version: 66.04
glider: 16
mission: 13
dive: 287
start: 7 29 109 19 11 49
data:
$ID,16
$MISSION,13
$DIVE,287
$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,-2112699.5
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,190637,6215.229,-1027.349,26,1.7,26,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.1
$GPS2,191132,6215.197,-1027.408,12,1.8,12,-10.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$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,130.5,37533,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,94,0.00,0.00,-73.43,0.000,6,0.000,0.000,68,2603,3417
$GC,97,-1.03,-146.6,3.6,-5.1,3,119,11.93,2.38,0.00,0.000,4,0.183,0.059,2129,3863,3419
$GC,372,-0.95,-146.6,54.0,-12.3,15,377,0.12,2.20,0.00,0.000,6,0.104,0.027,2151,2572,3419
$GC,693,-0.95,-146.6,85.8,-8.2,31,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2570,3419
$GC,1005,-0.95,-146.6,105.0,-5.6,46,1009,0.00,2.38,0.00,0.000,4,0.000,0.061,2151,3855,3419
$GC,1038,-0.95,-146.6,107.4,-6.7,47,1044,0.00,2.12,0.00,0.000,6,0.000,0.026,2151,2596,3419
$GC,1354,-0.95,-146.6,132.8,-9.8,63,1358,0.00,2.45,0.00,0.000,4,0.000,0.039,2152,1209,3420
$GC,1404,-1.02,-146.6,138.2,-10.3,65,1409,0.00,2.45,0.00,0.000,6,0.000,0.035,2151,2599,3420
$GC,1720,-1.02,-146.6,169.3,-8.0,80,1724,0.00,2.45,0.00,0.000,4,0.000,0.037,2152,1210,3420
$GC,1753,-1.09,-146.6,171.8,-7.9,81,1760,0.12,2.45,0.00,0.000,6,0.044,0.035,2108,2599,3420
$GC,2069,-0.98,-146.6,204.5,-11.4,97,2071,0.20,0.00,0.00,0.000,6,0.097,0.000,2146,2599,3420
$GC,2377,-0.98,-146.6,235.5,-9.7,112,2382,0.00,2.45,0.00,0.000,4,0.000,0.038,2146,1214,3420
$GC,2405,-0.98,-146.6,238.1,-9.6,113,2409,0.00,2.45,0.00,0.000,6,0.000,0.035,2146,2601,3420
$GC,2727,-0.98,-146.6,264.5,-8.0,129,2731,0.00,2.45,0.00,0.000,4,0.000,0.038,2146,1214,3420
$GC,2760,-1.02,-146.6,267.3,-7.8,130,2766,0.00,2.45,0.00,0.000,6,0.000,0.035,2147,2607,3419
$GC,3077,-1.02,-146.6,294.0,-8.7,146,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2607,3419
$GC,3385,-1.02,-146.6,322.4,-9.1,161,3389,0.00,2.47,0.00,0.000,4,0.000,0.038,2146,1208,3419
$GC,3457,-1.08,-146.6,329.1,-9.3,164,3461,0.00,2.45,0.00,0.000,6,0.000,0.036,2147,2600,3419
$GC,3773,-1.08,-146.6,358.1,-8.9,179,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2600,3418
$GC,4082,-1.08,-146.6,383.3,-8.0,194,4086,0.00,2.45,0.00,0.000,4,0.000,0.038,2146,1212,3419
$GC,4126,-1.14,-146.6,386.9,-8.1,196,4131,0.17,2.45,0.00,0.000,6,0.042,0.035,2095,2602,3418
$GC,4448,-1.01,-146.6,423.3,-12.3,212,4450,0.22,0.00,0.00,0.000,6,0.095,0.000,2138,2602,3418
$GC,4756,-1.01,-146.6,456.0,-10.7,227,4760,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1214,3417
$GC,4807,-1.06,-146.6,461.4,-10.0,229,4811,0.00,2.45,0.00,0.000,6,0.000,0.036,2138,2605,3417
$GC,5123,-1.06,-146.6,489.9,-7.5,244,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2605,3417
$GC,5432,-1.06,-146.6,511.3,-7.7,259,5436,0.00,2.47,0.00,0.000,4,0.000,0.038,2138,1206,3417
$GC,5483,-1.11,-146.6,516.0,-9.5,261,5487,0.00,2.45,0.00,0.000,6,0.000,0.036,2138,2600,3417
$GC,5799,-1.11,-146.6,549.7,-9.6,276,5804,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1212,3417
$GC,5832,-1.11,-146.6,552.7,-8.6,277,5836,0.00,2.45,0.00,0.000,6,0.000,0.036,2138,2600,3417
$GC,6148,-1.11,-146.6,583.2,-11.1,292,6152,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1212,3417
$GC,6192,-1.18,-146.6,587.8,-9.9,294,6197,0.17,2.45,0.00,0.000,6,0.043,0.036,2088,2601,3417
$GC,6513,-1.04,-146.6,624.0,-11.4,310,6518,0.20,2.35,0.00,0.000,4,0.096,0.067,2129,3861,3416
$GC,6553,-1.04,-146.6,628.2,-10.3,312,6557,0.00,2.15,0.00,0.000,6,0.000,0.027,2129,2592,3416
$GC,6886,-1.04,-146.6,648.5,-3.7,328,6890,0.00,2.45,0.00,0.000,4,0.000,0.041,2128,1209,3416
$GC,6937,-1.09,-146.6,649.8,-1.7,330,6941,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2600,3416
$GC,7253,-1.09,-146.6,667.5,-7.5,345,7257,0.00,2.35,0.00,0.000,4,0.000,0.070,2129,3861,3416
$GC,7293,-1.09,-146.6,670.9,-9.1,346,7299,0.00,2.15,0.00,0.000,6,0.000,0.028,2128,2600,3415
$GC,7608,-1.09,-146.6,698.7,-8.7,362,7612,0.00,2.47,0.00,0.000,4,0.000,0.042,2128,1210,3415
$GC,7688,-1.13,-146.6,705.3,-8.9,365,7694,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2609,3415
$GC,8004,-1.13,-146.6,731.9,-8.9,381,8008,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1203,3414
$GC,8049,-1.19,-146.6,736.1,-9.5,383,8054,0.12,2.47,0.00,0.000,6,0.047,0.038,2090,2599,3414
$GC,8370,-1.09,-146.6,770.2,-10.5,399,8375,0.15,2.38,0.00,0.000,4,0.100,0.071,2119,3864,3414
$GC,8425,-1.09,-146.6,776.2,-9.8,401,8431,0.00,2.17,0.00,0.000,6,0.000,0.031,2117,2608,3413
$STATE,8594,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8594,begin apogee
$GC,8602,-0.31,0.0,791.2,8.7,410,8737,0.88,0.00,130.57,1.105,6,0.118,0.000,2288,2305,2817
$STATE,8738,end apogee,CONTROL_FINISHED_OK
$STATE,8738,begin climb
$GC,8741,1.03,146.6,797.0,0.0,417,8885,1.38,2.75,132.00,1.092,4,0.077,0.065,2578,3704,2217
$GC,8922,0.90,163.6,792.0,6.9,425,8944,0.12,2.50,16.50,0.999,6,0.101,0.031,2555,2306,2149
$GC,9263,0.90,168.7,766.3,7.3,442,9270,0.00,0.00,5.10,0.752,6,0.000,0.000,2556,2306,2129
$GC,9570,0.93,195.9,745.1,6.6,457,9602,0.00,2.70,26.15,1.027,4,0.000,0.064,2555,3700,2017
$GC,9670,0.87,195.9,737.9,7.7,461,9676,0.00,2.50,0.00,0.000,6,0.000,0.031,2555,2295,2015
$GC,9985,0.94,256.1,719.1,5.4,477,10048,0.00,2.62,56.80,1.051,4,0.000,0.053,2555,897,1771
$GC,10109,1.03,282.9,711.9,6.6,482,10141,0.12,2.53,25.98,1.010,6,0.053,0.038,2591,2303,1662
$GC,10450,1.03,282.9,680.4,9.0,499,10454,0.00,2.65,0.00,0.000,4,0.000,0.065,2591,3704,1655
$GC,10512,0.99,282.9,674.7,9.0,502,10517,0.00,2.50,0.00,0.000,6,0.000,0.031,2591,2293,1654
$GC,10839,0.99,286.7,648.8,7.4,518,10841,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2293,1654
$GC,11149,0.99,286.7,620.2,10.1,533,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2293,1653
$GC,11458,0.99,286.7,588.3,10.2,548,11462,0.00,2.65,0.00,0.000,4,0.000,0.062,2591,3704,1652
$GC,11479,0.99,286.7,585.9,10.7,549,11483,0.00,2.47,0.00,0.000,6,0.000,0.030,2592,2297,1652
$GC,11800,0.99,286.7,555.8,9.0,565,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2296,1651
$GC,12109,0.99,286.7,528.6,9.1,580,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2296,1651
$GC,12418,0.99,286.7,498.8,10.0,595,12422,0.00,2.60,0.00,0.000,4,0.000,0.060,2591,3702,1651
$GC,12445,0.99,286.7,495.7,10.6,596,12449,0.00,2.45,0.00,0.000,6,0.000,0.029,2591,2298,1651
$GC,12762,0.99,286.7,464.3,9.9,611,12763,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2297,1651
$GC,13070,0.99,286.7,432.0,10.8,626,13075,0.00,2.62,0.00,0.000,4,0.000,0.059,2591,3709,1651
$GC,13092,0.99,286.7,429.3,11.8,627,13096,0.00,2.47,0.00,0.000,6,0.000,0.029,2591,2292,1651
$GC,13414,0.99,286.7,393.7,10.7,643,13418,0.00,2.47,0.00,0.000,4,0.000,0.046,2591,898,1651
$GC,13430,0.99,286.7,391.7,10.6,643,13436,0.00,2.47,0.00,0.000,6,0.000,0.034,2591,2309,1651
$GC,13746,0.99,286.7,361.3,8.9,659,13750,0.00,2.58,0.00,0.000,4,0.000,0.059,2591,3703,1651
$GC,13773,0.99,286.7,358.8,8.5,660,13777,0.00,2.45,0.00,0.000,6,0.000,0.028,2591,2296,1651
$GC,14089,0.99,286.7,331.8,8.5,675,14093,0.00,2.50,0.00,0.000,4,0.000,0.044,2591,898,1651
$GC,14110,0.99,286.7,329.8,9.3,676,14114,0.00,2.45,0.00,0.000,6,0.000,0.033,2591,2299,1651
$GC,14431,0.99,286.7,301.7,8.8,692,14432,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2297,1651
$GC,14740,0.99,286.7,274.9,8.4,707,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2299,1651
$GC,15051,0.99,286.7,248.2,8.9,722,15056,0.00,2.60,0.00,0.000,4,0.000,0.058,2591,3708,1652
$GC,15073,0.99,286.7,245.8,9.1,723,15078,0.00,2.45,0.00,0.000,6,0.000,0.028,2591,2296,1652
$GC,15395,0.99,286.7,216.5,9.7,739,15399,0.00,2.50,0.00,0.000,4,0.000,0.044,2591,898,1652
$GC,15422,0.99,286.7,213.6,10.0,740,15426,0.00,2.47,0.00,0.000,6,0.000,0.033,2591,2309,1652
$GC,15738,0.99,286.7,183.8,9.5,755,15739,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2309,1652
$GC,16047,0.99,286.7,153.5,10.2,770,16052,0.00,2.53,0.00,0.000,4,0.000,0.043,2591,901,1652
$GC,16065,0.99,286.7,151.6,10.2,771,16070,0.00,2.45,0.00,0.000,6,0.000,0.033,2591,2302,1653
$GC,16393,0.99,286.7,117.0,10.7,787,16394,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2302,1652
$GC,16703,0.99,286.7,85.0,8.6,802,16704,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2303,1652
$GC,17013,1.06,344.3,65.9,5.5,817,17076,0.00,2.70,53.10,0.614,4,0.000,0.056,2591,3704,1412
$GC,17101,1.20,405.9,62.6,5.4,821,17165,0.12,2.47,53.25,0.603,6,0.045,0.028,2631,2297,1159
$GC,17475,1.20,405.9,14.1,12.8,839,17479,0.00,2.53,0.00,0.000,4,0.000,0.044,2631,900,1150
$STATE,17561,end climb,SURFACE_DEPTH_REACHED
$STATE,17561,begin surface coast
$FINISH,2.0,1.026453
$STATE,17567,end surface coast,CONTROL_FINISHED_OK
$STATE,17568,begin surface
$SM_CCo,17654,0.00,0.000,0,0,1145,410.14
$SM_GC,1.45,11.43,0.00,0.00,0.046,0.000,0.000,72,2593,1145,-10.47,-0.20,410.14
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1831
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.1,100.1
$24V_AH,23.5,44.808
$10V_AH,10.1,23.396
$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,27.475,163.700,499.450,0.000,0.000,18.296,26.907,131.085,6.000,0.000,0.000,12.150,1554.517,13450.779,603.477,1856.006,481.004,0.000,1585.612,0.000,1805.688,0.000,41.625,0.000
$DEVICE_MAMPS,182.546,71.331,1105.247,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.639,574.115,485.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44361,843
$CAP_FILE_SIZE,132387,0
$CFSIZE,260165632,242073600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300709,000706,6213.392,-1024.757,26,1.2,26,-10.3