version: 66.04
glider: 16
mission: 13
dive: 208
start: 7 14 109 5 15 34
data:
$ID,16
$MISSION,13
$DIVE,208
$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,-2111321.5
$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,34
$R_STBD_OVSHOOT,36
$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
$GPS1,050931,6314.563,-1310.099,42,1.3,42,-12.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-62.1
$GPS2,051514,6314.545,-1310.241,16,1.3,16,-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,186.6,45674,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,76,0.00,0.00,-57.30,0.000,6,0.000,0.000,71,2610,3416
$GC,80,-1.03,-146.6,7.1,-12.7,3,101,11.88,2.55,0.00,0.000,4,0.182,0.037,2131,1190,3417
$GC,242,-1.03,-146.6,37.6,-10.4,10,246,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2596,3418
$GC,563,-1.03,-146.6,68.1,-9.8,26,567,0.00,2.33,0.00,0.000,4,0.000,0.062,2132,3860,3418
$GC,613,-1.03,-146.6,73.5,-10.6,28,617,0.00,2.17,0.00,0.000,6,0.000,0.026,2132,2572,3418
$GC,929,-1.03,-146.6,105.1,-9.9,43,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2570,3419
$GC,1238,-1.03,-146.6,134.6,-9.8,58,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2570,3419
$GC,1547,-1.03,-146.6,165.0,-9.7,73,1551,0.00,2.35,0.00,0.000,4,0.000,0.061,2132,3860,3419
$GC,1585,-1.03,-146.6,169.0,-9.9,74,1591,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2592,3419
$GC,1902,-1.03,-146.6,200.0,-9.6,90,1906,0.00,2.42,0.00,0.000,4,0.000,0.040,2132,1209,3419
$GC,1941,-1.03,-146.6,203.8,-9.5,92,1945,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2608,3419
$GC,2268,-1.03,-146.6,232.6,-8.4,108,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2609,3419
$GC,2577,-1.03,-146.6,261.1,-9.6,123,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3419
$GC,2886,-1.03,-146.6,292.3,-9.5,138,2890,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1210,3419
$GC,2930,-1.03,-146.6,296.7,-9.1,140,2935,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3419
$GC,3252,-1.03,-146.6,327.7,-9.6,156,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3562,-1.03,-146.6,357.9,-9.7,171,3566,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1208,3419
$GC,3595,-1.03,-146.6,361.3,-9.8,172,3599,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2609,3419
$GC,3910,-1.03,-146.6,391.6,-9.5,187,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3419
$GC,4220,-1.03,-146.6,420.5,-9.2,202,4224,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1209,3419
$GC,4260,-1.03,-146.6,424.2,-8.4,204,4264,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3419
$GC,4586,-1.03,-146.6,455.1,-9.5,220,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,4896,-1.03,-146.6,484.4,-9.2,235,4900,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1209,3418
$GC,4940,-1.03,-146.6,488.5,-8.4,237,4944,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2603,3419
$GC,5266,-1.03,-146.6,515.6,-8.0,253,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,5576,-1.03,-146.6,538.7,-7.2,268,5581,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1217,3418
$GC,5649,-1.03,-146.6,544.3,-7.9,271,5653,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2605,3418
$GC,5965,-1.03,-146.6,569.0,-8.2,286,5969,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1215,3419
$GC,6088,-1.03,-146.6,579.1,-8.3,291,6094,0.00,2.42,0.00,0.000,6,0.000,0.036,2132,2601,3418
$GC,6403,-1.03,-146.6,602.6,-8.1,307,6407,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1216,3418
$GC,6459,-1.10,-146.6,607.2,-8.1,309,6463,0.00,2.42,0.00,0.000,6,0.000,0.036,2132,2601,3417
$GC,6775,-1.10,-146.6,630.8,-7.0,324,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,7084,-1.10,-146.6,652.9,-7.2,339,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,7393,-1.10,-146.6,676.2,-7.7,354,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3416
$GC,7702,-1.10,-146.6,700.6,-7.8,369,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3416
$STATE,7823,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7823,begin apogee
$GC,7830,-0.31,0.0,711.3,8.5,375,7966,0.77,0.00,128.73,1.050,6,0.092,0.000,2291,2307,2816
$STATE,7967,end apogee,CONTROL_FINISHED_OK
$STATE,7967,begin climb
$GC,7970,1.03,146.6,716.3,0.0,382,8107,1.35,2.58,129.62,1.039,4,0.069,0.044,2581,914,2218
$GC,8344,0.96,156.2,699.4,7.2,399,8358,0.00,2.45,9.18,0.867,6,0.000,0.035,2581,2301,2180
$GC,8676,0.90,177.2,676.1,6.8,415,8702,0.12,2.67,20.33,0.960,4,0.095,0.064,2557,3700,2093
$GC,8731,0.84,177.2,671.5,9.8,417,8735,0.00,2.42,0.00,0.000,6,0.000,0.028,2557,2312,2093
$GC,9046,0.91,239.8,653.5,5.4,432,9110,0.00,2.72,57.70,0.998,4,0.000,0.061,2557,3708,1839
$GC,9138,0.91,239.8,646.9,8.4,436,9142,0.00,2.47,0.00,0.000,6,0.000,0.029,2557,2303,1838
$GC,9459,0.98,250.5,623.2,7.1,452,9475,0.00,2.58,10.57,0.868,4,0.000,0.049,2557,902,1793
$GC,9492,1.06,256.8,620.8,7.3,452,9507,0.15,2.50,7.28,0.797,6,0.048,0.035,2597,2309,1769
$GC,9831,1.01,256.8,590.4,9.0,469,9836,0.00,2.55,0.00,0.000,4,0.000,0.048,2597,899,1765
$GC,9872,1.01,256.8,586.6,9.2,471,9877,0.00,2.47,0.00,0.000,6,0.000,0.035,2597,2303,1764
$GC,10199,0.97,256.8,555.8,9.7,487,10201,0.15,0.00,0.00,0.000,6,0.097,0.000,2569,2303,1763
$GC,10509,1.01,256.8,529.6,8.7,502,10513,0.00,2.53,0.00,0.000,4,0.000,0.046,2570,895,1763
$GC,10581,1.06,256.8,523.1,9.1,505,10586,0.00,2.47,0.00,0.000,6,0.000,0.035,2568,2303,1762
$GC,10903,1.10,256.8,495.3,8.8,521,10905,0.15,0.00,0.00,0.000,6,0.050,0.000,2610,2303,1762
$GC,11213,1.03,256.8,461.9,10.8,536,11215,0.15,0.00,0.00,0.000,6,0.093,0.000,2582,2303,1762
$GC,11521,1.03,256.8,431.5,9.8,551,11526,0.00,2.58,0.00,0.000,4,0.000,0.060,2582,3704,1762
$GC,11543,1.03,256.8,429.1,10.5,552,11548,0.00,2.45,0.00,0.000,6,0.000,0.028,2582,2291,1762
$GC,11865,1.03,256.8,398.1,9.7,568,11869,0.00,2.47,0.00,0.000,4,0.000,0.048,2581,900,1762
$GC,11916,1.03,256.8,393.2,9.9,570,11920,0.00,2.45,0.00,0.000,6,0.000,0.033,2582,2305,1761
$GC,12237,1.03,256.8,362.8,9.5,586,12238,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1761
$GC,12546,1.03,256.8,335.7,8.7,601,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1761
$GC,12855,1.03,256.8,308.1,9.0,616,12856,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1762
$GC,13164,1.03,256.8,279.2,9.4,631,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1762
$GC,13474,1.03,256.8,249.9,9.5,646,13475,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1761
$GC,13783,1.03,256.8,221.8,8.9,661,13784,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1762
$GC,14092,1.03,256.8,193.0,9.3,676,14093,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1762
$GC,14402,1.03,256.8,164.8,8.8,691,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1762
$GC,14711,1.03,256.8,138.5,8.6,706,14712,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1762
$GC,15020,1.06,283.4,115.0,6.6,721,15046,0.00,0.00,24.10,0.640,6,0.000,0.000,2582,2305,1660
$GC,15352,1.11,283.4,89.7,8.6,737,15356,0.00,2.53,0.00,0.000,4,0.000,0.043,2582,891,1656
$GC,15396,1.17,283.4,85.4,8.7,739,15401,0.15,2.45,0.00,0.000,6,0.045,0.032,2627,2299,1654
$GC,15718,1.12,283.4,50.1,10.8,755,15723,0.12,2.58,0.00,0.000,4,0.092,0.057,2603,3703,1655
$GC,15751,1.12,283.4,46.4,9.7,756,15758,0.00,2.42,0.00,0.000,6,0.000,0.028,2603,2292,1654
$GC,16067,1.12,283.4,18.2,8.6,772,16068,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2290,1654
$STATE,16251,end climb,SURFACE_DEPTH_REACHED
$STATE,16252,begin surface coast
$FINISH,0.8,1.012430
$STATE,16272,end surface coast,CONTROL_FINISHED_OK
$STATE,16272,begin surface
$SM_CCo,16355,0.00,0.000,0,0,1651,286.02
$SM_GC,1.68,11.57,0.00,0.00,0.065,0.000,0.000,68,2608,1651,-10.45,0.20,286.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1784
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.4,69.3
$24V_AH,23.6,34.479
$10V_AH,10.1,17.452
$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,26.575,104.250,387.500,0.000,0.000,18.014,26.866,176.804,5.500,0.000,0.000,16.453,1413.843,12685.071,466.770,1653.787,479.503,0.000,1299.566,0.000,1616.351,0.000,38.285,0.000
$DEVICE_MAMPS,181.779,63.661,1050.023,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,574.065,533.252,472.009,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37959,782
$CAP_FILE_SIZE,111813,0
$CFSIZE,260165632,246722560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140709,094925,6312.523,-1311.700,40,1.1,40,-12.2