version: 66.04
glider: 16
mission: 13
dive: 201
start: 7 12 109 22 49 15
data:
$ID,16
$MISSION,13
$DIVE,201
$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,-2111181.5
$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,24
$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
$GPS1,224131,6323.638,-1308.608,39,1.7,39,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-57.5
$GPS2,224856,6323.662,-1308.569,16,1.7,16,-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,210.8,16913,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,92,0.00,0.00,-71.35,0.000,6,0.000,0.000,73,2605,3415
$GC,96,-1.03,-146.6,7.8,-8.8,4,117,11.82,2.53,0.00,0.000,4,0.181,0.037,2130,1197,3417
$GC,241,-1.03,-146.6,38.6,-11.8,10,245,0.00,2.47,0.00,0.000,6,0.000,0.036,2130,2606,3418
$GC,557,-1.03,-146.6,70.5,-10.7,25,561,0.00,2.47,0.00,0.000,4,0.000,0.037,2130,1198,3418
$GC,643,-1.08,-146.6,78.9,-9.0,29,647,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2606,3419
$GC,969,-1.08,-146.6,108.6,-9.7,45,973,0.00,2.33,0.00,0.000,4,0.000,0.064,2131,3865,3419
$GC,1056,-1.08,-146.6,117.9,-11.3,49,1060,0.00,2.15,0.00,0.000,6,0.000,0.026,2130,2584,3419
$GC,1389,-1.08,-146.6,149.4,-9.0,65,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2582,3419
$GC,1697,-1.08,-146.6,176.9,-8.7,80,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2582,3419
$GC,2006,-1.08,-146.6,205.9,-9.3,95,2010,0.00,2.40,0.00,0.000,4,0.000,0.039,2131,1213,3419
$GC,2040,-1.08,-146.6,209.0,-8.7,96,2046,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2610,3419
$GC,2355,-1.08,-146.6,241.0,-10.5,112,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2610,3419
$GC,2665,-1.08,-146.6,274.3,-10.9,127,2669,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1212,3418
$GC,2714,-1.08,-146.6,279.8,-11.1,129,2719,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2599,3419
$GC,3030,-1.08,-146.6,313.8,-10.5,144,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3418
$GC,3339,-1.08,-146.6,344.4,-9.7,159,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3418
$GC,3649,-1.08,-146.6,373.9,-9.8,174,3653,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1204,3417
$GC,3704,-1.08,-146.6,379.0,-9.3,176,3710,0.00,2.45,0.00,0.000,6,0.000,0.036,2131,2599,3417
$GC,4019,-1.08,-146.6,407.8,-8.8,192,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,4329,-1.08,-146.6,433.1,-8.0,207,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,4638,-1.08,-146.6,456.0,-7.3,222,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,4947,-1.08,-146.6,480.0,-7.9,237,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,5257,-1.08,-146.6,506.7,-8.3,252,5261,0.00,2.42,0.00,0.000,4,0.000,0.037,2131,1209,3417
$GC,5323,-1.08,-146.6,512.2,-7.8,255,5327,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2608,3417
$GC,5644,-1.08,-146.6,544.5,-10.3,271,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3416
$GC,5955,-1.08,-146.6,577.0,-11.0,286,5959,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1204,3416
$GC,6050,-1.14,-146.6,587.6,-10.5,290,6054,0.00,2.45,0.00,0.000,6,0.000,0.037,2131,2600,3416
$GC,6371,-1.14,-146.6,619.0,-8.6,306,6375,0.00,2.35,0.00,0.000,4,0.000,0.070,2131,3862,3416
$GC,6421,-1.14,-146.6,623.7,-9.0,308,6425,0.00,2.12,0.00,0.000,6,0.000,0.027,2130,2599,3416
$GC,6743,-1.19,-146.6,650.9,-9.6,324,6745,0.15,0.00,0.00,0.000,6,0.044,0.000,2084,2597,3415
$STATE,6822,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6823,begin apogee
$GC,6830,-0.31,0.0,659.1,10.0,328,6965,1.05,0.00,127.40,1.008,6,0.118,0.000,2288,2305,2817
$STATE,6966,end apogee,CONTROL_FINISHED_OK
$STATE,6966,begin climb
$GC,6969,1.03,146.6,662.6,0.0,335,7107,1.35,2.62,128.30,0.997,4,0.073,0.048,2578,914,2217
$GC,7365,0.97,146.6,644.3,8.3,353,7370,0.00,2.47,0.00,0.000,6,0.000,0.036,2578,2312,2212
$GC,7693,0.91,146.6,621.3,7.6,369,7697,0.00,2.60,0.00,0.000,4,0.000,0.064,2578,3701,2212
$GC,7766,0.82,166.6,616.0,6.8,372,7791,0.20,2.40,18.20,0.916,6,0.094,0.028,2540,2311,2136
$GC,8109,0.86,198.9,595.2,6.4,389,8144,0.00,2.65,29.25,0.941,4,0.000,0.062,2541,3704,2005
$GC,8197,0.86,198.9,588.6,8.8,393,8201,0.00,2.45,0.00,0.000,6,0.000,0.029,2540,2302,2004
$GC,8523,0.94,198.9,559.2,9.4,409,8528,0.10,2.55,0.00,0.000,4,0.056,0.049,2572,895,2000
$GC,8573,0.94,198.9,554.4,9.4,411,8578,0.00,2.47,0.00,0.000,6,0.000,0.035,2572,2303,1999
$GC,8889,0.94,198.9,519.7,12.3,426,8894,0.00,2.60,0.00,0.000,4,0.000,0.062,2572,3701,1999
$GC,8975,0.89,198.9,506.1,16.8,430,8979,0.00,2.42,0.00,0.000,6,0.000,0.031,2571,2305,1999
$GC,9308,0.90,205.2,476.0,7.3,446,9319,0.00,2.55,6.10,0.700,4,0.000,0.048,2572,890,1979
$GC,9377,0.83,210.2,470.6,7.3,449,9389,0.15,2.50,6.12,0.696,6,0.088,0.036,2542,2304,1959
$GC,9699,0.92,210.2,442.1,8.3,464,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2304,1958
$GC,10008,0.99,274.3,426.0,5.3,479,10070,0.15,0.00,59.28,0.859,6,0.048,0.000,2585,2304,1698
$GC,10377,1.03,308.7,400.7,6.3,497,10410,0.00,0.00,31.27,0.820,6,0.000,0.000,2586,2304,1558
$GC,10706,1.10,321.6,379.0,7.1,513,10724,0.00,0.00,12.20,0.748,6,0.000,0.000,2585,2305,1505
$GC,11035,1.21,366.1,358.8,6.0,529,11082,0.17,2.60,41.00,0.798,4,0.048,0.045,2640,891,1322
$GC,11164,1.21,366.1,347.7,8.8,535,11168,0.00,2.50,0.00,0.000,6,0.000,0.035,2640,2308,1317
$GC,11492,1.21,366.1,314.6,10.6,551,11496,0.00,2.55,0.00,0.000,4,0.000,0.046,2640,893,1314
$GC,11526,1.21,366.1,310.9,10.6,552,11532,0.00,2.47,0.00,0.000,6,0.000,0.034,2640,2304,1314
$GC,11842,1.21,366.1,274.5,11.9,568,11846,0.00,2.53,0.00,0.000,4,0.000,0.045,2640,895,1314
$GC,11891,1.21,366.1,268.2,12.6,570,11895,0.00,2.47,0.00,0.000,6,0.000,0.033,2640,2308,1313
$GC,12207,1.21,366.1,230.8,11.8,585,12211,0.00,2.55,0.00,0.000,4,0.000,0.045,2640,890,1313
$GC,12256,1.21,366.1,224.7,11.3,587,12261,0.00,2.45,0.00,0.000,6,0.000,0.033,2640,2299,1312
$GC,12578,1.21,366.1,186.5,11.8,603,12582,0.00,2.53,0.00,0.000,4,0.000,0.044,2640,891,1313
$GC,12622,1.21,366.1,181.2,11.6,605,12626,0.00,2.47,0.00,0.000,6,0.000,0.033,2640,2308,1312
$GC,12944,1.21,366.1,144.2,11.4,621,12948,0.00,2.55,0.00,0.000,4,0.000,0.045,2641,887,1312
$GC,12993,1.21,366.1,138.2,11.7,623,12998,0.00,2.47,0.00,0.000,6,0.000,0.034,2640,2305,1312
$GC,13311,1.21,366.1,102.7,11.5,638,13315,0.00,2.53,0.00,0.000,4,0.000,0.044,2640,892,1312
$GC,13338,1.21,366.1,98.8,12.8,639,13343,0.00,2.45,0.00,0.000,6,0.000,0.032,2640,2298,1312
$GC,13654,1.21,366.1,61.9,11.0,654,13658,0.00,2.53,0.00,0.000,4,0.000,0.044,2640,888,1311
$GC,13732,1.21,366.1,53.2,11.1,657,13739,0.00,2.45,0.00,0.000,6,0.000,0.033,2640,2302,1312
$GC,14049,1.21,366.1,19.4,10.5,673,14054,0.00,2.53,0.00,0.000,4,0.000,0.043,2640,885,1312
$GC,14167,1.21,366.1,6.0,10.5,678,14171,0.00,2.47,0.00,0.000,6,0.000,0.034,2640,2305,1311
$STATE,14191,end climb,SURFACE_DEPTH_REACHED
$STATE,14191,begin surface coast
$FINISH,0.8,1.002097
$STATE,14213,end surface coast,CONTROL_FINISHED_OK
$STATE,14213,begin surface
$SM_CCo,14297,0.00,0.000,0,0,1308,369.91
$SM_GC,1.48,11.95,0.00,0.00,0.074,0.000,0.000,63,2611,1308,-10.47,0.31,369.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1762
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.6,66.8
$24V_AH,23.6,33.655
$10V_AH,10.1,16.961
$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,27.100,119.650,459.125,0.000,0.000,51.131,64.431,149.580,5.000,0.000,0.000,16.908,1276.994,10803.801,553.741,1597.272,510.975,0.000,1374.883,0.000,1553.019,0.000,37.101,0.000
$DEVICE_MAMPS,181.012,69.797,1007.838,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.169,462.639,408.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34838,680
$CAP_FILE_SIZE,108083,0
$CFSIZE,260165632,247091200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130709,024856,6323.350,-1303.897,28,3.3,47,-12.2