version: 66.04
glider: 16
mission: 13
dive: 284
start: 7 29 109 5 6 57
data:
$ID,16
$MISSION,13
$DIVE,284
$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,-2112659
$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,40
$R_STBD_OVSHOOT,30
$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
$GPS1,050118,6219.426,-1035.769,42,1.8,54,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-60.0
$GPS2,050638,6219.432,-1035.758,11,1.6,11,-10.4
$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,185.8,8234,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-57.05,0.000,6,0.000,0.000,69,2605,3417
$GC,81,-1.03,-146.6,7.3,-14.0,3,102,11.98,2.53,0.00,0.000,4,0.185,0.034,2129,1197,3417
$GC,181,-1.03,-146.6,31.9,-11.2,7,186,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2601,3419
$GC,497,-1.03,-146.6,65.3,-9.2,22,501,0.00,2.33,0.00,0.000,4,0.000,0.062,2129,3861,3419
$GC,538,-1.03,-146.6,69.3,-10.4,24,542,0.00,2.15,0.00,0.000,6,0.000,0.025,2129,2581,3419
$GC,866,-0.99,-146.6,99.8,-9.3,40,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3419
$GC,1174,-0.95,-146.6,129.2,-9.4,55,1176,0.12,0.00,0.00,0.000,6,0.101,0.000,2153,2579,3419
$GC,1483,-0.95,-146.6,155.7,-8.4,70,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2579,3420
$GC,1793,-0.95,-146.6,182.4,-8.8,85,1797,0.00,2.40,0.00,0.000,4,0.000,0.037,2153,1214,3420
$GC,1838,-1.03,-146.6,186.5,-8.7,87,1842,0.00,2.45,0.00,0.000,6,0.000,0.034,2153,2609,3420
$GC,2159,-1.03,-146.6,214.5,-8.6,103,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2609,3419
$GC,2469,-1.03,-146.6,241.5,-8.6,118,2473,0.00,2.45,0.00,0.000,4,0.000,0.036,2153,1215,3420
$GC,2519,-1.10,-146.6,246.1,-9.2,120,2524,0.15,2.42,0.00,0.000,6,0.041,0.035,2105,2600,3420
$GC,2836,-0.99,-146.6,280.8,-11.0,135,2837,0.20,0.00,0.00,0.000,6,0.091,0.000,2144,2600,3419
$GC,3144,-0.99,-146.6,308.0,-8.5,150,3148,0.00,2.45,0.00,0.000,4,0.000,0.037,2144,1209,3419
$GC,3183,-1.04,-146.6,311.2,-8.4,152,3188,0.00,2.45,0.00,0.000,6,0.000,0.035,2144,2605,3419
$GC,3511,-1.04,-146.6,338.9,-8.6,168,3515,0.00,2.45,0.00,0.000,4,0.000,0.037,2144,1212,3419
$GC,3544,-1.08,-146.6,341.8,-7.9,169,3550,0.00,2.45,0.00,0.000,6,0.000,0.035,2144,2609,3419
$GC,3859,-1.08,-146.6,367.3,-8.0,185,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2609,3419
$GC,4169,-1.08,-146.6,392.4,-8.5,200,4173,0.00,2.45,0.00,0.000,4,0.000,0.037,2144,1209,3418
$GC,4231,-1.14,-146.6,397.7,-8.3,202,4238,0.15,2.45,0.00,0.000,6,0.044,0.035,2097,2606,3418
$GC,4547,-1.02,-146.6,434.7,-12.3,218,4549,0.20,0.00,0.00,0.000,6,0.094,0.000,2136,2606,3418
$GC,4856,-1.02,-146.6,465.9,-9.9,233,4860,0.00,2.45,0.00,0.000,4,0.000,0.037,2136,1212,3418
$GC,4895,-1.06,-146.6,469.6,-9.4,235,4900,0.00,2.42,0.00,0.000,6,0.000,0.035,2136,2600,3418
$GC,5224,-1.06,-146.6,500.1,-9.1,251,5228,0.00,2.42,0.00,0.000,4,0.000,0.036,2136,1218,3417
$GC,5257,-1.06,-146.6,503.2,-8.6,252,5263,0.00,2.42,0.00,0.000,6,0.000,0.035,2136,2599,3417
$GC,5572,-1.06,-146.6,530.4,-8.7,268,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2599,3417
$GC,5882,-1.06,-146.6,555.8,-8.1,283,5886,0.00,2.42,0.00,0.000,4,0.000,0.037,2136,1218,3417
$GC,5922,-1.10,-146.6,558.9,-7.8,285,5926,0.00,2.42,0.00,0.000,6,0.000,0.035,2136,2599,3417
$GC,6249,-1.10,-146.6,584.2,-7.6,301,6253,0.00,2.42,0.00,0.000,4,0.000,0.037,2136,1218,3417
$GC,6317,-1.16,-146.6,589.1,-7.2,304,6322,0.12,2.42,0.00,0.000,6,0.047,0.035,2095,2600,3417
$GC,6638,-1.08,-146.6,620.2,-9.2,320,6643,0.15,2.35,0.00,0.000,4,0.095,0.067,2124,3863,3417
$GC,6768,-1.08,-146.6,632.2,-9.5,326,6772,0.00,2.12,0.00,0.000,6,0.000,0.025,2124,2600,3417
$GC,7101,-1.08,-146.6,663.9,-9.5,342,7105,0.00,2.35,0.00,0.000,4,0.000,0.067,2124,3857,3416
$GC,7186,-1.08,-146.6,672.3,-9.6,346,7190,0.00,2.12,0.00,0.000,6,0.000,0.026,2124,2597,3416
$GC,7519,-1.08,-146.6,698.0,-7.3,362,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2596,3416
$GC,7828,-1.08,-146.6,723.3,-8.0,377,7832,0.00,2.35,0.00,0.000,4,0.000,0.069,2124,3855,3415
$GC,7891,-1.08,-146.6,728.1,-7.3,380,7895,0.00,2.12,0.00,0.000,6,0.000,0.029,2124,2613,3415
$STATE,7994,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7995,begin apogee
$GC,8002,-0.31,0.0,737.1,8.7,385,8137,0.82,0.00,129.93,1.068,6,0.100,0.000,2290,2299,2817
$STATE,8138,end apogee,CONTROL_FINISHED_OK
$STATE,8138,begin climb
$GC,8141,1.03,146.6,743.4,0.0,392,8282,1.40,2.65,132.10,1.059,4,0.070,0.051,2586,911,2216
$GC,8417,0.95,216.7,734.1,5.1,405,8488,0.00,2.47,63.78,1.039,6,0.000,0.035,2586,2299,1932
$GC,8808,0.91,216.7,702.6,8.3,424,8813,0.15,2.65,0.00,0.000,4,0.097,0.065,2558,3699,1924
$GC,8848,0.91,216.7,699.0,8.4,426,8852,0.00,2.45,0.00,0.000,6,0.000,0.031,2558,2312,1924
$GC,9174,0.91,216.7,673.2,9.1,442,9178,0.00,2.58,0.00,0.000,4,0.000,0.052,2558,901,1922
$GC,9207,0.91,216.7,670.2,8.4,443,9213,0.00,2.50,0.00,0.000,6,0.000,0.037,2558,2304,1921
$GC,9523,0.91,216.7,644.8,8.2,459,9527,0.00,2.62,0.00,0.000,4,0.000,0.066,2558,3698,1920
$GC,9550,0.91,216.7,642.3,9.0,460,9554,0.00,2.47,0.00,0.000,6,0.000,0.030,2558,2294,1921
$GC,9866,0.95,216.7,616.6,8.0,475,9870,0.00,2.65,0.00,0.000,4,0.000,0.064,2558,3707,1919
$GC,9910,0.95,218.7,613.2,7.4,477,9914,0.00,2.47,0.00,0.000,6,0.000,0.031,2558,2299,1920
$GC,10231,1.05,256.1,592.8,6.2,493,10274,0.15,2.70,36.05,0.966,4,0.050,0.062,2598,3701,1771
$GC,10287,1.00,256.1,588.4,8.3,495,10292,0.00,2.50,0.00,0.000,6,0.000,0.030,2598,2299,1770
$GC,10603,0.96,256.1,560.7,9.1,510,10605,0.15,0.00,0.00,0.000,6,0.095,0.000,2570,2299,1765
$GC,10912,0.96,256.1,536.9,7.7,525,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2299,1764
$GC,11222,0.96,256.1,510.4,9.2,540,11226,0.00,2.62,0.00,0.000,4,0.000,0.059,2570,3702,1764
$GC,11266,0.96,256.1,505.9,10.5,542,11270,0.00,2.45,0.00,0.000,6,0.000,0.028,2570,2296,1764
$GC,11593,1.00,256.1,478.7,7.6,558,11595,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2296,1764
$GC,11902,1.00,257.4,455.9,7.5,573,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2296,1764
$GC,12211,1.04,257.4,431.6,7.9,588,12216,0.00,2.60,0.00,0.000,4,0.000,0.058,2570,3701,1764
$GC,12239,1.04,257.4,429.1,9.0,589,12243,0.00,2.42,0.00,0.000,6,0.000,0.026,2570,2297,1764
$GC,12555,1.04,257.4,403.6,8.1,604,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2298,1764
$GC,12864,1.09,257.4,378.6,8.2,619,12866,0.12,0.00,0.00,0.000,6,0.048,0.000,2610,2297,1764
$GC,13174,1.02,257.4,346.6,10.3,634,13179,0.15,2.60,0.00,0.000,4,0.088,0.056,2581,3707,1764
$GC,13201,1.02,257.4,343.6,10.1,635,13206,0.00,2.42,0.00,0.000,6,0.000,0.026,2581,2297,1764
$GC,13517,1.02,257.4,316.8,8.4,650,13518,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2298,1764
$GC,13827,1.02,257.4,290.8,8.4,665,13828,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2298,1765
$GC,14135,1.02,257.4,265.8,7.9,680,14136,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2297,1764
$GC,14444,1.02,257.4,241.1,8.0,695,14446,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2298,1765
$GC,14754,1.02,257.4,216.5,8.1,710,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2297,1764
$GC,15063,1.02,257.4,191.3,8.1,725,15067,0.00,2.58,0.00,0.000,4,0.000,0.055,2581,3705,1765
$GC,15096,1.02,257.4,188.2,8.8,726,15102,0.00,2.42,0.00,0.000,6,0.000,0.026,2580,2297,1765
$GC,15411,1.02,257.4,162.7,8.0,742,15412,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2297,1765
$GC,15722,1.02,257.4,139.1,7.5,757,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2297,1766
$GC,16030,1.02,257.4,114.5,8.4,772,16034,0.00,2.58,0.00,0.000,4,0.000,0.054,2581,3702,1765
$GC,16079,1.02,257.4,109.6,9.3,774,16083,0.00,2.42,0.00,0.000,6,0.000,0.025,2581,2296,1766
$GC,16402,1.02,257.4,78.0,10.8,790,16406,0.00,2.47,0.00,0.000,4,0.000,0.042,2580,904,1765
$GC,16442,1.07,257.4,73.5,12.7,792,16446,0.00,2.45,0.00,0.000,6,0.000,0.031,2581,2309,1765
$GC,16776,1.13,257.4,42.1,7.9,808,16778,0.12,0.00,0.00,0.000,6,0.046,0.000,2623,2309,1765
$GC,17085,1.06,257.4,13.0,9.8,823,17090,0.17,2.55,0.00,0.000,4,0.084,0.054,2585,3704,1766
$GC,17125,1.06,257.4,9.0,9.2,825,17129,0.00,2.40,0.00,0.000,6,0.000,0.025,2585,2294,1766
$STATE,17186,end climb,SURFACE_DEPTH_REACHED
$STATE,17186,begin surface coast
$FINISH,0.9,1.026676
$STATE,17208,end surface coast,CONTROL_FINISHED_OK
$STATE,17208,begin surface
$SM_CCo,17292,0.00,0.000,0,0,1764,258.30
$SM_GC,1.28,12.05,0.00,0.00,0.091,0.000,0.000,71,2614,1764,-10.47,0.40,258.30
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1815
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.1,20.9
$24V_AH,23.6,44.357
$10V_AH,10.1,23.168
$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,28.375,133.500,361.850,0.000,0.000,18.314,27.080,149.265,6.500,0.000,0.000,11.850,1514.240,13380.397,478.838,1749.724,486.037,0.000,1359.973,0.000,1706.719,0.000,45.957,0.000
$DEVICE_MAMPS,184.847,69.030,1068.431,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,604.804,564.640,485.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41168,829
$CAP_FILE_SIZE,124394,0
$CFSIZE,260165632,242257920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,095625,6216.747,-1034.450,40,1.5,40,-10.4