version: 66.04
glider: 16
mission: 13
dive: 206
start: 7 13 109 20 4 7
data:
$ID,16
$MISSION,13
$DIVE,206
$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,-2111272.8
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,195601,6315.973,-1307.793,39,1.4,39,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-65.5
$GPS2,200350,6315.948,-1307.951,14,1.2,14,-12.2
$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,265.6,6133,-14.5,-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,16,-1.05,-136.7,0.0,0.0,0,77,0.00,0.00,-54.75,0.000,6,0.000,0.000,67,2609,3377
$GC,81,-1.05,-136.7,7.3,-13.1,3,102,11.82,2.33,0.00,0.000,4,0.181,0.055,2123,3859,3377
$GC,355,-0.99,-136.7,54.1,-12.2,15,360,0.10,2.17,0.00,0.000,6,0.109,0.026,2141,2573,3378
$GC,677,-0.99,-136.7,86.1,-10.4,31,681,0.00,2.38,0.00,0.000,4,0.000,0.060,2141,3864,3378
$GC,822,-0.99,-136.7,102.5,-11.2,37,828,0.00,2.12,0.00,0.000,6,0.000,0.026,2141,2592,3378
$GC,1140,-0.99,-136.7,133.9,-9.6,53,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2591,3379
$GC,1446,-0.99,-136.7,161.8,-9.3,68,1451,0.00,2.42,0.00,0.000,4,0.000,0.039,2141,1211,3379
$GC,1509,-1.05,-136.7,167.7,-9.7,71,1514,0.00,2.42,0.00,0.000,6,0.000,0.035,2141,2597,3379
$GC,1837,-1.05,-136.7,200.4,-10.3,87,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2597,3379
$GC,2145,-1.05,-136.7,231.5,-9.9,102,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2596,3379
$GC,2454,-1.05,-136.7,261.3,-9.4,117,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2597,3378
$GC,2764,-1.05,-136.7,287.9,-8.2,132,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2597,3378
$GC,3073,-1.05,-136.7,312.0,-7.8,147,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2597,3378
$GC,3382,-1.05,-136.7,336.4,-8.1,162,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2597,3378
$GC,3692,-1.05,-136.7,362.8,-8.9,177,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2597,3378
$GC,4001,-1.05,-136.7,389.6,-8.9,192,4005,0.00,2.42,0.00,0.000,4,0.000,0.038,2141,1213,3378
$GC,4045,-1.13,-136.7,393.4,-8.2,194,4050,0.12,2.42,0.00,0.000,6,0.048,0.035,2102,2600,3378
$GC,4367,-1.05,-136.7,429.8,-11.9,210,4368,0.15,0.00,0.00,0.000,6,0.099,0.000,2130,2600,3377
$GC,4675,-1.05,-136.7,462.1,-10.5,225,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3377
$GC,4985,-1.05,-136.7,494.5,-10.7,240,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3377
$GC,5294,-1.05,-136.7,526.7,-10.2,255,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3377
$GC,5603,-1.05,-136.7,558.8,-10.3,270,5607,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1213,3376
$GC,5647,-1.10,-136.7,563.5,-10.2,272,5652,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2600,3376
$GC,5969,-1.10,-136.7,594.3,-9.0,288,5972,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1213,3376
$GC,6002,-1.16,-136.7,597.5,-9.3,289,6007,0.12,2.42,0.00,0.000,6,0.048,0.035,2091,2600,3376
$GC,6318,-1.07,-136.7,629.7,-9.9,304,6320,0.17,0.00,0.00,0.000,6,0.098,0.000,2124,2600,3376
$GC,6627,-1.07,-136.7,654.9,-7.7,319,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2600,3376
$GC,6936,-1.07,-145.0,677.8,-7.2,334,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2600,3376
$GC,7246,-1.07,-145.0,701.4,-8.5,349,7250,0.00,2.35,0.00,0.000,4,0.000,0.069,2124,3864,3375
$GC,7303,-1.07,-145.0,706.5,-8.8,351,7309,0.00,2.12,0.00,0.000,6,0.000,0.028,2124,2603,3376
$STATE,7369,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7369,begin apogee
$GC,7376,-0.31,0.0,712.1,7.9,355,7499,0.82,0.00,119.93,1.026,6,0.098,0.000,2292,2300,2817
$STATE,7500,end apogee,CONTROL_FINISHED_OK
$STATE,7500,begin climb
$GC,7503,1.06,145.0,715.6,0.0,361,7641,1.38,2.70,128.25,1.019,4,0.067,0.061,2586,3701,2225
$GC,7778,0.94,145.0,700.6,9.4,373,7785,0.12,2.42,0.00,0.000,6,0.098,0.028,2565,2312,2220
$GC,8094,0.90,154.6,676.4,7.1,389,8109,0.00,2.65,8.65,0.835,4,0.000,0.061,2565,3700,2186
$GC,8184,0.80,154.6,668.8,8.6,393,8189,0.17,2.45,0.00,0.000,6,0.101,0.028,2533,2299,2185
$GC,8512,0.91,203.2,648.8,5.7,409,8563,0.12,2.67,44.58,0.968,4,0.051,0.061,2570,3694,1987
$GC,8608,0.87,203.2,641.4,8.2,413,8612,0.00,2.45,0.00,0.000,6,0.000,0.029,2570,2300,1987
$GC,8924,0.87,203.2,616.8,7.7,428,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2300,1983
$GC,9233,0.90,235.7,595.4,6.3,443,9269,0.00,2.65,30.20,0.927,4,0.000,0.060,2570,3701,1856
$GC,9297,0.90,235.7,590.8,8.4,445,9301,0.00,2.47,0.00,0.000,6,0.000,0.028,2570,2294,1854
$GC,9619,0.97,252.0,568.1,6.9,461,9637,0.00,0.00,16.00,0.868,6,0.000,0.000,2570,2293,1789
$GC,9947,1.06,270.4,546.2,6.8,477,9970,0.00,2.65,17.67,0.864,4,0.000,0.060,2570,3701,1714
$GC,9999,1.10,270.4,542.4,7.7,479,10004,0.15,2.45,0.00,0.000,6,0.048,0.028,2612,2297,1713
$GC,10315,1.10,270.4,512.9,9.8,494,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2297,1712
$GC,10624,1.10,270.4,481.6,10.3,509,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2297,1711
$GC,10934,1.10,270.4,450.0,10.0,524,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2298,1711
$GC,11243,1.10,270.4,419.6,9.9,539,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2297,1711
$GC,11552,1.10,270.4,387.1,10.3,554,11553,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2297,1711
$GC,11861,1.10,270.4,355.3,10.0,569,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2297,1711
$GC,12170,1.10,270.4,324.4,10.2,584,12174,0.00,2.50,0.00,0.000,4,0.000,0.045,2611,893,1710
$GC,12220,1.10,270.4,319.0,10.7,586,12225,0.00,2.45,0.00,0.000,6,0.000,0.032,2611,2303,1708
$GC,12542,1.10,270.4,284.9,11.0,602,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2304,1709
$GC,12851,1.10,270.4,252.3,10.3,617,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2304,1709
$GC,13160,1.10,270.4,219.9,10.9,632,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2304,1709
$GC,13470,1.10,270.4,182.1,13.2,647,13473,0.00,2.50,0.00,0.000,4,0.000,0.043,2612,894,1709
$GC,13531,1.10,270.4,173.4,13.6,649,13537,0.00,2.45,0.00,0.000,6,0.000,0.033,2612,2303,1709
$GC,13847,1.10,270.4,132.1,12.9,665,13848,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2303,1709
$GC,14156,1.10,270.4,94.0,12.1,680,14158,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2303,1710
$GC,14465,1.10,270.4,64.1,8.0,695,14466,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2304,1709
$GC,14776,1.10,270.4,39.3,8.1,710,14780,0.00,2.50,0.00,0.000,4,0.000,0.042,2612,892,1709
$GC,14854,1.10,270.4,31.2,10.2,713,14860,0.00,2.42,0.00,0.000,6,0.000,0.032,2612,2301,1709
$STATE,15126,end climb,SURFACE_DEPTH_REACHED
$STATE,15126,begin surface coast
$FINISH,0.8,1.026725
$STATE,15148,end surface coast,CONTROL_FINISHED_OK
$STATE,15148,begin surface
$SM_CCo,15231,0.00,0.000,0,0,1706,272.53
$SM_GC,1.56,11.93,0.00,0.00,0.081,0.000,0.000,69,2599,1706,-10.47,0.00,272.53
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1769
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.0,70.6
$24V_AH,23.6,34.236
$10V_AH,10.1,17.302
$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,27.200,74.275,365.275,0.000,0.000,36.357,54.277,201.036,5.500,0.000,0.000,14.044,1304.092,11917.474,437.359,1522.601,518.044,0.000,1192.635,0.000,1484.557,0.000,38.592,0.000
$DEVICE_MAMPS,181.012,69.030,1026.246,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,526.604,501.731,430.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37945,728
$CAP_FILE_SIZE,101590,0
$CFSIZE,260165632,246841344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,140709,001907,6315.765,-1312.723,33,1.4,33,-12.2