version: 66.04
glider: 16
mission: 13
dive: 204
start: 7 13 109 11 22 31
data:
$ID,16
$MISSION,13
$DIVE,204
$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,-2111243.8
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,111706,6319.293,-1304.243,30,1.4,30,-12.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-59.4
$GPS2,112214,6319.296,-1304.266,18,1.6,18,-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,240.6,11974,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.75,0.000,6,0.000,0.000,70,2609,3416
$GC,81,-1.03,-146.6,5.9,-10.5,3,103,11.95,2.33,0.00,0.000,4,0.185,0.057,2132,3854,3417
$GC,356,-0.97,-146.6,47.9,-10.3,15,360,0.00,2.15,0.00,0.000,6,0.000,0.026,2132,2578,3418
$GC,677,-0.97,-146.6,80.1,-10.2,31,681,0.00,2.35,0.00,0.000,4,0.000,0.060,2131,3853,3419
$GC,808,-0.97,-146.6,94.0,-10.3,37,812,0.00,2.10,0.00,0.000,6,0.000,0.026,2132,2596,3419
$GC,1142,-0.97,-146.6,127.6,-10.1,53,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2595,3420
$GC,1450,-0.97,-146.6,157.7,-9.7,68,1454,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1212,3420
$GC,1494,-0.97,-146.6,162.5,-10.5,70,1498,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2595,3420
$GC,1815,-0.97,-146.6,195.2,-9.5,86,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2596,3420
$GC,2124,-0.97,-146.6,225.0,-9.7,101,2129,0.00,2.42,0.00,0.000,4,0.000,0.038,2133,1212,3419
$GC,2163,-0.97,-146.6,228.7,-8.9,102,2169,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3419
$GC,2478,-0.97,-146.6,256.6,-8.6,118,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,2787,-0.97,-146.6,281.5,-7.9,133,2792,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1214,3419
$GC,2838,-0.97,-146.6,285.3,-7.6,135,2842,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3419
$GC,3153,-0.97,-146.6,310.6,-8.7,150,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3463,-0.97,-146.6,338.3,-9.2,165,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3772,-0.97,-146.6,366.7,-9.0,180,3776,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1217,3419
$GC,3829,-0.97,-146.6,371.7,-8.6,182,3835,0.00,2.42,0.00,0.000,6,0.000,0.036,2132,2600,3419
$GC,4145,-0.97,-146.6,399.8,-8.8,198,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,4455,-0.97,-146.6,430.9,-10.3,213,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,4763,-0.97,-146.6,464.2,-10.8,228,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,5073,-0.97,-146.6,494.8,-9.4,243,5077,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1213,3418
$GC,5135,-1.02,-146.6,500.8,-9.7,245,5141,0.00,2.42,0.00,0.000,6,0.000,0.036,2132,2600,3418
$GC,5451,-1.02,-146.6,530.6,-9.6,261,5455,0.00,2.33,0.00,0.000,4,0.000,0.068,2132,3857,3418
$GC,5495,-1.02,-146.6,535.1,-10.7,263,5499,0.00,2.10,0.00,0.000,6,0.000,0.027,2131,2602,3418
$GC,5822,-1.02,-146.6,565.1,-8.5,279,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,6131,-1.02,-146.6,591.7,-8.4,294,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,6440,-1.02,-146.6,616.0,-7.8,309,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3417
$GC,6750,-1.02,-146.6,640.1,-8.7,324,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3417
$STATE,6829,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6829,begin apogee
$GC,6836,-0.31,0.0,647.7,9.2,328,6971,0.77,0.00,127.32,1.002,6,0.094,0.000,2290,2306,2816
$STATE,6972,end apogee,CONTROL_FINISHED_OK
$STATE,6972,begin climb
$GC,6975,1.03,146.6,652.0,0.0,335,7108,1.35,0.00,128.60,0.987,6,0.068,0.000,2582,2306,2220
$GC,7409,0.96,160.2,625.8,7.0,356,7430,0.00,2.70,12.60,0.871,4,0.000,0.062,2581,3700,2163
$GC,7510,0.86,160.2,617.9,8.3,360,7515,0.17,2.42,0.00,0.000,6,0.094,0.028,2549,2312,2162
$GC,7826,0.88,186.0,595.5,6.6,375,7855,0.00,2.65,24.12,0.922,4,0.000,0.050,2549,906,2057
$GC,7907,0.89,194.0,589.8,7.2,378,7922,0.00,2.47,8.12,0.795,6,0.000,0.035,2549,2302,2025
$GC,8245,0.97,222.6,568.7,6.5,395,8275,0.10,0.00,27.60,0.918,6,0.058,0.000,2579,2302,1909
$GC,8574,0.97,222.6,541.7,8.7,411,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2302,1903
$GC,8883,0.97,222.6,516.1,8.3,426,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2302,1901
$GC,9192,0.97,222.6,490.2,8.6,441,9197,0.00,2.60,0.00,0.000,4,0.000,0.062,2580,3700,1901
$GC,9220,0.97,222.6,487.4,10.2,442,9224,0.00,2.42,0.00,0.000,6,0.000,0.028,2580,2302,1901
$GC,9536,0.97,222.6,460.9,8.3,457,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2301,1901
$GC,9845,0.97,222.6,433.7,8.9,472,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2301,1901
$GC,10154,0.97,222.6,405.6,9.5,487,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2301,1901
$GC,10464,0.97,222.6,376.2,9.3,502,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2300,1901
$GC,10772,0.97,222.6,348.3,8.9,517,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2300,1900
$GC,11082,0.97,225.2,323.5,7.4,532,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2300,1901
$GC,11392,0.97,226.5,300.8,7.5,547,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2300,1901
$GC,11700,0.97,226.5,277.6,7.5,562,11704,0.00,2.58,0.00,0.000,4,0.000,0.058,2579,3701,1901
$GC,11739,0.97,226.5,274.4,8.0,564,11744,0.00,2.40,0.00,0.000,6,0.000,0.028,2579,2296,1900
$GC,12072,0.97,226.5,247.5,8.2,580,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2295,1900
$GC,12381,0.97,226.5,222.6,8.0,595,12385,0.00,2.58,0.00,0.000,4,0.000,0.057,2579,3701,1901
$GC,12425,0.97,226.5,218.8,8.8,597,12429,0.00,2.40,0.00,0.000,6,0.000,0.027,2579,2296,1901
$GC,12752,0.98,234.1,194.5,7.2,613,12764,0.00,0.00,10.07,0.631,6,0.000,0.000,2579,2295,1862
$GC,13061,0.98,234.1,170.9,7.9,628,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2295,1860
$GC,13370,0.98,234.1,144.4,9.1,643,13375,0.00,2.58,0.00,0.000,4,0.000,0.056,2579,3701,1860
$GC,13411,0.98,234.1,140.2,11.2,645,13415,0.00,2.42,0.00,0.000,6,0.000,0.028,2579,2292,1860
$GC,13738,0.98,234.1,109.6,9.0,661,13739,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2292,1860
$GC,14047,0.98,236.7,84.8,7.4,676,14048,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2292,1860
$GC,14357,0.99,246.7,61.9,7.2,691,14378,0.00,2.65,12.50,0.574,4,0.000,0.054,2579,3700,1811
$GC,14402,1.01,258.1,58.6,7.1,693,14423,0.00,2.42,11.38,0.559,6,0.000,0.027,2579,2297,1763
$GC,14734,1.07,258.1,30.4,9.8,709,14739,0.00,2.50,0.00,0.000,4,0.000,0.045,2579,897,1760
$GC,14870,1.14,258.1,19.3,8.2,715,14875,0.12,2.45,0.00,0.000,6,0.054,0.032,2616,2304,1758
$STATE,15045,end climb,SURFACE_DEPTH_REACHED
$STATE,15045,begin surface coast
$FINISH,0.7,1.022768
$STATE,15066,end surface coast,CONTROL_FINISHED_OK
$STATE,15066,begin surface
$SM_CCo,15149,0.00,0.000,0,0,1754,260.75
$SM_GC,1.73,11.88,0.00,0.00,0.076,0.000,0.000,75,2597,1754,-10.45,-0.08,260.75
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1782
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.9,81.7
$24V_AH,23.6,34.004
$10V_AH,10.1,17.165
$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,26.350,78.825,362.325,0.000,0.000,18.266,37.614,135.923,4.750,0.000,0.000,18.265,1299.197,11768.467,449.768,1522.180,417.413,0.000,1206.907,0.000,1483.716,0.000,33.475,0.000
$DEVICE_MAMPS,184.847,68.263,1001.702,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,530.095,496.907,456.580,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37878,725
$CAP_FILE_SIZE,98600,0
$CFSIZE,260165632,246939648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130709,153607,6318.169,-1303.232,30,1.6,30,-12.2