,776,16235,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2291,1664
$GC,16544,1.09,279.2,87.5,9.5,791,16545,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2290,1664
$GC,16854,1.09,279.2,55.5,10.2,806,16855,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2290,1664
$GC,17162,1.13,279.2,26.5,8.9,821,17166,0.00,2.60,0.00,0.000,4,0.000,0.055,2597,3701,1664
$GC,17195,1.13,279.2,23.3,9.2,822,17202,0.00,2.40,0.00,0.000,6,0.000,0.026,2597,2296,1664
$STATE,17448,end climb,SURFACE_DEPTH_REACHED
$STATE,17448,begin surface coast
$FINISH,0.7,1.026449
$STATE,17468,end surface coast,CONTROL_FINISHED_OK
$STATE,17468,begin surface
$SM_CCo,17552,0.00,0.000,0,0,1663,283.08
$SM_GC,1.43,12.40,0.00,0.00,0.104,0.000,0.000,79,2598,1663,-10.46,-0.06,283.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1810
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,752.0,39.8
$24V_AH,23.5,43.721
$10V_AH,10.1,22.776
$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,28.275,147.725,381.750,0.000,0.000,36.318,63.797,323.371,6.750,0.000,0.000,11.790,1533.894,13612.587,495.899,1792.780,725.047,0.000,1417.570,0.000,1748.123,0.000,47.940,0.000
$DEVICE_MAMPS,180.245,72.865,1098.344,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,618.605,569.638,487.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41122,836
$CAP_FILE_SIZE,130733,0
$CFSIZE,260165632,242569216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280709,085136,6222.595,-1058.744,29,1.1,29,-10.6