version: 66.04
glider: 16
mission: 13
dive: 224
start: 7 17 109 1 6 43
data:
$ID,16
$MISSION,13
$DIVE,224
$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,-2111589.2
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,005820,6307.259,-1304.882,41,3.9,60,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-52.8
$GPS2,010626,6307.269,-1304.937,15,1.9,15,-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,192.2,31982,-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,-146.6,0.0,0.0,0,121,0.00,0.00,-100.72,0.000,6,0.000,0.000,71,2605,3417
$GC,125,-1.03,-146.6,6.1,-5.6,5,147,11.82,2.35,0.00,0.000,4,0.179,0.058,2131,3858,3418
$GC,401,-0.96,-146.6,52.4,-8.8,17,405,0.00,2.15,0.00,0.000,6,0.000,0.025,2132,2580,3418
$GC,723,-0.92,-146.6,81.3,-8.5,33,727,0.15,2.35,0.00,0.000,4,0.094,0.058,2161,3854,3418
$GC,900,-0.96,-146.6,97.1,-9.1,41,904,0.00,2.12,0.00,0.000,6,0.000,0.025,2161,2590,3418
$GC,1235,-1.02,-146.6,127.2,-8.9,57,1237,0.12,0.00,0.00,0.000,6,0.043,0.000,2118,2587,3418
$GC,1542,-0.96,-146.6,158.8,-9.5,72,1544,0.17,0.00,0.00,0.000,6,0.087,0.000,2152,2587,3418
$GC,1852,-0.96,-146.6,181.6,-7.5,87,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2587,3418
$GC,2160,-0.96,-146.6,205.5,-7.9,102,2164,0.00,2.35,0.00,0.000,4,0.000,0.061,2152,3861,3418
$GC,2199,-0.96,-146.6,209.0,-9.0,104,2203,0.00,2.12,0.00,0.000,6,0.000,0.026,2152,2597,3417
$GC,2532,-0.96,-146.6,235.9,-8.1,120,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2596,3418
$GC,2841,-0.96,-146.6,260.6,-7.7,135,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2596,3418
$GC,3151,-1.00,-146.6,283.2,-7.2,150,3155,0.00,2.40,0.00,0.000,4,0.000,0.038,2152,1216,3418
$GC,3184,-1.08,-146.6,285.7,-7.5,151,3189,0.12,2.40,0.00,0.000,6,0.046,0.035,2109,2596,3417
$GC,3501,-1.00,-146.6,316.1,-9.6,166,3503,0.17,0.00,0.00,0.000,6,0.094,0.000,2143,2596,3417
$GC,3810,-1.00,-146.6,341.6,-8.8,181,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2596,3417
$GC,4119,-1.00,-146.6,369.4,-8.9,196,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2596,3416
$GC,4428,-1.00,-146.6,397.1,-8.8,211,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2596,3416
$GC,4738,-1.00,-146.6,422.4,-7.9,226,4742,0.00,2.42,0.00,0.000,4,0.000,0.038,2143,1214,3416
$GC,4778,-1.06,-146.6,425.4,-7.0,228,4782,0.00,2.42,0.00,0.000,6,0.000,0.035,2143,2601,3416
$GC,5105,-1.06,-146.6,447.8,-6.3,244,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2601,3416
$GC,5414,-1.06,-146.6,469.3,-7.8,259,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2602,3415
$GC,5723,-1.06,-146.6,492.7,-7.2,274,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2601,3415
$GC,6032,-1.11,-146.6,515.7,-8.5,289,6034,0.12,0.00,0.00,0.000,6,0.048,0.000,2101,2601,3415
$GC,6342,-1.04,-146.6,548.9,-10.1,304,6347,0.15,2.45,0.00,0.000,4,0.095,0.038,2130,1207,3415
$GC,6405,-1.11,-146.6,554.1,-9.3,307,6409,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2605,3415
$GC,6732,-1.11,-146.6,579.7,-8.1,323,6736,0.00,2.33,0.00,0.000,4,0.000,0.067,2130,3861,3414
$GC,6783,-1.11,-146.6,584.7,-10.1,325,6787,0.00,2.12,0.00,0.000,6,0.000,0.026,2130,2596,3414
$GC,7110,-1.11,-146.6,613.4,-8.8,341,7114,0.00,2.42,0.00,0.000,4,0.000,0.041,2130,1210,3414
$GC,7163,-1.17,-146.6,617.8,-8.5,343,7168,0.12,2.45,0.00,0.000,6,0.048,0.036,2092,2606,3414
$GC,7486,-1.07,-146.6,651.7,-10.0,359,7491,0.17,2.35,0.00,0.000,4,0.099,0.071,2128,3860,3413
$GC,7548,-1.07,-146.6,657.8,-9.6,362,7552,0.00,2.12,0.00,0.000,6,0.000,0.028,2128,2599,3413
$STATE,7610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7610,begin apogee
$GC,7617,-0.31,0.0,663.6,9.1,365,7752,0.80,0.00,127.55,1.017,6,0.094,0.000,2291,2311,2816
$STATE,7753,end apogee,CONTROL_FINISHED_OK
$STATE,7753,begin climb
$GC,7756,1.03,146.6,667.6,0.0,372,7894,1.35,2.62,128.77,1.005,4,0.070,0.048,2581,915,2218
$GC,7930,0.93,146.6,661.4,8.2,380,7934,0.00,2.47,0.00,0.000,6,0.000,0.035,2581,2307,2214
$GC,8252,0.82,151.2,636.5,7.3,396,8263,0.20,2.65,4.50,0.656,4,0.090,0.064,2538,3708,2200
$GC,8321,0.82,151.2,631.3,8.5,399,8325,0.00,2.45,0.00,0.000,6,0.000,0.028,2538,2304,2200
$GC,8642,0.87,191.3,610.1,6.1,415,8682,0.00,0.00,36.88,0.962,6,0.000,0.000,2539,2303,2035
$GC,8992,1.03,285.6,590.7,4.3,432,9080,0.20,0.00,85.30,0.970,6,0.046,0.000,2593,2302,1652
$GC,9382,1.03,285.6,562.3,8.7,451,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2302,1642
$GC,9691,1.03,285.6,531.3,10.1,466,9694,0.00,2.53,0.00,0.000,4,0.000,0.051,2593,906,1640
$GC,9729,1.03,285.6,527.1,10.3,467,9736,0.00,2.47,0.00,0.000,6,0.000,0.036,2593,2304,1638
$GC,10045,1.03,285.6,493.2,11.2,483,10049,0.00,2.53,0.00,0.000,4,0.000,0.048,2592,905,1638
$GC,10073,1.03,285.6,489.8,11.8,484,10077,0.00,2.47,0.00,0.000,6,0.000,0.035,2593,2305,1637
$GC,10393,1.03,285.6,452.3,11.8,500,10398,0.00,2.55,0.00,0.000,4,0.000,0.048,2591,902,1637
$GC,10427,1.03,285.6,448.2,12.0,501,10433,0.00,2.47,0.00,0.000,6,0.000,0.035,2593,2308,1636
$GC,10742,1.03,285.6,413.5,10.2,517,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2308,1636
$GC,11052,1.03,285.6,385.9,8.3,532,11056,0.00,2.53,0.00,0.000,4,0.000,0.046,2593,904,1636
$GC,11092,1.03,285.6,382.7,8.1,534,11096,0.00,2.45,0.00,0.000,6,0.000,0.034,2593,2303,1636
$GC,11418,1.03,285.6,355.9,8.1,550,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2303,1636
$GC,11727,1.03,285.6,329.4,9.1,565,11732,0.00,2.53,0.00,0.000,4,0.000,0.044,2593,898,1636
$GC,11772,1.03,285.6,325.2,9.8,567,11777,0.00,2.45,0.00,0.000,6,0.000,0.033,2593,2301,1636
$GC,12093,1.03,285.6,292.2,10.8,583,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2301,1636
$GC,12403,1.03,285.6,257.4,11.0,598,12407,0.00,2.50,0.00,0.000,4,0.000,0.044,2592,904,1636
$GC,12453,1.03,285.6,251.7,11.7,600,12457,0.00,2.45,0.00,0.000,6,0.000,0.033,2593,2306,1636
$GC,12768,1.03,285.6,220.3,9.8,615,12772,0.00,2.50,0.00,0.000,4,0.000,0.044,2593,902,1636
$GC,12801,1.03,285.6,217.0,9.9,616,12807,0.00,2.45,0.00,0.000,6,0.000,0.032,2593,2308,1636
$GC,13117,1.03,285.6,187.3,8.8,632,13121,0.00,2.55,0.00,0.000,4,0.000,0.057,2593,3701,1636
$GC,13150,1.03,285.6,184.0,9.5,633,13154,0.00,2.42,0.00,0.000,6,0.000,0.028,2593,2296,1637
$GC,13465,1.03,285.6,152.5,10.9,648,13467,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2295,1637
$GC,13776,1.03,285.6,119.5,10.1,663,13780,0.00,2.50,0.00,0.000,4,0.000,0.044,2592,894,1637
$GC,13821,1.08,285.6,114.9,10.2,665,13825,0.00,2.45,0.00,0.000,6,0.000,0.032,2593,2303,1636
$GC,14142,1.08,285.6,88.2,7.6,681,14143,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2302,1637
$GC,14454,1.19,354.2,69.1,5.2,696,14519,0.12,2.55,57.65,0.617,4,0.049,0.043,2633,901,1370
$GC,14594,1.19,354.2,50.4,14.3,702,14598,0.00,2.45,0.00,0.000,6,0.000,0.031,2634,2304,1365
$GC,14921,1.19,354.2,10.6,11.5,718,14926,0.00,2.53,0.00,0.000,4,0.000,0.044,2633,900,1363
$STATE,14991,end climb,SURFACE_DEPTH_REACHED
$STATE,14991,begin surface coast
$FINISH,1.4,1.026539
$STATE,15005,end surface coast,CONTROL_FINISHED_OK
$STATE,15005,begin surface
$SM_CCo,15092,0.00,0.000,0,0,1358,357.89
$SM_GC,1.41,12.23,0.00,0.00,0.086,0.000,0.000,67,2610,1358,-10.45,0.31,357.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1792
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.5,47.0
$24V_AH,23.6,36.655
$10V_AH,10.1,18.557
$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,28.050,107.800,440.650,0.000,0.000,36.334,62.072,208.872,5.250,0.000,0.000,15.925,1324.478,11556.396,558.648,1575.828,562.884,0.000,1362.524,0.000,1535.520,0.000,36.919,0.000
$DEVICE_MAMPS,179.478,70.564,1017.042,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,532.292,490.349,441.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34844,722
$CAP_FILE_SIZE,109698,0
$CFSIZE,260165632,245886976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170709,051951,6305.628,-1303.636,40,2.1,59,-12.1