version: 66.04
glider: 16
mission: 13
dive: 207
start: 7 14 109 0 28 23
data:
$ID,16
$MISSION,13
$DIVE,207
$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,-2111304.2
$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,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
$GPS1,001907,6315.765,-1312.723,33,1.4,33,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.1
$GPS2,002807,6315.754,-1312.703,13,1.4,30,-12.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$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,184.4,48140,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,80,0.00,0.00,-57.17,0.000,6,0.000,0.000,68,2601,3415
$GC,83,-1.03,-146.6,7.6,-14.2,3,105,11.85,2.55,0.00,0.000,4,0.181,0.038,2130,1184,3417
$GC,266,-1.03,-146.6,38.7,-9.3,11,270,0.00,2.50,0.00,0.000,6,0.000,0.035,2128,2605,3418
$GC,593,-1.03,-146.6,74.0,-11.0,27,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3418
$GC,902,-1.03,-146.6,104.6,-9.7,42,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3418
$GC,1211,-1.03,-146.6,135.7,-10.2,57,1215,0.00,2.47,0.00,0.000,4,0.000,0.037,2130,1192,3419
$GC,1255,-1.03,-146.6,140.4,-9.7,59,1260,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2602,3418
$GC,1576,-1.03,-146.6,173.0,-9.8,75,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3419
$GC,1885,-1.03,-146.6,203.6,-9.8,90,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2602,3419
$GC,2195,-1.03,-146.6,233.4,-9.5,105,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3419
$GC,2504,-1.03,-146.6,262.9,-9.6,120,2508,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1190,3418
$GC,2547,-1.03,-146.6,267.0,-9.2,122,2551,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,2875,-1.03,-146.6,297.3,-9.5,138,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3183,-1.03,-146.6,328.2,-10.0,153,3188,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1187,3419
$GC,3223,-1.03,-146.6,332.1,-9.9,155,3227,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2603,3418
$GC,3551,-1.03,-146.6,364.4,-10.0,171,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3418
$GC,3860,-1.03,-146.6,395.2,-9.7,186,3865,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1191,3418
$GC,3911,-1.03,-146.6,400.3,-9.8,188,3915,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2610,3418
$GC,4227,-1.03,-146.6,430.9,-9.6,203,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3417
$GC,4536,-1.03,-146.6,459.8,-8.8,218,4540,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1193,3418
$GC,4575,-1.03,-146.6,463.0,-8.1,220,4579,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2610,3417
$GC,4903,-1.03,-146.6,488.7,-7.4,236,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3417
$GC,5211,-1.03,-146.6,514.0,-8.5,251,5215,0.00,2.50,0.00,0.000,4,0.000,0.038,2130,1187,3417
$GC,5243,-1.03,-146.6,516.8,-8.2,252,5249,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2600,3417
$GC,5559,-1.03,-146.6,544.3,-9.3,268,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,5868,-1.03,-146.6,573.0,-9.5,283,5872,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1191,3417
$GC,5924,-1.08,-146.6,578.7,-10.1,285,5931,0.00,2.47,0.00,0.000,6,0.000,0.036,2130,2608,3416
$GC,6241,-1.08,-146.6,610.3,-9.4,301,6245,0.00,2.33,0.00,0.000,4,0.000,0.069,2130,3858,3416
$GC,6285,-1.08,-146.6,614.6,-9.5,303,6289,0.00,2.15,0.00,0.000,6,0.000,0.026,2130,2580,3416
$GC,6611,-1.08,-146.6,644.9,-9.7,319,6616,0.00,2.40,0.00,0.000,4,0.000,0.041,2130,1209,3416
$GC,6680,-1.13,-146.6,651.2,-8.9,322,6684,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2606,3416
$GC,7000,-1.13,-146.6,678.0,-7.8,338,7004,0.00,2.45,0.00,0.000,4,0.000,0.042,2130,1213,3416
$GC,7041,-1.13,-146.6,680.3,-4.8,340,7045,0.00,2.42,0.00,0.000,6,0.000,0.037,2130,2600,3416
$GC,7368,-1.17,-146.6,705.2,-6.6,356,7373,0.12,2.33,0.00,0.000,4,0.047,0.068,2089,3857,3415
$GC,7448,-1.00,-146.6,712.1,-7.4,359,7455,0.25,2.12,0.00,0.000,6,0.094,0.029,2137,2606,3415
$STATE,7473,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7473,begin apogee
$GC,7481,-0.31,0.0,715.2,10.4,361,7615,0.77,0.00,128.40,1.043,6,0.114,0.000,2289,2300,2816
$STATE,7616,end apogee,CONTROL_FINISHED_OK
$STATE,7616,begin climb
$GC,7619,1.03,146.6,719.2,0.0,368,7757,1.35,2.60,129.25,1.030,4,0.067,0.048,2579,912,2217
$GC,8018,1.01,190.8,697.8,6.0,386,8063,0.00,2.47,39.95,0.992,6,0.000,0.037,2579,2308,2039
$GC,8393,1.01,190.8,664.1,8.9,404,8398,0.00,2.53,0.00,0.000,4,0.000,0.047,2579,911,2032
$GC,8478,1.01,190.8,655.4,10.2,408,8482,0.00,2.45,0.00,0.000,6,0.000,0.035,2579,2301,2031
$GC,8804,1.01,190.8,626.8,8.0,424,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2301,2031
$GC,9114,1.01,190.8,600.2,9.2,439,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2301,2029
$GC,9423,1.01,190.8,574.1,7.7,454,9427,0.00,2.60,0.00,0.000,4,0.000,0.062,2579,3704,2029
$GC,9464,0.96,190.8,570.7,9.2,456,9469,0.00,2.42,0.00,0.000,6,0.000,0.028,2579,2305,2029
$GC,9792,0.97,196.2,545.5,7.3,472,9798,0.00,0.00,4.57,0.640,6,0.000,0.000,2579,2304,2017
$GC,10100,0.97,196.2,521.9,7.6,487,10104,0.00,2.50,0.00,0.000,4,0.000,0.048,2579,904,2016
$GC,10139,0.97,196.2,518.6,8.7,488,10145,0.00,2.45,0.00,0.000,6,0.000,0.035,2579,2303,2015
$GC,10455,0.97,196.2,494.5,7.6,504,10459,0.00,2.50,0.00,0.000,4,0.000,0.045,2579,896,2015
$GC,10482,0.97,196.2,492.3,7.6,505,10486,0.00,2.45,0.00,0.000,6,0.000,0.034,2579,2299,2014
$GC,10803,0.97,196.2,468.1,7.5,521,10807,0.00,2.58,0.00,0.000,4,0.000,0.061,2579,3698,2014
$GC,10836,0.91,196.2,465.2,8.5,522,10843,0.00,2.42,0.00,0.000,6,0.000,0.028,2579,2294,2015
$GC,11152,0.91,196.2,439.8,8.2,538,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2293,2015
$GC,11461,0.91,196.2,413.7,8.7,553,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2291,2014
$GC,11771,0.91,196.2,387.4,8.6,568,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2291,2015
$GC,12080,0.91,196.2,362.5,8.0,583,12081,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2291,2014
$GC,12389,0.91,196.2,337.6,7.9,598,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2291,2013
$GC,12699,0.92,201.9,313.8,7.3,613,12707,0.00,0.00,6.45,0.626,6,0.000,0.000,2579,2291,1994
$GC,13008,0.93,215.0,291.5,7.1,628,13027,0.00,0.00,13.55,0.708,6,0.000,0.000,2579,2291,1939
$GC,13337,0.95,229.7,268.7,7.0,644,13359,0.00,2.62,14.55,0.699,4,0.000,0.056,2579,3699,1880
$GC,13383,0.95,229.7,265.1,7.7,646,13387,0.00,2.42,0.00,0.000,6,0.000,0.028,2579,2299,1879
$GC,13709,0.95,232.0,240.4,7.4,662,13711,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2299,1877
$GC,14019,0.96,239.4,217.7,7.2,677,14033,0.00,2.58,9.68,0.637,4,0.000,0.056,2579,3700,1840
$GC,14050,0.96,239.4,215.2,7.9,677,14056,0.00,2.42,0.00,0.000,6,0.000,0.028,2579,2299,1839
$GC,14366,0.96,239.4,190.8,7.7,693,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2298,1838
$GC,14675,0.96,239.4,166.4,8.1,708,14676,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2298,1839
$GC,14985,0.96,239.4,142.1,7.6,723,14987,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2299,1839
$GC,15294,0.96,239.4,118.5,7.7,738,15298,0.00,2.58,0.00,0.000,4,0.000,0.056,2579,3707,1839
$GC,15334,0.96,239.4,115.1,9.2,740,15338,0.00,2.42,0.00,0.000,6,0.000,0.028,2579,2293,1838
$GC,15666,0.96,239.4,88.8,7.8,756,15668,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2293,1839
$GC,15976,1.01,239.4,61.3,9.0,771,15980,0.00,2.47,0.00,0.000,4,0.000,0.045,2579,898,1838
$GC,16003,1.06,239.4,58.6,9.0,772,16007,0.00,2.45,0.00,0.000,6,0.000,0.032,2579,2310,1838
$GC,16322,1.14,268.7,34.9,6.5,787,16354,0.12,2.58,26.42,0.588,4,0.063,0.055,2615,3701,1721
$GC,16371,1.08,268.7,30.9,8.0,789,16375,0.00,2.45,0.00,0.000,6,0.000,0.027,2615,2295,1719
$STATE,16684,end climb,SURFACE_DEPTH_REACHED
$STATE,16684,begin surface coast
$FINISH,0.7,1.007729
$STATE,16706,end surface coast,CONTROL_FINISHED_OK
$STATE,16707,begin surface
$SM_CCo,16790,0.00,0.000,0,0,1710,271.30
$SM_GC,1.82,11.85,0.00,0.00,0.074,0.000,0.000,71,2610,1710,-10.47,0.28,271.30
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1787
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.2,72.2
$24V_AH,23.6,34.357
$10V_AH,10.1,17.379
$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,26.325,114.325,372.825,0.000,0.000,36.391,57.939,252.489,5.750,0.000,0.000,30.735,1452.816,13068.733,471.935,1721.471,614.546,0.000,1327.604,0.000,1662.767,0.000,41.547,0.000
$DEVICE_MAMPS,181.012,69.030,1043.120,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,586.647,553.955,487.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41138,805
$CAP_FILE_SIZE,116801,0
$CFSIZE,260165632,246771712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140709,050931,6314.563,-1310.099,42,1.3,42,-12.2