version: 66.04
glider: 16
mission: 13
dive: 193
start: 7 11 109 13 43 25
data:
$ID,16
$MISSION,13
$DIVE,193
$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,-2111040.2
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,133806,6332.393,-1310.051,35,1.5,41,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-62.1
$GPS2,134308,6332.415,-1310.063,12,1.5,12,-12.3
$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,199.6,32513,-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,-146.6,0.0,0.0,0,100,0.00,0.00,-80.75,0.000,6,0.000,0.000,73,2606,3417
$GC,103,-1.03,-146.6,6.4,-7.9,4,125,12.05,2.53,0.00,0.000,4,0.189,0.035,2129,1188,3418
$GC,266,-1.03,-146.6,39.4,-12.5,11,270,0.00,2.50,0.00,0.000,6,0.000,0.036,2130,2608,3419
$GC,587,-1.03,-146.6,75.9,-8.0,27,591,0.00,2.33,0.00,0.000,4,0.000,0.065,2129,3864,3419
$GC,631,-1.03,-146.6,79.4,-7.6,29,635,0.00,2.17,0.00,0.000,6,0.000,0.026,2129,2574,3420
$GC,954,-1.03,-146.6,101.9,-6.6,45,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2573,3420
$GC,1263,-1.03,-146.6,121.1,-6.3,60,1267,0.00,2.38,0.00,0.000,4,0.000,0.062,2130,3861,3420
$GC,1318,-1.03,-146.6,125.7,-8.3,62,1324,0.00,2.12,0.00,0.000,6,0.000,0.027,2130,2592,3420
$GC,1634,-1.03,-146.6,148.6,-6.8,78,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2592,3420
$GC,1943,-1.03,-146.6,169.9,-6.7,93,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2592,3420
$GC,2252,-1.03,-146.6,191.2,-7.0,108,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2592,3420
$GC,2561,-1.03,-146.6,212.9,-6.7,123,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2591,3420
$GC,2871,-1.03,-146.6,233.2,-6.5,138,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2592,3419
$GC,3180,-1.03,-146.6,254.6,-7.4,153,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2592,3419
$GC,3489,-1.03,-146.6,279.6,-8.1,168,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2592,3419
$GC,3798,-1.03,-146.6,306.2,-8.7,183,3802,0.00,2.42,0.00,0.000,4,0.000,0.040,2130,1212,3419
$GC,3837,-1.03,-146.6,309.3,-7.9,185,3841,0.00,2.42,0.00,0.000,6,0.000,0.037,2130,2599,3419
$GC,4165,-1.03,-146.6,340.3,-10.1,201,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2599,3419
$GC,4474,-1.03,-146.6,373.7,-11.1,216,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,4783,-1.03,-146.6,411.3,-12.5,231,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,5092,-1.03,-146.6,449.6,-12.5,246,5097,0.00,2.33,0.00,0.000,4,0.000,0.067,2130,3858,3419
$GC,5142,-1.03,-146.6,456.8,-14.2,248,5146,0.00,2.10,0.00,0.000,6,0.000,0.027,2130,2603,3418
$GC,5469,-1.03,-146.6,494.9,-10.3,264,5473,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1206,3418
$GC,5531,-1.08,-146.6,501.5,-10.5,267,5535,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2600,3418
$GC,5864,-1.08,-146.6,536.2,-10.3,283,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,6173,-1.08,-146.6,569.2,-10.5,298,6177,0.00,2.42,0.00,0.000,4,0.000,0.039,2130,1213,3418
$GC,6252,-1.13,-146.6,577.1,-9.8,301,6256,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2599,3418
$GC,6568,-1.13,-146.6,606.0,-8.2,316,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3418
$GC,6878,-1.13,-146.6,621.5,-3.2,331,6882,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1212,3417
$GC,6967,-1.19,-146.6,625.4,-4.5,335,6972,0.15,2.42,0.00,0.000,6,0.044,0.037,2085,2599,3417
$GC,7289,-1.09,-146.6,654.1,-9.1,351,7294,0.17,2.42,0.00,0.000,4,0.097,0.039,2118,1209,3416
$GC,7368,-1.09,-146.6,659.7,-7.0,354,7374,0.00,2.45,0.00,0.000,6,0.000,0.038,2118,2603,3416
$GC,7684,-1.05,-146.6,683.8,-8.8,370,7688,0.00,2.35,0.00,0.000,4,0.000,0.071,2118,3863,3416
$GC,7746,-1.05,-146.6,689.6,-9.5,373,7749,0.00,2.12,0.00,0.000,6,0.000,0.030,2118,2607,3416
$STATE,8034,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8034,begin apogee
$GC,8041,-0.31,0.0,717.2,10.4,387,8177,0.88,0.00,127.75,1.058,6,0.113,0.000,2290,2308,2817
$STATE,8177,end apogee,CONTROL_FINISHED_OK
$STATE,8177,begin climb
$GC,8181,1.03,146.6,723.9,0.0,394,8318,1.38,2.62,128.82,1.045,4,0.075,0.048,2581,911,2217
$GC,8578,0.93,146.6,705.0,8.3,412,8583,0.00,2.47,0.00,0.000,6,0.000,0.037,2581,2308,2211
$GC,8906,0.90,238.6,686.1,4.4,428,8991,0.12,0.00,82.07,1.025,6,0.096,0.000,2557,2308,1844
$GC,9296,0.92,257.6,661.6,6.8,447,9316,0.00,0.00,17.45,0.946,6,0.000,0.000,2557,2308,1766
$GC,9626,1.01,278.5,640.8,6.8,463,9652,0.10,2.60,20.45,0.953,4,0.055,0.049,2589,906,1680
$GC,9691,1.01,278.5,635.3,8.1,466,9696,0.00,2.47,0.00,0.000,6,0.000,0.037,2589,2305,1676
$GC,10012,1.01,278.5,608.0,8.1,482,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2305,1674
$GC,10322,1.01,278.5,584.1,8.1,497,10326,0.00,2.53,0.00,0.000,4,0.000,0.048,2589,908,1673
$GC,10366,1.01,278.5,580.7,8.2,499,10370,0.00,2.47,0.00,0.000,6,0.000,0.036,2589,2309,1672
$GC,10686,1.01,278.5,552.8,9.3,515,10691,0.00,2.55,0.00,0.000,4,0.000,0.049,2589,902,1672
$GC,10731,1.01,278.5,548.2,10.0,517,10735,0.00,2.47,0.00,0.000,6,0.000,0.036,2589,2305,1670
$GC,11058,1.01,278.5,515.6,10.0,533,11062,0.00,2.53,0.00,0.000,4,0.000,0.048,2589,907,1671
$GC,11085,1.01,278.5,512.7,10.0,534,11089,0.00,2.45,0.00,0.000,6,0.000,0.035,2589,2302,1671
$GC,11400,1.01,278.5,482.9,8.9,549,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2302,1671
$GC,11710,1.01,278.5,455.0,8.9,564,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2303,1671
$GC,12019,1.01,278.5,426.6,9.3,579,12020,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2302,1671
$GC,12328,1.01,278.5,399.1,8.8,594,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2302,1671
$GC,12637,1.01,278.5,372.1,8.8,609,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2302,1671
$GC,12947,1.01,278.5,342.5,9.9,624,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2302,1671
$GC,13256,1.01,278.5,310.2,10.5,639,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2302,1671
$GC,13565,1.01,278.5,278.0,10.3,654,13569,0.00,2.50,0.00,0.000,4,0.000,0.044,2589,898,1671
$GC,13598,1.01,278.5,274.3,10.9,655,13603,0.00,2.45,0.00,0.000,6,0.000,0.033,2589,2305,1671
$GC,13914,1.01,278.5,241.4,10.3,670,13918,0.00,2.50,0.00,0.000,4,0.000,0.044,2589,897,1671
$GC,13953,1.05,278.5,237.0,10.2,671,13959,0.00,2.45,0.00,0.000,6,0.000,0.033,2589,2307,1671
$GC,14269,1.05,278.5,204.5,10.4,687,14270,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2306,1672
$GC,14578,1.05,278.5,171.6,10.7,702,14579,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2306,1672
$GC,14887,1.05,278.5,140.2,9.6,717,14892,0.00,2.50,0.00,0.000,4,0.000,0.044,2589,901,1672
$GC,14921,1.05,278.5,136.7,9.5,718,14927,0.00,2.42,0.00,0.000,6,0.000,0.033,2589,2299,1672
$GC,15237,1.05,278.5,103.9,10.3,734,15238,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2299,1672
$GC,15548,1.05,278.5,72.8,9.7,749,15552,0.00,2.47,0.00,0.000,4,0.000,0.044,2589,905,1673
$GC,15611,1.10,278.5,65.8,10.7,752,15615,0.00,2.42,0.00,0.000,6,0.000,0.035,2589,2302,1672
$GC,15944,1.15,278.5,31.2,9.4,768,15945,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2302,1673
$GC,16253,1.23,278.5,5.1,8.3,783,16258,0.17,2.47,0.00,0.000,4,0.044,0.043,2647,904,1673
$STATE,16272,end climb,SURFACE_DEPTH_REACHED
$STATE,16272,begin surface coast
$FINISH,0.7,1.026424
$STATE,16296,end surface coast,CONTROL_FINISHED_OK
$STATE,16296,begin surface
$SM_CCo,16383,0.00,0.000,0,0,1668,281.85
$SM_GC,1.79,12.20,0.00,0.00,0.084,0.000,0.000,71,2593,1668,-10.47,-0.20,281.85
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1787
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.1,51.3
$24V_AH,23.6,32.606
$10V_AH,10.1,16.425
$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,27.225,98.075,376.550,0.000,0.000,18.326,28.790,137.516,5.750,0.000,0.000,12.716,1411.238,12689.215,489.172,1657.563,436.244,0.000,1309.714,0.000,1623.846,0.000,39.870,0.000
$DEVICE_MAMPS,188.682,71.331,1057.693,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.806,535.527,479.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38090,785
$CAP_FILE_SIZE,108961,0
$CFSIZE,260165632,247492608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110709,181737,6330.721,-1310.214,33,1.7,33,-12.3