version: 66.04
glider: 16
mission: 13
dive: 280
start: 7 28 109 9 1 50
data:
$ID,16
$MISSION,13
$DIVE,280
$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,-2112584.8
$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,39
$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
$GPS1,085136,6222.595,-1058.744,29,1.1,29,-10.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.9
$GPS2,090132,6222.606,-1058.772,14,1.3,14,-10.6
$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,135.1,24872,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.78,0.000,6,0.000,0.000,78,2599,3417
$GC,81,-1.03,-146.6,6.3,-11.9,3,103,12.00,2.38,0.00,0.000,4,0.187,0.056,2129,3864,3417
$GC,274,-0.94,-146.6,41.5,-11.3,11,279,0.12,2.17,0.00,0.000,6,0.100,0.025,2152,2580,3418
$GC,590,-0.94,-146.6,73.9,-10.6,26,594,0.00,2.38,0.00,0.000,4,0.000,0.059,2152,3863,3418
$GC,612,-0.94,-146.6,76.4,-10.3,27,616,0.00,2.15,0.00,0.000,6,0.000,0.025,2152,2589,3419
$GC,934,-0.94,-146.6,108.7,-9.4,43,938,0.00,2.42,0.00,0.000,4,0.000,0.037,2152,1209,3419
$GC,968,-1.00,-146.6,111.8,-9.6,44,974,0.00,2.45,0.00,0.000,6,0.000,0.034,2152,2605,3418
$GC,1284,-1.00,-146.6,139.1,-9.0,60,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2605,3419
$GC,1592,-1.00,-146.6,167.2,-9.0,75,1597,0.00,2.45,0.00,0.000,4,0.000,0.036,2152,1216,3419
$GC,1621,-1.05,-146.6,169.8,-9.0,76,1625,0.00,2.42,0.00,0.000,6,0.000,0.034,2152,2600,3419
$GC,1937,-1.05,-146.6,198.1,-9.2,91,1941,0.00,2.45,0.00,0.000,4,0.000,0.035,2152,1209,3419
$GC,1967,-1.11,-146.6,200.9,-9.4,92,1972,0.17,2.45,0.00,0.000,6,0.038,0.034,2096,2601,3419
$GC,2283,-0.98,-146.6,240.8,-13.0,107,2285,0.25,0.00,0.00,0.000,6,0.093,0.000,2145,2602,3419
$GC,2591,-0.98,-146.6,270.5,-9.3,122,2595,0.00,2.42,0.00,0.000,4,0.000,0.036,2144,1215,3418
$GC,2649,-1.03,-146.6,275.4,-8.5,124,2654,0.00,2.45,0.00,0.000,6,0.000,0.034,2145,2610,3418
$GC,2965,-1.03,-146.6,303.6,-8.9,139,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2610,3418
$GC,3274,-1.03,-146.6,332.4,-9.3,154,3278,0.00,2.45,0.00,0.000,4,0.000,0.036,2145,1215,3418
$GC,3347,-1.09,-146.6,339.0,-8.5,157,3351,0.00,2.42,0.00,0.000,6,0.000,0.035,2145,2600,3418
$GC,3667,-1.09,-146.6,368.0,-9.1,173,3672,0.00,2.45,0.00,0.000,4,0.000,0.036,2145,1206,3418
$GC,3701,-1.14,-146.6,371.0,-8.8,174,3708,0.15,2.45,0.00,0.000,6,0.043,0.034,2098,2602,3417
$GC,4017,-1.02,-146.6,406.3,-11.5,190,4019,0.20,0.00,0.00,0.000,6,0.096,0.000,2136,2601,3418
$GC,4326,-1.02,-146.6,435.6,-9.2,205,4330,0.00,2.45,0.00,0.000,4,0.000,0.037,2136,1210,3417
$GC,4370,-1.07,-146.6,439.7,-8.9,207,4374,0.00,2.45,0.00,0.000,6,0.000,0.035,2136,2606,3417
$GC,4691,-1.07,-146.6,468.5,-8.8,223,4695,0.00,2.45,0.00,0.000,4,0.000,0.037,2135,1209,3417
$GC,4724,-1.07,-146.6,471.6,-8.9,224,4729,0.00,2.45,0.00,0.000,6,0.000,0.035,2136,2604,3417
$GC,5040,-1.07,-146.6,498.4,-8.3,239,5045,0.00,2.45,0.00,0.000,4,0.000,0.037,2135,1211,3417
$GC,5085,-1.11,-146.6,502.3,-8.4,241,5090,0.00,2.45,0.00,0.000,6,0.000,0.035,2136,2606,3417
$GC,5406,-1.11,-146.6,529.5,-8.9,257,5411,0.00,2.45,0.00,0.000,4,0.000,0.036,2136,1214,3417
$GC,5436,-1.11,-146.6,532.0,-9.3,258,5440,0.00,2.45,0.00,0.000,6,0.000,0.035,2136,2609,3417
$GC,5752,-1.11,-146.6,560.7,-9.0,273,5756,0.00,2.45,0.00,0.000,4,0.000,0.037,2135,1216,3417
$GC,5792,-1.16,-146.6,564.3,-8.3,275,5797,0.15,2.42,0.00,0.000,6,0.044,0.035,2089,2600,3417
$GC,6122,-1.03,-146.6,604.4,-13.3,291,6127,0.20,2.35,0.00,0.000,4,0.095,0.066,2131,3863,3417
$GC,6188,-1.03,-146.6,613.4,-12.7,294,6192,0.00,2.12,0.00,0.000,6,0.000,0.026,2131,2601,3417
$GC,6515,-1.03,-146.6,649.3,-10.4,310,6520,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1209,3416
$GC,6544,-1.03,-146.6,651.9,-9.2,311,6548,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2601,3416
$GC,6860,-1.03,-146.6,671.4,-4.4,326,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3416
$GC,7169,-1.03,-146.6,686.9,-5.8,341,7174,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1211,3416
$GC,7260,-1.08,-146.6,692.6,-6.6,345,7264,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2601,3416
$GC,7587,-1.08,-146.6,715.0,-6.4,361,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3415
$GC,7897,-1.08,-146.6,740.4,-9.1,376,7901,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1215,3414
$GC,7925,-1.17,-146.6,743.2,-10.0,377,7930,0.12,2.45,0.00,0.000,6,0.046,0.036,2092,2602,3415
$GC,8241,-1.09,-146.6,779.7,-11.1,392,8246,0.15,2.38,0.00,0.000,4,0.097,0.072,2120,3864,3414
$GC,8330,-1.09,-146.6,790.3,-12.0,396,8334,0.00,2.15,0.00,0.000,6,0.000,0.029,2120,2614,3413
$STATE,8490,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8490,begin apogee
$GC,8497,-0.31,0.0,805.5,8.5,404,8633,0.85,0.00,130.15,1.115,6,0.108,0.000,2289,2302,2817
$STATE,8634,end apogee,CONTROL_FINISHED_OK
$STATE,8634,begin climb
$GC,8637,1.03,146.6,810.7,0.0,411,8774,1.38,0.00,132.27,1.102,6,0.074,0.000,2581,2302,2218
$GC,9070,1.02,201.5,790.2,5.6,432,9126,0.00,2.70,49.97,1.071,4,0.000,0.064,2581,3702,1994
$GC,9144,0.98,207.7,785.3,7.3,434,9158,0.00,2.50,7.12,0.856,6,0.000,0.030,2581,2304,1970
$GC,9481,0.98,207.7,755.6,9.5,451,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2304,1963
$GC,9790,1.01,231.1,732.0,6.7,466,9819,0.00,2.75,22.33,1.017,4,0.000,0.064,2581,3709,1874
$GC,9838,1.02,240.6,728.5,7.2,468,9855,0.00,2.53,10.43,0.927,6,0.000,0.031,2581,2297,1835
$GC,10164,1.02,240.6,703.3,8.3,484,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2297,1831
$GC,10474,1.06,275.3,682.6,6.3,499,10516,0.00,2.67,33.30,1.019,4,0.000,0.052,2581,895,1693
$GC,10540,1.13,294.5,678.2,6.8,502,10566,0.12,2.50,19.65,0.976,6,0.058,0.036,2617,2304,1616
$GC,10890,1.13,294.5,642.7,10.7,519,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2304,1609
$GC,11197,1.13,294.5,611.5,9.7,534,11201,0.00,2.62,0.00,0.000,4,0.000,0.063,2617,3699,1608
$GC,11224,1.13,294.5,608.5,10.6,535,11228,0.00,2.47,0.00,0.000,6,0.000,0.031,2617,2299,1608
$GC,11539,1.13,294.5,575.5,10.5,550,11544,0.00,2.62,0.00,0.000,4,0.000,0.060,2617,3700,1607
$GC,11562,1.13,294.5,572.9,11.5,551,11566,0.00,2.47,0.00,0.000,6,0.000,0.028,2617,2292,1607
$GC,11882,1.13,294.5,541.5,9.1,567,11886,0.00,2.53,0.00,0.000,4,0.000,0.049,2617,898,1607
$GC,11905,1.13,294.5,539.4,9.2,568,11910,0.00,2.47,0.00,0.000,6,0.000,0.034,2617,2302,1605
$GC,12233,1.13,294.5,508.9,9.6,584,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2302,1605
$GC,12541,1.13,294.5,477.5,10.4,599,12542,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2302,1605
$GC,12850,1.13,294.5,443.6,10.9,614,12855,0.00,2.55,0.00,0.000,4,0.000,0.044,2618,889,1605
$GC,12873,1.13,294.5,441.1,10.7,615,12877,0.00,2.47,0.00,0.000,6,0.000,0.031,2616,2301,1605
$GC,13194,1.13,294.5,407.1,10.7,631,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2302,1605
$GC,13503,1.13,294.5,372.1,11.4,646,13504,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2302,1605
$GC,13813,1.13,294.5,335.2,12.3,661,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2302,1605
$GC,14122,1.13,294.5,297.9,12.5,676,14123,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2302,1606
$GC,14431,1.13,294.5,260.7,11.9,691,14435,0.00,2.53,0.00,0.000,4,0.000,0.042,2616,889,1606
$GC,14458,1.13,294.5,257.1,12.2,692,14462,0.00,2.47,0.00,0.000,6,0.000,0.032,2617,2305,1605
$GC,14779,1.13,294.5,219.3,11.3,708,14780,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2305,1606
$GC,15088,1.13,294.5,183.4,11.7,723,15089,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2305,1606
$GC,15398,1.13,294.5,146.9,11.7,738,15399,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2305,1606
$GC,15707,1.13,294.5,113.0,10.3,753,15708,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2305,1607
$GC,16017,1.13,294.5,83.2,9.5,768,16022,0.00,2.53,0.00,0.000,4,0.000,0.041,2616,891,1607
$GC,16062,1.13,294.5,78.7,9.1,770,16066,0.00,2.47,0.00,0.000,6,0.000,0.031,2617,2309,1606
$GC,16384,1.13,294.5,49.8,10.6,786,16388,0.00,2.53,0.00,0.000,4,0.000,0.041,2617,895,1607
$GC,16456,1.13,294.5,41.8,12.1,789,16460,0.00,2.45,0.00,0.000,6,0.000,0.031,2617,2301,1607
$GC,16772,1.13,294.5,11.1,9.9,804,16776,0.00,2.53,0.00,0.000,4,0.000,0.041,2617,889,1607
$GC,16800,1.13,294.5,8.3,9.1,805,16804,0.00,2.45,0.00,0.000,6,0.000,0.031,2617,2300,1607
$STATE,16865,end climb,SURFACE_DEPTH_REACHED
$STATE,16866,begin surface coast
$FINISH,0.5,1.024401
$STATE,16888,end surface coast,CONTROL_FINISHED_OK
$STATE,16888,begin surface
$SM_CCo,16972,0.00,0.000,0,0,1605,297.06
$SM_GC,1.57,12.12,0.00,0.00,0.087,0.000,0.000,79,2606,1605,-10.46,0.17,297.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1829
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.6,89.3
$24V_AH,23.5,43.868
$10V_AH,10.1,22.853
$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,28.000,143.400,405.225,0.000,0.000,66.689,55.765,284.247,6.250,0.000,0.000,16.682,1486.517,13147.654,497.817,1725.296,707.628,0.000,1393.405,0.000,1680.147,0.000,43.196,0.000
$DEVICE_MAMPS,187.148,72.098,1115.218,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,591.548,551.008,468.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41117,809
$CAP_FILE_SIZE,126519,0
$CFSIZE,260165632,242511872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,280709,134600,6221.684,-1054.295,41,1.4,41,-10.6