version: 66.04
glider: 16
mission: 13
dive: 216
start: 7 15 109 16 50 1
data:
$ID,16
$MISSION,13
$DIVE,216
$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,-2111445
$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,31
$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
$GPS1,164437,6313.775,-1309.052,33,1.1,33,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-59.3
$GPS2,164944,6313.777,-1309.049,12,1.7,12,-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,187.8,44169,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-69.70,0.000,6,0.000,0.000,72,2609,3416
$GC,93,-1.03,-146.6,3.7,-5.4,3,115,11.82,2.55,0.00,0.000,4,0.181,0.037,2128,1185,3417
$GC,291,-1.03,-146.6,34.0,-7.1,11,297,0.00,2.47,0.00,0.000,6,0.000,0.036,2128,2598,3419
$GC,607,-0.99,-146.6,54.9,-6.2,27,612,0.00,2.47,0.00,0.000,4,0.000,0.037,2129,1190,3419
$GC,641,-0.99,-146.6,57.0,-5.7,28,647,0.00,2.47,0.00,0.000,6,0.000,0.035,2128,2603,3419
$GC,959,-0.99,-146.6,83.9,-10.4,44,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2603,3419
$GC,1266,-0.99,-146.6,118.2,-10.7,59,1270,0.00,2.33,0.00,0.000,4,0.000,0.064,2128,3864,3419
$GC,1351,-0.94,-146.6,128.1,-11.7,63,1356,0.12,2.15,0.00,0.000,6,0.104,0.026,2152,2575,3420
$GC,1684,-0.94,-146.6,159.5,-9.0,79,1688,0.00,2.38,0.00,0.000,4,0.000,0.038,2152,1213,3420
$GC,1712,-1.00,-146.6,162.2,-9.2,80,1716,0.00,2.42,0.00,0.000,6,0.000,0.035,2152,2603,3420
$GC,2034,-1.00,-146.6,190.5,-8.4,96,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2603,3420
$GC,2342,-1.00,-146.6,217.0,-9.0,111,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2603,3419
$GC,2652,-1.00,-146.6,246.1,-9.9,126,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2603,3419
$GC,2961,-1.00,-146.6,279.0,-11.3,141,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2603,3419
$GC,3271,-1.05,-146.6,316.4,-12.4,156,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2603,3420
$GC,3580,-1.10,-146.6,353.5,-11.6,171,3585,0.15,2.45,0.00,0.000,4,0.041,0.038,2105,1209,3419
$GC,3625,-1.05,-146.6,359.6,-13.3,173,3630,0.12,2.45,0.00,0.000,6,0.104,0.036,2128,2606,3419
$GC,3946,-1.05,-146.6,397.1,-11.1,189,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2606,3419
$GC,4255,-1.05,-146.6,431.9,-12.0,204,4259,0.00,2.45,0.00,0.000,4,0.000,0.038,2128,1212,3418
$GC,4296,-1.05,-146.6,436.6,-11.4,206,4300,0.00,2.42,0.00,0.000,6,0.000,0.036,2128,2600,3419
$GC,4623,-1.05,-146.6,477.7,-14.0,222,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3419
$GC,4932,-1.05,-146.6,515.2,-10.6,237,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,5241,-1.05,-146.6,544.7,-8.2,252,5245,0.00,2.33,0.00,0.000,4,0.000,0.067,2128,3860,3418
$GC,5275,-1.05,-146.6,547.5,-8.3,253,5282,0.00,2.12,0.00,0.000,6,0.000,0.027,2128,2593,3418
$GC,5591,-1.05,-146.6,577.0,-9.8,269,5596,0.00,2.42,0.00,0.000,4,0.000,0.041,2128,1212,3417
$GC,5619,-1.05,-146.6,579.5,-8.9,270,5623,0.00,2.45,0.00,0.000,6,0.000,0.036,2128,2609,3417
$GC,5934,-1.05,-146.6,607.2,-9.0,285,5938,0.00,2.42,0.00,0.000,4,0.000,0.038,2128,1216,3417
$GC,5962,-1.11,-146.6,609.8,-9.6,286,5966,0.00,2.42,0.00,0.000,6,0.000,0.036,2128,2600,3417
$GC,6284,-1.11,-146.6,638.0,-8.4,302,6288,0.00,2.35,0.00,0.000,4,0.000,0.070,2128,3861,3417
$GC,6369,-1.11,-146.6,645.6,-9.3,306,6373,0.00,2.12,0.00,0.000,6,0.000,0.028,2128,2601,3417
$GC,6702,-1.11,-146.6,669.5,-8.5,322,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3416
$STATE,6946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6946,begin apogee
$GC,6953,-0.31,0.0,688.7,8.1,334,7089,0.80,0.00,128.20,1.036,6,0.094,0.000,2292,2308,2817
$STATE,7090,end apogee,CONTROL_FINISHED_OK
$STATE,7090,begin climb
$GC,7093,1.03,146.6,692.9,0.0,341,7230,1.35,2.62,129.00,1.025,4,0.071,0.049,2582,913,2217
$GC,7490,0.95,146.6,673.7,7.6,359,7494,0.00,2.47,0.00,0.000,6,0.000,0.036,2581,2305,2211
$GC,7817,0.88,158.5,647.1,7.1,375,7833,0.15,2.55,10.43,0.877,4,0.097,0.046,2553,912,2169
$GC,7912,0.89,208.8,641.8,5.8,378,7965,0.00,2.47,46.28,0.989,6,0.000,0.035,2553,2309,1964
$GC,8276,0.90,213.7,617.3,7.3,396,8283,0.00,0.00,4.85,0.690,6,0.000,0.000,2553,2309,1945
$GC,8583,0.94,213.7,590.0,8.4,411,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2310,1943
$GC,8893,0.99,219.4,567.0,7.3,426,8907,0.10,2.62,6.45,0.764,4,0.057,0.048,2583,906,1922
$GC,8942,0.94,219.4,562.7,9.3,428,8946,0.00,2.47,0.00,0.000,6,0.000,0.036,2583,2302,1920
$GC,9262,0.94,219.4,533.1,10.0,444,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2302,1920
$GC,9572,0.94,219.4,502.9,9.6,459,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2302,1920
$GC,9881,0.94,219.4,471.3,10.7,474,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2302,1920
$GC,10190,0.94,219.4,439.0,9.7,489,10194,0.00,2.60,0.00,0.000,4,0.000,0.061,2583,3705,1920
$GC,10247,0.86,219.4,433.6,10.4,491,10254,0.17,2.42,0.00,0.000,6,0.097,0.029,2550,2306,1920
$GC,10563,0.93,219.4,405.1,8.7,507,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2306,1919
$GC,10873,1.01,232.3,381.3,7.1,522,10892,0.15,0.00,12.50,0.765,6,0.048,0.000,2591,2305,1870
$GC,11202,0.97,232.3,354.3,8.3,538,11206,0.00,2.50,0.00,0.000,4,0.000,0.046,2592,901,1868
$GC,11241,0.93,232.3,350.8,8.7,539,11248,0.15,2.45,0.00,0.000,6,0.092,0.033,2564,2302,1867
$GC,11557,0.98,273.6,329.5,6.1,555,11598,0.00,0.00,38.45,0.788,6,0.000,0.000,2564,2302,1701
$GC,11907,1.10,320.7,307.9,5.9,572,11955,0.15,2.65,42.72,0.772,4,0.048,0.058,2608,3705,1508
$GC,11972,1.10,320.7,302.6,9.0,575,11977,0.00,2.47,0.00,0.000,6,0.000,0.028,2608,2296,1507
$GC,12294,1.10,320.7,276.4,8.0,591,12298,0.00,2.50,0.00,0.000,4,0.000,0.048,2608,896,1503
$GC,12327,1.10,320.7,273.6,8.2,592,12331,0.00,2.47,0.00,0.000,6,0.000,0.033,2608,2308,1501
$GC,12643,1.10,320.7,247.3,8.7,607,12647,0.00,2.53,0.00,0.000,4,0.000,0.044,2608,896,1501
$GC,12682,1.10,320.7,243.8,8.7,608,12688,0.00,2.47,0.00,0.000,6,0.000,0.033,2609,2308,1500
$GC,12997,1.10,320.7,215.3,9.6,624,13001,0.00,2.53,0.00,0.000,4,0.000,0.044,2608,897,1500
$GC,13035,1.10,320.7,211.3,9.8,625,13042,0.00,2.45,0.00,0.000,6,0.000,0.033,2609,2299,1500
$GC,13352,1.10,320.7,176.8,11.9,641,13356,0.00,2.53,0.00,0.000,4,0.000,0.044,2608,892,1500
$GC,13379,1.10,320.7,173.5,11.6,642,13383,0.00,2.45,0.00,0.000,6,0.000,0.032,2608,2300,1499
$GC,13696,1.10,320.7,138.9,10.4,657,13701,0.00,2.50,0.00,0.000,4,0.000,0.044,2608,898,1499
$GC,13737,1.10,320.7,134.1,12.0,659,13741,0.00,2.45,0.00,0.000,6,0.000,0.033,2609,2304,1499
$GC,14065,1.10,320.7,94.0,14.2,675,14069,0.00,2.53,0.00,0.000,4,0.000,0.042,2609,891,1499
$GC,14092,1.10,320.7,89.4,16.9,676,14096,0.00,2.45,0.00,0.000,6,0.000,0.032,2609,2301,1499
$GC,14408,1.10,320.7,38.7,14.1,691,14412,0.00,2.53,0.00,0.000,4,0.000,0.044,2608,889,1499
$GC,14487,1.15,320.7,29.1,11.8,694,14493,0.00,2.45,0.00,0.000,6,0.000,0.032,2607,2305,1499
$STATE,14759,end climb,SURFACE_DEPTH_REACHED
$STATE,14759,begin surface coast
$FINISH,0.7,1.015227
$STATE,14782,end surface coast,CONTROL_FINISHED_OK
$STATE,14782,begin surface
$SM_CCo,14866,0.00,0.000,0,0,1494,324.04
$SM_GC,1.66,12.10,0.00,0.00,0.088,0.000,0.000,73,2613,1494,-10.45,0.37,324.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1790
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,651.2,46.4
$24V_AH,23.6,35.596
$10V_AH,10.1,18.022
$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,27.350,113.775,418.875,0.000,0.000,23.028,36.452,133.140,6.250,0.000,0.000,12.302,1310.167,11346.805,523.605,1549.748,442.497,0.000,1319.631,0.000,1508.356,0.000,41.139,0.000
$DEVICE_MAMPS,181.012,69.797,1036.217,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,517.493,483.899,425.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34783,709
$CAP_FILE_SIZE,107507,0
$CFSIZE,260165632,246284288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150709,205901,6314.039,-1307.708,38,1.6,38,-12.2