version: 66.04
glider: 16
mission: 13
dive: 212
start: 7 14 109 23 47 6
data:
$ID,16
$MISSION,13
$DIVE,212
$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,-2111384
$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,31
$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
$GPS1,234137,6311.520,-1312.948,33,0.9,33,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.2
$GPS2,234649,6311.543,-1312.957,13,1.2,13,-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,182.6,40461,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.08,0.000,2,0.000,0.000,69,2604,3130
$GC,84,-1.03,-146.6,4.6,-7.2,3,107,11.88,2.58,-5.03,0.000,4,0.182,0.049,2129,1186,3419
$GC,266,-1.03,-146.6,37.0,-14.7,11,270,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2592,3419
$GC,593,-1.03,-146.6,91.5,-15.6,27,597,0.00,2.35,0.00,0.000,4,0.000,0.064,2129,3863,3419
$GC,637,-1.03,-146.6,98.5,-15.2,29,641,0.00,2.15,0.00,0.000,6,0.000,0.025,2129,2575,3419
$GC,965,-1.03,-146.6,142.6,-13.1,45,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2573,3419
$GC,1273,-1.03,-146.6,182.6,-13.1,60,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2573,3419
$GC,1582,-1.03,-146.6,219.1,-11.0,75,1586,0.00,2.38,0.00,0.000,4,0.000,0.064,2129,3860,3419
$GC,1615,-1.03,-146.6,222.8,-11.3,76,1621,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2593,3419
$GC,1931,-1.03,-146.6,252.4,-8.8,92,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3419
$GC,2240,-1.03,-146.6,278.0,-8.6,107,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3419
$GC,2550,-1.03,-146.6,304.0,-8.6,122,2554,0.00,2.40,0.00,0.000,4,0.000,0.039,2129,1218,3419
$GC,2594,-1.03,-146.6,307.8,-8.3,124,2598,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2602,3419
$GC,2915,-1.03,-146.6,331.3,-6.9,140,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,3224,-1.03,-146.6,351.8,-6.8,155,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3419
$GC,3533,-1.03,-146.6,373.7,-7.4,170,3538,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1218,3419
$GC,3562,-1.03,-146.6,375.8,-6.9,171,3566,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2602,3419
$GC,3878,-1.03,-146.6,399.8,-7.6,186,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,4188,-1.03,-146.6,422.2,-7.3,201,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,4497,-1.03,-146.6,443.8,-7.2,216,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3419
$GC,4805,-1.03,-146.6,467.9,-8.0,231,4810,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1218,3419
$GC,4833,-1.03,-146.6,470.0,-7.4,232,4838,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2602,3419
$GC,5149,-1.03,-146.6,493.5,-7.8,247,5154,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1218,3419
$GC,5177,-1.03,-146.6,495.8,-8.6,248,5181,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2601,3419
$GC,5492,-1.03,-146.6,521.0,-8.1,263,5496,0.00,2.33,0.00,0.000,4,0.000,0.067,2129,3857,3419
$GC,5532,-1.03,-146.6,524.6,-9.4,265,5536,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2593,3419
$GC,5865,-1.03,-146.6,556.4,-12.2,281,5870,0.00,2.35,0.00,0.000,4,0.000,0.067,2129,3860,3419
$GC,5905,-1.03,-146.6,561.7,-13.5,283,5909,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2592,3418
$GC,6238,-1.03,-146.6,605.6,-12.9,299,6242,0.00,2.42,0.00,0.000,4,0.000,0.041,2129,1212,3418
$GC,6316,-1.08,-146.6,614.5,-10.4,302,6322,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2600,3418
$GC,6632,-1.08,-146.6,648.3,-11.3,318,6636,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1218,3418
$GC,6677,-1.14,-146.6,653.4,-12.1,320,6681,0.00,2.42,0.00,0.000,6,0.000,0.037,2129,2601,3418
$GC,7003,-1.14,-146.6,683.2,-8.7,336,7008,0.00,2.35,0.00,0.000,4,0.000,0.071,2129,3863,3417
$GC,7053,-1.14,-146.6,687.7,-10.2,338,7057,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2604,3416
$GC,7375,-1.14,-146.6,718.1,-9.6,354,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3416
$STATE,7455,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7455,begin apogee
$GC,7462,-0.31,0.0,725.2,8.5,358,7597,0.80,0.00,129.32,1.059,6,0.097,0.000,2291,2299,2816
$STATE,7598,end apogee,CONTROL_FINISHED_OK
$STATE,7598,begin climb
$GC,7601,1.03,146.6,731.6,0.0,365,7739,1.33,2.70,129.95,1.045,4,0.059,0.065,2581,3704,2219
$GC,7996,0.92,161.1,710.0,7.0,383,8017,0.00,2.45,13.57,0.937,6,0.000,0.030,2581,2309,2160
$GC,8327,0.85,161.1,685.1,8.5,399,8332,0.17,2.62,0.00,0.000,4,0.097,0.064,2544,3705,2155
$GC,8464,0.79,161.1,673.0,9.6,405,8468,0.00,2.47,0.00,0.000,6,0.000,0.030,2544,2293,2155
$GC,8785,0.82,185.8,649.0,6.7,421,8815,0.00,2.70,22.88,0.972,4,0.000,0.062,2544,3695,2058
$GC,8844,0.82,185.8,644.4,7.6,423,8850,0.00,2.45,0.00,0.000,6,0.000,0.029,2544,2298,2058
$GC,9160,0.88,244.0,625.3,5.5,439,9221,0.00,2.70,54.40,0.995,4,0.000,0.062,2543,3705,1822
$GC,9238,1.02,318.2,621.5,5.0,442,9315,0.17,2.50,69.18,0.991,6,0.048,0.030,2587,2292,1518
$GC,9638,1.09,375.4,596.3,5.5,462,9699,0.00,2.60,51.70,0.969,4,0.000,0.052,2587,896,1284
$GC,9745,1.20,395.7,588.9,6.8,467,9770,0.15,2.50,19.35,0.914,6,0.058,0.035,2629,2312,1203
$GC,10100,1.23,423.9,564.5,6.5,484,10132,0.00,2.62,26.10,0.922,4,0.000,0.051,2628,902,1087
$GC,10154,1.24,434.0,560.6,7.2,486,10169,0.00,2.50,10.32,0.833,6,0.000,0.036,2628,2300,1047
$GC,10485,1.24,434.0,533.0,9.9,503,10489,0.00,2.55,0.00,0.000,4,0.000,0.050,2628,897,1041
$GC,10536,1.24,434.0,527.4,11.5,505,10540,0.00,2.47,0.00,0.000,6,0.000,0.035,2628,2300,1040
$GC,10851,1.24,434.0,492.8,11.6,520,10855,0.00,2.55,0.00,0.000,4,0.000,0.049,2628,894,1040
$GC,10929,1.24,434.0,483.1,12.1,523,10935,0.00,2.47,0.00,0.000,6,0.000,0.034,2628,2302,1039
$GC,11245,1.24,434.0,440.8,14.2,539,11249,0.00,2.55,0.00,0.000,4,0.000,0.048,2628,894,1039
$GC,11317,1.24,434.0,429.9,14.6,542,11321,0.00,2.47,0.00,0.000,6,0.000,0.034,2628,2305,1039
$GC,11632,1.24,434.0,386.3,13.4,557,11637,0.00,2.55,0.00,0.000,4,0.000,0.047,2628,892,1038
$GC,11711,1.24,434.0,375.5,13.2,560,11717,0.00,2.47,0.00,0.000,6,0.000,0.034,2628,2307,1038
$GC,12026,1.24,434.0,332.3,13.7,576,12031,0.00,2.55,0.00,0.000,4,0.000,0.047,2628,892,1038
$GC,12099,1.24,434.0,321.9,13.6,579,12104,0.00,2.47,0.00,0.000,6,0.000,0.033,2628,2308,1038
$GC,12415,1.24,434.0,280.2,13.6,594,12419,0.00,2.55,0.00,0.000,4,0.000,0.047,2628,892,1038
$GC,12504,1.24,434.0,267.4,14.2,598,12508,0.00,2.47,0.00,0.000,6,0.000,0.033,2627,2310,1038
$GC,12825,1.24,434.0,222.0,13.9,614,12829,0.00,2.53,0.00,0.000,4,0.000,0.046,2628,897,1038
$GC,12909,1.29,434.0,210.5,13.5,617,12915,0.00,2.45,0.00,0.000,6,0.000,0.033,2628,2301,1038
$GC,13224,1.29,434.0,169.1,13.5,633,13228,0.00,2.50,0.00,0.000,4,0.000,0.046,2628,898,1038
$GC,13293,1.33,434.0,159.8,13.9,636,13297,0.00,2.45,0.00,0.000,6,0.000,0.033,2628,2305,1038
$GC,13619,1.33,434.0,112.1,14.6,652,13624,0.00,2.53,0.00,0.000,4,0.000,0.044,2628,895,1037
$GC,13698,1.37,434.0,100.3,14.0,655,13705,0.15,2.45,0.00,0.000,6,0.058,0.033,2665,2306,1038
$GC,14015,1.31,434.0,42.2,18.1,671,14019,0.00,2.53,0.00,0.000,4,0.000,0.044,2666,895,1038
$GC,14104,1.31,434.0,25.9,16.4,675,14108,0.00,2.42,0.00,0.000,6,0.000,0.032,2665,2299,1038
$STATE,14284,end climb,SURFACE_DEPTH_REACHED
$STATE,14284,begin surface coast
$FINISH,0.8,1.026598
$STATE,14306,end surface coast,CONTROL_FINISHED_OK
$STATE,14306,begin surface
$SM_CCo,14390,0.00,0.000,0,0,1035,436.88
$SM_GC,1.52,12.05,0.00,0.00,0.073,0.000,0.000,73,2600,1035,-10.46,0.00,436.88
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1789
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.1,33.5
$24V_AH,23.6,35.049
$10V_AH,10.1,17.741
$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,26.700,138.350,526.775,0.000,0.000,18.145,29.441,144.458,6.000,0.000,0.000,13.913,1290.230,10710.967,595.547,1652.982,449.399,0.000,1475.811,0.000,1603.572,0.000,41.429,0.000
$DEVICE_MAMPS,181.779,70.564,1059.227,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.944,465.006,363.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34961,685
$CAP_FILE_SIZE,112893,0
$CFSIZE,260165632,246505472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,150709,034826,6312.255,-1310.930,34,4.7,53,-12.2