version: 66.04
glider: 16
mission: 13
dive: 196
start: 7 12 109 3 30 59
data:
$ID,16
$MISSION,13
$DIVE,196
$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,-2111100.2
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,032507,6329.367,-1304.758,35,1.8,35,-12.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-61.3
$GPS2,033043,6329.336,-1304.821,14,1.8,31,-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,210.0,27874,-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,-146.6,0.0,0.0,0,74,0.00,0.00,-54.20,0.000,6,0.000,0.000,72,2601,3416
$GC,77,-1.03,-146.6,3.7,-9.2,2,99,11.77,2.55,0.00,0.000,4,0.178,0.038,2129,1196,3417
$GC,302,-1.03,-146.6,47.8,-13.4,12,307,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2597,3419
$GC,629,-1.03,-146.6,90.7,-11.9,28,633,0.00,2.33,0.00,0.000,4,0.000,0.064,2129,3860,3419
$GC,679,-1.03,-146.6,97.1,-12.6,30,683,0.00,2.15,0.00,0.000,6,0.000,0.025,2129,2580,3419
$GC,995,-1.03,-146.6,127.9,-8.3,45,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3419
$GC,1305,-1.03,-146.6,148.2,-6.2,60,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3420
$GC,1613,-1.03,-146.6,171.0,-7.9,75,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3419
$GC,1922,-1.03,-146.6,194.9,-7.7,90,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3420
$GC,2232,-1.03,-146.6,218.8,-7.8,105,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3419
$GC,2541,-1.03,-146.6,242.5,-7.9,120,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3419
$GC,2850,-1.03,-146.6,267.2,-7.9,135,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3419
$GC,3159,-1.03,-146.6,292.4,-8.3,150,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3419
$GC,3469,-1.03,-146.6,318.6,-8.4,165,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2578,3419
$GC,3778,-1.03,-146.6,345.7,-9.2,180,3782,0.00,2.40,0.00,0.000,4,0.000,0.040,2129,1209,3419
$GC,3818,-1.07,-146.6,349.4,-9.3,182,3822,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2608,3418
$GC,4145,-1.07,-146.6,379.0,-8.6,198,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3418
$GC,4454,-1.07,-146.6,405.5,-9.2,213,4458,0.00,2.45,0.00,0.000,4,0.000,0.039,2129,1213,3418
$GC,4498,-1.07,-146.6,410.1,-9.9,215,4502,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2600,3418
$GC,4819,-1.07,-146.6,445.7,-12.1,231,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,5128,-1.07,-146.6,486.6,-12.5,246,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,5438,-1.07,-146.6,517.7,-10.4,261,5442,0.00,2.42,0.00,0.000,4,0.000,0.039,2129,1215,3418
$GC,5472,-1.14,-146.6,520.1,-6.5,262,5478,0.00,2.42,0.00,0.000,6,0.000,0.037,2129,2600,3418
$GC,5788,-1.14,-146.6,537.0,-5.8,278,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,6097,-1.14,-146.6,562.2,-6.9,293,6101,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1211,3417
$GC,6161,-1.14,-146.6,568.1,-9.9,296,6165,0.00,2.42,0.00,0.000,6,0.000,0.037,2129,2600,3417
$GC,6487,-1.14,-146.6,605.1,-10.5,312,6491,0.00,2.42,0.00,0.000,4,0.000,0.040,2129,1211,3417
$GC,6521,-1.21,-146.6,607.7,-7.1,313,6526,0.15,2.45,0.00,0.000,6,0.044,0.038,2083,2603,3417
$GC,6838,-1.08,-146.6,650.1,-13.6,328,6842,0.20,2.35,0.00,0.000,4,0.095,0.070,2125,3864,3416
$GC,6955,-1.08,-146.6,660.6,-6.2,333,6959,0.00,2.12,0.00,0.000,6,0.000,0.028,2125,2607,3416
$GC,7277,-1.03,-146.6,683.1,-8.0,349,7281,0.00,2.45,0.00,0.000,4,0.000,0.041,2125,1209,3416
$GC,7349,-1.03,-146.6,687.1,-7.8,352,7353,0.00,2.42,0.00,0.000,6,0.000,0.039,2125,2598,3415
$STATE,7440,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7440,begin apogee
$GC,7448,-0.31,0.0,694.1,7.1,357,7583,0.80,0.00,127.88,1.040,6,0.097,0.000,2287,2294,2816
$STATE,7583,end apogee,CONTROL_FINISHED_OK
$STATE,7584,begin climb
$GC,7586,1.03,146.6,697.1,0.0,364,7727,1.40,2.58,128.93,1.025,4,0.071,0.043,2582,913,2217
$GC,7982,0.98,146.6,674.8,12.8,382,7986,0.00,2.47,0.00,0.000,6,0.000,0.037,2583,2305,2212
$GC,8303,1.04,298.7,656.1,2.3,398,8448,0.00,2.60,135.68,1.004,4,0.000,0.046,2582,908,1598
$GC,8481,1.04,298.7,646.9,9.3,406,8486,0.00,2.50,0.00,0.000,6,0.000,0.037,2582,2307,1593
$GC,8797,1.04,298.7,617.0,11.7,421,8802,0.00,2.53,0.00,0.000,4,0.000,0.048,2582,911,1588
$GC,8842,1.04,298.7,611.2,12.4,423,8846,0.00,2.45,0.00,0.000,6,0.000,0.035,2582,2306,1586
$GC,9163,1.04,298.7,580.9,9.8,439,9167,0.00,2.62,0.00,0.000,4,0.000,0.064,2582,3706,1586
$GC,9206,1.04,298.7,576.6,10.2,441,9211,0.00,2.45,0.00,0.000,6,0.000,0.030,2583,2309,1586
$GC,9528,1.04,299.0,549.8,7.5,457,9532,0.00,2.55,0.00,0.000,4,0.000,0.051,2582,898,1585
$GC,9590,1.13,336.0,545.8,6.2,459,9631,0.12,2.47,33.55,0.924,6,0.055,0.036,2620,2302,1446
$GC,9949,1.13,336.0,515.9,9.0,477,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2302,1440
$GC,10257,1.13,336.0,482.8,11.4,492,10261,0.00,2.55,0.00,0.000,4,0.000,0.048,2620,894,1438
$GC,10296,1.13,336.0,477.9,12.8,494,10300,0.00,2.47,0.00,0.000,6,0.000,0.035,2619,2300,1437
$GC,10622,1.13,336.0,440.8,12.1,510,10627,0.00,2.53,0.00,0.000,4,0.000,0.048,2620,898,1437
$GC,10656,1.13,336.0,436.6,12.0,511,10662,0.00,2.47,0.00,0.000,6,0.000,0.035,2620,2308,1437
$GC,10971,1.13,336.0,398.0,12.9,527,10975,0.00,2.53,0.00,0.000,4,0.000,0.047,2620,897,1437
$GC,11017,1.13,336.0,391.8,13.6,529,11021,0.00,2.45,0.00,0.000,6,0.000,0.034,2620,2307,1436
$GC,11349,1.13,336.0,347.5,13.9,545,11353,0.00,2.55,0.00,0.000,4,0.000,0.046,2620,891,1436
$GC,11382,1.13,336.0,342.6,14.1,546,11388,0.00,2.47,0.00,0.000,6,0.000,0.034,2620,2306,1436
$GC,11697,1.13,336.0,300.3,12.6,562,11701,0.00,2.53,0.00,0.000,4,0.000,0.045,2620,892,1436
$GC,11742,1.13,336.0,294.6,12.1,564,11746,0.00,2.45,0.00,0.000,6,0.000,0.034,2620,2301,1435
$GC,12075,1.13,336.0,253.6,12.4,580,12079,0.00,2.53,0.00,0.000,4,0.000,0.046,2620,891,1436
$GC,12114,1.13,336.0,248.9,11.7,582,12118,0.00,2.47,0.00,0.000,6,0.000,0.034,2620,2311,1436
$GC,12441,1.13,336.0,213.5,10.9,598,12445,0.00,2.55,0.00,0.000,4,0.000,0.046,2620,892,1436
$GC,12481,1.13,336.0,209.3,9.8,600,12485,0.00,2.45,0.00,0.000,6,0.000,0.033,2620,2301,1436
$GC,12808,1.13,336.0,175.5,11.1,616,12812,0.00,2.50,0.00,0.000,4,0.000,0.044,2620,895,1436
$GC,12847,1.13,336.0,170.9,11.0,617,12853,0.00,2.45,0.00,0.000,6,0.000,0.033,2620,2304,1435
$GC,13163,1.13,336.0,136.9,10.4,633,13167,0.00,2.53,0.00,0.000,4,0.000,0.044,2620,889,1436
$GC,13190,1.13,336.0,134.0,10.4,634,13194,0.00,2.45,0.00,0.000,6,0.000,0.033,2620,2298,1436
$GC,13507,1.13,336.0,103.0,9.7,649,13512,0.00,2.53,0.00,0.000,4,0.000,0.044,2620,888,1436
$GC,13548,1.13,336.0,99.1,9.4,651,13552,0.00,2.47,0.00,0.000,6,0.000,0.034,2620,2310,1436
$GC,13875,1.13,336.0,69.6,8.7,667,13879,0.00,2.55,0.00,0.000,4,0.000,0.058,2620,3701,1436
$GC,13898,1.13,336.0,67.4,8.9,668,13902,0.00,2.42,0.00,0.000,6,0.000,0.027,2620,2290,1436
$GC,14219,1.13,336.0,35.0,11.1,684,14224,0.00,2.47,0.00,0.000,4,0.000,0.046,2620,898,1436
$GC,14354,1.18,336.0,18.7,11.1,690,14358,0.00,2.45,0.00,0.000,6,0.000,0.033,2620,2308,1436
$STATE,14508,end climb,SURFACE_DEPTH_REACHED
$STATE,14508,begin surface coast
$FINISH,0.7,1.026590
$STATE,14529,end surface coast,CONTROL_FINISHED_OK
$STATE,14529,begin surface
$SM_CCo,14613,0.00,0.000,0,0,1434,339.25
$SM_GC,1.70,11.93,0.00,0.00,0.077,0.000,0.000,68,2616,1434,-10.46,0.45,339.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1786
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.2,76.3
$24V_AH,23.6,32.970
$10V_AH,10.1,16.636
$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,26.375,129.150,426.025,0.000,0.000,18.252,33.944,147.891,5.250,0.000,0.000,31.403,1295.858,11059.051,504.139,1634.180,453.477,0.000,1338.038,0.000,1573.929,0.000,36.688,0.000
$DEVICE_MAMPS,177.944,69.797,1040.052,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.445,476.303,425.783,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34890,699
$CAP_FILE_SIZE,108524,0
$CFSIZE,260165632,247336960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120709,073536,6327.106,-1306.672,28,1.1,28,-12.3