version: 66.04
glider: 16
mission: 13
dive: 227
start: 7 17 109 14 10 4
data:
$ID,16
$MISSION,13
$DIVE,227
$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,-2111645.5
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,140357,6302.699,-1259.655,27,2.7,46,-12.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-59.5
$GPS2,140946,6302.729,-1259.672,11,2.2,30,-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,202.8,24001,-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,15,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-55.92,0.000,6,0.000,0.000,74,2613,3418
$GC,81,-1.03,-146.6,8.1,-15.2,3,102,12.05,2.33,0.00,0.000,4,0.189,0.058,2129,3851,3420
$GC,355,-0.98,-146.6,55.3,-11.9,15,359,0.00,2.15,0.00,0.000,6,0.000,0.025,2129,2574,3421
$GC,677,-0.98,-146.6,86.2,-8.9,31,682,0.00,2.35,0.00,0.000,4,0.000,0.060,2129,3854,3420
$GC,812,-0.98,-146.6,99.8,-10.4,37,816,0.00,2.10,0.00,0.000,6,0.000,0.026,2129,2597,3420
$GC,1140,-0.98,-146.6,130.9,-9.7,53,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3421
$GC,1448,-0.98,-146.6,164.1,-10.8,68,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3421
$GC,1757,-0.98,-146.6,196.0,-10.4,83,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2594,3421
$GC,2067,-0.98,-146.6,225.6,-9.1,98,2071,0.00,2.42,0.00,0.000,4,0.000,0.039,2129,1211,3421
$GC,2107,-0.98,-146.6,229.2,-8.6,100,2111,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2597,3422
$GC,2434,-0.98,-146.6,259.1,-9.4,116,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3422
$GC,2743,-0.98,-146.6,288.5,-9.9,131,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3421
$GC,3053,-0.98,-146.6,320.1,-9.9,146,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3421
$GC,3364,-0.98,-146.6,350.8,-9.4,161,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3421
$GC,3670,-0.98,-146.6,379.6,-9.7,176,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3421
$GC,3980,-0.98,-146.6,409.3,-10.2,191,3984,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1216,3420
$GC,4025,-0.98,-146.6,413.9,-9.6,193,4029,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2601,3421
$GC,4346,-0.98,-146.6,446.8,-9.5,209,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,4656,-0.98,-146.6,479.3,-10.6,224,4660,0.00,2.33,0.00,0.000,4,0.000,0.066,2129,3860,3420
$GC,4722,-0.98,-146.6,486.5,-10.1,227,4726,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2593,3420
$GC,5049,-0.98,-146.6,513.7,-8.2,243,5053,0.00,2.42,0.00,0.000,4,0.000,0.040,2130,1211,3420
$GC,5111,-1.04,-146.6,518.9,-8.3,245,5117,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2601,3420
$GC,5427,-1.04,-146.6,546.6,-9.2,261,5431,0.00,2.33,0.00,0.000,4,0.000,0.067,2130,3857,3420
$GC,5477,-1.04,-146.6,551.6,-10.0,263,5480,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2591,3420
$GC,5798,-1.04,-146.6,579.2,-8.4,279,5802,0.00,2.40,0.00,0.000,4,0.000,0.041,2129,1210,3419
$GC,5860,-1.08,-146.6,584.5,-8.2,281,5866,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2609,3419
$GC,6176,-1.08,-146.6,608.5,-7.8,297,6180,0.00,2.33,0.00,0.000,4,0.000,0.070,2129,3858,3418
$GC,6242,-1.08,-146.6,614.4,-8.8,300,6246,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2603,3418
$STATE,6402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6402,begin apogee
$GC,6409,-0.31,0.0,628.0,9.2,308,6539,0.80,0.00,126.88,0.996,6,0.097,0.000,2291,2300,2818
$STATE,6540,end apogee,CONTROL_FINISHED_OK
$STATE,6540,begin climb
$GC,6543,1.03,146.6,632.8,0.0,314,6681,1.35,2.62,127.72,0.986,4,0.074,0.045,2579,906,2217
$GC,6941,0.97,157.3,622.2,7.1,332,6956,0.00,2.47,9.95,0.843,6,0.000,0.036,2579,2305,2175
$GC,7267,0.92,157.3,596.7,8.2,347,7271,0.00,2.53,0.00,0.000,4,0.000,0.046,2578,907,2171
$GC,7291,0.87,163.9,595.0,7.3,348,7306,0.15,2.47,7.00,0.775,6,0.091,0.035,2550,2306,2148
$GC,7622,0.87,167.6,570.1,7.4,364,7632,0.00,2.60,5.10,0.689,4,0.000,0.063,2550,3700,2132
$GC,7672,0.82,167.6,566.1,8.0,366,7676,0.00,2.42,0.00,0.000,6,0.000,0.028,2550,2302,2132
$GC,7993,0.82,167.6,540.1,8.1,382,7997,0.00,2.55,0.00,0.000,4,0.000,0.051,2550,897,2130
$GC,8082,0.82,167.6,532.6,8.6,386,8086,0.00,2.47,0.00,0.000,6,0.000,0.035,2550,2304,2129
$GC,8403,0.86,204.0,510.6,6.3,402,8444,0.00,2.70,33.03,0.908,4,0.000,0.061,2550,3700,1985
$GC,8484,0.88,218.3,505.0,7.0,405,8504,0.00,2.45,14.35,0.848,6,0.000,0.029,2550,2299,1926
$GC,8822,0.99,261.1,485.0,6.0,422,8864,0.12,0.00,39.47,0.893,6,0.051,0.000,2586,2298,1751
$GC,9171,0.99,261.1,454.2,9.0,439,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2298,1745
$GC,9480,0.99,261.1,424.8,9.4,454,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2298,1744
$GC,9789,0.99,261.1,396.2,9.3,469,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2297,1743
$GC,10099,0.99,261.1,364.1,10.6,484,10102,0.00,2.53,0.00,0.000,4,0.000,0.048,2586,894,1743
$GC,10132,0.99,261.1,360.3,11.6,485,10136,0.00,2.47,0.00,0.000,6,0.000,0.033,2586,2308,1741
$GC,10447,0.99,261.1,329.5,9.4,500,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2308,1742
$GC,10757,0.99,261.1,300.7,9.2,515,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2308,1741
$GC,11066,0.99,261.1,271.2,9.6,530,11070,0.00,2.50,0.00,0.000,4,0.000,0.044,2586,901,1742
$GC,11099,0.99,261.1,267.7,10.3,531,11103,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2299,1741
$GC,11420,0.99,261.1,235.4,10.2,547,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2300,1741
$GC,11730,0.99,261.1,204.5,9.7,562,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2300,1741
$GC,12038,0.99,261.1,174.7,9.8,577,12043,0.00,2.50,0.00,0.000,4,0.000,0.044,2587,897,1742
$GC,12078,0.99,261.1,170.7,9.6,579,12083,0.00,2.45,0.00,0.000,6,0.000,0.033,2586,2306,1741
$GC,12406,0.99,261.1,140.2,9.2,595,12407,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2306,1742
$GC,12716,0.99,261.1,112.6,8.9,610,12720,0.00,2.53,0.00,0.000,4,0.000,0.044,2586,892,1742
$GC,12756,0.99,261.1,108.7,9.2,612,12761,0.00,2.45,0.00,0.000,6,0.000,0.032,2586,2304,1742
$GC,13084,0.99,261.1,77.1,10.0,628,13089,0.00,2.50,0.00,0.000,4,0.000,0.042,2586,899,1742
$GC,13129,1.03,261.1,72.2,10.6,630,13134,0.00,2.45,0.00,0.000,6,0.000,0.032,2587,2309,1742
$GC,13451,1.03,261.1,42.6,8.5,646,13452,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2309,1742
$GC,13761,1.09,261.1,17.8,7.5,661,13765,0.00,2.53,0.00,0.000,4,0.000,0.044,2586,895,1743
$GC,13850,1.17,261.1,10.2,8.8,665,13855,0.12,2.42,0.00,0.000,6,0.057,0.031,2618,2300,1742
$STATE,13942,end climb,SURFACE_DEPTH_REACHED
$STATE,13942,begin surface coast
$FINISH,0.8,1.025451
$STATE,13964,end surface coast,CONTROL_FINISHED_OK
$STATE,13964,begin surface
$SM_CCo,14048,0.00,0.000,0,0,1738,264.43
$SM_GC,1.62,11.85,0.00,0.00,0.074,0.000,0.000,72,2599,1738,-10.47,-0.03,264.43
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1808
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,526.6,111.3
$24V_AH,23.6,37.005
$10V_AH,10.1,18.765
$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,26.450,97.700,363.500,0.000,0.000,17.994,27.579,167.221,4.250,0.000,0.000,31.359,1241.716,10728.519,442.860,1533.616,450.402,0.000,1206.570,0.000,1482.760,0.000,30.311,0.000
$DEVICE_MAMPS,189.449,69.797,995.566,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.194,457.028,427.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34819,671
$CAP_FILE_SIZE,99960,0
$CFSIZE,260165632,245731328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170709,180531,6302.948,-1257.344,43,1.2,43,-12.0