version: 66.04
glider: 16
mission: 13
dive: 229
start: 7 17 109 22 16 49
data:
$ID,16
$MISSION,13
$DIVE,229
$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,-2111671
$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,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
$GPS1,220337,6301.962,-1256.264,42,1.3,42,-12.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.5
$GPS2,221632,6301.938,-1256.465,13,1.7,13,-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,210.1,23257,-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,-57.60,0.000,6,0.000,0.000,75,2600,3416
$GC,81,-1.03,-146.6,6.8,-12.0,3,102,11.80,2.53,0.00,0.000,4,0.179,0.035,2131,1190,3417
$GC,248,-1.03,-146.6,36.8,-10.0,10,253,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2593,3418
$GC,564,-1.03,-146.6,66.4,-8.8,25,568,0.00,2.47,0.00,0.000,4,0.000,0.036,2131,1188,3420
$GC,604,-1.03,-146.6,69.8,-8.6,27,608,0.00,2.50,0.00,0.000,6,0.000,0.035,2131,2609,3419
$GC,931,-1.03,-146.6,97.4,-9.0,43,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3419
$GC,1241,-1.03,-146.6,127.8,-10.0,58,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3419
$GC,1550,-1.03,-146.6,157.6,-9.7,73,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2609,3419
$GC,1859,-1.03,-146.6,187.1,-9.2,88,1863,0.00,2.50,0.00,0.000,4,0.000,0.037,2132,1188,3419
$GC,1891,-1.03,-146.6,190.0,-8.7,89,1897,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2601,3419
$GC,2207,-1.03,-146.6,218.3,-8.7,105,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,2516,-1.03,-146.6,246.6,-9.3,120,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,2828,-1.03,-146.6,275.3,-9.5,135,2832,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1194,3419
$GC,2872,-1.03,-146.6,280.1,-9.6,137,2877,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2606,3419
$GC,3194,-1.03,-146.6,311.2,-9.7,153,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3418
$GC,3503,-1.03,-146.6,341.8,-10.2,168,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3419
$GC,3813,-1.03,-146.6,372.4,-9.7,183,3817,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1194,3418
$GC,3868,-1.03,-146.6,377.8,-9.0,185,3876,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2601,3418
$GC,4184,-1.03,-146.6,406.9,-9.0,201,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,4494,-1.03,-146.6,436.6,-10.2,216,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,4803,-1.03,-146.6,469.5,-10.6,231,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,5112,-1.03,-146.6,499.1,-9.6,246,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,5422,-1.03,-146.6,530.4,-9.9,261,5426,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1194,3417
$GC,5489,-1.08,-146.6,536.6,-8.3,264,5493,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2606,3417
$GC,5810,-1.08,-146.6,562.9,-8.0,280,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3416
$GC,6119,-1.08,-146.6,585.8,-7.1,295,6123,0.00,2.33,0.00,0.000,4,0.000,0.069,2132,3857,3416
$GC,6168,-1.08,-146.6,589.9,-8.3,297,6172,0.00,2.15,0.00,0.000,6,0.000,0.027,2131,2582,3416
$STATE,6405,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6405,begin apogee
$GC,6412,-0.31,0.0,609.6,8.6,309,6542,0.75,0.00,126.40,0.976,6,0.084,0.000,2289,2300,2817
$STATE,6543,end apogee,CONTROL_FINISHED_OK
$STATE,6543,begin climb
$GC,6546,1.03,146.6,614.5,0.0,315,6678,1.35,0.00,127.45,0.968,6,0.071,0.000,2577,2300,2219
$GC,6980,1.01,174.7,594.2,6.5,336,7008,0.00,0.00,25.67,0.917,6,0.000,0.000,2577,2300,2104
$GC,7308,1.04,196.9,572.0,6.7,352,7335,0.00,2.67,20.08,0.895,4,0.000,0.062,2577,3701,2015
$GC,7364,1.04,196.9,567.8,8.1,354,7371,0.00,2.42,0.00,0.000,6,0.000,0.028,2577,2315,2014
$GC,7680,1.04,196.9,544.2,8.2,370,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2314,2011
$GC,7990,1.08,196.9,515.3,9.7,385,7994,0.00,2.58,0.00,0.000,4,0.000,0.050,2577,898,2009
$GC,8023,1.08,196.9,511.7,10.8,386,8027,0.00,2.47,0.00,0.000,6,0.000,0.034,2577,2303,2008
$GC,8344,1.08,196.9,481.5,9.3,402,8348,0.00,2.58,0.00,0.000,4,0.000,0.061,2577,3698,2008
$GC,8416,1.08,196.9,474.7,8.9,405,8420,0.00,2.45,0.00,0.000,6,0.000,0.028,2577,2292,2009
$GC,8731,1.09,206.2,450.2,7.2,420,8742,0.00,0.00,8.93,0.759,6,0.000,0.000,2577,2292,1976
$GC,9041,1.13,206.2,426.6,7.9,435,9046,0.15,2.60,0.00,0.000,4,0.052,0.059,2620,3698,1975
$GC,9081,1.00,206.2,422.6,11.3,437,9086,0.22,2.42,0.00,0.000,6,0.094,0.028,2577,2300,1975
$GC,9408,1.00,206.2,393.4,9.0,453,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2297,1974
$GC,9717,1.00,206.2,363.4,10.0,468,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2297,1974
$GC,10026,1.00,206.2,333.1,9.8,483,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2297,1974
$GC,10335,1.00,206.2,305.3,8.7,498,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2298,1974
$GC,10645,1.00,206.2,280.2,8.0,513,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2297,1974
$GC,10954,1.00,206.2,255.5,8.0,528,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2298,1974
$GC,11263,1.00,206.2,231.7,7.7,543,11268,0.00,2.58,0.00,0.000,4,0.000,0.058,2576,3700,1974
$GC,11297,0.95,206.2,229.0,8.2,544,11304,0.00,2.40,0.00,0.000,6,0.000,0.028,2576,2297,1974
$GC,11613,0.96,214.2,205.8,7.2,560,11623,0.00,0.00,8.55,0.621,6,0.000,0.000,2576,2298,1943
$GC,11922,0.96,214.2,181.8,7.9,575,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2297,1941
$GC,12232,0.97,223.3,158.4,7.2,590,12243,0.00,0.00,9.55,0.607,6,0.000,0.000,2577,2297,1906
$GC,12541,0.98,234.2,136.5,7.1,605,12553,0.00,0.00,10.75,0.604,6,0.000,0.000,2576,2297,1861
$GC,12851,0.98,234.2,110.8,8.6,620,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2298,1860
$GC,13158,0.98,234.2,81.0,9.4,635,13163,0.00,2.58,0.00,0.000,4,0.000,0.056,2576,3704,1860
$GC,13192,0.98,234.2,77.6,9.3,636,13198,0.00,2.40,0.00,0.000,6,0.000,0.028,2576,2299,1860
$GC,13510,1.01,254.6,53.1,6.8,652,13531,0.00,0.00,19.08,0.588,6,0.000,0.000,2576,2299,1778
$GC,13839,1.08,254.6,29.6,8.5,668,13843,0.00,2.50,0.00,0.000,4,0.000,0.046,2576,899,1776
$GC,13928,1.22,278.2,22.1,6.7,672,13955,0.22,2.45,21.40,0.571,6,0.041,0.031,2640,2309,1682
$STATE,14126,end climb,SURFACE_DEPTH_REACHED
$STATE,14126,begin surface coast
$FINISH,0.8,1.016939
$STATE,14149,end surface coast,CONTROL_FINISHED_OK
$STATE,14149,begin surface
$SM_CCo,14233,0.00,0.000,0,0,1673,280.62
$SM_GC,1.71,12.20,0.00,0.00,0.083,0.000,0.000,74,2608,1673,-10.46,0.20,280.62
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1775
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,526.3,92.6
$24V_AH,23.7,37.232
$10V_AH,10.1,18.898
$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,26.700,70.300,377.850,0.000,0.000,72.817,118.266,277.640,4.250,0.000,0.000,13.172,1210.978,11275.786,465.208,1352.391,704.379,0.000,1135.843,0.000,1326.718,0.000,31.171,0.000
$DEVICE_MAMPS,179.478,69.030,976.391,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.785,467.775,452.973,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34891,683
$CAP_FILE_SIZE,96973,0
$CFSIZE,260165632,245637120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180709,021524,6300.436,-1256.190,29,1.3,46,-12.0