version: 66.04
glider: 16
mission: 13
dive: 231
start: 7 18 109 6 21 12
data:
$ID,16
$MISSION,13
$DIVE,231
$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,-2111717.8
$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,36
$R_STBD_OVSHOOT,34
$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
$GPS1,061624,6258.680,-1253.969,27,1.2,44,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-62.3
$GPS2,062055,6258.653,-1253.928,11,1.2,11,-11.9
$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,222.2,18560,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-60.95,0.000,2,0.000,0.000,71,2609,3065
$GC,82,-1.03,-146.6,4.2,-6.3,3,108,11.85,2.58,-6.50,0.000,4,0.180,0.049,2131,1191,3418
$GC,284,-1.03,-146.6,29.4,-8.4,12,288,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2597,3419
$GC,610,-1.03,-146.6,59.1,-8.6,28,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3419
$GC,919,-1.03,-146.6,87.5,-10.0,43,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3420
$GC,1229,-1.03,-146.6,120.9,-10.8,58,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3420
$GC,1537,-1.03,-146.6,154.4,-10.7,73,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3420
$GC,1847,-1.03,-146.6,188.1,-10.8,88,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3420
$GC,2156,-1.03,-146.6,221.3,-10.7,103,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3420
$GC,2465,-1.03,-146.6,253.8,-10.3,118,2469,0.00,2.47,0.00,0.000,4,0.000,0.037,2131,1190,3420
$GC,2510,-1.03,-146.6,258.4,-9.8,120,2514,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2601,3420
$GC,2832,-1.03,-146.6,289.2,-9.6,136,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,3140,-1.03,-146.6,318.9,-9.6,151,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,3450,-1.03,-146.6,347.4,-9.0,166,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,3760,-1.03,-146.6,375.7,-9.1,181,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3419
$GC,4068,-1.03,-146.6,403.7,-8.8,196,4072,0.00,2.47,0.00,0.000,4,0.000,0.038,2131,1193,3418
$GC,4107,-1.07,-146.6,407.2,-8.5,197,4114,0.00,2.47,0.00,0.000,6,0.000,0.036,2131,2608,3418
$GC,4424,-1.07,-146.6,431.9,-7.2,213,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2607,3418
$GC,4732,-1.07,-146.6,454.5,-7.6,228,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3418
$GC,5041,-1.07,-146.6,481.7,-9.1,243,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3418
$GC,5351,-1.07,-146.6,510.5,-9.4,258,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3417
$GC,5660,-1.07,-146.6,540.6,-9.8,273,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3417
$GC,5969,-1.07,-146.6,569.0,-9.5,288,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3416
$GC,6279,-1.07,-146.6,597.2,-8.8,303,6283,0.00,2.47,0.00,0.000,4,0.000,0.039,2132,1195,3416
$GC,6329,-1.13,-146.6,601.5,-8.3,305,6333,0.00,2.47,0.00,0.000,6,0.000,0.037,2132,2603,3416
$GC,6651,-1.13,-146.6,627.3,-8.4,321,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3416
$STATE,6812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6812,begin apogee
$GC,6819,-0.31,0.0,641.5,8.6,329,6949,0.77,0.00,127.15,0.996,6,0.095,0.000,2290,2283,2817
$STATE,6950,end apogee,CONTROL_FINISHED_OK
$STATE,6950,begin climb
$GC,6953,1.03,146.6,646.4,0.0,335,7090,1.35,2.58,127.55,0.991,4,0.069,0.044,2579,912,2217
$GC,7138,0.96,161.1,642.9,7.0,343,7158,0.00,2.47,13.65,0.890,6,0.000,0.034,2579,2307,2160
$GC,7475,0.99,180.6,620.3,6.8,360,7498,0.00,2.72,17.90,0.911,4,0.000,0.063,2579,3704,2081
$GC,7532,0.91,180.6,616.1,7.6,362,7537,0.00,2.42,0.00,0.000,6,0.000,0.028,2579,2315,2080
$GC,7848,0.94,208.6,594.5,6.5,377,7880,0.00,2.62,26.25,0.930,4,0.000,0.049,2579,899,1965
$GC,7987,0.94,208.6,584.0,8.1,383,7991,0.00,2.47,0.00,0.000,6,0.000,0.035,2579,2299,1960
$GC,8302,0.94,208.6,560.1,7.9,398,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2300,1960
$GC,8612,0.94,208.6,535.0,8.6,413,8616,0.00,2.62,0.00,0.000,4,0.000,0.062,2579,3706,1959
$GC,8675,0.94,208.6,529.1,9.4,416,8679,0.00,2.45,0.00,0.000,6,0.000,0.029,2579,2298,1959
$GC,9001,0.94,208.6,500.7,8.8,432,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2298,1957
$GC,9310,0.94,208.6,472.7,9.0,447,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2297,1957
$GC,9620,0.94,208.6,446.7,7.9,462,9625,0.00,2.60,0.00,0.000,4,0.000,0.060,2579,3707,1957
$GC,9648,0.94,208.6,444.4,9.0,463,9652,0.00,2.45,0.00,0.000,6,0.000,0.028,2579,2295,1957
$GC,9964,0.98,242.9,422.5,6.3,478,9996,0.00,0.00,31.02,0.842,6,0.000,0.000,2579,2295,1826
$GC,10293,1.04,259.4,400.6,6.9,494,10315,0.00,2.55,15.85,0.788,4,0.000,0.047,2579,900,1757
$GC,10343,1.10,259.4,396.8,7.9,496,10348,0.00,2.47,0.00,0.000,6,0.000,0.032,2579,2305,1754
$GC,10665,1.15,259.4,372.1,7.9,512,10667,0.15,0.00,0.00,0.000,6,0.054,0.000,2620,2305,1754
$GC,10974,1.09,259.4,339.1,11.3,527,10976,0.12,0.00,0.00,0.000,6,0.092,0.000,2596,2305,1754
$GC,11283,1.09,259.4,306.9,10.2,542,11287,0.00,2.53,0.00,0.000,4,0.000,0.044,2597,891,1753
$GC,11316,1.09,259.4,303.4,10.0,543,11322,0.00,2.45,0.00,0.000,6,0.000,0.032,2596,2300,1752
$GC,11632,1.09,259.4,272.5,9.7,559,11633,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2299,1752
$GC,11941,1.09,259.4,243.5,9.2,574,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2300,1751
$GC,12251,1.09,259.4,215.4,9.2,589,12254,0.00,2.50,0.00,0.000,4,0.000,0.044,2596,897,1752
$GC,12289,1.09,259.4,211.4,9.9,590,12296,0.00,2.45,0.00,0.000,6,0.000,0.032,2596,2307,1752
$GC,12605,1.09,259.4,181.8,9.8,606,12607,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2307,1752
$GC,12915,1.09,259.4,152.0,9.7,621,12919,0.00,2.50,0.00,0.000,4,0.000,0.042,2596,897,1752
$GC,12965,1.09,259.4,146.8,10.6,623,12969,0.00,2.45,0.00,0.000,6,0.000,0.032,2596,2308,1752
$GC,13282,1.09,259.4,115.4,10.7,638,13286,0.00,2.50,0.00,0.000,4,0.000,0.043,2595,897,1753
$GC,13315,1.09,259.4,111.4,10.9,639,13321,0.00,2.42,0.00,0.000,6,0.000,0.032,2596,2301,1752
$GC,13631,1.09,259.4,77.4,10.7,655,13632,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2301,1752
$GC,13940,1.09,259.4,46.8,9.3,670,13941,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2301,1752
$GC,14251,1.09,259.4,21.5,8.1,685,14255,0.00,2.50,0.00,0.000,4,0.000,0.043,2596,892,1752
$GC,14359,1.09,259.4,12.2,8.9,690,14363,0.00,2.45,0.00,0.000,6,0.000,0.031,2596,2308,1752
$STATE,14476,end climb,SURFACE_DEPTH_REACHED
$STATE,14476,begin surface coast
$FINISH,0.8,1.026548
$STATE,14519,end surface coast,CONTROL_FINISHED_OK
$STATE,14519,begin surface
$SM_CCo,14602,0.00,0.000,0,0,1751,261.74
$SM_GC,1.59,11.90,0.00,0.00,0.083,0.000,0.000,76,2606,1751,-10.45,0.17,261.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1803
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.6,24.1
$24V_AH,23.6,37.458
$10V_AH,10.1,19.027
$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,26.150,76.125,359.375,0.000,0.000,17.965,25.491,120.932,5.250,0.000,0.000,11.026,1240.686,11386.851,439.282,1421.830,385.641,0.000,1150.199,0.000,1392.511,0.000,36.549,0.000
$DEVICE_MAMPS,180.245,62.894,995.566,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,510.589,475.471,442.629,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34764,698
$CAP_FILE_SIZE,93939,0
$CFSIZE,260165632,245551104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180709,102537,6255.325,-1254.600,27,1.0,27,-11.9