version: 66.04
glider: 16
mission: 13
dive: 192
start: 7 11 109 9 24 28
data:
$ID,16
$MISSION,13
$DIVE,192
$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,-2111026.8
$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,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
$GPS1,091801,6332.159,-1313.025,38,1.6,38,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-61.6
$GPS2,092410,6332.170,-1312.993,14,2.4,33,-12.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$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,195.4,31843,-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,15,-1.03,-146.6,0.0,0.0,0,99,0.00,0.00,-81.32,0.000,3,0.000,0.000,67,2605,3415
$GC,102,-1.03,-146.6,6.1,-7.7,4,123,12.18,2.53,0.00,0.000,4,0.191,0.035,2131,1193,3418
$GC,264,-1.03,-146.6,37.2,-12.9,11,268,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2599,3418
$GC,585,-1.03,-146.6,77.2,-11.7,27,589,0.00,2.33,0.00,0.000,4,0.000,0.063,2131,3860,3419
$GC,715,-1.03,-146.6,92.1,-11.1,33,720,0.00,2.15,0.00,0.000,6,0.000,0.025,2131,2580,3419
$GC,1043,-1.03,-146.6,124.4,-9.3,49,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3419
$GC,1354,-1.03,-146.6,150.4,-7.8,64,1358,0.00,2.40,0.00,0.000,4,0.000,0.038,2131,1209,3419
$GC,1399,-1.03,-146.6,154.3,-7.5,66,1403,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2606,3420
$GC,1720,-1.03,-146.6,178.5,-7.5,82,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2607,3420
$GC,2029,-1.03,-146.6,203.8,-8.4,97,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2607,3420
$GC,2339,-1.03,-146.6,231.5,-9.1,112,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2607,3419
$GC,2647,-1.03,-146.6,261.1,-9.9,127,2652,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1209,3419
$GC,2726,-1.07,-146.6,268.8,-9.8,130,2732,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2601,3418
$GC,3044,-1.07,-146.6,301.5,-10.2,146,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3418
$GC,3351,-1.07,-146.6,329.1,-8.2,161,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3418
$GC,3660,-1.07,-146.6,354.6,-8.7,176,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3418
$GC,3970,-1.07,-146.6,384.3,-9.9,191,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3417
$GC,4279,-1.07,-146.6,413.0,-9.0,206,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3417
$GC,4588,-1.07,-146.6,441.8,-9.5,221,4592,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1213,3417
$GC,4633,-1.12,-146.6,446.0,-8.8,223,4637,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2601,3417
$GC,4953,-1.12,-146.6,471.9,-8.6,239,4957,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1207,3416
$GC,4987,-1.12,-146.6,475.0,-9.1,240,4992,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2609,3417
$GC,5305,-1.12,-146.6,500.3,-8.0,255,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2609,3416
$GC,5612,-1.12,-146.6,519.6,-4.5,270,5617,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1211,3416
$GC,5663,-1.17,-146.6,522.0,-5.6,272,5668,0.12,2.42,0.00,0.000,6,0.046,0.035,2091,2599,3416
$GC,5979,-1.08,-146.6,562.3,-13.4,287,5984,0.17,2.33,0.00,0.000,4,0.097,0.067,2124,3857,3416
$GC,6064,-1.08,-146.6,574.2,-13.8,291,6069,0.00,2.10,0.00,0.000,6,0.000,0.026,2124,2598,3416
$GC,6397,-0.99,-146.6,612.5,-12.4,307,6401,0.00,2.42,0.00,0.000,4,0.000,0.040,2124,1213,3415
$GC,6419,-1.04,-146.6,614.6,-8.9,308,6423,0.00,2.42,0.00,0.000,6,0.000,0.036,2124,2599,3415
$GC,6746,-1.04,-146.6,622.6,-5.5,324,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2599,3415
$GC,7055,-1.04,-146.6,642.3,-8.6,339,7059,0.00,2.35,0.00,0.000,4,0.000,0.070,2124,3863,3415
$GC,7244,-1.04,-146.6,662.9,-10.5,347,7251,0.00,2.12,0.00,0.000,6,0.000,0.028,2124,2603,3415
$GC,7561,-1.04,-146.6,690.4,-7.4,363,7565,0.00,2.33,0.00,0.000,4,0.000,0.068,2124,3856,3415
$GC,7616,-1.04,-146.6,695.1,-8.9,365,7622,0.00,2.12,0.00,0.000,6,0.000,0.028,2124,2595,3414
$GC,7933,-0.97,-146.6,722.9,-9.1,381,7937,0.12,2.35,0.00,0.000,4,0.133,0.069,2145,3856,3414
$GC,7983,-1.08,-146.6,726.2,-4.7,383,7987,0.00,2.12,0.00,0.000,6,0.000,0.028,2144,2599,3414
$GC,8305,-1.32,-146.6,743.2,-0.5,399,8310,0.30,2.35,0.00,0.000,4,0.054,0.067,2070,3861,3413
$STATE,8504,end dive,NO_VERTICAL_VELOCITY
$STATE,8504,begin apogee
$GC,8513,-0.31,0.0,743.2,0.0,408,8649,1.05,0.00,128.35,1.068,6,0.104,0.000,2284,2311,2816
$STATE,8650,end apogee,CONTROL_FINISHED_OK
$STATE,8650,begin climb
$GC,8653,1.03,146.6,743.2,0.0,415,8790,1.40,2.67,129.85,1.053,4,0.074,0.062,2583,3702,2218
$GC,9047,0.85,146.6,712.3,13.1,433,9052,0.20,2.45,0.00,0.000,6,0.094,0.029,2545,2303,2214
$GC,9373,0.85,146.6,668.0,13.3,449,9377,0.00,2.62,0.00,0.000,4,0.000,0.061,2546,3707,2211
$GC,9485,0.76,146.6,653.8,11.7,454,9489,0.00,2.45,0.00,0.000,6,0.000,0.029,2545,2300,2211
$GC,9806,0.92,294.1,636.3,2.5,470,9944,0.00,2.67,131.18,1.007,4,0.000,0.060,2545,3695,1616
$GC,9984,1.15,401.1,632.6,3.8,478,10087,0.30,2.45,95.30,0.987,6,0.041,0.030,2621,2303,1181
$GC,10409,1.17,423.0,606.6,6.8,499,10434,0.00,2.62,19.65,0.917,4,0.000,0.052,2621,895,1091
$GC,10487,1.25,423.0,599.9,11.4,502,10492,0.00,2.50,0.00,0.000,6,0.000,0.036,2620,2302,1088
$GC,10804,1.29,425.1,570.8,7.4,517,10808,0.00,2.55,0.00,0.000,4,0.000,0.049,2621,898,1085
$GC,10854,1.35,425.1,566.2,8.7,519,10859,0.15,2.47,0.00,0.000,6,0.050,0.035,2664,2305,1085
$GC,11170,1.27,425.1,527.7,12.9,534,11175,0.15,2.53,0.00,0.000,4,0.097,0.048,2636,901,1083
$GC,11232,1.27,425.1,520.0,12.3,537,11237,0.00,2.47,0.00,0.000,6,0.000,0.035,2635,2309,1084
$GC,11559,1.27,425.1,480.1,11.8,553,11563,0.00,2.53,0.00,0.000,4,0.000,0.048,2636,899,1083
$GC,11631,1.27,425.1,471.5,11.9,556,11636,0.00,2.45,0.00,0.000,6,0.000,0.033,2636,2300,1083
$GC,11952,1.27,425.1,432.1,13.0,572,11956,0.00,2.50,0.00,0.000,4,0.000,0.047,2636,899,1082
$GC,12044,1.27,425.1,419.9,14.1,576,12048,0.00,2.42,0.00,0.000,6,0.000,0.033,2636,2299,1083
$GC,12376,1.27,425.1,373.6,14.4,592,12380,0.00,2.53,0.00,0.000,4,0.000,0.047,2636,892,1082
$GC,12444,1.27,425.1,363.6,15.1,595,12448,0.00,2.45,0.00,0.000,6,0.000,0.033,2636,2299,1082
$GC,12765,1.27,425.1,316.2,15.2,611,12769,0.00,2.53,0.00,0.000,4,0.000,0.046,2636,892,1082
$GC,12820,1.27,425.1,307.0,16.8,613,12826,0.00,2.47,0.00,0.000,6,0.000,0.033,2636,2312,1082
$GC,13136,1.27,425.1,256.5,15.8,629,13140,0.00,2.53,0.00,0.000,4,0.000,0.045,2636,898,1082
$GC,13221,1.27,425.1,243.0,15.7,633,13225,0.00,2.45,0.00,0.000,6,0.000,0.034,2636,2304,1082
$GC,13547,1.27,425.1,196.2,13.4,649,13551,0.00,2.53,0.00,0.000,4,0.000,0.045,2636,892,1082
$GC,13619,1.27,425.1,186.1,13.5,652,13623,0.00,2.45,0.00,0.000,6,0.000,0.033,2636,2299,1082
$GC,13935,1.27,425.1,143.8,13.2,667,13939,0.00,2.50,0.00,0.000,4,0.000,0.046,2636,895,1082
$GC,14018,1.27,425.1,132.5,13.2,670,14025,0.00,2.45,0.00,0.000,6,0.000,0.033,2636,2306,1082
$GC,14334,1.27,425.1,89.7,13.4,686,14338,0.00,2.53,0.00,0.000,4,0.000,0.046,2636,892,1082
$GC,14390,1.27,425.1,81.8,13.8,688,14397,0.00,2.45,0.00,0.000,6,0.000,0.034,2636,2302,1082
$GC,14706,1.27,425.1,39.8,12.2,704,14710,0.00,2.53,0.00,0.000,4,0.000,0.046,2636,890,1082
$GC,14819,1.32,425.1,25.8,12.4,709,14823,0.00,2.45,0.00,0.000,6,0.000,0.033,2636,2301,1082
$STATE,15034,end climb,SURFACE_DEPTH_REACHED
$STATE,15034,begin surface coast
$FINISH,0.8,1.026386
$STATE,15057,end surface coast,CONTROL_FINISHED_OK
$STATE,15057,begin surface
$SM_CCo,15141,0.00,0.000,0,0,1081,425.84
$SM_GC,1.54,12.35,0.00,0.00,0.093,0.000,0.000,73,2606,1081,-10.47,0.17,425.84
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1774
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,23.6,32.485
$10V_AH,10.1,16.352
$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,28.500,137.275,504.325,0.000,0.000,17.977,29.384,155.285,6.250,0.000,0.000,34.009,1368.734,11233.287,579.630,1839.973,487.077,0.000,1524.187,0.000,1768.046,0.000,43.029,0.000
$DEVICE_MAMPS,190.983,69.797,1068.431,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.109,491.840,413.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38037,721
$CAP_FILE_SIZE,117986,0
$CFSIZE,260165632,247545856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110709,133806,6332.393,-1310.051,35,1.5,41,-12.3