version: 66.04
glider: 16
mission: 13
dive: 200
start: 7 12 109 18 34 48
data:
$ID,16
$MISSION,13
$DIVE,200
$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,-2111163.8
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,182936,6324.536,-1308.554,28,1.8,28,-12.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-56.8
$GPS2,183431,6324.516,-1308.640,12,1.8,17,-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,209.0,18404,-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,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,90,0.00,0.00,-70.50,0.000,2,0.000,0.000,73,2599,3129
$GC,94,-1.03,-146.6,4.7,-4.8,4,117,11.82,2.55,-5.03,0.000,4,0.182,0.049,2129,1191,3418
$GC,297,-1.03,-146.6,33.3,-9.4,13,302,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2600,3419
$GC,625,-1.03,-146.6,69.3,-9.0,29,629,0.00,2.33,0.00,0.000,4,0.000,0.064,2129,3860,3419
$GC,720,-1.03,-146.6,77.9,-8.4,33,724,0.00,2.17,0.00,0.000,6,0.000,0.025,2131,2570,3419
$GC,1038,-1.03,-146.6,103.1,-7.3,48,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2568,3419
$GC,1346,-1.03,-146.6,125.8,-7.3,63,1350,0.00,2.38,0.00,0.000,4,0.000,0.062,2129,3860,3419
$GC,1396,-1.03,-146.6,129.6,-7.9,65,1400,0.00,2.10,0.00,0.000,6,0.000,0.026,2129,2596,3419
$GC,1718,-1.03,-146.6,150.1,-6.4,81,1722,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1212,3419
$GC,1752,-1.03,-146.6,152.2,-6.4,82,1758,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2609,3419
$GC,2068,-1.03,-146.6,176.8,-8.4,98,2072,0.00,2.30,0.00,0.000,4,0.000,0.064,2129,3860,3419
$GC,2106,-1.03,-146.6,180.5,-9.1,99,2112,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2597,3419
$GC,2422,-1.03,-146.6,207.7,-8.8,115,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3419
$GC,2732,-1.03,-146.6,234.7,-9.1,130,2736,0.00,2.42,0.00,0.000,4,0.000,0.039,2129,1215,3419
$GC,2764,-1.03,-146.6,237.7,-9.1,131,2770,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2600,3419
$GC,3080,-1.03,-146.6,263.0,-7.1,147,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,3389,-1.03,-146.6,285.7,-7.6,162,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,3698,-1.03,-146.6,310.3,-8.5,177,3702,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1216,3419
$GC,3748,-1.03,-146.6,314.6,-8.1,179,3752,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2600,3419
$GC,4064,-1.03,-146.6,343.2,-9.6,194,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,4373,-1.03,-146.6,378.3,-12.1,209,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,4682,-1.03,-146.6,418.7,-13.9,224,4686,0.00,2.42,0.00,0.000,4,0.000,0.040,2130,1210,3419
$GC,4739,-1.08,-146.6,426.9,-14.6,226,4745,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2606,3419
$GC,5054,-1.08,-146.6,465.8,-10.7,242,5058,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1212,3420
$GC,5117,-1.13,-146.6,471.8,-9.5,245,5121,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2608,3418
$GC,5450,-1.13,-146.6,503.4,-9.6,261,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3419
$GC,5758,-1.13,-146.6,530.0,-7.9,276,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3419
$GC,6068,-1.13,-146.6,553.0,-7.6,291,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3419
$GC,6377,-1.13,-146.6,574.5,-8.4,306,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2609,3418
$GC,6686,-1.13,-146.6,598.2,-8.3,321,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3418
$GC,6996,-1.13,-146.6,627.1,-10.0,336,7000,0.00,2.45,0.00,0.000,4,0.000,0.040,2129,1214,3418
$GC,7216,-1.20,-146.6,649.4,-9.7,346,7223,0.15,2.45,0.00,0.000,6,0.045,0.038,2085,2608,3418
$STATE,7403,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7403,begin apogee
$GC,7411,-0.31,0.0,672.7,12.6,355,7546,1.02,0.00,127.95,1.012,6,0.112,0.000,2287,2303,2816
$STATE,7547,end apogee,CONTROL_FINISHED_OK
$STATE,7547,begin climb
$GC,7550,1.03,146.6,681.8,0.0,362,7688,1.33,2.72,128.38,1.005,4,0.060,0.061,2580,3704,2218
$GC,7812,0.91,146.6,669.6,10.3,374,7817,0.12,2.42,0.00,0.000,6,0.097,0.028,2558,2314,2216
$GC,8133,0.86,146.6,636.7,11.2,390,8138,0.00,2.55,0.00,0.000,4,0.000,0.048,2557,901,2213
$GC,8191,0.81,146.6,629.3,13.4,392,8198,0.00,2.47,0.00,0.000,6,0.000,0.035,2557,2305,2212
$GC,8507,0.75,146.6,592.8,9.3,408,8509,0.17,0.00,0.00,0.000,6,0.094,0.000,2523,2305,2211
$GC,8817,0.81,146.6,559.7,10.8,423,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2305,2210
$GC,9126,0.87,146.6,530.8,11.3,438,9131,0.12,2.53,0.00,0.000,4,0.051,0.045,2561,902,2209
$GC,9199,0.82,146.6,521.7,12.4,441,9204,0.12,2.47,0.00,0.000,6,0.096,0.035,2537,2309,2208
$GC,9515,0.86,146.6,490.1,8.7,456,9519,0.00,2.58,0.00,0.000,4,0.000,0.061,2537,3698,2208
$GC,9661,0.93,206.3,479.6,5.5,462,9719,0.12,2.42,51.83,0.890,6,0.052,0.028,2574,2296,1975
$GC,10036,1.00,270.8,455.5,5.3,481,10099,0.00,2.62,57.88,0.871,4,0.000,0.048,2573,906,1711
$GC,10146,1.11,329.4,451.0,5.5,486,10209,0.12,2.47,53.15,0.858,6,0.061,0.035,2607,2308,1473
$GC,10517,1.11,329.4,425.1,8.2,504,10522,0.00,2.55,0.00,0.000,4,0.000,0.046,2607,898,1464
$GC,10550,1.11,329.4,422.1,8.9,505,10557,0.00,2.47,0.00,0.000,6,0.000,0.034,2607,2308,1463
$GC,10866,1.11,329.4,396.4,7.7,521,10871,0.00,2.53,0.00,0.000,4,0.000,0.046,2607,905,1462
$GC,10900,1.11,329.4,393.6,7.6,522,10906,0.00,2.45,0.00,0.000,6,0.000,0.033,2607,2301,1461
$GC,11215,1.11,329.4,369.2,7.6,538,11220,0.00,2.53,0.00,0.000,4,0.000,0.045,2607,902,1461
$GC,11265,1.11,329.4,364.8,9.5,540,11269,0.00,2.45,0.00,0.000,6,0.000,0.033,2607,2300,1460
$GC,11581,1.11,329.4,339.0,8.4,555,11585,0.00,2.50,0.00,0.000,4,0.000,0.044,2607,905,1460
$GC,11614,1.11,329.4,336.2,8.1,556,11618,0.00,2.45,0.00,0.000,6,0.000,0.033,2607,2309,1460
$GC,11935,1.14,351.4,312.9,6.7,572,11960,0.00,2.60,18.42,0.738,4,0.000,0.044,2607,908,1383
$GC,12002,1.20,365.2,308.0,7.0,575,12024,0.00,2.45,13.60,0.712,6,0.000,0.033,2607,2301,1327
$GC,12333,1.25,365.2,285.3,7.7,591,12338,0.12,2.50,0.00,0.000,4,0.054,0.044,2645,902,1324
$GC,12385,1.21,365.2,279.9,10.5,593,12390,0.12,2.45,0.00,0.000,6,0.092,0.033,2620,2302,1322
$GC,12701,1.21,365.2,248.2,10.1,608,12705,0.00,2.50,0.00,0.000,4,0.000,0.044,2621,905,1322
$GC,12750,1.21,365.2,242.9,10.4,610,12755,0.00,2.45,0.00,0.000,6,0.000,0.033,2621,2306,1321
$GC,13066,1.21,365.2,207.7,12.0,625,13071,0.00,2.53,0.00,0.000,4,0.000,0.044,2621,895,1321
$GC,13123,1.21,365.2,200.4,12.3,627,13129,0.00,2.45,0.00,0.000,6,0.000,0.033,2621,2299,1321
$GC,13439,1.21,365.2,157.2,14.2,643,13443,0.00,2.50,0.00,0.000,4,0.000,0.044,2621,901,1321
$GC,13501,1.21,365.2,148.5,13.8,646,13505,0.00,2.42,0.00,0.000,6,0.000,0.033,2621,2301,1321
$GC,13834,1.21,365.2,103.5,13.0,662,13838,0.00,2.50,0.00,0.000,4,0.000,0.044,2621,901,1321
$GC,13884,1.26,365.2,96.5,13.8,664,13888,0.00,2.45,0.00,0.000,6,0.000,0.032,2621,2306,1321
$GC,14200,1.26,365.2,55.4,12.9,679,14201,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2307,1321
$GC,14509,1.31,365.2,18.6,11.6,694,14514,0.10,2.50,0.00,0.000,4,0.054,0.043,2655,904,1321
$STATE,14624,end climb,SURFACE_DEPTH_REACHED
$STATE,14624,begin surface coast
$FINISH,0.8,1.026497
$STATE,14641,end surface coast,CONTROL_FINISHED_OK
$STATE,14641,begin surface
$SM_CCo,14728,0.00,0.000,0,0,1317,367.95
$SM_GC,1.51,12.23,0.00,0.00,0.084,0.000,0.000,74,2606,1317,-10.45,0.17,367.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1783
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.1,31.4
$24V_AH,23.6,33.519
$10V_AH,10.1,16.892
$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,27.700,128.700,451.200,0.000,0.000,18.053,28.048,135.982,5.750,0.000,0.000,17.359,1310.641,11067.560,543.537,1668.517,433.713,0.000,1406.920,0.000,1620.620,0.000,41.151,0.000
$DEVICE_MAMPS,181.779,64.428,1011.673,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.091,477.248,427.389,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34839,700
$CAP_FILE_SIZE,111739,0
$CFSIZE,260165632,247140352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120709,224131,6323.638,-1308.608,39,1.7,39,-12.3