version: 66.04
glider: 16
mission: 13
dive: 221
start: 7 16 109 12 59 51
data:
$ID,16
$MISSION,13
$DIVE,221
$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,-2111538.2
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,125136,6311.759,-1300.465,37,1.2,37,-12.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-59.3
$GPS2,125932,6311.774,-1300.623,16,1.3,16,-12.1
$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,197.3,40496,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-61.08,0.000,2,0.000,0.000,66,2607,3404
$GC,82,-1.03,-146.6,5.9,-10.2,3,104,11.90,2.38,-0.20,0.000,4,0.183,0.072,2129,3860,3418
$GC,357,-1.03,-146.6,48.6,-10.0,15,361,0.00,2.17,0.00,0.000,6,0.000,0.026,2129,2572,3418
$GC,678,-1.03,-146.6,86.2,-12.6,31,682,0.00,2.38,0.00,0.000,4,0.000,0.060,2129,3861,3419
$GC,878,-0.98,-146.6,111.3,-12.4,40,882,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2596,3419
$GC,1210,-0.98,-146.6,149.0,-11.1,56,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2594,3420
$GC,1520,-0.98,-146.6,183.6,-11.1,71,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2594,3420
$GC,1829,-0.98,-146.6,215.7,-10.2,86,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2594,3419
$GC,2138,-0.98,-146.6,247.8,-10.8,101,2142,0.00,2.33,0.00,0.000,4,0.000,0.063,2129,3854,3420
$GC,2183,-0.98,-146.6,253.3,-11.6,103,2187,0.00,2.10,0.00,0.000,6,0.000,0.026,2129,2600,3419
$GC,2509,-0.98,-146.6,288.9,-10.7,119,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2598,3420
$GC,2818,-0.98,-146.6,320.8,-10.7,134,2823,0.00,2.42,0.00,0.000,4,0.000,0.039,2129,1213,3420
$GC,2852,-0.98,-146.6,324.2,-9.8,135,2859,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2601,3419
$GC,3168,-0.98,-146.6,355.7,-10.1,151,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,3477,-0.98,-146.6,387.0,-10.3,166,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,3787,-0.98,-146.6,421.0,-11.3,181,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,4096,-0.98,-146.6,453.0,-9.8,196,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,4405,-0.98,-146.6,479.6,-8.2,211,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,4715,-0.98,-146.6,505.8,-8.7,226,4719,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1213,3418
$GC,4765,-1.02,-146.6,510.3,-8.4,228,4769,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2600,3418
$GC,5092,-1.02,-146.6,538.2,-8.0,244,5096,0.00,2.33,0.00,0.000,4,0.000,0.067,2129,3859,3418
$GC,5132,-1.02,-146.6,541.4,-8.7,246,5136,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2590,3418
$GC,5464,-1.02,-146.6,566.6,-8.0,262,5468,0.00,2.35,0.00,0.000,4,0.000,0.067,2129,3857,3418
$GC,5508,-1.02,-146.6,570.6,-9.4,264,5511,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2592,3417
$GC,5835,-1.02,-146.6,595.4,-6.9,280,5839,0.00,2.42,0.00,0.000,4,0.000,0.041,2129,1211,3417
$GC,5886,-1.10,-146.6,599.4,-7.8,282,5890,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2609,3417
$GC,6202,-1.10,-146.6,624.7,-7.9,297,6206,0.00,2.33,0.00,0.000,4,0.000,0.069,2129,3857,3416
$GC,6246,-1.10,-146.6,628.4,-10.1,299,6250,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2594,3417
$STATE,6302,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6302,begin apogee
$GC,6309,-0.31,0.0,633.0,7.9,302,6440,0.77,0.00,127.07,0.989,6,0.093,0.000,2288,2305,2817
$STATE,6440,end apogee,CONTROL_FINISHED_OK
$STATE,6441,begin climb
$GC,6444,1.03,146.6,637.5,0.0,308,6581,1.38,2.70,127.38,0.980,4,0.070,0.061,2582,3700,2218
$GC,6668,0.91,179.5,632.6,6.4,318,6704,0.12,2.42,29.60,0.940,6,0.094,0.028,2558,2309,2085
$GC,7034,0.91,179.5,605.7,8.3,336,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2309,2078
$GC,7340,0.91,179.5,580.3,9.0,351,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2309,2078
$GC,7651,0.98,246.3,561.0,5.2,366,7716,0.00,2.60,60.00,0.945,4,0.000,0.050,2558,905,1812
$GC,7745,1.10,304.1,556.4,5.5,370,7806,0.20,2.50,53.35,0.932,6,0.044,0.035,2611,2311,1576
$GC,8128,1.10,304.1,526.9,8.5,389,8132,0.00,2.58,0.00,0.000,4,0.000,0.048,2610,901,1566
$GC,8156,1.10,304.1,524.1,10.1,390,8160,0.00,2.47,0.00,0.000,6,0.000,0.035,2610,2309,1565
$GC,8477,1.10,304.1,492.1,9.7,406,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2309,1564
$GC,8786,1.10,304.1,460.9,10.5,421,8791,0.00,2.55,0.00,0.000,4,0.000,0.048,2611,903,1562
$GC,8851,1.10,304.1,454.0,11.4,424,8856,0.00,2.47,0.00,0.000,6,0.000,0.035,2610,2309,1562
$GC,9178,1.10,304.1,421.0,9.2,440,9182,0.00,2.55,0.00,0.000,4,0.000,0.046,2611,898,1562
$GC,9205,1.10,304.1,418.6,8.9,441,9209,0.00,2.47,0.00,0.000,6,0.000,0.034,2611,2309,1562
$GC,9522,1.10,304.1,390.0,9.1,456,9525,0.00,2.55,0.00,0.000,4,0.000,0.046,2610,897,1562
$GC,9555,1.10,304.1,386.7,9.8,457,9559,0.00,2.47,0.00,0.000,6,0.000,0.034,2610,2311,1562
$GC,9870,1.10,304.1,355.0,10.7,472,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2311,1562
$GC,10180,1.10,304.1,322.4,10.2,487,10183,0.00,2.53,0.00,0.000,4,0.000,0.044,2610,895,1562
$GC,10241,1.10,304.1,316.1,10.7,489,10247,0.00,2.45,0.00,0.000,6,0.000,0.033,2610,2302,1562
$GC,10556,1.10,304.1,284.6,10.2,505,10561,0.00,2.50,0.00,0.000,4,0.000,0.044,2611,902,1562
$GC,10590,1.10,304.1,280.8,10.6,506,10596,0.00,2.45,0.00,0.000,6,0.000,0.032,2609,2306,1561
$GC,10905,1.10,304.1,248.3,10.6,522,10909,0.00,2.50,0.00,0.000,4,0.000,0.044,2611,898,1562
$GC,10951,1.10,304.1,243.4,11.2,524,10955,0.00,2.42,0.00,0.000,6,0.000,0.033,2611,2299,1562
$GC,11284,1.10,304.1,210.6,9.5,540,11288,0.00,2.50,0.00,0.000,4,0.000,0.044,2611,902,1562
$GC,11323,1.10,304.1,206.7,9.6,542,11327,0.00,2.45,0.00,0.000,6,0.000,0.033,2610,2309,1562
$GC,11649,1.10,304.1,176.6,9.6,558,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2309,1562
$GC,11959,1.10,304.1,147.5,9.1,573,11963,0.00,2.50,0.00,0.000,4,0.000,0.044,2611,902,1562
$GC,12022,1.10,304.1,141.7,9.4,576,12026,0.00,2.45,0.00,0.000,6,0.000,0.033,2611,2306,1562
$GC,12349,1.10,304.1,111.4,9.5,592,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2306,1562
$GC,12659,1.15,345.0,88.8,6.1,607,12701,0.00,2.60,34.35,0.628,4,0.000,0.043,2610,902,1409
$GC,12748,1.15,345.0,82.1,8.5,611,12752,0.00,2.45,0.00,0.000,6,0.000,0.032,2611,2300,1406
$GC,13074,1.15,345.0,48.2,8.5,627,13076,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2300,1404
$GC,13386,1.15,345.0,21.4,9.0,642,13390,0.00,2.50,0.00,0.000,4,0.000,0.044,2610,899,1403
$GC,13475,1.22,345.0,11.6,12.2,646,13479,0.00,2.45,0.00,0.000,6,0.000,0.032,2610,2306,1403
$STATE,13566,end climb,SURFACE_DEPTH_REACHED
$STATE,13566,begin surface coast
$FINISH,0.7,1.026602
$STATE,13590,end surface coast,CONTROL_FINISHED_OK
$STATE,13590,begin surface
$SM_CCo,13673,0.00,0.000,0,0,1399,347.84
$SM_GC,1.46,11.88,0.00,0.00,0.076,0.000,0.000,67,2612,1399,-10.47,0.34,347.84
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1784
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.3,40.1
$24V_AH,23.6,36.238
$10V_AH,10.1,18.350
$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,26.250,107.500,431.750,0.000,0.000,35.913,131.016,134.720,5.250,0.000,0.000,16.628,1206.170,10410.673,490.629,1509.690,533.904,0.000,1270.026,0.000,1463.942,0.000,37.909,0.000
$DEVICE_MAMPS,182.546,72.098,988.663,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.836,442.882,413.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31704,652
$CAP_FILE_SIZE,99355,0
$CFSIZE,260165632,246046720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160709,164900,6310.755,-1300.515,40,1.8,40,-12.1