version: 66.04
glider: 16
mission: 13
dive: 214
start: 7 15 109 8 32 56
data:
$ID,16
$MISSION,13
$DIVE,214
$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,-2111419
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,082407,6312.495,-1311.211,37,1.4,37,-12.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-61.3
$GPS2,083238,6312.547,-1311.407,16,1.4,16,-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,184.8,42107,-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,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,72,0.00,0.00,-54.00,0.000,6,0.000,0.000,71,2609,3417
$GC,75,-1.03,-146.6,3.6,-8.2,2,97,11.80,2.55,0.00,0.000,4,0.179,0.041,2130,1197,3418
$GC,175,-1.03,-146.6,27.1,-9.8,6,180,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2594,3419
$GC,491,-0.98,-146.6,57.8,-11.1,21,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3420
$GC,801,-0.98,-146.6,92.6,-10.8,36,805,0.00,2.47,0.00,0.000,4,0.000,0.036,2130,1188,3420
$GC,867,-0.98,-146.6,99.6,-9.8,39,871,0.00,2.50,0.00,0.000,6,0.000,0.035,2129,2610,3420
$GC,1188,-0.94,-146.6,126.2,-7.7,55,1190,0.12,0.00,0.00,0.000,6,0.100,0.000,2153,2610,3420
$GC,1500,-0.99,-146.6,147.2,-7.1,70,1504,0.00,2.50,0.00,0.000,4,0.000,0.037,2153,1188,3420
$GC,1533,-1.06,-146.6,149.8,-7.4,71,1541,0.12,2.47,0.00,0.000,6,0.045,0.035,2111,2600,3420
$GC,1849,-0.99,-146.6,182.1,-10.7,87,1854,0.17,2.47,0.00,0.000,4,0.094,0.036,2145,1191,3420
$GC,1905,-1.05,-146.6,187.6,-9.3,89,1911,0.00,2.47,0.00,0.000,6,0.000,0.035,2145,2602,3420
$GC,2221,-1.05,-146.6,217.0,-9.4,105,2225,0.00,2.47,0.00,0.000,4,0.000,0.037,2145,1187,3420
$GC,2299,-1.12,-146.6,224.5,-9.7,108,2308,0.12,2.47,0.00,0.000,6,0.047,0.035,2104,2602,3420
$GC,2624,-1.03,-146.6,261.0,-11.2,124,2629,0.15,2.33,0.00,0.000,4,0.097,0.065,2133,3860,3420
$GC,2668,-1.03,-146.6,265.8,-10.3,126,2672,0.00,2.15,0.00,0.000,6,0.000,0.026,2133,2579,3420
$GC,2995,-1.03,-146.6,297.3,-10.0,142,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2576,3420
$GC,3304,-1.03,-146.6,328.6,-10.2,157,3308,0.00,2.38,0.00,0.000,4,0.000,0.064,2133,3865,3420
$GC,3349,-1.03,-146.6,333.4,-11.1,159,3353,0.00,2.12,0.00,0.000,6,0.000,0.027,2134,2597,3420
$GC,3682,-1.03,-146.6,367.2,-9.9,175,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2596,3419
$GC,3991,-1.03,-146.6,396.8,-8.9,190,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2596,3419
$GC,4300,-1.03,-146.6,422.1,-8.0,205,4304,0.00,2.35,0.00,0.000,4,0.000,0.065,2133,3863,3419
$GC,4340,-1.03,-146.6,425.7,-9.3,207,4344,0.00,2.12,0.00,0.000,6,0.000,0.027,2133,2597,3419
$GC,4672,-1.03,-146.6,454.8,-8.6,223,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2596,3419
$GC,4981,-1.03,-146.6,484.7,-10.2,238,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2596,3419
$GC,5291,-1.03,-146.6,511.4,-7.6,253,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2596,3418
$GC,5600,-1.03,-146.6,529.5,-4.9,268,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2596,3418
$GC,5910,-1.03,-146.6,546.3,-6.6,283,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2596,3418
$GC,6219,-1.03,-146.6,571.4,-8.0,298,6223,0.00,2.42,0.00,0.000,4,0.000,0.041,2133,1214,3418
$GC,6282,-1.09,-146.6,576.6,-8.6,301,6286,0.00,2.45,0.00,0.000,6,0.000,0.037,2133,2610,3418
$GC,6609,-1.09,-146.6,599.0,-5.8,317,6613,0.00,2.33,0.00,0.000,4,0.000,0.068,2133,3865,3417
$GC,6670,-1.09,-146.6,603.4,-7.6,319,6676,0.00,2.12,0.00,0.000,6,0.000,0.027,2133,2600,3418
$GC,6986,-1.13,-146.6,627.7,-8.7,335,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2600,3417
$GC,7295,-1.18,-146.6,657.4,-9.4,350,7297,0.15,0.00,0.00,0.000,6,0.044,0.000,2087,2600,3417
$GC,7604,-1.08,-146.6,694.5,-13.3,365,7606,0.17,0.00,0.00,0.000,6,0.095,0.000,2120,2598,3416
$STATE,7869,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7869,begin apogee
$GC,7877,-0.31,0.0,723.4,9.1,378,8012,0.85,0.00,128.93,1.064,6,0.107,0.000,2290,2315,2816
$STATE,8013,end apogee,CONTROL_FINISHED_OK
$STATE,8013,begin climb
$GC,8016,1.03,146.6,728.8,0.0,385,8154,1.35,2.62,129.73,1.051,4,0.074,0.051,2577,911,2217
$GC,8235,1.01,227.0,723.7,4.8,395,8314,0.00,2.47,72.32,1.034,6,0.000,0.036,2577,2309,1891
$GC,8625,0.97,227.0,686.9,14.1,414,8629,0.00,2.55,0.00,0.000,4,0.000,0.047,2576,907,1882
$GC,8669,0.97,227.0,681.7,10.8,416,8673,0.00,2.47,0.00,0.000,6,0.000,0.035,2576,2302,1881
$GC,8990,0.93,227.0,650.1,9.4,432,8994,0.00,2.62,0.00,0.000,4,0.000,0.064,2576,3700,1880
$GC,9052,0.86,227.0,644.4,9.4,435,9057,0.15,2.42,0.00,0.000,6,0.114,0.031,2550,2306,1880
$GC,9380,0.99,301.6,624.9,5.0,451,9456,0.12,2.65,68.22,0.999,4,0.055,0.051,2584,902,1586
$GC,9490,0.99,305.2,617.9,7.4,456,9494,0.00,2.50,0.00,0.000,6,0.000,0.036,2584,2303,1581
$GC,9811,1.04,347.0,597.0,6.1,472,9860,0.00,2.67,41.90,0.967,4,0.000,0.049,2584,897,1401
$GC,9907,1.18,420.6,592.0,5.0,476,9981,0.15,2.50,67.03,0.968,6,0.061,0.035,2623,2306,1102
$GC,10289,1.18,420.6,561.4,10.1,495,10293,0.00,2.58,0.00,0.000,4,0.000,0.050,2623,897,1092
$GC,10355,1.18,420.6,554.2,11.0,498,10359,0.00,2.47,0.00,0.000,6,0.000,0.035,2623,2300,1091
$GC,10676,1.18,420.6,516.8,11.7,514,10680,0.00,2.55,0.00,0.000,4,0.000,0.050,2622,901,1090
$GC,10771,1.18,420.6,506.0,10.9,518,10775,0.00,2.47,0.00,0.000,6,0.000,0.035,2623,2303,1089
$GC,11086,1.18,420.6,472.2,10.5,533,11091,0.00,2.55,0.00,0.000,4,0.000,0.048,2623,894,1088
$GC,11149,1.18,420.6,465.0,12.1,536,11154,0.00,2.47,0.00,0.000,6,0.000,0.034,2623,2303,1088
$GC,11476,1.18,420.6,427.1,12.0,552,11480,0.00,2.53,0.00,0.000,4,0.000,0.047,2623,898,1088
$GC,11571,1.18,420.6,413.7,14.4,556,11575,0.00,2.47,0.00,0.000,6,0.000,0.034,2623,2308,1088
$GC,11888,1.18,420.6,367.4,14.6,571,11891,0.00,2.53,0.00,0.000,4,0.000,0.046,2623,899,1087
$GC,11921,1.18,420.6,361.8,15.9,572,11925,0.00,2.45,0.00,0.000,6,0.000,0.033,2623,2302,1088
$GC,12236,1.18,420.6,316.8,14.0,587,12240,0.00,2.50,0.00,0.000,4,0.000,0.045,2623,898,1087
$GC,12328,1.18,420.6,303.9,13.9,591,12332,0.00,2.45,0.00,0.000,6,0.000,0.034,2623,2308,1087
$GC,12660,1.18,420.6,258.3,13.6,607,12664,0.00,2.53,0.00,0.000,4,0.000,0.045,2623,899,1087
$GC,12710,1.22,420.6,251.2,13.1,609,12714,0.00,2.45,0.00,0.000,6,0.000,0.033,2623,2304,1087
$GC,13026,1.22,420.6,210.8,12.7,624,13030,0.00,2.53,0.00,0.000,4,0.000,0.045,2623,892,1087
$GC,13072,1.27,420.6,204.9,12.2,626,13077,0.00,2.45,0.00,0.000,6,0.000,0.033,2623,2300,1087
$GC,13399,1.31,420.6,162.9,13.9,642,13404,0.00,2.50,0.00,0.000,4,0.000,0.046,2623,898,1087
$GC,13468,1.35,420.6,152.7,14.9,645,13472,0.15,2.45,0.00,0.000,6,0.058,0.033,2665,2305,1087
$GC,13789,1.25,420.6,96.6,17.3,661,13794,0.17,2.53,0.00,0.000,4,0.097,0.044,2628,892,1087
$GC,13852,1.25,420.6,86.5,14.8,664,13857,0.00,2.45,0.00,0.000,6,0.000,0.032,2628,2303,1087
$GC,14179,1.25,420.6,37.9,13.8,680,14183,0.00,2.53,0.00,0.000,4,0.000,0.044,2628,892,1087
$GC,14234,1.35,420.6,30.7,12.0,682,14241,0.12,2.42,0.00,0.000,6,0.055,0.032,2666,2298,1088
$STATE,14444,end climb,SURFACE_DEPTH_REACHED
$STATE,14444,begin surface coast
$FINISH,0.8,1.013970
$STATE,14467,end surface coast,CONTROL_FINISHED_OK
$STATE,14467,begin surface
$SM_CCo,14550,0.00,0.000,0,0,1085,424.86
$SM_GC,1.53,11.98,0.00,0.00,0.071,0.000,0.000,74,2606,1085,-10.45,0.17,424.86
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,1789
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,702.2,30.9
$24V_AH,23.6,35.326
$10V_AH,10.1,17.885
$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,27.875,128.950,508.125,0.000,0.000,41.344,114.911,165.272,6.000,0.000,0.000,18.688,1294.160,11015.589,553.790,1615.041,581.440,0.000,1411.571,0.000,1567.968,0.000,41.446,0.000
$DEVICE_MAMPS,179.478,68.263,1063.829,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.130,472.855,403.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34719,694
$CAP_FILE_SIZE,113074,0
$CFSIZE,260165632,246394880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150709,123637,6312.816,-1311.485,35,1.2,35,-12.2