version: 66.04
glider: 16
mission: 13
dive: 210
start: 7 14 109 14 33 25
data:
$ID,16
$MISSION,13
$DIVE,210
$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,-2111352.8
$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,37
$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
$GPS1,142757,6312.145,-1311.627,36,2.2,55,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-63.4
$GPS2,143308,6312.146,-1311.669,14,1.6,14,-12.2
$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,184.4,41400,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,101,0.00,0.00,-81.00,0.000,2,0.000,0.000,78,2600,3278
$GC,104,-1.03,-146.6,5.2,-6.0,4,127,12.10,2.47,-2.25,0.000,4,0.190,0.049,2132,1193,3417
$GC,269,-1.03,-146.6,31.6,-9.5,11,274,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2599,3418
$GC,592,-1.03,-146.6,66.1,-11.1,27,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3418
$GC,900,-1.03,-146.6,96.8,-9.3,42,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3418
$GC,1210,-1.03,-146.6,124.5,-8.4,57,1214,0.00,2.47,0.00,0.000,4,0.000,0.037,2132,1188,3418
$GC,1250,-1.03,-146.6,127.7,-7.8,59,1254,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,1577,-1.03,-146.6,151.3,-7.5,75,1581,0.00,2.33,0.00,0.000,4,0.000,0.064,2133,3860,3418
$GC,1618,-1.03,-146.6,154.7,-8.6,77,1621,0.00,2.15,0.00,0.000,6,0.000,0.026,2132,2582,3418
$GC,1950,-1.03,-146.6,182.2,-8.8,93,1954,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1206,3418
$GC,1977,-1.03,-146.6,184.7,-8.9,94,1981,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2603,3418
$GC,2293,-1.03,-146.6,211.9,-8.3,109,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,2602,-1.03,-146.6,237.2,-8.6,124,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,2911,-1.03,-146.6,266.2,-9.5,139,2915,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1205,3418
$GC,2955,-1.03,-146.6,270.2,-8.5,141,2959,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2605,3418
$GC,3276,-1.03,-146.6,301.4,-9.7,157,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,3585,-1.03,-146.6,331.0,-9.5,172,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,3894,-1.03,-146.6,359.3,-9.0,187,3898,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1211,3418
$GC,3933,-1.03,-146.6,362.8,-8.6,188,3939,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2610,3417
$GC,4248,-1.03,-146.6,390.2,-8.8,204,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2611,3417
$GC,4558,-1.03,-146.6,418.2,-9.0,219,4562,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1209,3417
$GC,4591,-1.03,-146.6,421.3,-8.7,220,4598,0.00,2.42,0.00,0.000,6,0.000,0.036,2132,2600,3417
$GC,4908,-1.03,-146.6,451.1,-10.0,236,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3416
$GC,5217,-1.03,-146.6,483.8,-10.5,251,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3416
$GC,5526,-1.03,-146.6,511.1,-8.4,266,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3416
$GC,5835,-1.03,-146.6,543.1,-11.5,281,5839,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1212,3416
$GC,5909,-1.08,-146.6,551.9,-12.7,284,5913,0.00,2.42,0.00,0.000,6,0.000,0.036,2132,2602,3416
$GC,6230,-1.08,-146.6,593.3,-13.8,300,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3416
$GC,6540,-1.08,-146.6,628.5,-9.3,315,6544,0.00,2.42,0.00,0.000,4,0.000,0.039,2132,1211,3416
$GC,6573,-1.15,-146.6,631.7,-9.7,316,6580,0.10,2.45,0.00,0.000,6,0.051,0.037,2097,2610,3415
$GC,6889,-1.09,-146.6,663.3,-10.6,332,6894,0.12,2.33,0.00,0.000,4,0.099,0.069,2121,3860,3415
$GC,6929,-1.09,-146.6,667.9,-12.0,334,6933,0.00,2.12,0.00,0.000,6,0.000,0.028,2121,2592,3415
$GC,7261,-1.09,-146.6,699.8,-9.9,350,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2590,3414
$STATE,7465,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7465,begin apogee
$GC,7472,-0.31,0.0,718.0,8.0,360,7608,0.85,0.00,128.38,1.050,6,0.103,0.000,2291,2295,2817
$STATE,7608,end apogee,CONTROL_FINISHED_OK
$STATE,7608,begin climb
$GC,7612,1.03,146.6,722.2,0.0,367,7751,1.35,2.60,129.98,1.038,4,0.075,0.048,2577,915,2217
$GC,7798,1.03,149.3,714.7,7.4,375,7805,0.00,2.45,0.00,0.000,6,0.000,0.035,2577,2302,2214
$GC,8115,1.02,199.3,694.6,5.8,391,8169,0.00,2.72,46.95,1.008,4,0.000,0.064,2577,3698,2003
$GC,8216,0.95,199.3,687.8,7.6,395,8222,0.00,2.42,0.00,0.000,6,0.000,0.030,2577,2314,2001
$GC,8532,0.98,226.7,666.1,6.6,411,8563,0.00,2.62,25.85,0.975,4,0.000,0.050,2577,898,1892
$GC,8603,0.99,236.7,661.3,7.2,414,8618,0.00,2.50,10.00,0.871,6,0.000,0.035,2577,2306,1852
$GC,8940,0.99,236.7,632.8,9.8,431,8944,0.00,2.62,0.00,0.000,4,0.000,0.064,2577,3705,1848
$GC,8984,0.99,236.7,627.9,10.9,433,8988,0.00,2.45,0.00,0.000,6,0.000,0.030,2576,2302,1848
$GC,9304,0.99,236.7,592.5,11.2,449,9308,0.00,2.55,0.00,0.000,4,0.000,0.051,2577,897,1847
$GC,9338,0.99,236.7,588.6,11.8,450,9342,0.00,2.47,0.00,0.000,6,0.000,0.035,2577,2302,1845
$GC,9654,0.99,236.7,554.4,9.9,465,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2302,1845
$GC,9963,1.04,282.1,531.4,5.9,480,10007,0.00,0.00,42.35,0.927,6,0.000,0.000,2577,2302,1666
$GC,10312,1.10,285.1,507.9,7.4,497,10317,0.10,2.53,0.00,0.000,4,0.058,0.048,2607,897,1660
$GC,10334,1.10,285.1,505.8,9.0,498,10339,0.00,2.47,0.00,0.000,6,0.000,0.035,2607,2303,1659
$GC,10656,1.10,285.1,475.7,9.2,514,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2303,1659
$GC,10965,1.10,285.1,446.4,9.5,529,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2303,1659
$GC,11275,1.10,285.1,416.9,9.6,544,11279,0.00,2.53,0.00,0.000,4,0.000,0.045,2607,895,1659
$GC,11318,1.10,285.1,412.4,10.0,546,11323,0.00,2.45,0.00,0.000,6,0.000,0.033,2607,2299,1657
$GC,11640,1.10,285.1,383.6,8.8,562,11641,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2299,1657
$GC,11949,1.10,285.1,353.8,9.9,577,11954,0.00,2.50,0.00,0.000,4,0.000,0.045,2607,897,1657
$GC,11977,1.10,285.1,350.8,10.5,578,11981,0.00,2.45,0.00,0.000,6,0.000,0.033,2607,2302,1657
$GC,12292,1.10,285.1,317.6,10.9,593,12297,0.00,2.50,0.00,0.000,4,0.000,0.044,2607,897,1657
$GC,12337,1.10,285.1,312.4,11.5,595,12342,0.00,2.45,0.00,0.000,6,0.000,0.033,2607,2302,1657
$GC,12659,1.10,285.1,279.0,10.2,611,12660,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2302,1657
$GC,12968,1.10,285.1,246.5,10.9,626,12973,0.00,2.50,0.00,0.000,4,0.000,0.044,2607,895,1657
$GC,12996,1.10,285.1,243.1,12.1,627,13000,0.00,2.42,0.00,0.000,6,0.000,0.033,2607,2301,1657
$GC,13317,1.10,285.1,208.2,10.6,643,13319,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2301,1657
$GC,13627,1.10,285.1,176.9,9.9,658,13631,0.00,2.50,0.00,0.000,4,0.000,0.044,2607,895,1657
$GC,13666,1.10,285.1,172.6,10.5,660,13671,0.00,2.45,0.00,0.000,6,0.000,0.033,2607,2305,1657
$GC,13994,1.10,285.1,139.1,9.9,676,13998,0.00,2.50,0.00,0.000,4,0.000,0.044,2607,895,1657
$GC,14027,1.10,285.1,135.5,10.1,677,14033,0.00,2.45,0.00,0.000,6,0.000,0.033,2607,2308,1657
$GC,14345,1.10,285.1,104.3,9.7,693,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2308,1658
$GC,14652,1.10,285.1,74.9,9.1,708,14656,0.00,2.53,0.00,0.000,4,0.000,0.044,2607,888,1658
$GC,14684,1.10,285.1,71.9,9.1,709,14691,0.00,2.45,0.00,0.000,6,0.000,0.033,2605,2304,1658
$GC,15003,1.10,285.1,46.1,9.7,725,15007,0.00,2.50,0.00,0.000,4,0.000,0.044,2607,895,1658
$GC,15110,1.10,285.1,34.3,10.7,730,15115,0.00,2.45,0.00,0.000,6,0.000,0.033,2607,2309,1658
$GC,15438,1.10,285.1,3.7,9.0,746,15442,0.00,2.50,0.00,0.000,4,0.000,0.043,2608,895,1658
$STATE,15446,end climb,SURFACE_DEPTH_REACHED
$STATE,15446,begin surface coast
$FINISH,0.7,1.026499
$STATE,15469,end surface coast,CONTROL_FINISHED_OK
$STATE,15469,begin surface
$SM_CCo,15556,0.00,0.000,0,0,1656,284.79
$SM_GC,1.84,12.07,0.00,0.00,0.087,0.000,0.000,63,2608,1656,-10.47,0.23,284.79
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1780
$TCM_TEMP,19.40
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,650.7,76.1
$24V_AH,23.6,34.748
$10V_AH,10.1,17.597
$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,26.700,124.075,383.500,0.000,0.000,18.366,29.687,142.506,9.500,0.000,0.000,14.107,1346.788,11986.456,504.267,1578.884,449.073,0.000,1313.542,0.000,1540.909,0.000,41.251,0.000
$DEVICE_MAMPS,190.216,69.030,1050.023,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,545.899,508.359,467.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38044,747
$CAP_FILE_SIZE,108351,0
$CFSIZE,260165632,246616064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140709,185400,6311.603,-1311.986,38,1.4,43,-12.2