version: 66.04
glider: 16
mission: 13
dive: 205
start: 7 13 109 15 44 14
data:
$ID,16
$MISSION,13
$DIVE,205
$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,-2111258
$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,38
$R_STBD_OVSHOOT,25
$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
$GPS1,153607,6318.169,-1303.232,30,1.6,30,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.3
$GPS2,154356,6318.146,-1303.232,13,1.6,13,-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,251.5,11410,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-55.10,0.000,6,0.000,0.000,75,2598,3416
$GC,80,-1.03,-146.6,8.3,-15.7,3,102,11.80,2.38,0.00,0.000,4,0.180,0.057,2131,3867,3418
$GC,355,-1.03,-146.6,53.5,-9.9,15,359,0.00,2.17,0.00,0.000,6,0.000,0.026,2131,2579,3418
$GC,677,-1.03,-146.6,82.9,-9.1,31,681,0.00,2.38,0.00,0.000,4,0.000,0.060,2131,3865,3419
$GC,816,-1.03,-146.6,96.9,-9.9,37,820,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2599,3418
$GC,1138,-1.03,-146.6,126.3,-9.5,53,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2596,3420
$GC,1446,-1.03,-146.6,153.4,-8.3,68,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2596,3420
$GC,1756,-1.03,-146.6,179.6,-8.4,83,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2596,3420
$GC,2065,-1.03,-146.6,205.2,-8.3,98,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2596,3419
$GC,2374,-1.03,-146.6,230.6,-8.2,113,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2596,3420
$GC,2683,-1.03,-146.6,256.1,-8.2,128,2688,0.00,2.42,0.00,0.000,4,0.000,0.039,2131,1212,3419
$GC,2717,-1.03,-146.6,258.9,-8.1,129,2723,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2599,3419
$GC,3033,-1.03,-146.6,285.6,-8.5,145,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3419
$GC,3342,-1.03,-146.6,312.9,-9.0,160,3346,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1213,3419
$GC,3386,-1.03,-146.6,317.1,-9.2,162,3390,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2603,3420
$GC,3712,-1.03,-146.6,349.8,-10.6,178,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2604,3419
$GC,4021,-1.03,-146.6,382.2,-10.5,193,4026,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1210,3419
$GC,4077,-1.03,-146.6,388.1,-10.6,195,4084,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3419
$GC,4394,-1.03,-146.6,421.3,-10.7,211,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,4703,-1.03,-146.6,451.7,-9.7,226,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,5012,-1.03,-146.6,480.4,-9.1,241,5016,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1206,3418
$GC,5062,-1.03,-146.6,485.1,-9.0,243,5066,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2606,3418
$GC,5389,-1.03,-146.6,514.9,-8.7,259,5393,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1206,3418
$GC,5430,-1.08,-146.6,518.2,-8.0,261,5434,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2608,3418
$GC,5756,-1.08,-146.6,547.9,-9.5,277,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2609,3418
$GC,6066,-1.08,-146.6,578.6,-10.3,292,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3417
$GC,6374,-1.08,-146.6,611.5,-10.6,307,6378,0.00,2.33,0.00,0.000,4,0.000,0.068,2131,3861,3417
$GC,6492,-1.08,-146.6,623.8,-10.5,312,6495,0.00,2.12,0.00,0.000,6,0.000,0.027,2131,2594,3417
$GC,6813,-1.08,-146.6,651.5,-8.6,328,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2592,3417
$STATE,6873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6873,begin apogee
$GC,6880,-0.31,0.0,656.2,7.7,331,7015,0.77,0.00,127.45,1.000,6,0.096,0.000,2290,2299,2816
$STATE,7015,end apogee,CONTROL_FINISHED_OK
$STATE,7015,begin climb
$GC,7018,1.03,146.6,660.9,0.0,338,7157,1.38,2.58,129.05,0.982,4,0.069,0.049,2581,914,2217
$GC,7206,0.95,160.3,655.9,7.0,347,7227,0.00,2.45,13.05,0.875,6,0.000,0.035,2581,2306,2163
$GC,7537,0.90,160.3,630.5,7.5,363,7542,0.12,2.60,0.00,0.000,4,0.093,0.062,2557,3704,2159
$GC,7610,0.81,160.3,624.4,8.7,366,7614,0.00,2.42,0.00,0.000,6,0.000,0.028,2557,2313,2159
$GC,7926,0.81,160.3,598.9,8.1,381,7927,0.10,0.00,0.00,0.000,6,0.101,0.000,2539,2312,2157
$GC,8235,0.81,160.3,574.7,8.1,396,8239,0.00,2.58,0.00,0.000,4,0.000,0.061,2539,3701,2156
$GC,8346,0.81,160.3,564.6,9.5,401,8351,0.00,2.45,0.00,0.000,6,0.000,0.028,2538,2292,2156
$GC,8668,0.86,160.3,538.9,7.6,417,8672,0.00,2.62,0.00,0.000,4,0.000,0.061,2538,3705,2156
$GC,8735,0.86,160.3,533.2,8.6,420,8739,0.00,2.45,0.00,0.000,6,0.000,0.028,2539,2293,2156
$GC,9057,0.91,160.6,509.1,7.5,436,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2293,2155
$GC,9366,0.96,167.9,485.9,7.3,451,9380,0.15,2.58,7.10,0.723,4,0.049,0.048,2582,902,2130
$GC,9433,0.87,167.9,480.1,9.2,454,9438,0.17,2.45,0.00,0.000,6,0.094,0.034,2548,2308,2129
$GC,9760,0.91,202.5,457.5,6.3,470,9793,0.00,0.00,31.58,0.846,6,0.000,0.000,2548,2308,1991
$GC,10092,1.04,258.3,438.3,5.6,486,10150,0.17,0.00,51.47,0.842,6,0.046,0.000,2597,2308,1762
$GC,10460,1.04,258.3,405.0,9.5,504,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2308,1755
$GC,10769,1.04,258.3,374.4,10.0,519,10773,0.00,2.55,0.00,0.000,4,0.000,0.044,2597,894,1753
$GC,10808,1.04,258.3,370.3,10.0,520,10815,0.00,2.47,0.00,0.000,6,0.000,0.034,2597,2306,1752
$GC,11124,1.04,258.3,339.0,9.8,536,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2306,1752
$GC,11433,1.04,258.3,309.5,9.3,551,11434,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2306,1752
$GC,11743,1.04,258.3,280.6,9.3,566,11744,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2306,1752
$GC,12052,1.04,258.3,252.6,9.2,581,12056,0.00,2.50,0.00,0.000,4,0.000,0.043,2597,901,1752
$GC,12091,1.04,258.3,248.9,9.5,583,12095,0.00,2.45,0.00,0.000,6,0.000,0.033,2597,2308,1751
$GC,12418,1.04,258.3,219.6,8.9,599,12422,0.00,2.58,0.00,0.000,4,0.000,0.058,2597,3707,1751
$GC,12451,1.00,258.3,216.4,9.6,600,12457,0.00,2.42,0.00,0.000,6,0.000,0.028,2597,2299,1751
$GC,12767,1.00,258.3,189.7,8.4,616,12768,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2299,1751
$GC,13077,1.00,258.3,165.4,7.6,631,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2299,1751
$GC,13386,1.00,258.6,141.8,7.5,646,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2299,1751
$GC,13695,1.00,260.5,119.3,7.4,661,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2299,1751
$GC,14006,1.00,260.5,92.6,9.7,676,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2299,1751
$GC,14313,1.00,260.5,57.8,10.5,691,14314,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2299,1751
$GC,14622,1.00,260.5,29.4,8.6,706,14627,0.00,2.47,0.00,0.000,4,0.000,0.044,2598,899,1751
$GC,14695,1.00,260.5,21.8,10.6,709,14700,0.00,2.45,0.00,0.000,6,0.000,0.033,2597,2310,1751
$STATE,14926,end climb,SURFACE_DEPTH_REACHED
$STATE,14926,begin surface coast
$FINISH,0.7,1.013354
$STATE,14948,end surface coast,CONTROL_FINISHED_OK
$STATE,14948,begin surface
$SM_CCo,15032,0.00,0.000,0,0,1749,261.98
$SM_GC,1.49,12.18,0.00,0.00,0.094,0.000,0.000,69,2607,1749,-10.47,0.20,261.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1780
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.5,65.6
$24V_AH,23.6,34.117
$10V_AH,10.1,17.234
$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,26.850,83.900,359.700,0.000,0.000,36.037,57.357,200.361,5.250,0.000,0.000,13.495,1296.134,11696.339,475.476,1509.216,525.048,0.000,1212.168,0.000,1477.562,0.000,35.346,0.000
$DEVICE_MAMPS,180.245,68.263,1000.168,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.334,495.578,449.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34869,721
$CAP_FILE_SIZE,101494,0
$CFSIZE,260165632,246898688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130709,195601,6315.973,-1307.793,39,1.4,39,-12.2