version: 66.04
glider: 16
mission: 13
dive: 202
start: 7 13 109 2 57 26
data:
$ID,16
$MISSION,13
$DIVE,202
$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,-2111214.2
$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,27
$R_STBD_OVSHOOT,35
$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
$GPS1,024856,6323.350,-1303.897,28,3.3,47,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-55.4
$GPS2,025710,6323.310,-1303.923,12,3.5,31,-12.2
$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,223.2,17947,-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,-146.6,0.0,0.0,0,91,0.00,0.00,-73.38,0.000,6,0.000,0.000,61,2611,3416
$GC,94,-1.03,-146.6,3.8,-5.7,3,116,11.98,2.33,0.00,0.000,4,0.186,0.057,2128,3854,3418
$GC,369,-0.98,-146.6,54.1,-11.7,15,373,0.00,2.17,0.00,0.000,6,0.000,0.027,2129,2570,3418
$GC,691,-0.98,-146.6,90.2,-10.4,31,695,0.00,2.35,0.00,0.000,4,0.000,0.060,2129,3848,3419
$GC,947,-0.98,-146.6,118.1,-10.5,42,954,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2580,3419
$GC,1264,-0.98,-146.6,148.8,-9.2,58,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2580,3419
$GC,1573,-0.98,-146.6,176.9,-9.4,73,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2580,3419
$GC,1882,-0.98,-146.6,207.8,-9.8,88,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2580,3418
$GC,2191,-0.98,-146.6,236.5,-8.9,103,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2580,3418
$GC,2500,-0.98,-146.6,264.5,-9.2,118,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2580,3418
$GC,2810,-0.98,-146.6,290.2,-7.8,133,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2580,3418
$GC,3119,-0.98,-146.6,314.4,-8.0,148,3123,0.00,2.35,0.00,0.000,4,0.000,0.064,2129,3856,3418
$GC,3164,-0.98,-146.6,318.4,-8.7,150,3168,0.00,2.10,0.00,0.000,6,0.000,0.027,2129,2604,3418
$GC,3497,-0.98,-146.6,346.8,-8.4,166,3501,0.00,2.45,0.00,0.000,4,0.000,0.040,2129,1209,3418
$GC,3559,-0.98,-146.6,351.7,-7.4,169,3563,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2592,3418
$GC,3887,-0.98,-146.6,376.3,-7.1,185,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3418
$GC,4197,-0.98,-146.6,400.1,-7.8,200,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3417
$GC,4504,-0.98,-146.6,426.7,-8.8,215,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3417
$GC,4813,-0.98,-146.6,454.5,-8.9,230,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3417
$GC,5122,-0.98,-146.6,484.7,-10.1,245,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3416
$GC,5431,-0.98,-146.6,513.8,-8.6,260,5435,0.00,2.42,0.00,0.000,4,0.000,0.039,2129,1214,3416
$GC,5517,-0.98,-146.6,521.3,-8.7,264,5521,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2609,3416
$GC,5843,-0.98,-146.6,554.6,-10.2,280,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2609,3416
$GC,6153,-0.98,-146.6,583.0,-8.5,295,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2609,3415
$GC,6462,-0.98,-146.6,608.1,-8.3,310,6466,0.00,2.33,0.00,0.000,4,0.000,0.067,2129,3861,3415
$GC,6563,-0.98,-146.6,618.3,-10.9,314,6569,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2599,3415
$GC,6879,-0.98,-146.6,645.9,-9.0,330,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3415
$GC,7188,-1.40,-146.6,654.1,-0.0,345,7193,0.30,2.42,0.00,0.000,4,0.048,0.035,2053,1203,3414
$STATE,7264,end dive,NO_VERTICAL_VELOCITY
$STATE,7264,begin apogee
$GC,7273,-0.31,0.0,654.1,0.0,348,7404,1.08,0.00,127.55,1.012,6,0.071,0.000,2290,2305,2816
$STATE,7405,end apogee,CONTROL_FINISHED_OK
$STATE,7405,begin climb
$GC,7408,1.03,146.6,653.9,0.0,355,7546,1.35,2.58,128.57,0.997,4,0.066,0.044,2582,926,2217
$GC,7805,0.94,146.6,637.5,8.0,373,7809,0.00,2.42,0.00,0.000,6,0.000,0.036,2582,2306,2211
$GC,8138,0.90,175.6,613.8,6.5,389,8166,0.15,0.00,25.88,0.941,6,0.096,0.000,2553,2306,2100
$GC,8467,0.90,175.6,589.2,7.8,405,8471,0.00,2.60,0.00,0.000,4,0.000,0.064,2553,3704,2096
$GC,8500,0.84,175.6,586.4,8.3,406,8506,0.00,2.42,0.00,0.000,6,0.000,0.029,2553,2312,2096
$GC,8815,0.84,175.6,562.6,7.7,422,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2312,2095
$GC,9125,0.90,228.7,543.5,5.7,437,9180,0.00,2.65,48.20,0.937,4,0.000,0.049,2553,904,1883
$GC,9237,1.01,275.4,537.1,5.9,442,9288,0.12,2.47,42.97,0.922,6,0.052,0.035,2589,2302,1693
$GC,9604,1.04,298.2,512.9,6.7,460,9627,0.00,0.00,21.02,0.875,6,0.000,0.000,2589,2302,1601
$GC,9933,1.04,298.2,488.1,8.0,476,9937,0.00,2.53,0.00,0.000,4,0.000,0.048,2589,902,1595
$GC,9967,1.04,298.2,485.0,8.7,477,9971,0.00,2.47,0.00,0.000,6,0.000,0.035,2589,2305,1594
$GC,10283,1.04,298.2,457.1,9.5,492,10284,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2305,1594
$GC,10591,1.04,298.2,426.7,10.3,507,10595,0.00,2.53,0.00,0.000,4,0.000,0.046,2589,895,1594
$GC,10653,1.08,298.2,419.8,10.7,509,10659,0.00,2.47,0.00,0.000,6,0.000,0.034,2589,2308,1593
$GC,10969,1.08,298.2,387.3,10.2,525,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2308,1593
$GC,11278,1.08,298.2,356.6,9.7,540,11282,0.00,2.53,0.00,0.000,4,0.000,0.045,2588,900,1593
$GC,11318,1.13,298.2,352.7,10.4,542,11322,0.00,2.45,0.00,0.000,6,0.000,0.034,2589,2301,1592
$GC,11645,1.13,298.2,320.2,10.1,558,11646,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2301,1593
$GC,11954,1.17,298.2,289.6,9.9,573,11959,0.12,2.50,0.00,0.000,4,0.051,0.044,2629,899,1593
$GC,12010,1.11,298.2,282.6,13.1,575,12017,0.15,2.45,0.00,0.000,6,0.090,0.034,2600,2305,1593
$GC,12326,1.11,298.2,247.8,10.9,591,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2305,1593
$GC,12635,1.11,298.2,214.6,10.4,606,12639,0.00,2.50,0.00,0.000,4,0.000,0.044,2600,899,1593
$GC,12681,1.11,298.2,209.5,10.3,608,12685,0.00,2.45,0.00,0.000,6,0.000,0.034,2600,2310,1593
$GC,13014,1.11,298.2,175.6,10.0,624,13015,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2310,1593
$GC,13323,1.11,298.2,145.6,9.4,639,13327,0.00,2.53,0.00,0.000,4,0.000,0.044,2599,894,1593
$GC,13369,1.11,298.2,141.2,9.4,641,13373,0.00,2.45,0.00,0.000,6,0.000,0.033,2599,2301,1593
$GC,13696,1.11,298.2,108.6,10.7,657,13700,0.00,2.50,0.00,0.000,4,0.000,0.044,2600,898,1593
$GC,13751,1.11,298.2,102.2,12.0,659,13758,0.00,2.42,0.00,0.000,6,0.000,0.033,2600,2302,1593
$GC,14067,1.11,298.2,66.5,11.4,675,14071,0.00,2.50,0.00,0.000,4,0.000,0.044,2600,895,1593
$GC,14157,1.17,298.2,55.6,12.4,679,14161,0.00,2.45,0.00,0.000,6,0.000,0.033,2600,2305,1593
$GC,14479,1.23,298.2,22.7,8.7,695,14480,0.12,0.00,0.00,0.000,6,0.049,0.000,2641,2305,1593
$STATE,14661,end climb,SURFACE_DEPTH_REACHED
$STATE,14661,begin surface coast
$FINISH,0.7,1.026524
$STATE,14683,end surface coast,CONTROL_FINISHED_OK
$STATE,14683,begin surface
$SM_CCo,14767,0.00,0.000,0,0,1589,301.23
$SM_GC,1.55,12.50,0.00,0.00,0.100,0.000,0.000,73,2601,1589,-10.46,0.03,301.23
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1766
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.6,33.780
$10V_AH,10.1,17.031
$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,27.875,87.375,394.200,0.000,0.000,36.446,59.042,195.417,6.500,0.000,0.000,32.123,1289.267,11330.913,482.442,1622.423,534.630,0.000,1278.345,0.000,1559.138,0.000,50.022,0.000
$DEVICE_MAMPS,185.614,67.496,1011.673,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,516.460,480.177,418.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34921,705
$CAP_FILE_SIZE,104345,0
$CFSIZE,260165632,247037952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130709,070436,6321.091,-1303.591,27,1.2,27,-12.2