version: 66.04
glider: 16
mission: 13
dive: 226
start: 7 17 109 9 53 33
data:
$ID,16
$MISSION,13
$DIVE,226
$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,-2111613.5
$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,37
$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
$GPS1,094724,6303.449,-1300.710,39,1.6,56,-12.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.9
$GPS2,095314,6303.445,-1300.816,11,1.5,11,-12.0
$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,200.1,25151,-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,12,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-61.10,0.000,2,0.000,0.000,71,2604,3193
$GC,82,-1.03,-146.6,4.6,-7.2,3,105,11.88,2.33,-3.80,0.000,4,0.182,0.075,2129,3860,3415
$GC,358,-0.95,-146.6,46.0,-12.6,15,363,0.12,2.17,0.00,0.000,6,0.104,0.025,2152,2574,3416
$GC,680,-0.95,-146.6,77.7,-7.2,31,684,0.00,2.38,0.00,0.000,4,0.000,0.060,2152,3861,3417
$GC,747,-0.95,-146.6,82.5,-7.2,34,750,0.00,2.12,0.00,0.000,6,0.000,0.026,2152,2598,3417
$GC,1074,-0.95,-146.6,114.2,-10.7,50,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2595,3417
$GC,1383,-0.95,-146.6,143.5,-9.2,65,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2595,3418
$GC,1692,-0.95,-146.6,170.3,-8.3,80,1696,0.00,2.42,0.00,0.000,4,0.000,0.038,2152,1214,3418
$GC,1747,-1.03,-146.6,175.0,-8.1,82,1757,0.00,2.42,0.00,0.000,6,0.000,0.035,2153,2597,3418
$GC,2064,-1.03,-146.6,201.3,-8.5,98,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2597,3418
$GC,2372,-1.07,-146.6,228.1,-8.4,113,2374,0.12,0.00,0.00,0.000,6,0.044,0.000,2109,2597,3418
$GC,2682,-0.98,-146.6,260.2,-10.6,128,2684,0.17,0.00,0.00,0.000,6,0.094,0.000,2143,2597,3417
$GC,2991,-0.98,-146.6,287.3,-8.8,143,2995,0.00,2.42,0.00,0.000,4,0.000,0.038,2143,1215,3417
$GC,3035,-1.04,-146.6,291.4,-8.7,145,3039,0.00,2.42,0.00,0.000,6,0.000,0.035,2143,2600,3417
$GC,3357,-1.04,-146.6,318.9,-8.6,161,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2600,3417
$GC,3667,-1.04,-146.6,347.4,-9.2,176,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2600,3417
$GC,3975,-1.04,-146.6,374.4,-8.7,191,3979,0.00,2.42,0.00,0.000,4,0.000,0.038,2143,1215,3416
$GC,4021,-1.11,-146.6,378.3,-8.6,193,4026,0.12,2.42,0.00,0.000,6,0.047,0.035,2103,2600,3416
$GC,4349,-1.02,-146.6,411.0,-10.0,209,4351,0.17,0.00,0.00,0.000,6,0.097,0.000,2137,2600,3416
$GC,4657,-1.02,-146.6,434.8,-7.4,224,4661,0.00,2.33,0.00,0.000,4,0.000,0.066,2137,3857,3415
$GC,4702,-1.02,-146.6,438.6,-8.8,226,4706,0.00,2.12,0.00,0.000,6,0.000,0.026,2137,2596,3415
$GC,5029,-1.02,-146.6,465.0,-8.0,242,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2593,3415
$GC,5338,-1.02,-146.6,489.9,-8.1,257,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2593,3415
$GC,5648,-1.02,-146.6,517.1,-7.8,272,5652,0.00,2.42,0.00,0.000,4,0.000,0.040,2137,1212,3415
$GC,5743,-1.08,-146.6,523.7,-6.4,276,5747,0.00,2.45,0.00,0.000,6,0.000,0.037,2136,2605,3415
$GC,6060,-1.08,-146.6,546.6,-7.8,291,6064,0.00,2.33,0.00,0.000,4,0.000,0.067,2137,3857,3415
$GC,6148,-1.08,-146.6,554.2,-8.8,295,6152,0.00,2.12,0.00,0.000,6,0.000,0.027,2135,2596,3415
$GC,6476,-1.13,-146.6,580.3,-7.7,311,6481,0.12,2.45,0.00,0.000,4,0.048,0.041,2094,1206,3415
$GC,6531,-1.13,-146.6,585.1,-9.1,313,6537,0.00,2.45,0.00,0.000,6,0.000,0.037,2094,2600,3414
$GC,6847,-1.05,-146.6,613.9,-9.4,329,6849,0.17,0.00,0.00,0.000,6,0.101,0.000,2127,2600,3414
$GC,7156,-1.05,-146.6,638.7,-8.9,344,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3413
$STATE,7174,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7174,begin apogee
$GC,7182,-0.31,0.0,640.6,9.1,345,7316,0.80,0.00,126.88,0.999,6,0.099,0.000,2289,2295,2816
$STATE,7317,end apogee,CONTROL_FINISHED_OK
$STATE,7317,begin climb
$GC,7320,1.03,146.6,644.8,0.0,352,7457,1.35,2.60,128.43,0.993,4,0.068,0.046,2577,917,2217
$GC,7505,0.96,151.5,637.1,7.3,360,7516,0.00,2.45,5.35,0.707,6,0.000,0.035,2579,2302,2198
$GC,7844,0.89,151.5,613.2,7.5,377,7849,0.12,2.62,0.00,0.000,4,0.094,0.063,2555,3701,2194
$GC,7923,0.80,151.5,607.7,8.1,380,7930,0.00,2.42,0.00,0.000,6,0.000,0.029,2555,2309,2194
$GC,8239,0.82,168.5,585.2,6.9,396,8258,0.00,0.00,15.73,0.897,6,0.000,0.000,2555,2309,2129
$GC,8568,0.84,190.1,562.9,6.8,412,8594,0.00,2.62,20.15,0.908,4,0.000,0.050,2555,899,2041
$GC,8629,0.84,190.1,558.7,7.8,415,8633,0.00,2.50,0.00,0.000,6,0.000,0.035,2555,2300,2038
$GC,8956,0.86,205.8,535.2,7.0,431,8978,0.00,2.67,14.98,0.874,4,0.000,0.062,2555,3705,1977
$GC,9018,0.87,221.1,531.1,7.0,433,9038,0.00,2.45,15.52,0.871,6,0.000,0.029,2555,2302,1915
$GC,9352,0.95,250.8,509.5,6.5,449,9381,0.00,0.00,27.88,0.898,6,0.000,0.000,2555,2302,1794
$GC,9679,1.05,269.2,486.7,6.9,465,9702,0.17,2.62,17.30,0.853,4,0.048,0.049,2604,905,1718
$GC,9721,1.00,269.2,483.0,9.3,467,9726,0.15,2.47,0.00,0.000,6,0.091,0.034,2575,2299,1716
$GC,10048,1.00,269.2,457.3,7.7,483,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2299,1714
$GC,10357,1.00,269.2,431.3,8.1,498,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1713
$GC,10666,1.00,269.2,406.6,8.5,513,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1713
$GC,10976,1.04,269.2,377.3,9.8,528,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2299,1713
$GC,11286,1.09,269.2,347.1,9.5,543,11287,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2299,1712
$GC,11594,1.14,269.2,317.2,9.1,558,11599,0.15,2.50,0.00,0.000,4,0.047,0.044,2618,898,1712
$GC,11622,1.09,269.2,314.2,10.7,559,11626,0.00,2.45,0.00,0.000,6,0.000,0.033,2618,2301,1710
$GC,11938,1.03,269.2,279.3,10.7,574,11940,0.17,0.00,0.00,0.000,6,0.087,0.000,2584,2301,1712
$GC,12247,1.03,269.2,249.8,9.7,589,12251,0.00,2.50,0.00,0.000,4,0.000,0.044,2583,896,1712
$GC,12285,1.03,269.2,245.8,9.8,590,12292,0.00,2.45,0.00,0.000,6,0.000,0.033,2583,2308,1712
$GC,12602,1.03,269.2,214.4,9.7,606,12603,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2308,1712
$GC,12911,1.03,269.2,183.7,9.9,621,12915,0.00,2.53,0.00,0.000,4,0.000,0.043,2583,894,1712
$GC,12950,1.03,269.2,179.5,10.0,623,12954,0.00,2.45,0.00,0.000,6,0.000,0.032,2583,2301,1712
$GC,13277,1.03,269.2,147.0,9.7,639,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2301,1712
$GC,13586,1.03,269.2,116.9,9.8,654,13590,0.00,2.50,0.00,0.000,4,0.000,0.043,2583,897,1713
$GC,13626,1.07,269.2,113.1,9.4,656,13630,0.00,2.45,0.00,0.000,6,0.000,0.032,2583,2308,1712
$GC,13953,1.07,269.2,85.2,8.3,672,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2308,1713
$GC,14262,1.12,269.2,57.5,8.6,687,14267,0.00,2.50,0.00,0.000,4,0.000,0.042,2583,898,1713
$GC,14326,1.19,269.2,52.1,8.6,690,14330,0.17,2.45,0.00,0.000,6,0.046,0.032,2625,2308,1713
$GC,14653,1.19,269.2,19.8,9.6,706,14654,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2308,1713
$STATE,14835,end climb,SURFACE_DEPTH_REACHED
$STATE,14835,begin surface coast
$FINISH,0.9,1.026558
$STATE,14857,end surface coast,CONTROL_FINISHED_OK
$STATE,14857,begin surface
$SM_CCo,14941,0.00,0.000,0,0,1712,271.06
$SM_GC,1.70,12.02,0.00,0.00,0.081,0.000,0.000,75,2613,1712,-10.46,0.37,271.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1792
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.6,74.8
$24V_AH,23.6,36.894
$10V_AH,10.1,18.699
$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,28.025,93.425,372.200,0.000,0.000,18.073,34.057,181.185,5.000,0.000,0.000,11.659,1300.422,11524.395,467.965,1520.557,477.204,0.000,1231.721,0.000,1487.675,0.000,36.406,0.000
$DEVICE_MAMPS,181.779,75.166,999.401,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.115,487.240,449.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34811,716
$CAP_FILE_SIZE,106067,0
$CFSIZE,260165632,245784576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,170709,140357,6302.699,-1259.655,27,2.7,46,-12.0