version: 66.04
glider: 16
mission: 13
dive: 290
start: 7 30 109 10 51 38
data:
$ID,16
$MISSION,13
$DIVE,290
$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,-2112764.2
$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,34
$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
$GPS1,104255,6208.832,-1014.461,40,2.0,40,-10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.1
$GPS2,105122,6208.868,-1014.462,13,2.3,32,-10.1
$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,118.8,22387,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,81,0.00,0.00,-61.17,0.000,2,0.000,0.000,73,2606,3246
$GC,84,-1.03,-146.6,4.4,-6.1,3,107,12.00,2.33,-2.95,0.000,4,0.186,0.074,2130,3863,3417
$GC,298,-0.93,-146.6,40.7,-11.8,12,303,0.15,2.17,0.00,0.000,6,0.103,0.026,2157,2582,3418
$GC,614,-0.93,-146.6,67.4,-8.6,27,618,0.00,2.42,0.00,0.000,4,0.000,0.038,2158,1207,3419
$GC,642,-0.98,-146.6,70.0,-9.1,28,647,0.00,2.45,0.00,0.000,6,0.000,0.035,2158,2597,3419
$GC,960,-0.98,-146.6,98.8,-9.3,43,964,0.00,2.35,0.00,0.000,4,0.000,0.061,2157,3867,3419
$GC,1005,-0.98,-146.6,103.4,-9.7,45,1009,0.00,2.15,0.00,0.000,6,0.000,0.025,2158,2594,3420
$GC,1332,-0.98,-146.6,126.2,-5.8,61,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2592,3419
$GC,1642,-0.98,-146.6,144.1,-6.5,76,1646,0.00,2.42,0.00,0.000,4,0.000,0.038,2158,1217,3420
$GC,1687,-1.07,-146.6,147.4,-7.4,78,1692,0.15,2.45,0.00,0.000,6,0.041,0.035,2109,2609,3420
$GC,2008,-0.96,-146.6,182.0,-11.2,94,2010,0.20,0.00,0.00,0.000,6,0.094,0.000,2148,2609,3420
$GC,2318,-0.96,-146.6,208.0,-7.2,109,2322,0.00,2.47,0.00,0.000,4,0.000,0.038,2148,1209,3419
$GC,2358,-1.02,-146.6,210.7,-6.6,111,2362,0.00,2.45,0.00,0.000,6,0.000,0.035,2148,2602,3420
$GC,2685,-1.02,-146.6,235.8,-8.2,127,2689,0.00,2.45,0.00,0.000,4,0.000,0.037,2148,1214,3420
$GC,2713,-1.02,-146.6,238.1,-8.0,128,2716,0.00,2.45,0.00,0.000,6,0.000,0.035,2149,2602,3419
$GC,3034,-1.02,-146.6,264.9,-8.2,144,3038,0.00,2.45,0.00,0.000,4,0.000,0.038,2148,1216,3419
$GC,3067,-1.07,-146.6,267.7,-8.3,145,3074,0.00,2.42,0.00,0.000,6,0.000,0.035,2148,2600,3420
$GC,3384,-1.07,-146.6,293.9,-8.4,161,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2600,3419
$GC,3693,-1.07,-146.6,320.2,-8.7,176,3697,0.00,2.45,0.00,0.000,4,0.000,0.038,2148,1211,3419
$GC,3743,-1.13,-146.6,324.5,-8.7,178,3748,0.17,2.45,0.00,0.000,6,0.041,0.035,2096,2603,3419
$GC,4059,-1.00,-146.6,361.8,-12.4,193,4061,0.22,0.00,0.00,0.000,6,0.097,0.000,2138,2603,3418
$GC,4367,-1.00,-146.6,393.9,-10.2,208,4372,0.00,2.45,0.00,0.000,4,0.000,0.038,2140,1217,3417
$GC,4408,-1.00,-146.6,397.9,-9.6,210,4412,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2600,3418
$GC,4734,-1.00,-146.6,431.4,-10.5,226,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3417
$GC,5044,-1.00,-146.6,459.8,-8.3,241,5048,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1214,3416
$GC,5094,-1.04,-146.6,463.9,-8.2,243,5098,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2606,3416
$GC,5410,-1.04,-146.6,489.4,-8.6,258,5414,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1218,3416
$GC,5442,-1.04,-146.6,492.5,-9.0,259,5448,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2600,3416
$GC,5758,-1.04,-146.6,528.2,-12.0,275,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3416
$GC,6067,-1.04,-146.6,555.6,-6.4,290,6071,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1216,3416
$GC,6114,-1.09,-146.6,558.1,-5.5,292,6118,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2600,3416
$GC,6441,-1.09,-146.6,583.5,-11.0,308,6445,0.00,2.45,0.00,0.000,4,0.000,0.038,2138,1210,3416
$GC,6485,-1.14,-146.6,589.0,-12.3,310,6490,0.12,2.45,0.00,0.000,6,0.046,0.035,2098,2600,3416
$GC,6808,-1.02,-146.6,633.4,-12.0,326,6812,0.17,2.35,0.00,0.000,4,0.099,0.066,2134,3862,3416
$GC,6851,-1.02,-146.6,638.7,-10.5,328,6855,0.00,2.12,0.00,0.000,6,0.000,0.027,2134,2603,3415
$GC,7179,-1.02,-146.6,664.4,-4.0,344,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2601,3416
$GC,7488,-1.02,-146.6,678.5,-10.8,359,7492,0.00,2.45,0.00,0.000,4,0.000,0.041,2134,1212,3416
$GC,7628,-1.07,-146.6,699.8,-16.5,365,7633,0.00,2.45,0.00,0.000,6,0.000,0.037,2134,2603,3416
$GC,7950,-1.07,-146.6,741.5,-7.8,381,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2603,3416
$GC,8259,-1.11,-146.6,755.1,-4.0,396,8263,0.00,2.35,0.00,0.000,4,0.000,0.071,2134,3860,3415
$GC,8314,-1.11,-146.6,757.7,-4.5,398,8321,0.00,2.15,0.00,0.000,6,0.000,0.028,2134,2602,3415
$GC,8631,-1.15,-146.6,784.8,-11.9,414,8633,0.12,0.00,0.00,0.000,6,0.045,0.000,2095,2601,3415
$GC,8940,-1.09,-146.6,820.9,-10.7,429,8945,0.15,2.50,0.00,0.000,4,0.094,0.045,2123,1206,3414
$GC,8995,-1.13,-146.6,825.8,-8.2,431,9001,0.00,2.47,0.00,0.000,6,0.000,0.041,2123,2596,3414
$GC,9312,-1.46,-146.6,847.5,-1.1,447,9317,0.35,2.42,0.00,0.000,4,0.048,0.079,2041,3865,3413
$STATE,9517,end dive,NO_VERTICAL_VELOCITY
$STATE,9517,begin apogee
$GC,9527,-0.31,0.0,847.4,0.0,456,9662,1.15,0.00,130.98,1.138,6,0.073,0.000,2291,2313,2817
$STATE,9662,end apogee,CONTROL_FINISHED_OK
$STATE,9662,begin climb
$GC,9665,1.03,146.6,847.4,0.0,463,9810,1.33,2.72,132.77,1.125,4,0.064,0.051,2578,895,2216
$GC,9937,0.96,156.1,833.0,7.2,475,9952,0.00,2.53,9.02,0.936,6,0.000,0.038,2578,2302,2179
$GC,10282,0.92,184.8,808.2,6.5,492,10317,0.00,2.67,27.48,1.064,4,0.000,0.048,2578,901,2062
$GC,10358,0.86,184.8,802.2,8.9,495,10363,0.17,2.53,0.00,0.000,6,0.091,0.038,2545,2304,2058
$GC,10673,0.86,184.8,776.7,7.7,510,10678,0.00,2.65,0.00,0.000,4,0.000,0.067,2545,3705,2057
$GC,10741,0.86,184.8,771.4,8.0,513,10745,0.00,2.47,0.00,0.000,6,0.000,0.031,2545,2299,2057
$GC,11062,1.06,373.3,759.2,1.1,529,11250,0.17,2.72,174.30,1.091,4,0.048,0.064,2595,3702,1294
$GC,11290,1.06,373.3,738.9,16.7,539,11296,0.00,2.50,0.00,0.000,6,0.000,0.031,2595,2302,1289
$GC,11605,1.13,434.3,698.6,5.4,555,11668,0.00,2.65,55.72,1.032,4,0.000,0.053,2595,897,1045
$GC,11709,1.54,708.7,700.9,-1.9,559,11840,0.45,2.53,119.22,1.036,6,0.052,0.036,2699,2303,507
$GC,12149,1.43,708.7,614.8,23.3,581,12154,0.15,2.60,0.00,0.000,4,0.106,0.052,2671,891,499
$GC,12309,1.43,708.7,584.5,18.3,588,12314,0.00,2.50,0.00,0.000,6,0.000,0.035,2672,2301,498
$GC,12631,1.39,708.7,530.0,16.7,604,12635,0.00,2.58,0.00,0.000,4,0.000,0.051,2672,897,497
$GC,12761,1.39,708.7,508.0,16.2,610,12765,0.00,2.50,0.00,0.000,6,0.000,0.035,2672,2309,497
$GC,13088,1.33,708.7,452.5,17.4,626,13093,0.12,2.58,0.00,0.000,4,0.097,0.048,2648,895,496
$GC,13214,1.37,708.7,433.9,13.4,631,13220,0.00,2.47,0.00,0.000,6,0.000,0.034,2648,2302,497
$GC,13529,1.37,708.7,384.3,16.2,647,13533,0.00,2.55,0.00,0.000,4,0.000,0.048,2648,893,496
$GC,13653,1.43,708.7,364.5,16.1,652,13657,0.00,2.47,0.00,0.000,6,0.000,0.033,2648,2300,497
$GC,13969,1.43,708.7,312.3,16.5,667,13973,0.00,2.55,0.00,0.000,4,0.000,0.047,2648,892,497
$GC,14087,1.48,708.7,293.5,15.2,672,14091,0.15,2.47,0.00,0.000,6,0.050,0.033,2684,2301,496
$GC,14403,1.40,708.7,233.6,19.2,687,14407,0.00,2.55,0.00,0.000,4,0.000,0.047,2684,890,497
$GC,14543,1.35,708.7,207.1,18.1,693,14548,0.15,2.47,0.00,0.000,6,0.095,0.032,2655,2302,496
$GC,14859,1.35,708.7,160.7,14.7,708,14863,0.00,2.55,0.00,0.000,4,0.000,0.046,2655,891,496
$GC,14989,1.40,708.7,141.9,14.9,714,14993,0.00,2.47,0.00,0.000,6,0.000,0.032,2655,2300,496
$GC,15317,1.40,708.7,82.6,18.8,730,15321,0.00,2.55,0.00,0.000,4,0.000,0.046,2655,888,496
$GC,15440,1.45,708.7,59.3,14.7,735,15446,0.00,2.47,0.00,0.000,6,0.000,0.032,2655,2303,496
$GC,15757,1.45,708.7,24.4,13.9,751,15762,0.00,2.55,0.00,0.000,4,0.000,0.046,2655,888,496
$GC,15889,1.53,708.7,5.8,13.4,757,15894,0.17,2.47,0.00,0.000,6,0.045,0.032,2696,2302,496
$STATE,15924,end climb,SURFACE_DEPTH_REACHED
$STATE,15924,begin surface coast
$FINISH,0.8,1.012381
$STATE,15946,end surface coast,CONTROL_FINISHED_OK
$STATE,15946,begin surface
$SM_CCo,16031,0.00,0.000,0,0,496,569.34
$SM_GC,1.39,12.70,0.00,0.00,0.094,0.000,0.000,74,2607,496,-10.45,0.20,569.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1846
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.5,45.308
$10V_AH,10.1,23.643
$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,30.550,158.700,649.500,0.000,0.000,36.145,55.550,194.665,7.250,0.000,0.000,33.055,1455.906,11787.510,685.781,2004.887,597.419,0.000,1739.071,0.000,1924.530,0.000,49.778,0.000
$DEVICE_MAMPS,185.614,79.001,1138.228,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,554.608,515.755,439.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37938,760
$CAP_FILE_SIZE,135189,0
$CFSIZE,260165632,241876992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,300709,152006,6207.695,-1007.139,40,1.2,40,-10.1