version: 66.04
glider: 16
mission: 13
dive: 194
start: 7 11 109 18 23 12
data:
$ID,16
$MISSION,13
$DIVE,194
$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,-2111055.8
$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,40
$R_STBD_OVSHOOT,21
$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
$GPS1,181737,6330.721,-1310.214,33,1.7,33,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-63.6
$GPS2,182255,6330.731,-1310.348,9,1.8,14,-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,199.9,29391,-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,-146.6,0.0,0.0,0,76,0.00,0.00,-56.25,0.000,2,0.000,0.000,72,2594,3338
$GC,79,-1.03,-146.6,5.7,-8.2,3,102,11.73,2.50,-1.25,0.000,4,0.177,0.047,2129,1198,3418
$GC,208,-1.03,-146.6,29.1,-9.6,8,215,0.00,2.47,0.00,0.000,6,0.000,0.036,2129,2610,3419
$GC,526,-1.03,-146.6,57.6,-8.9,24,530,0.00,2.47,0.00,0.000,4,0.000,0.037,2129,1201,3419
$GC,570,-1.07,-146.6,61.3,-7.3,26,575,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2608,3419
$GC,893,-1.07,-146.6,87.8,-8.7,42,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3420
$GC,1201,-1.07,-146.6,114.7,-8.7,57,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3420
$GC,1510,-1.07,-146.6,142.0,-9.4,72,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3420
$GC,1820,-1.07,-146.6,174.4,-11.0,87,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3420
$GC,2129,-1.07,-146.6,209.2,-11.1,102,2133,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1199,3420
$GC,2168,-1.07,-146.6,213.4,-10.6,104,2173,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2600,3420
$GC,2495,-1.07,-146.6,249.0,-11.2,120,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,2804,-1.07,-146.6,280.0,-10.9,135,2808,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1201,3420
$GC,2837,-1.07,-146.6,283.7,-10.1,136,2843,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2600,3420
$GC,3153,-1.07,-146.6,315.6,-10.0,152,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,3462,-1.07,-146.6,345.8,-9.8,167,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,3771,-1.07,-146.6,374.8,-8.9,182,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,4081,-1.07,-146.6,402.6,-8.9,197,4085,0.00,2.33,0.00,0.000,4,0.000,0.068,2129,3858,3419
$GC,4131,-1.07,-146.6,407.3,-9.5,199,4135,0.00,2.15,0.00,0.000,6,0.000,0.027,2128,2582,3420
$GC,4452,-1.07,-146.6,437.4,-9.8,215,4456,0.00,2.38,0.00,0.000,4,0.000,0.067,2129,3865,3419
$GC,4502,-1.07,-146.6,442.5,-10.2,217,4506,0.00,2.15,0.00,0.000,6,0.000,0.027,2129,2590,3420
$GC,4829,-1.07,-146.6,474.9,-10.1,233,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2587,3419
$GC,5139,-1.07,-146.6,507.8,-10.7,248,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2587,3419
$GC,5448,-1.07,-146.6,539.5,-10.2,263,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2587,3418
$GC,5757,-1.07,-146.6,573.9,-12.0,278,5761,0.00,2.40,0.00,0.000,4,0.000,0.041,2129,1211,3418
$GC,5835,-1.12,-146.6,584.3,-13.5,281,5839,0.00,2.45,0.00,0.000,6,0.000,0.037,2129,2608,3418
$GC,6152,-1.12,-146.6,616.9,-8.9,296,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2607,3418
$GC,6460,-1.12,-146.6,638.3,-8.9,311,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3418
$GC,6770,-1.12,-146.6,677.8,-13.1,326,6774,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1211,3417
$GC,6905,-1.18,-146.6,696.2,-12.5,332,6910,0.12,2.42,0.00,0.000,6,0.048,0.038,2090,2600,3417
$GC,7227,-1.10,-146.6,737.5,-12.4,348,7228,0.15,0.00,0.00,0.000,6,0.099,0.000,2119,2600,3417
$STATE,7244,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7244,begin apogee
$GC,7251,-0.31,0.0,740.2,12.6,349,7387,0.82,0.00,128.07,1.058,6,0.092,0.000,2287,2295,2816
$STATE,7388,end apogee,CONTROL_FINISHED_OK
$STATE,7388,begin climb
$GC,7390,1.03,146.6,745.6,0.0,356,7528,1.40,0.00,129.57,1.046,6,0.069,0.000,2584,2295,2217
$GC,7837,0.94,146.6,705.6,10.2,378,7842,0.00,2.50,0.00,0.000,4,0.000,0.047,2584,910,2212
$GC,7882,0.84,146.6,700.6,11.3,380,7887,0.22,2.47,0.00,0.000,6,0.089,0.036,2541,2305,2211
$GC,8203,0.84,146.6,670.2,8.4,396,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2306,2210
$GC,8513,0.95,250.8,654.4,3.9,411,8615,0.12,2.62,92.88,1.006,4,0.052,0.047,2577,911,1792
$GC,8632,0.96,261.7,647.8,7.1,416,8648,0.00,2.47,10.55,0.870,6,0.000,0.035,2577,2302,1750
$GC,8964,0.96,261.7,621.4,8.3,433,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2302,1743
$GC,9273,0.96,261.7,600.2,7.8,448,9277,0.00,2.53,0.00,0.000,4,0.000,0.048,2577,908,1741
$GC,9323,1.01,261.7,596.2,8.2,450,9327,0.00,2.47,0.00,0.000,6,0.000,0.036,2577,2311,1740
$GC,9639,1.01,261.7,565.4,10.7,465,9643,0.00,2.53,0.00,0.000,4,0.000,0.048,2577,914,1740
$GC,9671,1.01,261.7,561.8,10.3,466,9677,0.00,2.42,0.00,0.000,6,0.000,0.035,2577,2304,1739
$GC,9987,1.01,261.7,529.5,10.1,482,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2304,1739
$GC,10297,1.01,261.7,498.9,9.8,497,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2304,1739
$GC,10605,1.01,261.7,470.9,8.8,512,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2304,1739
$GC,10915,1.01,261.7,445.4,8.1,527,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2304,1739
$GC,11224,1.01,261.7,419.0,8.8,542,11229,0.00,2.55,0.00,0.000,4,0.000,0.060,2577,3699,1739
$GC,11264,1.01,261.7,415.2,10.3,544,11268,0.00,2.38,0.00,0.000,6,0.000,0.028,2577,2310,1739
$GC,11596,1.01,261.7,385.9,8.8,560,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2309,1739
$GC,11906,1.05,261.7,360.1,8.5,575,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2309,1739
$GC,12215,1.09,261.7,332.8,8.8,590,12216,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2309,1739
$GC,12524,1.09,261.7,307.5,8.1,605,12528,0.00,2.50,0.00,0.000,4,0.000,0.045,2577,902,1739
$GC,12568,1.13,261.7,303.6,8.4,607,12573,0.12,2.42,0.00,0.000,6,0.049,0.033,2617,2301,1739
$GC,12889,1.07,261.7,272.6,9.9,623,12891,0.12,0.00,0.00,0.000,6,0.094,0.000,2593,2301,1739
$GC,13198,1.07,261.7,245.7,8.8,638,13202,0.00,2.50,0.00,0.000,4,0.000,0.044,2593,898,1740
$GC,13231,1.07,261.7,242.6,9.7,639,13237,0.00,2.45,0.00,0.000,6,0.000,0.033,2593,2308,1740
$GC,13547,1.07,261.7,215.0,8.7,655,13548,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2308,1739
$GC,13856,1.07,261.7,186.0,9.5,670,13857,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2308,1739
$GC,14166,1.07,261.7,156.0,10.0,685,14170,0.00,2.53,0.00,0.000,4,0.000,0.044,2593,892,1739
$GC,14232,1.07,261.7,148.6,10.7,688,14237,0.00,2.45,0.00,0.000,6,0.000,0.033,2593,2302,1739
$GC,14554,1.07,261.7,111.1,12.3,704,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2301,1739
$GC,14865,1.07,261.7,74.8,10.5,719,14866,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2302,1740
$GC,15172,1.07,261.7,44.5,8.9,734,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2302,1739
$GC,15482,1.11,261.7,15.7,8.1,749,15486,0.00,2.47,0.00,0.000,4,0.000,0.042,2593,901,1740
$STATE,15632,end climb,SURFACE_DEPTH_REACHED
$STATE,15632,begin surface coast
$FINISH,2.5,1.026451
$STATE,15638,end surface coast,CONTROL_FINISHED_OK
$STATE,15638,begin surface
$SM_CCo,15724,0.00,0.000,0,0,1735,265.41
$SM_GC,1.60,12.07,0.00,0.00,0.091,0.000,0.000,73,2600,1735,-10.47,0.00,265.41
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1775
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.1,72.4
$24V_AH,23.6,32.724
$10V_AH,10.1,16.494
$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,26.900,84.225,361.075,0.000,0.000,17.983,28.342,148.878,5.750,0.000,0.000,14.766,1338.477,12273.091,454.913,1532.892,441.079,0.000,1212.091,0.000,1501.470,0.000,39.918,0.000
$DEVICE_MAMPS,177.177,68.263,1058.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,553.629,515.391,458.531,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37941,756
$CAP_FILE_SIZE,101649,0
$CFSIZE,260165632,247451648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110709,224632,6330.157,-1309.372,39,1.7,40,-12.3