version: 66.04
glider: 16
mission: 13
dive: 198
start: 7 12 109 11 19 15
data:
$ID,16
$MISSION,13
$DIVE,198
$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,-2111131.8
$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,31
$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
$GPS1,111036,6326.726,-1307.018,40,1.3,40,-12.3
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-56.4
$GPS2,111855,6326.762,-1307.094,10,1.5,15,-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,209.1,22758,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.88,0.000,2,0.000,0.000,73,2604,3202
$GC,81,-1.03,-146.6,4.6,-7.2,3,104,11.80,2.47,-3.72,0.000,4,0.180,0.050,2132,1197,3416
$GC,267,-1.03,-146.6,29.7,-8.4,11,271,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2597,3417
$GC,589,-1.03,-146.6,71.6,-12.7,27,593,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1194,3417
$GC,644,-1.03,-146.6,78.5,-11.1,29,651,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2605,3417
$GC,960,-1.03,-146.6,114.5,-11.4,45,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,1270,-1.03,-146.6,149.8,-11.1,60,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,1578,-1.03,-146.6,180.6,-9.9,75,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,1887,-1.03,-146.6,211.5,-9.8,90,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,2197,-1.03,-146.6,244.5,-10.5,105,2201,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1196,3418
$GC,2241,-1.03,-146.6,249.1,-9.9,107,2245,0.00,2.45,0.00,0.000,6,0.000,0.036,2133,2601,3418
$GC,2568,-1.03,-146.6,281.5,-9.5,123,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,2877,-1.03,-146.6,308.9,-8.4,138,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,3186,-1.03,-146.6,335.3,-9.5,153,3190,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1195,3417
$GC,3230,-1.07,-146.6,339.5,-8.7,155,3235,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2605,3417
$GC,3552,-1.07,-146.6,371.2,-10.3,171,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3417
$GC,3862,-1.07,-146.6,403.2,-10.0,186,3866,0.00,2.47,0.00,0.000,4,0.000,0.038,2133,1196,3417
$GC,3907,-1.12,-146.6,407.8,-10.0,188,3911,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2608,3417
$GC,4228,-1.12,-146.6,439.8,-9.7,204,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2608,3417
$GC,4537,-1.12,-146.6,464.7,-7.2,219,4541,0.00,2.47,0.00,0.000,4,0.000,0.038,2133,1195,3417
$GC,4579,-1.17,-146.6,467.7,-7.4,221,4584,0.12,2.47,0.00,0.000,6,0.048,0.036,2093,2608,3417
$GC,4906,-1.07,-146.6,497.8,-9.7,237,4907,0.17,0.00,0.00,0.000,6,0.097,0.000,2126,2608,3416
$GC,5219,-1.07,-146.6,525.3,-8.6,252,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2608,3415
$GC,5524,-1.07,-146.6,547.6,-6.4,267,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2608,3416
$GC,5833,-1.07,-146.6,567.0,-6.1,282,5837,0.00,2.33,0.00,0.000,4,0.000,0.069,2126,3857,3415
$GC,5890,-1.07,-146.6,570.6,-6.7,284,5896,0.00,2.15,0.00,0.000,6,0.000,0.028,2126,2579,3415
$GC,6206,-1.07,-146.6,585.6,-5.1,300,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2579,3415
$STATE,6512,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6512,begin apogee
$GC,6519,-0.31,0.0,603.6,6.5,315,6649,0.80,0.00,126.03,0.969,6,0.095,0.000,2291,2305,2818
$STATE,6649,end apogee,CONTROL_FINISHED_OK
$STATE,6649,begin climb
$GC,6653,1.03,146.6,605.9,0.0,321,6790,1.35,2.72,127.30,0.960,4,0.068,0.062,2580,3708,2218
$GC,7031,0.89,146.6,577.2,13.7,338,7036,0.15,2.45,0.00,0.000,6,0.107,0.029,2553,2309,2213
$GC,7352,0.99,233.6,554.7,4.5,354,7436,0.00,2.67,76.38,0.936,4,0.000,0.061,2553,3707,1863
$GC,7501,1.11,349.9,549.8,3.5,360,7613,0.22,2.47,104.30,0.930,6,0.043,0.030,2614,2297,1389
$GC,7921,1.15,382.6,525.5,6.4,381,7952,0.00,0.00,29.12,0.886,6,0.000,0.000,2613,2297,1257
$GC,8250,1.15,382.6,502.2,7.7,397,8254,0.00,2.55,0.00,0.000,4,0.000,0.051,2614,895,1249
$GC,8295,1.20,382.6,498.5,8.2,399,8300,0.00,2.47,0.00,0.000,6,0.000,0.035,2614,2302,1248
$GC,8628,1.24,382.6,467.1,9.9,415,8632,0.00,2.55,0.00,0.000,4,0.000,0.048,2614,895,1247
$GC,8679,1.29,382.6,461.9,10.4,417,8684,0.12,2.47,0.00,0.000,6,0.056,0.035,2644,2305,1247
$GC,8995,1.29,382.6,427.4,10.2,432,8999,0.00,2.55,0.00,0.000,4,0.000,0.048,2645,897,1246
$GC,9044,1.29,382.6,422.4,9.6,434,9049,0.00,2.47,0.00,0.000,6,0.000,0.035,2645,2305,1246
$GC,9360,1.29,382.6,392.1,9.7,449,9365,0.00,2.55,0.00,0.000,4,0.000,0.047,2645,893,1246
$GC,9410,1.29,382.6,386.7,10.1,451,9415,0.00,2.47,0.00,0.000,6,0.000,0.034,2645,2309,1246
$GC,9727,1.25,382.6,350.4,12.6,466,9732,0.00,2.55,0.00,0.000,4,0.000,0.046,2645,895,1246
$GC,9794,1.25,382.6,341.1,13.2,469,9799,0.00,2.47,0.00,0.000,6,0.000,0.034,2645,2309,1246
$GC,10115,1.25,382.6,300.4,12.3,485,10120,0.00,2.53,0.00,0.000,4,0.000,0.045,2645,899,1246
$GC,10178,1.25,382.6,292.6,11.9,488,10182,0.00,2.45,0.00,0.000,6,0.000,0.034,2645,2302,1246
$GC,10504,1.25,382.6,253.4,11.7,504,10509,0.00,2.53,0.00,0.000,4,0.000,0.045,2645,895,1245
$GC,10571,1.25,382.6,245.3,11.8,507,10575,0.00,2.45,0.00,0.000,6,0.000,0.033,2645,2301,1246
$GC,10892,1.25,382.6,209.5,11.1,523,10896,0.00,2.53,0.00,0.000,4,0.000,0.045,2645,892,1246
$GC,10954,1.25,382.6,202.2,11.7,526,10959,0.00,2.45,0.00,0.000,6,0.000,0.033,2645,2302,1245
$GC,11281,1.25,382.6,161.2,13.7,542,11285,0.00,2.53,0.00,0.000,4,0.000,0.045,2645,892,1246
$GC,11348,1.25,382.6,151.8,14.0,545,11352,0.00,2.45,0.00,0.000,6,0.000,0.032,2645,2301,1245
$GC,11669,1.25,382.6,104.5,15.9,561,11673,0.00,2.50,0.00,0.000,4,0.000,0.044,2645,899,1245
$GC,11724,1.25,382.6,94.3,18.4,563,11731,0.00,2.42,0.00,0.000,6,0.000,0.032,2645,2304,1246
$GC,12040,1.25,382.6,46.2,12.8,579,12045,0.00,2.53,0.00,0.000,4,0.000,0.044,2645,891,1245
$GC,12152,1.25,382.6,31.3,12.5,584,12156,0.00,2.45,0.00,0.000,6,0.000,0.033,2645,2299,1245
$STATE,12368,end climb,SURFACE_DEPTH_REACHED
$STATE,12368,begin surface coast
$FINISH,0.7,1.026499
$STATE,12390,end surface coast,CONTROL_FINISHED_OK
$STATE,12390,begin surface
$SM_CCo,12473,0.00,0.000,0,0,1242,386.10
$SM_GC,1.51,11.80,0.00,0.00,0.067,0.000,0.000,70,2602,1242,-10.46,0.06,386.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1777
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.3,87.6
$24V_AH,23.7,33.239
$10V_AH,10.1,16.759
$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,26.550,100.325,463.125,0.000,0.000,36.402,58.251,224.688,4.250,0.000,0.000,15.772,1108.039,9413.437,512.721,1397.357,545.050,0.000,1245.012,0.000,1361.773,0.000,30.547,0.000
$DEVICE_MAMPS,180.245,69.030,969.488,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.703,404.466,356.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28581,596
$CAP_FILE_SIZE,95615,0
$CFSIZE,260165632,247259136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120709,144830,6326.215,-1305.911,40,1.4,46,-12.2