version: 66.04
glider: 16
mission: 13
dive: 222
start: 7 16 109 16 53 56
data:
$ID,16
$MISSION,13
$DIVE,222
$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,-2111553.5
$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,34
$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
$GPS1,164900,6310.755,-1300.515,40,1.8,40,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-59.8
$GPS2,165339,6310.745,-1300.550,13,1.9,14,-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,197.7,38603,-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,-61.03,0.000,2,0.000,0.000,65,2610,3102
$GC,82,-1.03,-146.6,4.5,-7.3,3,106,11.98,2.58,-5.57,0.000,4,0.184,0.050,2132,1194,3417
$GC,287,-1.03,-146.6,33.4,-9.9,12,291,0.00,2.47,0.00,0.000,6,0.000,0.037,2132,2594,3418
$GC,613,-1.03,-146.6,61.4,-8.4,28,617,0.00,2.35,0.00,0.000,4,0.000,0.064,2132,3866,3418
$GC,680,-1.03,-146.6,68.2,-9.7,31,685,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2576,3418
$GC,1002,-1.03,-146.6,99.3,-8.6,47,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2574,3418
$GC,1311,-1.03,-146.6,122.6,-7.8,62,1315,0.00,2.38,0.00,0.000,4,0.000,0.061,2132,3863,3418
$GC,1389,-1.03,-146.6,129.5,-9.1,65,1395,0.00,2.15,0.00,0.000,6,0.000,0.025,2132,2600,3418
$GC,1705,-1.03,-146.6,157.4,-9.0,81,1709,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1214,3418
$GC,1744,-1.03,-146.6,161.1,-9.3,82,1750,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2610,3419
$GC,2060,-1.03,-146.6,188.6,-8.6,98,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2610,3418
$GC,2369,-1.03,-146.6,215.8,-8.6,113,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2610,3418
$GC,2678,-1.03,-146.6,241.1,-8.1,128,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2610,3418
$GC,2987,-1.03,-146.6,268.6,-9.2,143,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2610,3418
$GC,3297,-1.03,-146.6,297.2,-9.2,158,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2610,3418
$GC,3606,-1.03,-146.6,324.4,-8.4,173,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2610,3418
$GC,3916,-1.03,-146.6,349.1,-8.2,188,3920,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1214,3418
$GC,3960,-1.03,-146.6,352.9,-7.8,190,3964,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,4281,-1.03,-146.6,378.6,-8.0,206,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,4590,-1.03,-146.6,406.7,-9.8,221,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,4900,-1.03,-146.6,436.3,-9.5,236,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2600,3418
$GC,5211,-1.03,-146.6,465.8,-10.1,251,5215,0.00,2.42,0.00,0.000,4,0.000,0.038,2133,1212,3418
$GC,5244,-1.07,-146.6,469.8,-10.7,252,5250,0.00,2.42,0.00,0.000,6,0.000,0.035,2133,2600,3418
$GC,5560,-1.07,-146.6,502.5,-9.3,268,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,5870,-1.07,-146.6,526.0,-7.4,283,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2600,3417
$GC,6179,-1.07,-146.6,545.3,-5.3,298,6183,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1204,3417
$GC,6248,-1.13,-146.6,549.1,-5.8,301,6252,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2605,3417
$GC,6576,-1.13,-146.6,576.2,-8.6,317,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2605,3417
$GC,6883,-1.13,-146.6,602.2,-8.2,332,6888,0.00,2.33,0.00,0.000,4,0.000,0.068,2132,3857,3416
$GC,6928,-1.13,-146.6,606.0,-8.1,334,6931,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2594,3416
$STATE,7170,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7170,begin apogee
$GC,7177,-0.31,0.0,626.0,9.0,346,7311,0.77,0.00,126.88,0.986,6,0.091,0.000,2292,2300,2816
$STATE,7312,end apogee,CONTROL_FINISHED_OK
$STATE,7312,begin climb
$GC,7316,1.03,146.6,631.4,0.0,353,7453,1.38,2.58,128.27,0.980,4,0.067,0.048,2584,915,2217
$GC,7508,0.90,146.6,625.8,7.9,362,7513,0.15,2.45,0.00,0.000,6,0.098,0.033,2556,2304,2214
$GC,7830,0.88,177.2,603.4,6.5,378,7859,0.00,0.00,27.55,0.932,6,0.000,0.000,2556,2304,2094
$GC,8158,0.88,177.2,577.4,7.5,394,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2304,2089
$GC,8467,0.88,177.2,553.7,7.5,409,8471,0.00,2.53,0.00,0.000,4,0.000,0.046,2556,908,2087
$GC,8495,0.90,187.9,551.6,7.1,410,8512,0.00,2.45,9.82,0.826,6,0.000,0.035,2556,2298,2050
$GC,8821,0.90,187.9,525.8,7.6,426,8825,0.00,2.47,0.00,0.000,4,0.000,0.047,2556,913,2049
$GC,8867,0.91,196.3,522.5,7.2,428,8881,0.00,2.42,8.95,0.798,6,0.000,0.035,2556,2300,2015
$GC,9198,0.98,260.2,502.5,5.3,444,9264,0.00,2.72,58.60,0.913,4,0.000,0.061,2556,3702,1755
$GC,9289,1.06,286.6,497.4,6.6,448,9320,0.17,2.45,25.12,0.871,6,0.048,0.028,2602,2305,1649
$GC,9634,1.06,286.6,469.1,8.5,464,9638,0.00,2.55,0.00,0.000,4,0.000,0.049,2602,901,1640
$GC,9722,1.06,286.6,460.2,9.9,468,9727,0.00,2.47,0.00,0.000,6,0.000,0.035,2602,2302,1638
$GC,10043,1.06,286.6,427.5,10.0,484,10045,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2302,1637
$GC,10353,1.06,286.6,398.2,9.4,499,10357,0.00,2.53,0.00,0.000,4,0.000,0.045,2602,899,1637
$GC,10410,1.06,286.6,392.7,9.7,501,10416,0.00,2.47,0.00,0.000,6,0.000,0.033,2602,2310,1636
$GC,10726,1.06,286.6,362.1,9.6,517,10730,0.00,2.55,0.00,0.000,4,0.000,0.045,2602,892,1636
$GC,10766,1.06,286.6,358.3,9.5,519,10770,0.00,2.47,0.00,0.000,6,0.000,0.033,2602,2307,1636
$GC,11092,1.06,286.6,325.9,10.6,535,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2306,1636
$GC,11401,1.06,286.6,292.5,11.0,550,11406,0.00,2.53,0.00,0.000,4,0.000,0.044,2602,895,1636
$GC,11458,1.06,286.6,286.2,11.8,552,11464,0.00,2.45,0.00,0.000,6,0.000,0.032,2602,2301,1636
$GC,11773,1.06,286.6,251.2,11.7,568,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2301,1636
$GC,12082,1.06,286.6,219.8,10.2,583,12086,0.00,2.50,0.00,0.000,4,0.000,0.044,2602,898,1636
$GC,12128,1.06,286.6,215.0,10.8,585,12132,0.00,2.45,0.00,0.000,6,0.000,0.033,2602,2309,1636
$GC,12461,1.06,286.6,182.3,9.4,601,12465,0.00,2.53,0.00,0.000,4,0.000,0.043,2602,895,1636
$GC,12500,1.06,286.6,178.4,9.9,603,12505,0.00,2.45,0.00,0.000,6,0.000,0.032,2602,2305,1636
$GC,12828,1.06,286.6,145.5,10.3,619,12832,0.00,2.53,0.00,0.000,4,0.000,0.043,2602,891,1636
$GC,12868,1.06,286.6,141.2,10.6,621,12872,0.00,2.45,0.00,0.000,6,0.000,0.033,2602,2305,1636
$GC,13200,1.06,286.6,109.1,9.2,637,13202,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2306,1636
$GC,13510,1.06,286.6,73.2,13.2,652,13514,0.00,2.50,0.00,0.000,4,0.000,0.043,2602,898,1636
$GC,13560,1.06,286.6,66.2,13.2,654,13564,0.00,2.45,0.00,0.000,6,0.000,0.032,2602,2308,1636
$GC,13876,1.06,286.6,32.4,10.1,669,13880,0.00,2.55,0.00,0.000,4,0.000,0.056,2602,3701,1636
$GC,13909,1.06,286.6,28.4,12.0,670,13916,0.00,2.40,0.00,0.000,6,0.000,0.027,2602,2295,1636
$STATE,14140,end climb,SURFACE_DEPTH_REACHED
$STATE,14140,begin surface coast
$FINISH,1.0,1.026703
$STATE,14163,end surface coast,CONTROL_FINISHED_OK
$STATE,14164,begin surface
$SM_CCo,14247,0.00,0.000,0,0,1631,290.93
$SM_GC,1.72,11.62,0.00,0.00,0.067,0.000,0.000,72,2604,1631,-10.47,0.14,290.93
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1791
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.2,58.3
$24V_AH,23.6,36.352
$10V_AH,10.1,18.415
$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,26.075,103.875,385.200,0.000,0.000,17.946,27.358,122.945,4.750,0.000,0.000,14.545,1243.116,10938.673,493.162,1450.724,400.678,0.000,1225.356,0.000,1418.341,0.000,33.404,0.000
$DEVICE_MAMPS,184.080,68.263,986.362,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.557,463.962,432.435,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34876,683
$CAP_FILE_SIZE,97636,0
$CFSIZE,260165632,246001664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,205257,6308.981,-1301.960,38,2.5,57,-12.1