version: 66.04
glider: 16
mission: 13
dive: 289
start: 7 30 109 5 43 45
data:
$ID,16
$MISSION,13
$DIVE,289
$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,-2112730.5
$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,35
$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
$GPS1,053337,6212.134,-1019.216,36,1.1,36,-10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.9
$GPS2,054326,6211.999,-1019.103,12,1.9,12,-10.2
$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,127.4,28369,-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,-57.33,0.000,6,0.000,0.000,69,2602,3416
$GC,81,-1.03,-146.6,7.2,-13.8,3,102,11.77,2.35,0.00,0.000,4,0.178,0.057,2129,3857,3416
$GC,321,-0.97,-146.6,51.3,-12.2,13,328,0.00,2.17,0.00,0.000,6,0.000,0.026,2129,2576,3418
$GC,638,-0.91,-146.6,85.9,-10.1,29,643,0.17,2.42,0.00,0.000,4,0.137,0.038,2161,1205,3418
$GC,701,-1.01,-146.6,91.5,-8.8,32,706,0.00,2.45,0.00,0.000,6,0.000,0.035,2161,2594,3418
$GC,1029,-1.06,-146.6,125.9,-10.7,48,1031,0.15,0.00,0.00,0.000,6,0.046,0.000,2110,2595,3418
$GC,1338,-0.96,-146.6,165.6,-12.6,63,1343,0.17,2.35,0.00,0.000,4,0.093,0.062,2148,3867,3418
$GC,1378,-0.96,-146.6,170.2,-11.1,65,1382,0.00,2.15,0.00,0.000,6,0.000,0.026,2148,2593,3418
$GC,1712,-0.96,-146.6,200.8,-8.8,81,1716,0.00,2.42,0.00,0.000,4,0.000,0.038,2148,1215,3418
$GC,1774,-1.01,-146.6,206.3,-8.7,83,1780,0.00,2.45,0.00,0.000,6,0.000,0.035,2148,2603,3419
$GC,2089,-1.01,-146.6,234.2,-8.9,99,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2604,3418
$GC,2398,-1.01,-146.6,262.0,-9.0,114,2403,0.00,2.47,0.00,0.000,4,0.000,0.038,2148,1205,3418
$GC,2462,-1.07,-146.6,267.4,-8.6,117,2466,0.00,2.47,0.00,0.000,6,0.000,0.035,2148,2609,3418
$GC,2788,-1.07,-146.6,295.3,-8.3,133,2792,0.00,2.47,0.00,0.000,4,0.000,0.038,2148,1209,3418
$GC,2821,-1.13,-146.6,298.1,-8.1,134,2828,0.15,2.45,0.00,0.000,6,0.043,0.035,2100,2601,3417
$GC,3137,-1.00,-146.6,331.4,-10.7,150,3139,0.20,0.00,0.00,0.000,6,0.095,0.000,2138,2601,3417
$GC,3446,-1.00,-146.6,357.5,-8.4,165,3450,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1213,3417
$GC,3490,-1.00,-146.6,361.3,-8.1,167,3494,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2604,3417
$GC,3811,-1.00,-146.6,389.9,-9.1,183,3814,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1212,3417
$GC,3844,-1.00,-146.6,393.2,-9.7,184,3848,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2603,3417
$GC,4160,-1.00,-146.6,424.4,-10.2,199,4165,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1213,3416
$GC,4187,-1.00,-146.6,427.4,-10.2,200,4191,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2605,3416
$GC,4508,-1.00,-146.6,459.1,-9.5,216,4512,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1211,3416
$GC,4553,-1.05,-146.6,463.3,-9.0,218,4557,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2600,3416
$GC,4886,-1.05,-146.6,491.4,-7.8,234,4890,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1212,3416
$GC,4919,-1.05,-146.6,494.1,-7.7,235,4926,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2609,3416
$GC,5236,-1.05,-146.6,519.0,-8.5,251,5240,0.00,2.47,0.00,0.000,4,0.000,0.038,2138,1207,3416
$GC,5281,-1.10,-146.6,522.9,-8.0,253,5285,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2600,3416
$GC,5602,-1.10,-146.6,553.8,-9.8,269,5606,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1211,3416
$GC,5647,-1.15,-146.6,558.5,-10.1,271,5652,0.15,2.45,0.00,0.000,6,0.044,0.035,2091,2605,3416
$GC,5968,-1.02,-146.6,598.7,-12.3,287,5970,0.22,0.00,0.00,0.000,6,0.096,0.000,2134,2604,3416
$GC,6277,-1.02,-146.6,627.2,-9.8,302,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2603,3416
$GC,6587,-1.02,-146.6,653.6,-8.4,317,6591,0.00,2.45,0.00,0.000,4,0.000,0.038,2134,1212,3415
$GC,6678,-1.09,-146.6,661.2,-7.9,321,6682,0.00,2.42,0.00,0.000,6,0.000,0.036,2134,2599,3415
$GC,7011,-1.09,-146.6,686.7,-7.7,337,7015,0.00,2.35,0.00,0.000,4,0.000,0.069,2134,3858,3415
$GC,7051,-1.09,-146.6,690.1,-8.5,339,7054,0.00,2.12,0.00,0.000,6,0.000,0.027,2134,2601,3415
$GC,7383,-1.13,-146.6,719.0,-8.6,355,7387,0.00,2.45,0.00,0.000,4,0.000,0.041,2134,1213,3414
$GC,7502,-1.20,-146.6,729.0,-8.6,360,7507,0.17,2.45,0.00,0.000,6,0.041,0.038,2081,2605,3414
$GC,7818,-1.09,-146.6,763.7,-11.2,375,7823,0.17,2.35,0.00,0.000,4,0.096,0.071,2119,3858,3414
$GC,7850,-1.09,-146.6,767.4,-10.3,376,7857,0.00,2.15,0.00,0.000,6,0.000,0.029,2119,2604,3413
$GC,8167,-1.09,-146.6,797.3,-9.1,392,8171,0.00,2.50,0.00,0.000,4,0.000,0.044,2118,1203,3413
$GC,8194,-1.09,-146.6,800.0,-9.9,393,8199,0.00,2.47,0.00,0.000,6,0.000,0.039,2118,2597,3413
$GC,8511,-1.09,-146.6,826.7,-8.8,408,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2597,3412
$STATE,8570,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8570,begin apogee
$GC,8577,-0.31,0.0,831.6,8.1,411,8712,0.90,0.00,130.80,1.132,6,0.133,0.000,2288,2299,2817
$STATE,8713,end apogee,CONTROL_FINISHED_OK
$STATE,8713,begin climb
$GC,8716,1.03,146.6,836.0,0.0,418,8857,1.40,2.62,133.18,1.122,4,0.074,0.049,2582,916,2217
$GC,8916,0.96,160.7,830.4,7.0,427,8936,0.00,2.50,13.60,1.002,6,0.000,0.038,2582,2303,2161
$GC,9253,0.91,160.7,802.7,7.9,444,9255,0.12,0.00,0.00,0.000,6,0.095,0.000,2558,2303,2155
$GC,9563,0.86,160.7,779.2,7.7,459,9567,0.00,2.65,0.00,0.000,4,0.000,0.069,2558,3708,2154
$GC,9631,0.75,160.7,773.4,8.5,462,9636,0.17,2.47,0.00,0.000,6,0.102,0.031,2526,2309,2154
$GC,9952,0.80,160.7,749.5,7.8,478,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2309,2153
$GC,10263,0.86,160.9,726.1,7.5,493,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2309,2152
$GC,10571,0.98,208.0,705.4,5.9,508,10617,0.17,0.00,43.17,1.048,6,0.048,0.000,2577,2309,1968
$GC,10942,1.06,281.2,683.8,5.0,526,11014,0.00,0.00,69.22,1.043,6,0.000,0.000,2577,2308,1670
$GC,11314,1.08,300.9,660.4,6.8,544,11338,0.00,2.70,18.50,0.964,4,0.000,0.064,2577,3701,1589
$GC,11358,1.09,309.0,657.4,7.2,546,11372,0.00,2.50,9.23,0.870,6,0.000,0.030,2577,2297,1556
$GC,11690,1.15,309.0,630.4,9.5,562,11695,0.15,2.58,0.00,0.000,4,0.051,0.051,2619,891,1551
$GC,11723,1.10,309.0,626.3,12.0,563,11730,0.00,2.53,0.00,0.000,6,0.000,0.036,2620,2308,1550
$GC,12040,1.04,309.0,583.9,13.9,579,12045,0.17,2.60,0.00,0.000,4,0.094,0.061,2582,3706,1549
$GC,12073,1.04,309.0,579.2,13.5,580,12079,0.00,2.47,0.00,0.000,6,0.000,0.030,2582,2296,1549
$GC,12389,1.08,309.0,542.4,10.9,596,12393,0.00,2.53,0.00,0.000,4,0.000,0.049,2582,898,1548
$GC,12436,1.15,309.0,537.1,11.7,598,12441,0.12,2.47,0.00,0.000,6,0.052,0.035,2619,2303,1546
$GC,12763,1.10,309.0,500.8,10.0,614,12764,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2303,1547
$GC,13072,1.05,309.0,470.2,9.8,629,13077,0.15,2.55,0.00,0.000,4,0.091,0.044,2590,889,1547
$GC,13094,1.05,309.0,468.0,9.6,630,13099,0.00,2.50,0.00,0.000,6,0.000,0.033,2590,2309,1546
$GC,13416,1.05,309.0,440.4,8.8,646,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2309,1546
$GC,13725,1.05,309.0,409.7,10.4,661,13729,0.00,2.55,0.00,0.000,4,0.000,0.044,2590,892,1546
$GC,13753,1.05,309.0,406.5,11.3,662,13758,0.00,2.47,0.00,0.000,6,0.000,0.033,2590,2302,1546
$GC,14075,1.05,309.0,370.3,11.5,678,14079,0.00,2.53,0.00,0.000,4,0.000,0.043,2590,895,1547
$GC,14096,1.05,309.0,367.6,11.5,679,14100,0.00,2.47,0.00,0.000,6,0.000,0.032,2590,2308,1546
$GC,14417,1.05,309.0,333.0,10.4,695,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2308,1547
$GC,14726,1.05,309.0,304.0,8.5,710,14730,0.00,2.55,0.00,0.000,4,0.000,0.044,2590,891,1546
$GC,14747,1.05,309.0,302.0,8.6,711,14751,0.00,2.47,0.00,0.000,6,0.000,0.033,2590,2304,1547
$GC,15068,1.05,309.0,275.6,8.4,727,15072,0.00,2.53,0.00,0.000,4,0.000,0.043,2590,895,1547
$GC,15096,1.10,309.0,273.0,8.9,728,15100,0.00,2.47,0.00,0.000,6,0.000,0.032,2590,2309,1547
$GC,15412,1.10,309.0,244.3,9.5,743,15413,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2309,1547
$GC,15722,1.14,309.0,213.6,9.9,758,15726,0.00,2.55,0.00,0.000,4,0.000,0.043,2591,889,1548
$GC,15766,1.20,309.0,208.9,10.5,760,15771,0.12,2.47,0.00,0.000,6,0.047,0.033,2630,2304,1547
$GC,16088,1.13,309.0,174.5,10.2,776,16093,0.12,2.53,0.00,0.000,4,0.092,0.041,2606,891,1548
$GC,16112,1.13,309.0,172.2,10.1,777,16116,0.00,2.47,0.00,0.000,6,0.000,0.032,2607,2305,1548
$GC,16433,1.13,309.0,136.4,12.9,793,16437,0.00,2.53,0.00,0.000,4,0.000,0.043,2606,895,1548
$GC,16472,1.13,309.0,131.0,13.4,795,16477,0.00,2.45,0.00,0.000,6,0.000,0.033,2606,2300,1548
$GC,16800,1.13,309.0,91.5,10.4,811,16801,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2300,1548
$GC,17109,1.14,315.9,67.2,7.3,826,17122,0.00,2.58,6.40,0.512,4,0.000,0.058,2606,3701,1528
$GC,17163,1.14,315.9,62.9,7.7,828,17167,0.00,2.45,0.00,0.000,6,0.000,0.027,2606,2291,1528
$GC,17480,1.14,315.9,33.5,12.0,843,17484,0.00,2.47,0.00,0.000,4,0.000,0.044,2607,899,1528
$GC,17588,1.19,315.9,20.3,10.6,848,17592,0.00,2.45,0.00,0.000,6,0.000,0.033,2606,2302,1527
$STATE,17769,end climb,SURFACE_DEPTH_REACHED
$STATE,17769,begin surface coast
$FINISH,0.6,1.023667
$STATE,17789,end surface coast,CONTROL_FINISHED_OK
$STATE,17789,begin surface
$SM_CCo,17873,0.00,0.000,0,0,1526,316.68
$SM_GC,1.56,12.12,0.00,0.00,0.088,0.000,0.000,74,2605,1526,-10.47,0.14,316.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1831
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.0,64.7
$24V_AH,23.5,45.092
$10V_AH,10.1,23.563
$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,29.100,168.400,424.100,0.000,0.000,41.278,60.898,287.610,6.750,0.000,0.000,12.347,1603.497,13717.848,551.738,1869.981,714.162,0.000,1514.410,0.000,1819.218,0.000,48.725,0.000
$DEVICE_MAMPS,177.944,70.564,1132.092,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,630.432,583.799,470.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44271,858
$CAP_FILE_SIZE,141069,0
$CFSIZE,260165632,241930240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300709,104255,6208.832,-1014.461,40,2.0,40,-10.1