version: 66.04
glider: 16
mission: 13
dive: 197
start: 7 12 109 7 44 13
data:
$ID,16
$MISSION,13
$DIVE,197
$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,-2111115.2
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,073536,6327.106,-1306.672,28,1.1,28,-12.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-58.6
$GPS2,074356,6327.114,-1306.828,14,1.1,14,-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,209.2,23447,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-60.95,0.000,2,0.000,0.000,67,2616,3118
$GC,84,-1.03,-146.6,4.2,-6.3,3,107,11.75,2.33,-5.53,0.000,4,0.176,0.071,2132,3847,3418
$GC,361,-0.98,-146.6,44.9,-14.4,15,365,0.00,2.15,0.00,0.000,6,0.000,0.026,2132,2576,3418
$GC,682,-0.98,-146.6,84.9,-12.6,31,686,0.00,2.35,0.00,0.000,4,0.000,0.061,2132,3849,3418
$GC,874,-0.98,-146.6,105.2,-8.0,39,880,0.00,2.10,0.00,0.000,6,0.000,0.026,2132,2590,3418
$GC,1191,-0.98,-146.6,131.9,-9.0,55,1196,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1221,3419
$GC,1232,-1.02,-146.6,135.6,-8.5,57,1236,0.00,2.40,0.00,0.000,6,0.000,0.035,2133,2590,3419
$GC,1559,-1.02,-146.6,166.0,-9.6,73,1563,0.00,2.35,0.00,0.000,4,0.000,0.063,2133,3866,3419
$GC,1603,-1.02,-146.6,170.9,-11.5,75,1607,0.00,2.12,0.00,0.000,6,0.000,0.026,2133,2600,3419
$GC,1930,-1.02,-146.6,205.6,-10.9,91,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2599,3419
$GC,2240,-1.02,-146.6,240.0,-10.9,106,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3418
$GC,2552,-1.02,-146.6,275.6,-11.5,121,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3419
$GC,2858,-1.02,-146.6,310.0,-11.2,136,2862,0.00,2.42,0.00,0.000,4,0.000,0.040,2133,1218,3418
$GC,2891,-1.02,-146.6,313.9,-11.3,137,2897,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2601,3418
$GC,3206,-1.02,-146.6,346.0,-9.6,153,3210,0.00,2.33,0.00,0.000,4,0.000,0.065,2133,3861,3418
$GC,3256,-1.02,-146.6,351.1,-10.1,155,3260,0.00,2.10,0.00,0.000,6,0.000,0.026,2133,2599,3418
$GC,3578,-1.02,-146.6,383.7,-13.1,171,3582,0.00,2.42,0.00,0.000,4,0.000,0.041,2133,1218,3418
$GC,3623,-1.06,-146.6,390.1,-13.0,173,3627,0.00,2.42,0.00,0.000,6,0.000,0.035,2133,2603,3418
$GC,3944,-1.06,-146.6,421.8,-9.6,189,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,4253,-1.06,-146.6,446.9,-8.1,204,4257,0.00,2.45,0.00,0.000,4,0.000,0.039,2133,1211,3418
$GC,4299,-1.11,-146.6,450.5,-8.0,206,4303,0.00,2.45,0.00,0.000,6,0.000,0.036,2133,2607,3418
$GC,4620,-1.11,-146.6,469.6,-5.5,222,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2607,3418
$GC,4930,-1.11,-146.6,488.7,-7.0,237,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2607,3418
$GC,5238,-1.11,-146.6,513.7,-9.2,252,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2607,3418
$GC,5547,-1.11,-146.6,547.6,-11.4,267,5552,0.00,2.45,0.00,0.000,4,0.000,0.038,2133,1211,3417
$GC,5588,-1.16,-146.6,552.0,-11.2,269,5593,0.12,2.45,0.00,0.000,6,0.048,0.036,2093,2610,3417
$GC,5917,-1.10,-146.6,590.5,-11.3,285,5922,0.12,2.45,0.00,0.000,4,0.097,0.038,2117,1215,3417
$GC,5967,-1.17,-146.6,595.5,-9.0,287,5971,0.00,2.42,0.00,0.000,6,0.000,0.036,2116,2600,3417
$STATE,6115,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6115,begin apogee
$GC,6122,-0.31,0.0,608.8,9.1,294,6252,0.88,0.00,126.53,0.966,6,0.120,0.000,2286,2307,2817
$STATE,6253,end apogee,CONTROL_FINISHED_OK
$STATE,6253,begin climb
$GC,6256,1.03,146.6,614.2,0.0,300,6393,1.38,2.60,127.65,0.960,4,0.072,0.043,2579,915,2217
$GC,6527,0.96,146.6,603.6,7.6,313,6532,0.00,2.45,0.00,0.000,6,0.000,0.034,2579,2304,2213
$GC,6844,1.02,263.2,591.0,3.5,328,6953,0.00,2.65,102.97,0.948,4,0.000,0.061,2579,3699,1744
$GC,6983,1.05,287.7,584.6,6.7,334,7012,0.00,2.42,23.20,0.894,6,0.000,0.028,2579,2314,1643
$GC,7321,1.16,306.2,562.1,6.9,351,7344,0.15,2.65,17.05,0.869,4,0.051,0.048,2624,904,1567
$GC,7372,1.16,306.2,557.2,10.0,353,7376,0.00,2.47,0.00,0.000,6,0.000,0.035,2624,2301,1564
$GC,7692,1.16,306.2,518.6,13.1,369,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2301,1563
$GC,8002,1.16,306.2,478.0,12.8,384,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2302,1562
$GC,8311,1.16,306.2,439.2,12.4,399,8315,0.00,2.53,0.00,0.000,4,0.000,0.046,2624,895,1560
$GC,8361,1.16,306.2,433.1,11.7,401,8365,0.00,2.47,0.00,0.000,6,0.000,0.034,2624,2308,1560
$GC,8682,1.16,306.2,400.3,9.8,417,8683,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2308,1560
$GC,8991,1.16,306.2,367.8,10.6,432,8995,0.00,2.53,0.00,0.000,4,0.000,0.045,2624,901,1560
$GC,9040,1.16,306.2,362.1,11.5,434,9044,0.00,2.45,0.00,0.000,6,0.000,0.034,2624,2302,1559
$GC,9356,1.16,306.2,327.4,11.1,449,9359,0.00,2.50,0.00,0.000,4,0.000,0.044,2624,901,1559
$GC,9402,1.16,306.2,322.2,11.1,451,9406,0.00,2.45,0.00,0.000,6,0.000,0.033,2624,2305,1559
$GC,9728,1.16,306.2,285.9,11.2,467,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2305,1559
$GC,10038,1.16,306.2,252.1,10.6,482,10042,0.00,2.53,0.00,0.000,4,0.000,0.044,2624,895,1559
$GC,10083,1.16,306.2,247.0,11.2,484,10087,0.00,2.45,0.00,0.000,6,0.000,0.033,2624,2301,1559
$GC,10404,1.16,306.2,212.2,11.0,500,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2301,1559
$GC,10713,1.16,306.2,177.9,11.2,515,10714,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2301,1559
$GC,11023,1.16,306.2,143.5,10.8,530,11027,0.00,2.50,0.00,0.000,4,0.000,0.044,2624,898,1559
$GC,11068,1.16,306.2,138.6,10.8,532,11072,0.00,2.45,0.00,0.000,6,0.000,0.033,2624,2305,1559
$GC,11396,1.16,306.2,103.2,10.9,548,11400,0.00,2.50,0.00,0.000,4,0.000,0.044,2624,901,1559
$GC,11429,1.16,306.2,99.3,11.1,549,11435,0.00,2.42,0.00,0.000,6,0.000,0.033,2624,2299,1559
$GC,11745,1.16,306.2,61.6,12.1,565,11749,0.00,2.50,0.00,0.000,4,0.000,0.044,2624,899,1559
$GC,11778,1.16,306.2,57.3,12.3,566,11784,0.00,2.42,0.00,0.000,6,0.000,0.033,2624,2299,1559
$GC,12096,1.16,306.2,13.6,11.8,582,12100,0.00,2.50,0.00,0.000,4,0.000,0.043,2624,894,1559
$GC,12196,1.19,329.9,5.0,6.7,586,12217,0.00,2.45,15.68,0.551,2,0.000,0.034,2624,2301,1495
$STATE,12217,end climb,SURFACE_DEPTH_REACHED
$STATE,12217,begin surface coast
$FINISH,2.3,1.026489
$STATE,12222,end surface coast,CONTROL_FINISHED_OK
$STATE,12222,begin surface
$SM_CCo,12307,0.00,0.000,0,0,1490,325.51
$SM_GC,1.69,12.40,0.00,0.00,0.093,0.000,0.000,74,2606,1490,-10.45,0.17,325.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1757
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.8,41.7
$24V_AH,23.7,33.097
$10V_AH,10.1,16.697
$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,26.800,102.875,413.075,0.000,0.000,36.643,59.805,219.054,5.000,0.000,0.000,14.274,1100.639,9308.762,491.582,1358.774,546.302,0.000,1192.618,0.000,1320.081,0.000,36.595,0.000
$DEVICE_MAMPS,176.410,71.331,965.653,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.702,399.444,375.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28561,588
$CAP_FILE_SIZE,94793,0
$CFSIZE,260165632,247308288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120709,111036,6326.726,-1307.018,40,1.3,40,-12.3