version: 66.04
glider: 16
mission: 13
dive: 228
start: 7 17 109 18 10 43
data:
$ID,16
$MISSION,13
$DIVE,228
$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,-2111657
$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,26
$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
$GPS1,180531,6302.948,-1257.344,43,1.2,43,-12.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.3
$GPS2,181026,6302.954,-1257.365,10,1.7,10,-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,207.1,24844,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-56.00,0.000,6,0.000,0.000,72,2599,3413
$GC,81,-1.03,-146.6,7.4,-13.5,3,102,11.75,2.53,0.00,0.000,4,0.178,0.035,2131,1185,3416
$GC,278,-1.03,-146.6,40.5,-9.8,11,284,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2601,3416
$GC,593,-1.03,-146.6,71.7,-10.3,27,598,0.00,2.33,0.00,0.000,4,0.000,0.062,2131,3864,3416
$GC,638,-1.03,-146.6,77.1,-12.5,29,642,0.00,2.17,0.00,0.000,6,0.000,0.025,2131,2572,3416
$GC,960,-1.03,-146.6,111.3,-10.2,45,964,0.00,2.38,0.00,0.000,4,0.000,0.038,2131,1213,3417
$GC,1000,-1.03,-146.6,115.1,-9.5,47,1004,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2610,3417
$GC,1332,-1.03,-146.6,147.0,-9.2,63,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2610,3417
$GC,1641,-1.03,-146.6,174.0,-8.4,78,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2610,3417
$GC,1950,-1.03,-146.6,201.9,-9.3,93,1954,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1212,3417
$GC,1983,-1.03,-146.6,205.2,-9.5,94,1989,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3417
$GC,2299,-1.03,-146.6,235.5,-9.7,110,2303,0.00,2.33,0.00,0.000,4,0.000,0.064,2131,3865,3417
$GC,2339,-1.03,-146.6,239.7,-10.2,111,2345,0.00,2.12,0.00,0.000,6,0.000,0.026,2131,2596,3417
$GC,2654,-1.03,-146.6,270.7,-10.0,127,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2594,3417
$GC,2966,-1.03,-146.6,301.0,-9.4,142,2971,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1211,3417
$GC,3006,-1.03,-146.6,305.2,-9.3,144,3011,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3417
$GC,3333,-1.03,-146.6,336.8,-10.0,160,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,3643,-1.03,-146.6,368.9,-10.4,175,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,3952,-1.03,-146.6,399.7,-9.5,190,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3416
$GC,4261,-1.03,-146.6,431.0,-10.6,205,4265,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1216,3416
$GC,4311,-1.08,-146.6,436.3,-10.1,207,4315,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2605,3416
$GC,4633,-1.08,-146.6,472.3,-11.4,223,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3416
$GC,4942,-1.08,-146.6,504.4,-10.5,238,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3416
$GC,5252,-1.08,-146.6,536.2,-9.6,253,5256,0.00,2.33,0.00,0.000,4,0.000,0.067,2131,3860,3416
$GC,5314,-1.08,-146.6,542.5,-10.3,256,5318,0.00,2.12,0.00,0.000,6,0.000,0.027,2131,2594,3415
$GC,5647,-1.08,-146.6,570.7,-7.6,272,5651,0.00,2.42,0.00,0.000,4,0.000,0.041,2131,1213,3415
$GC,5698,-1.14,-146.6,574.9,-7.5,274,5706,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2599,3415
$GC,6022,-1.14,-146.6,599.5,-7.2,290,6026,0.00,2.33,0.00,0.000,4,0.000,0.067,2130,3857,3414
$GC,6107,-1.14,-146.6,607.0,-10.0,294,6111,0.00,2.12,0.00,0.000,6,0.000,0.028,2131,2595,3415
$STATE,6149,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6149,begin apogee
$GC,6156,-0.31,0.0,610.5,7.4,296,6285,0.80,0.00,125.88,0.982,6,0.117,0.000,2286,2302,2817
$STATE,6286,end apogee,CONTROL_FINISHED_OK
$STATE,6286,begin climb
$GC,6289,1.03,146.6,615.2,0.0,302,6426,1.38,2.62,127.82,0.969,4,0.078,0.046,2578,912,2217
$GC,6519,0.95,146.6,607.4,8.7,312,6525,0.00,2.47,0.00,0.000,6,0.000,0.035,2577,2308,2213
$GC,6835,0.89,160.7,583.2,7.0,328,6857,0.12,2.67,12.93,0.859,4,0.095,0.061,2554,3697,2161
$GC,6910,0.81,160.7,578.1,7.6,331,6914,0.00,2.42,0.00,0.000,6,0.000,0.028,2554,2312,2160
$GC,7231,0.82,173.1,556.1,7.1,347,7252,0.00,2.65,12.05,0.848,4,0.000,0.048,2554,904,2109
$GC,7281,0.82,173.1,552.1,8.2,349,7285,0.00,2.47,0.00,0.000,6,0.000,0.034,2554,2304,2107
$GC,7601,0.82,173.1,527.3,7.7,365,7605,0.00,2.53,0.00,0.000,4,0.000,0.046,2553,896,2107
$GC,7634,0.82,173.1,524.7,7.6,366,7638,0.00,2.47,0.00,0.000,6,0.000,0.035,2554,2305,2107
$GC,7955,0.85,202.8,503.1,6.5,382,7989,0.00,2.70,26.92,0.890,4,0.000,0.061,2554,3698,1990
$GC,8035,0.85,202.8,496.9,7.9,385,8042,0.00,2.45,0.00,0.000,6,0.000,0.028,2554,2296,1989
$GC,8352,0.90,202.8,471.7,8.4,401,8356,0.00,2.53,0.00,0.000,4,0.000,0.049,2553,903,1986
$GC,8397,0.96,202.8,467.7,9.5,403,8401,0.00,2.47,0.00,0.000,6,0.000,0.035,2553,2308,1985
$GC,8718,1.02,202.8,441.7,7.7,419,8720,0.12,0.00,0.00,0.000,6,0.051,0.000,2588,2308,1986
$GC,9027,0.98,202.8,415.0,8.7,434,9032,0.00,2.58,0.00,0.000,4,0.000,0.061,2588,3703,1985
$GC,9070,0.88,202.8,411.3,10.1,436,9075,0.20,2.45,0.00,0.000,6,0.094,0.028,2550,2293,1986
$GC,9397,0.99,244.0,389.5,6.1,452,9441,0.12,2.62,37.40,0.826,4,0.051,0.047,2587,898,1822
$GC,9465,0.99,244.0,384.5,8.0,455,9469,0.00,2.47,0.00,0.000,6,0.000,0.033,2587,2302,1819
$GC,9791,0.99,244.0,359.4,7.6,471,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2302,1817
$GC,10101,0.99,244.0,335.9,7.8,486,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2302,1816
$GC,10410,0.99,244.0,310.6,8.3,501,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2302,1816
$GC,10719,0.99,244.0,284.4,8.8,516,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2302,1816
$GC,11028,0.99,244.0,257.1,9.0,531,11032,0.00,2.50,0.00,0.000,4,0.000,0.043,2587,900,1816
$GC,11061,0.99,244.0,253.7,10.0,532,11067,0.00,2.45,0.00,0.000,6,0.000,0.033,2587,2304,1815
$GC,11377,0.99,244.0,226.2,8.2,548,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2305,1815
$GC,11686,0.99,244.0,194.3,10.5,563,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2305,1815
$GC,11996,0.99,244.0,161.6,10.4,578,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2305,1815
$GC,12305,0.99,244.0,129.8,10.1,593,12306,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2305,1815
$GC,12614,0.99,244.0,100.7,9.2,608,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2305,1815
$GC,12924,0.99,244.0,74.3,8.5,623,12928,0.00,2.50,0.00,0.000,4,0.000,0.042,2587,897,1815
$GC,12964,0.99,244.0,70.8,8.9,625,12968,0.00,2.42,0.00,0.000,6,0.000,0.033,2587,2301,1815
$GC,13296,0.99,244.0,40.8,9.0,641,13298,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2301,1815
$GC,13607,1.04,244.0,15.9,7.9,656,13611,0.00,2.50,0.00,0.000,4,0.000,0.042,2587,894,1815
$GC,13647,1.11,270.5,13.0,6.6,658,13677,0.00,2.42,22.65,0.569,6,0.000,0.031,2587,2302,1714
$STATE,13791,end climb,SURFACE_DEPTH_REACHED
$STATE,13791,begin surface coast
$FINISH,1.2,1.026459
$STATE,13812,end surface coast,CONTROL_FINISHED_OK
$STATE,13812,begin surface
$SM_CCo,13895,0.00,0.000,0,0,1707,272.53
$SM_GC,1.54,11.45,0.00,0.00,0.060,0.000,0.000,76,2601,1707,-10.45,0.03,272.53
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1795
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.3,19.6
$24V_AH,23.6,37.111
$10V_AH,10.1,18.830
$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,25.950,103.475,365.650,0.000,0.000,18.023,31.969,136.482,5.000,0.000,0.000,10.636,1220.916,10652.030,453.172,1444.147,420.777,0.000,1198.873,0.000,1412.839,0.000,34.928,0.000
$DEVICE_MAMPS,177.944,67.496,981.760,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.819,453.711,432.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34823,666
$CAP_FILE_SIZE,98753,0
$CFSIZE,260165632,245682176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170709,220337,6301.962,-1256.264,42,1.3,42,-12.0