version: 66.04
glider: 16
mission: 13
dive: 195
start: 7 11 109 22 52 19
data:
$ID,16
$MISSION,13
$DIVE,195
$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,-2111068
$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,24
$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
$GPS1,224632,6330.157,-1309.372,39,1.7,40,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.0
$GPS2,225202,6330.204,-1309.375,11,1.5,11,-12.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$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,201.8,28545,-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,-146.6,0.0,0.0,0,73,0.00,0.00,-55.67,0.000,6,0.000,0.000,73,2599,3418
$GC,77,-1.03,-146.6,6.5,-9.6,3,99,11.90,2.53,0.00,0.000,4,0.183,0.036,2133,1190,3419
$GC,200,-1.03,-146.6,30.3,-9.0,8,204,0.00,2.50,0.00,0.000,6,0.000,0.036,2133,2609,3420
$GC,517,-0.99,-146.6,52.0,-5.9,23,521,0.00,2.30,0.00,0.000,4,0.000,0.063,2133,3860,3420
$GC,573,-0.94,-146.6,55.5,-6.1,25,580,0.10,2.15,0.00,0.000,6,0.103,0.026,2150,2575,3420
$GC,890,-0.94,-146.6,72.8,-5.9,41,894,0.00,2.38,0.00,0.000,4,0.000,0.038,2151,1216,3421
$GC,940,-1.02,-146.6,75.9,-5.8,43,944,0.00,2.42,0.00,0.000,6,0.000,0.035,2150,2600,3421
$GC,1257,-1.07,-146.6,99.0,-7.8,58,1258,0.12,0.00,0.00,0.000,6,0.044,0.000,2106,2600,3421
$GC,1566,-0.99,-146.6,127.8,-9.1,73,1571,0.17,2.33,0.00,0.000,4,0.094,0.062,2144,3864,3421
$GC,1621,-0.99,-146.6,132.5,-8.5,75,1628,0.00,2.12,0.00,0.000,6,0.000,0.026,2144,2592,3422
$GC,1939,-0.99,-146.6,150.7,-5.6,91,1943,0.00,2.40,0.00,0.000,4,0.000,0.038,2145,1209,3422
$GC,1978,-1.06,-146.6,152.9,-5.2,92,1984,0.00,2.45,0.00,0.000,6,0.000,0.035,2144,2609,3422
$GC,2294,-1.06,-146.6,170.0,-5.9,108,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2610,3421
$GC,2604,-1.06,-146.6,190.1,-6.7,123,2608,0.00,2.45,0.00,0.000,4,0.000,0.038,2144,1211,3421
$GC,2639,-1.13,-146.6,192.6,-6.8,124,2646,0.15,2.42,0.00,0.000,6,0.044,0.035,2097,2600,3421
$GC,2955,-1.02,-146.6,222.1,-9.6,140,2957,0.20,0.00,0.00,0.000,6,0.095,0.000,2136,2600,3421
$GC,3264,-1.02,-146.6,246.6,-7.4,155,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2600,3421
$GC,3573,-1.02,-146.6,271.1,-7.9,170,3577,0.00,2.42,0.00,0.000,4,0.000,0.038,2136,1214,3420
$GC,3617,-1.07,-146.6,274.6,-7.5,172,3622,0.00,2.42,0.00,0.000,6,0.000,0.036,2136,2599,3420
$GC,3944,-1.07,-146.6,298.2,-6.7,188,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2599,3420
$GC,4253,-1.07,-146.6,320.6,-7.6,203,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2599,3420
$GC,4562,-1.07,-146.6,345.3,-8.3,218,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2599,3420
$GC,4872,-1.07,-146.6,372.4,-8.6,233,4876,0.00,2.40,0.00,0.000,4,0.000,0.039,2136,1218,3420
$GC,4928,-1.13,-146.6,376.8,-8.2,235,4932,0.00,2.42,0.00,0.000,6,0.000,0.036,2136,2603,3420
$GC,5243,-1.13,-146.6,402.2,-7.6,250,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2604,3419
$GC,5553,-1.13,-146.6,424.8,-7.3,265,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2604,3420
$GC,5862,-1.13,-146.6,448.2,-8.3,280,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2604,3420
$GC,6172,-1.13,-146.6,471.1,-7.2,295,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2603,3419
$GC,6480,-1.13,-146.6,494.6,-8.4,310,6484,0.00,2.42,0.00,0.000,4,0.000,0.038,2136,1218,3420
$GC,6525,-1.20,-146.6,498.3,-8.1,312,6530,0.17,2.42,0.00,0.000,6,0.042,0.036,2086,2606,3420
$GC,6847,-1.09,-146.6,536.6,-12.3,328,6851,0.17,2.33,0.00,0.000,4,0.096,0.067,2119,3864,3419
$GC,6896,-1.09,-146.6,542.3,-11.0,330,6900,0.00,2.12,0.00,0.000,6,0.000,0.026,2119,2594,3419
$GC,7217,-1.09,-146.6,570.1,-8.2,346,7221,0.00,2.42,0.00,0.000,4,0.000,0.041,2119,1210,3419
$GC,7257,-1.09,-146.6,573.6,-8.4,348,7261,0.00,2.42,0.00,0.000,6,0.000,0.036,2119,2600,3419
$GC,7583,-1.09,-146.6,603.1,-9.9,364,7587,0.00,2.33,0.00,0.000,4,0.000,0.068,2119,3857,3419
$GC,7717,-1.09,-146.6,618.6,-11.8,370,7721,0.00,2.12,0.00,0.000,6,0.000,0.027,2118,2591,3419
$GC,8044,-1.09,-146.6,652.9,-9.6,386,8048,0.00,2.42,0.00,0.000,4,0.000,0.042,2119,1210,3419
$GC,8090,-1.14,-146.6,656.8,-8.8,388,8094,0.00,2.42,0.00,0.000,6,0.000,0.037,2119,2600,3418
$STATE,8358,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8358,begin apogee
$GC,8366,-0.31,0.0,679.9,8.3,401,8500,0.85,0.00,127.72,1.025,6,0.110,0.000,2286,2311,2817
$STATE,8501,end apogee,CONTROL_FINISHED_OK
$STATE,8501,begin climb
$GC,8504,1.03,146.6,683.6,0.0,408,8637,1.38,0.00,128.38,1.012,6,0.079,0.000,2577,2311,2219
$GC,8938,0.97,146.6,658.8,7.5,429,8942,0.00,2.60,0.00,0.000,4,0.000,0.063,2577,3698,2212
$GC,9022,0.85,146.6,650.7,10.3,433,9028,0.17,2.42,0.00,0.000,6,0.091,0.028,2544,2305,2213
$GC,9350,0.86,158.6,626.4,7.1,449,9366,0.00,2.55,10.98,0.869,4,0.000,0.048,2544,905,2169
$GC,9412,0.86,158.6,621.4,7.9,451,9416,0.00,2.47,0.00,0.000,6,0.000,0.035,2544,2311,2167
$GC,9744,0.89,182.0,598.5,6.7,467,9773,0.00,2.70,22.05,0.931,4,0.000,0.063,2544,3698,2074
$GC,9864,0.91,207.5,590.5,6.6,472,9896,0.00,2.45,23.75,0.930,6,0.000,0.029,2544,2298,1970
$GC,10208,1.03,249.7,569.0,6.1,489,10249,0.17,0.00,38.97,0.940,6,0.046,0.000,2593,2297,1799
$GC,10555,1.03,249.7,535.6,9.4,506,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2297,1793
$GC,10864,1.03,249.7,509.2,8.5,521,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2297,1792
$GC,11174,1.03,249.7,483.6,8.6,536,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2297,1791
$GC,11483,1.03,249.7,456.3,8.8,551,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2296,1791
$GC,11792,1.03,249.7,427.8,9.6,566,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2296,1791
$GC,12101,1.03,249.7,397.2,10.3,581,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2296,1791
$GC,12411,1.03,249.7,363.7,11.1,596,12415,0.00,2.60,0.00,0.000,4,0.000,0.058,2593,3707,1791
$GC,12438,0.98,249.7,360.3,11.7,597,12442,0.00,2.45,0.00,0.000,6,0.000,0.028,2593,2294,1791
$GC,12754,0.98,249.7,325.7,10.1,612,12757,0.00,2.50,0.00,0.000,4,0.000,0.047,2592,896,1790
$GC,12787,0.98,249.7,322.0,10.5,613,12791,0.00,2.45,0.00,0.000,6,0.000,0.033,2593,2301,1790
$GC,13103,0.98,249.7,292.5,9.3,628,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2302,1790
$GC,13412,0.98,249.7,263.2,9.7,643,13416,0.00,2.50,0.00,0.000,4,0.000,0.043,2593,897,1790
$GC,13440,0.98,249.7,260.2,10.7,644,13444,0.00,2.45,0.00,0.000,6,0.000,0.033,2593,2303,1790
$GC,13760,0.98,249.7,227.5,10.3,660,13761,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2303,1790
$GC,14070,0.98,249.7,196.5,9.9,675,14071,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2304,1790
$GC,14379,0.98,249.7,166.1,9.8,690,14380,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2304,1791
$GC,14688,0.98,249.7,134.6,10.3,705,14693,0.00,2.50,0.00,0.000,4,0.000,0.043,2593,897,1790
$GC,14722,0.98,249.7,131.0,10.0,706,14728,0.00,2.45,0.00,0.000,6,0.000,0.033,2593,2309,1790
$GC,15039,0.98,249.7,99.7,8.8,722,15041,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2309,1790
$GC,15347,0.98,249.7,74.0,8.6,737,15348,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2309,1791
$GC,15656,0.98,249.7,48.0,8.8,752,15660,0.00,2.53,0.00,0.000,4,0.000,0.043,2593,891,1790
$GC,15734,0.98,249.7,40.4,9.8,755,15740,0.00,2.42,0.00,0.000,6,0.000,0.033,2593,2299,1790
$GC,16051,0.98,249.7,11.5,9.2,771,16056,0.00,2.58,0.00,0.000,4,0.000,0.058,2593,3709,1791
$GC,16073,0.98,249.7,9.3,8.9,772,16077,0.00,2.42,0.00,0.000,6,0.000,0.028,2592,2292,1791
$STATE,16172,end climb,SURFACE_DEPTH_REACHED
$STATE,16172,begin surface coast
$FINISH,0.7,1.010549
$STATE,16213,end surface coast,CONTROL_FINISHED_OK
$STATE,16214,begin surface
$SM_CCo,16297,0.00,0.000,0,0,1789,252.17
$SM_GC,1.77,12.02,0.00,0.00,0.089,0.000,0.000,73,2603,1789,-10.45,0.08,252.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1757
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,651.1,38.8
$24V_AH,23.6,32.835
$10V_AH,10.1,16.567
$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,27.600,107.600,351.850,0.000,0.000,33.469,50.675,136.732,6.000,0.000,0.000,11.488,1409.385,12665.753,446.968,1637.012,467.883,0.000,1267.637,0.000,1598.155,0.000,41.119,0.000
$DEVICE_MAMPS,182.546,68.263,1024.712,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.976,531.405,505.174,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38089,779
$CAP_FILE_SIZE,111808,0
$CFSIZE,260165632,247386112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120709,032507,6329.367,-1304.758,35,1.8,35,-12.3