version: 66.04
glider: 16
mission: 13
dive: 209
start: 7 14 109 9 55 30
data:
$ID,16
$MISSION,13
$DIVE,209
$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,-2111338
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,094925,6312.523,-1311.700,40,1.1,40,-12.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-64.4
$GPS2,095513,6312.542,-1311.728,10,1.5,15,-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,184.4,42133,-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,-59.50,0.000,6,0.000,0.000,67,2608,3415
$GC,83,-1.03,-146.6,6.6,-12.3,3,105,11.98,2.55,0.00,0.000,4,0.185,0.036,2129,1187,3417
$GC,229,-1.03,-146.6,35.9,-11.7,9,233,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2601,3418
$GC,545,-0.99,-146.6,63.0,-8.5,24,549,0.00,2.33,0.00,0.000,4,0.000,0.063,2129,3863,3419
$GC,617,-0.94,-146.6,70.2,-9.7,27,622,0.12,2.17,0.00,0.000,6,0.140,0.025,2149,2573,3419
$GC,934,-0.94,-146.6,96.7,-9.2,42,938,0.00,2.38,0.00,0.000,4,0.000,0.038,2149,1214,3419
$GC,979,-1.01,-146.6,101.1,-9.2,44,983,0.00,2.42,0.00,0.000,6,0.000,0.035,2149,2601,3419
$GC,1300,-1.01,-146.6,133.1,-9.7,60,1304,0.00,2.33,0.00,0.000,4,0.000,0.063,2149,3864,3420
$GC,1340,-1.01,-146.6,137.0,-9.5,62,1344,0.00,2.12,0.00,0.000,6,0.000,0.026,2149,2594,3419
$GC,1673,-1.01,-146.6,163.6,-7.5,78,1677,0.00,2.42,0.00,0.000,4,0.000,0.039,2149,1209,3419
$GC,1718,-1.08,-146.6,167.2,-7.9,80,1723,0.12,2.45,0.00,0.000,6,0.048,0.035,2107,2609,3419
$GC,2042,-0.98,-146.6,202.4,-11.8,96,2044,0.20,0.00,0.00,0.000,6,0.098,0.000,2145,2609,3419
$GC,2349,-0.98,-146.6,234.6,-10.7,111,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2609,3419
$GC,2658,-0.98,-146.6,268.3,-10.4,126,2662,0.00,2.45,0.00,0.000,4,0.000,0.038,2144,1210,3419
$GC,2702,-1.04,-146.6,273.0,-10.3,128,2707,0.00,2.42,0.00,0.000,6,0.000,0.035,2144,2599,3419
$GC,3024,-1.04,-146.6,303.1,-8.8,144,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2599,3419
$GC,3333,-1.04,-146.6,328.9,-8.2,159,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2599,3419
$GC,3642,-1.04,-146.6,354.1,-8.1,174,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2599,3418
$GC,3951,-1.04,-146.6,380.5,-8.8,189,3955,0.00,2.42,0.00,0.000,4,0.000,0.038,2144,1212,3418
$GC,3990,-1.11,-146.6,383.9,-8.4,190,3998,0.12,2.42,0.00,0.000,6,0.048,0.035,2104,2600,3418
$GC,4307,-1.01,-146.6,418.3,-10.8,206,4309,0.17,0.00,0.00,0.000,6,0.097,0.000,2136,2601,3418
$GC,4616,-1.01,-146.6,446.3,-9.4,221,4620,0.00,2.42,0.00,0.000,4,0.000,0.038,2136,1214,3418
$GC,4661,-1.06,-146.6,450.5,-9.4,223,4665,0.00,2.42,0.00,0.000,6,0.000,0.035,2136,2600,3418
$GC,4982,-1.06,-146.6,481.4,-9.7,239,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2600,3418
$GC,5291,-1.06,-146.6,509.9,-8.9,254,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2600,3417
$GC,5600,-1.06,-146.6,540.6,-10.3,269,5604,0.00,2.40,0.00,0.000,4,0.000,0.038,2136,1216,3417
$GC,5639,-1.11,-146.6,544.6,-9.9,270,5645,0.00,2.42,0.00,0.000,6,0.000,0.036,2136,2606,3417
$GC,5956,-1.11,-146.6,576.0,-9.2,286,5960,0.00,2.45,0.00,0.000,4,0.000,0.038,2136,1209,3417
$GC,6000,-1.16,-146.6,580.1,-8.9,288,6005,0.15,2.45,0.00,0.000,6,0.044,0.036,2090,2610,3417
$GC,6322,-1.08,-146.6,616.6,-12.0,304,6326,0.17,2.33,0.00,0.000,4,0.094,0.067,2123,3863,3417
$GC,6377,-1.08,-146.6,623.3,-11.9,306,6383,0.00,2.12,0.00,0.000,6,0.000,0.027,2123,2596,3417
$GC,6692,-1.08,-146.6,656.4,-10.1,322,6697,0.00,2.42,0.00,0.000,4,0.000,0.041,2123,1215,3417
$GC,6733,-1.08,-146.6,660.1,-9.7,324,6737,0.00,2.42,0.00,0.000,6,0.000,0.037,2123,2601,3417
$GC,7059,-1.08,-146.6,689.0,-8.9,340,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2601,3416
$GC,7369,-1.08,-146.6,717.8,-9.5,355,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2601,3415
$STATE,7490,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7491,begin apogee
$GC,7498,-0.31,0.0,728.6,8.9,361,7633,0.88,0.00,128.80,1.065,6,0.140,0.000,2286,2308,2816
$STATE,7633,end apogee,CONTROL_FINISHED_OK
$STATE,7633,begin climb
$GC,7636,1.03,146.6,734.2,0.0,368,7775,1.38,2.60,130.20,1.051,4,0.077,0.046,2577,918,2217
$GC,7946,0.96,146.6,718.0,7.7,382,7951,0.00,2.45,0.00,0.000,6,0.000,0.035,2577,2307,2212
$GC,8268,0.90,146.6,694.8,7.7,398,8273,0.12,2.62,0.00,0.000,4,0.097,0.064,2554,3704,2212
$GC,8313,0.79,146.6,690.8,9.5,400,8318,0.12,2.42,0.00,0.000,6,0.101,0.029,2530,2313,2212
$GC,8634,0.84,192.2,671.0,5.9,416,8677,0.00,0.00,41.12,1.003,6,0.000,0.000,2531,2313,2033
$GC,8984,0.96,234.4,648.1,6.1,433,9029,0.17,2.60,39.28,0.988,4,0.047,0.050,2578,905,1860
$GC,9064,0.96,234.4,641.4,9.8,437,9068,0.00,2.50,0.00,0.000,6,0.000,0.036,2578,2309,1856
$GC,9390,0.96,234.4,612.7,8.5,453,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2309,1853
$GC,9700,0.96,234.4,588.0,7.7,468,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2309,1852
$GC,10008,0.96,234.4,564.4,7.7,483,10010,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2309,1852
$GC,10318,0.96,234.4,536.5,9.0,498,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2309,1851
$GC,10627,0.96,234.4,510.8,8.0,513,10632,0.00,2.60,0.00,0.000,4,0.000,0.061,2577,3708,1852
$GC,10661,0.92,234.4,508.1,8.3,514,10667,0.00,2.45,0.00,0.000,6,0.000,0.029,2578,2298,1851
$GC,10977,0.92,234.4,481.4,9.0,530,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2297,1851
$GC,11286,0.92,234.4,452.6,9.9,545,11291,0.00,2.60,0.00,0.000,4,0.000,0.059,2578,3702,1851
$GC,11308,0.92,234.4,450.1,10.5,546,11313,0.00,2.42,0.00,0.000,6,0.000,0.028,2579,2298,1851
$GC,11630,0.92,234.4,418.1,9.7,562,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1851
$GC,11939,0.92,234.4,385.4,10.8,577,11944,0.00,2.60,0.00,0.000,4,0.000,0.058,2578,3708,1851
$GC,11967,0.92,234.4,382.0,12.5,578,11971,0.00,2.42,0.00,0.000,6,0.000,0.028,2578,2299,1851
$GC,12283,0.92,234.4,347.7,10.7,593,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2299,1851
$GC,12592,0.92,234.4,315.0,10.2,608,12596,0.00,2.58,0.00,0.000,4,0.000,0.057,2578,3701,1851
$GC,12614,0.92,234.4,312.7,10.0,609,12618,0.00,2.42,0.00,0.000,6,0.000,0.027,2577,2292,1851
$GC,12935,0.92,234.4,280.2,9.8,625,12939,0.00,2.47,0.00,0.000,4,0.000,0.046,2578,901,1851
$GC,12962,0.92,234.4,277.3,10.3,626,12966,0.00,2.45,0.00,0.000,6,0.000,0.033,2578,2311,1850
$GC,13278,0.92,234.4,247.5,9.1,641,13282,0.00,2.55,0.00,0.000,4,0.000,0.058,2578,3707,1851
$GC,13310,0.92,234.4,244.2,9.1,642,13315,0.00,2.42,0.00,0.000,6,0.000,0.028,2577,2295,1851
$GC,13626,0.92,234.4,218.6,8.0,657,13627,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2294,1851
$GC,13936,0.92,234.4,194.0,8.2,672,13937,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2294,1851
$GC,14245,0.93,239.3,170.2,7.3,687,14251,0.00,0.00,4.25,0.479,6,0.000,0.000,2578,2294,1840
$GC,14554,0.99,296.8,150.3,5.5,702,14608,0.00,0.00,52.10,0.676,6,0.000,0.000,2577,2294,1606
$GC,14906,1.10,341.7,128.7,6.0,719,14948,0.00,0.00,39.45,0.653,6,0.000,0.000,2577,2294,1423
$GC,15255,1.33,443.5,110.2,4.0,736,15349,0.28,2.58,85.40,0.644,4,0.040,0.045,2655,908,1008
$GC,15421,1.33,443.5,97.0,9.0,743,15427,0.00,2.45,0.00,0.000,6,0.000,0.033,2655,2303,1001
$GC,15738,1.28,443.5,58.3,15.6,759,15742,0.00,2.53,0.00,0.000,4,0.000,0.044,2655,901,998
$GC,15805,1.28,443.5,47.5,15.0,762,15809,0.00,2.45,0.00,0.000,6,0.000,0.032,2655,2302,997
$GC,16126,1.28,443.5,3.8,13.4,778,16130,0.00,2.22,0.00,0.000,3,0.000,0.044,2654,1050,996
$STATE,16131,end climb,SURFACE_DEPTH_REACHED
$STATE,16131,begin surface coast
$FINISH,0.7,1.026496
$STATE,16168,end surface coast,CONTROL_FINISHED_OK
$STATE,16168,begin surface
$SM_CCo,16255,0.00,0.000,0,0,992,447.67
$SM_GC,1.54,12.55,0.00,0.00,0.094,0.000,0.000,78,2600,992,-10.46,0.00,447.67
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1780
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,676.4,60.7
$24V_AH,23.6,34.625
$10V_AH,10.1,17.526
$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,28.550,117.875,520.600,0.000,0.000,33.354,49.393,145.564,6.750,0.000,0.000,15.755,1409.832,12456.013,600.440,1646.506,489.347,0.000,1445.207,0.000,1602.178,0.000,42.854,0.000
$DEVICE_MAMPS,184.847,67.496,1064.596,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.253,531.397,472.210,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37919,780
$CAP_FILE_SIZE,114847,0
$CFSIZE,260165632,246665216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140709,142757,6312.145,-1311.627,36,2.2,55,-12.2