version: 66.04
glider: 16
mission: 13
dive: 218
start: 7 16 109 1 19 19
data:
$ID,16
$MISSION,13
$DIVE,218
$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,-2111474.2
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,011337,6314.553,-1304.695,34,1.3,34,-12.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.7
$GPS2,011902,6314.593,-1304.681,12,1.4,12,-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,192.5,45547,-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,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-59.05,0.000,3,0.000,0.000,75,2605,3416
$GC,82,-1.03,-146.6,5.8,-9.6,3,103,11.77,2.35,0.00,0.000,4,0.179,0.056,2130,3863,3419
$GC,357,-0.96,-146.6,52.7,-14.5,15,361,0.00,2.17,0.00,0.000,6,0.000,0.026,2130,2574,3419
$GC,678,-0.96,-146.6,91.3,-13.0,31,682,0.00,2.38,0.00,0.000,4,0.000,0.060,2130,3864,3419
$GC,848,-0.92,-146.6,108.4,-8.3,38,855,0.15,2.12,0.00,0.000,6,0.103,0.025,2158,2593,3420
$GC,1165,-0.97,-146.6,132.6,-7.5,54,1169,0.00,2.40,0.00,0.000,4,0.000,0.038,2158,1220,3420
$GC,1210,-1.07,-146.6,136.1,-7.7,56,1214,0.15,2.42,0.00,0.000,6,0.040,0.035,2108,2603,3420
$GC,1531,-0.99,-146.6,169.2,-10.7,72,1536,0.17,2.30,0.00,0.000,4,0.099,0.061,2145,3858,3420
$GC,1581,-0.99,-146.6,174.4,-9.5,74,1584,0.00,2.10,0.00,0.000,6,0.000,0.026,2145,2601,3420
$GC,1902,-0.99,-146.6,206.9,-10.5,90,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2600,3420
$GC,2211,-0.99,-146.6,237.2,-9.8,105,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2600,3420
$GC,2520,-0.99,-146.6,265.5,-9.1,120,2524,0.00,2.40,0.00,0.000,4,0.000,0.038,2146,1220,3420
$GC,2560,-1.06,-146.6,269.0,-8.8,121,2567,0.00,2.42,0.00,0.000,6,0.000,0.035,2145,2605,3420
$GC,2875,-1.06,-146.6,297.2,-8.9,137,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2605,3420
$GC,3187,-1.06,-146.6,325.9,-9.6,152,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2605,3419
$GC,3494,-1.06,-146.6,356.0,-9.7,167,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2605,3419
$GC,3803,-1.06,-146.6,382.4,-7.8,182,3807,0.00,2.42,0.00,0.000,4,0.000,0.038,2145,1218,3419
$GC,3844,-1.13,-146.6,385.3,-6.9,184,3849,0.15,2.42,0.00,0.000,6,0.044,0.036,2099,2604,3419
$GC,4171,-1.03,-146.6,414.0,-8.9,200,4173,0.17,0.00,0.00,0.000,6,0.099,0.000,2131,2605,3419
$GC,4479,-1.03,-146.6,438.7,-8.5,215,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3419
$GC,4789,-1.03,-146.6,468.7,-9.8,230,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3419
$GC,5099,-1.03,-146.6,501.7,-12.8,245,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,5407,-1.03,-146.6,532.3,-7.7,260,5411,0.00,2.42,0.00,0.000,4,0.000,0.039,2132,1219,3418
$GC,5452,-1.03,-146.6,535.0,-6.3,262,5456,0.00,2.40,0.00,0.000,6,0.000,0.036,2131,2599,3418
$GC,5779,-1.03,-146.6,562.7,-9.2,278,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3418
$GC,6088,-1.03,-146.6,591.9,-9.7,293,6092,0.00,2.33,0.00,0.000,4,0.000,0.070,2131,3856,3417
$GC,6116,-1.03,-146.6,595.0,-11.2,294,6120,0.00,2.08,0.00,0.000,6,0.000,0.027,2130,2605,3418
$GC,6441,-1.08,-146.6,626.2,-9.1,310,6444,0.00,2.33,0.00,0.000,4,0.000,0.069,2131,3858,3417
$STATE,6466,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6466,begin apogee
$GC,6475,-0.31,0.0,629.7,10.6,311,6606,0.75,0.00,127.07,0.993,6,0.103,0.000,2285,2315,2817
$STATE,6606,end apogee,CONTROL_FINISHED_OK
$STATE,6606,begin climb
$GC,6610,1.03,146.6,634.8,0.0,317,6747,1.38,2.67,127.70,0.983,4,0.074,0.048,2578,902,2217
$GC,6802,0.94,146.6,631.5,8.4,326,6807,0.00,2.50,0.00,0.000,6,0.000,0.035,2578,2311,2214
$GC,7129,0.88,167.0,608.8,6.8,342,7155,0.15,2.67,18.40,0.909,4,0.094,0.064,2549,3693,2136
$GC,7240,0.81,167.0,599.5,7.6,347,7245,0.00,2.42,0.00,0.000,6,0.000,0.028,2549,2303,2134
$GC,7568,0.93,275.7,580.4,3.8,363,7668,0.00,0.00,98.47,0.961,6,0.000,0.000,2550,2303,1692
$GC,7977,1.12,354.2,563.7,4.8,383,8051,0.25,0.00,71.43,0.945,6,0.041,0.000,2614,2304,1373
$GC,8348,1.12,354.2,524.0,10.9,401,8351,0.00,2.55,0.00,0.000,4,0.000,0.052,2614,904,1363
$GC,8426,1.12,354.2,515.5,10.1,404,8430,0.00,2.47,0.00,0.000,6,0.000,0.037,2614,2300,1362
$GC,8741,1.12,354.2,478.1,12.5,419,8745,0.00,2.55,0.00,0.000,4,0.000,0.049,2614,900,1360
$GC,8782,1.12,354.2,473.4,11.6,421,8786,0.00,2.47,0.00,0.000,6,0.000,0.035,2614,2304,1359
$GC,9108,1.12,354.2,435.7,11.5,437,9112,0.00,2.55,0.00,0.000,4,0.000,0.048,2614,895,1359
$GC,9147,1.12,354.2,430.9,12.1,439,9151,0.00,2.47,0.00,0.000,6,0.000,0.035,2614,2304,1358
$GC,9474,1.12,354.2,390.1,12.9,455,9478,0.00,2.53,0.00,0.000,4,0.000,0.046,2614,902,1358
$GC,9524,1.12,354.2,383.2,12.7,457,9528,0.00,2.45,0.00,0.000,6,0.000,0.033,2614,2307,1357
$GC,9845,1.12,354.2,343.4,12.2,473,9849,0.00,2.53,0.00,0.000,4,0.000,0.046,2614,902,1358
$GC,9900,1.12,354.2,336.5,12.0,475,9906,0.00,2.45,0.00,0.000,6,0.000,0.034,2614,2305,1357
$GC,10216,1.12,354.2,297.2,12.2,491,10220,0.00,2.53,0.00,0.000,4,0.000,0.045,2614,895,1357
$GC,10261,1.12,354.2,291.8,13.1,493,10265,0.00,2.45,0.00,0.000,6,0.000,0.033,2614,2304,1357
$GC,10593,1.12,354.2,252.2,11.8,509,10597,0.00,2.53,0.00,0.000,4,0.000,0.044,2613,898,1357
$GC,10666,1.12,354.2,243.4,11.8,512,10670,0.00,2.45,0.00,0.000,6,0.000,0.033,2614,2304,1356
$GC,10981,1.12,354.2,209.2,10.5,527,10985,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,895,1357
$GC,11037,1.12,354.2,203.1,11.2,529,11043,0.00,2.45,0.00,0.000,6,0.000,0.033,2614,2302,1356
$GC,11352,1.12,354.2,169.7,10.4,545,11356,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,892,1357
$GC,11414,1.12,354.2,162.9,11.4,548,11418,0.00,2.45,0.00,0.000,6,0.000,0.033,2614,2306,1357
$GC,11747,1.12,354.2,130.1,9.7,564,11751,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,895,1357
$GC,11809,1.12,354.2,123.2,10.7,567,11814,0.00,2.45,0.00,0.000,6,0.000,0.033,2615,2304,1356
$GC,12137,1.12,354.2,86.0,12.8,583,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2303,1357
$GC,12447,1.17,354.2,44.1,13.7,598,12451,0.00,2.50,0.00,0.000,4,0.000,0.044,2614,899,1357
$GC,12536,1.22,354.2,32.1,11.5,602,12540,0.00,2.45,0.00,0.000,6,0.000,0.032,2614,2309,1357
$STATE,12813,end climb,SURFACE_DEPTH_REACHED
$STATE,12813,begin surface coast
$FINISH,0.8,1.014243
$STATE,12835,end surface coast,CONTROL_FINISHED_OK
$STATE,12835,begin surface
$SM_CCo,12919,0.00,0.000,0,0,1354,358.63
$SM_GC,1.57,11.32,0.00,0.00,0.051,0.000,0.000,77,2608,1354,-10.45,0.20,358.63
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1799
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.2,13.1
$24V_AH,23.6,35.847
$10V_AH,10.1,18.150
$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,26.425,107.775,443.075,0.000,0.000,18.054,31.815,162.573,5.500,0.000,0.000,12.597,1150.592,9708.313,527.748,1420.891,436.462,0.000,1253.732,0.000,1383.178,0.000,39.454,0.000
$DEVICE_MAMPS,178.711,69.797,993.265,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.905,419.845,387.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31675,617
$CAP_FILE_SIZE,96076,0
$CFSIZE,260165632,246202368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,045554,6314.656,-1300.219,40,1.3,40,-12.1