version: 66.04
glider: 16
mission: 13
dive: 199
start: 7 12 109 14 56 41
data:
$ID,16
$MISSION,13
$DIVE,199
$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,-2111145.8
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,144830,6326.215,-1305.911,40,1.4,46,-12.2
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-57.4
$GPS2,145621,6326.203,-1306.077,12,1.7,13,-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,212.0,22041,-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,-146.6,0.0,0.0,0,96,0.00,0.00,-75.90,0.000,6,0.000,0.000,69,2602,3416
$GC,100,-1.03,-146.6,7.4,-9.4,4,121,11.88,2.35,0.00,0.000,4,0.182,0.058,2132,3857,3417
$GC,374,-1.03,-146.6,58.5,-12.7,16,379,0.00,2.17,0.00,0.000,6,0.000,0.026,2132,2573,3417
$GC,696,-1.03,-146.6,88.0,-8.3,32,700,0.00,2.38,0.00,0.000,4,0.000,0.061,2132,3861,3417
$GC,954,-1.03,-146.6,108.7,-8.5,43,960,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2592,3417
$GC,1269,-1.03,-146.6,136.5,-9.2,59,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2592,3417
$GC,1578,-1.03,-146.6,161.9,-8.0,74,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2592,3417
$GC,1888,-1.03,-146.6,186.5,-8.0,89,1892,0.00,2.42,0.00,0.000,4,0.000,0.039,2133,1211,3417
$GC,1928,-1.03,-146.6,189.7,-8.3,91,1932,0.00,2.42,0.00,0.000,6,0.000,0.035,2133,2596,3417
$GC,2254,-1.03,-146.6,219.3,-9.5,107,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2596,3417
$GC,2564,-1.03,-146.6,246.5,-8.2,122,2568,0.00,2.33,0.00,0.000,4,0.000,0.064,2133,3857,3417
$GC,2608,-1.03,-146.6,250.9,-10.2,124,2612,0.00,2.10,0.00,0.000,6,0.000,0.027,2133,2600,3417
$GC,2935,-1.03,-146.6,281.1,-9.0,140,2939,0.00,2.42,0.00,0.000,4,0.000,0.039,2133,1212,3417
$GC,2980,-1.08,-146.6,285.3,-8.9,142,2984,0.00,2.42,0.00,0.000,6,0.000,0.035,2133,2599,3417
$GC,3300,-1.08,-146.6,313.0,-8.5,158,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2599,3416
$GC,3610,-1.08,-146.6,340.4,-8.9,173,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2599,3416
$GC,3919,-1.08,-146.6,367.6,-9.1,188,3923,0.00,2.42,0.00,0.000,4,0.000,0.038,2133,1209,3416
$GC,3969,-1.12,-146.6,372.4,-9.3,190,3973,0.00,2.45,0.00,0.000,6,0.000,0.036,2133,2603,3416
$GC,4297,-1.12,-146.6,401.3,-8.7,206,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2603,3416
$GC,4606,-1.12,-146.6,429.8,-9.3,221,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2604,3416
$GC,4915,-1.12,-146.6,458.1,-9.0,236,4919,0.00,2.45,0.00,0.000,4,0.000,0.039,2133,1208,3416
$GC,4965,-1.18,-146.6,462.6,-8.7,238,4970,0.15,2.45,0.00,0.000,6,0.044,0.036,2087,2606,3416
$GC,5281,-1.07,-146.6,496.4,-10.7,253,5286,0.17,2.45,0.00,0.000,4,0.097,0.038,2124,1212,3416
$GC,5337,-1.11,-146.6,501.4,-8.2,255,5343,0.00,2.42,0.00,0.000,6,0.000,0.037,2123,2599,3416
$GC,5653,-1.11,-146.6,526.9,-8.2,271,5657,0.00,2.33,0.00,0.000,4,0.000,0.068,2123,3857,3415
$GC,5703,-1.11,-146.6,531.7,-9.4,273,5707,0.00,2.10,0.00,0.000,6,0.000,0.027,2124,2603,3415
$GC,6024,-1.11,-146.6,563.4,-11.0,289,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2601,3415
$GC,6334,-1.11,-146.6,597.1,-10.3,304,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2601,3415
$GC,6643,-1.11,-146.6,626.2,-10.3,319,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2601,3414
$STATE,6785,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6786,begin apogee
$GC,6793,-0.31,0.0,640.2,9.5,326,6927,0.82,0.00,126.75,0.999,6,0.101,0.000,2290,2309,2817
$STATE,6927,end apogee,CONTROL_FINISHED_OK
$STATE,6928,begin climb
$GC,6931,1.03,146.6,645.4,0.0,333,7069,1.35,2.67,128.23,0.986,4,0.071,0.063,2580,3693,2218
$GC,7123,0.88,146.6,640.1,9.4,342,7128,0.15,2.42,0.00,0.000,6,0.099,0.028,2552,2308,2216
$GC,7450,0.90,157.2,617.0,7.1,358,7462,0.00,0.00,9.85,0.839,6,0.000,0.000,2552,2307,2176
$GC,7759,0.90,157.2,593.9,7.7,373,7763,0.00,2.60,0.00,0.000,4,0.000,0.063,2552,3701,2173
$GC,7837,0.83,157.2,587.5,8.4,376,7843,0.00,2.45,0.00,0.000,6,0.000,0.029,2552,2298,2173
$GC,8153,0.95,275.1,570.3,3.5,392,8261,0.00,0.00,106.05,0.960,6,0.000,0.000,2552,2298,1695
$GC,8566,1.21,401.2,552.3,3.2,412,8690,0.30,2.67,112.50,0.941,4,0.044,0.061,2633,3704,1178
$GC,8703,1.21,401.2,542.4,8.4,418,8708,0.00,2.50,0.00,0.000,6,0.000,0.031,2633,2297,1176
$GC,9019,1.21,401.2,508.9,11.3,433,9023,0.00,2.58,0.00,0.000,4,0.000,0.053,2633,889,1168
$GC,9091,1.21,401.2,500.4,11.6,436,9096,0.00,2.50,0.00,0.000,6,0.000,0.035,2633,2303,1168
$GC,9407,1.21,401.2,466.3,11.2,451,9411,0.00,2.55,0.00,0.000,4,0.000,0.048,2633,896,1166
$GC,9463,1.25,401.2,459.5,11.8,453,9469,0.00,2.47,0.00,0.000,6,0.000,0.035,2633,2302,1165
$GC,9779,1.25,401.2,421.3,12.4,469,9783,0.00,2.55,0.00,0.000,4,0.000,0.048,2633,892,1165
$GC,9841,1.25,401.2,413.1,12.8,472,9846,0.00,2.47,0.00,0.000,6,0.000,0.034,2633,2308,1165
$GC,10168,1.25,401.2,369.8,13.7,488,10172,0.00,2.55,0.00,0.000,4,0.000,0.047,2633,895,1165
$GC,10237,1.25,401.2,360.1,14.6,491,10241,0.00,2.47,0.00,0.000,6,0.000,0.034,2633,2307,1165
$GC,10557,1.25,401.2,312.5,14.8,507,10562,0.00,2.55,0.00,0.000,4,0.000,0.046,2633,891,1165
$GC,10620,1.25,401.2,302.7,16.3,510,10624,0.00,2.47,0.00,0.000,6,0.000,0.034,2633,2308,1166
$GC,10953,1.25,401.2,250.8,15.0,526,10957,0.00,2.55,0.00,0.000,4,0.000,0.046,2633,893,1165
$GC,11025,1.25,401.2,239.3,15.1,529,11029,0.00,2.47,0.00,0.000,6,0.000,0.033,2633,2309,1165
$GC,11341,1.25,401.2,188.7,16.1,544,11345,0.00,2.55,0.00,0.000,4,0.000,0.046,2633,891,1165
$GC,11425,1.25,401.2,174.5,16.4,548,11429,0.00,2.47,0.00,0.000,6,0.000,0.033,2631,2311,1165
$GC,11752,1.25,401.2,119.2,17.1,564,11756,0.00,2.55,0.00,0.000,4,0.000,0.046,2633,891,1165
$GC,11860,1.25,401.2,101.9,15.4,569,11864,0.00,2.45,0.00,0.000,6,0.000,0.033,2633,2301,1165
$GC,12187,1.25,401.2,53.2,14.1,585,12191,0.00,2.53,0.00,0.000,4,0.000,0.044,2633,891,1165
$GC,12253,1.31,401.2,43.9,13.3,588,12258,0.00,2.47,0.00,0.000,6,0.000,0.033,2633,2311,1165
$GC,12575,1.31,401.2,5.5,11.7,604,12580,0.00,2.55,0.00,0.000,4,0.000,0.046,2633,891,1165
$STATE,12606,end climb,SURFACE_DEPTH_REACHED
$STATE,12606,begin surface coast
$FINISH,0.8,1.026491
$STATE,12624,end surface coast,CONTROL_FINISHED_OK
$STATE,12624,begin surface
$SM_CCo,12711,0.00,0.000,0,0,1162,405.97
$SM_GC,1.35,12.30,0.00,0.00,0.092,0.000,0.000,74,2598,1162,-10.46,-0.06,405.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1794
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,577.2,71.2
$24V_AH,23.6,33.388
$10V_AH,10.1,16.823
$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,27.125,108.800,483.375,0.000,0.000,36.147,53.110,209.858,4.750,0.000,0.000,13.154,1130.092,9502.426,564.705,1466.424,522.951,0.000,1328.943,0.000,1426.744,0.000,33.743,0.000
$DEVICE_MAMPS,181.779,68.263,998.634,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.704,412.206,370.434,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31654,606
$CAP_FILE_SIZE,98273,0
$CFSIZE,260165632,247209984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120709,182936,6324.536,-1308.554,28,1.8,28,-12.3