version: 66.04
glider: 16
mission: 13
dive: 213
start: 7 15 109 3 53 37
data:
$ID,16
$MISSION,13
$DIVE,213
$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,-2111399.5
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,034826,6312.255,-1310.930,34,4.7,53,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-58.0
$GPS2,035320,6312.258,-1310.976,14,1.5,14,-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,185.2,41530,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,99,0.00,0.00,-78.95,0.000,2,0.000,0.000,72,2601,3221
$GC,102,-1.03,-146.6,4.7,-5.4,4,125,11.77,2.47,-3.38,0.000,4,0.179,0.049,2129,1191,3417
$GC,310,-0.99,-146.6,33.7,-8.7,13,314,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2601,3418
$GC,631,-0.99,-146.6,62.1,-8.5,29,635,0.00,2.47,0.00,0.000,4,0.000,0.037,2129,1191,3418
$GC,686,-0.99,-146.6,67.3,-8.7,31,693,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2600,3418
$GC,1002,-0.99,-146.6,100.4,-11.6,47,1006,0.00,2.33,0.00,0.000,4,0.000,0.064,2129,3861,3418
$GC,1043,-0.99,-146.6,105.1,-11.7,49,1047,0.00,2.17,0.00,0.000,6,0.000,0.025,2129,2567,3418
$GC,1370,-0.99,-146.6,139.7,-10.9,65,1374,0.00,2.38,0.00,0.000,4,0.000,0.038,2129,1209,3418
$GC,1410,-0.99,-146.6,144.6,-11.9,67,1414,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2605,3418
$GC,1736,-0.99,-146.6,182.1,-9.7,83,1740,0.00,2.33,0.00,0.000,4,0.000,0.064,2130,3864,3418
$GC,1771,-0.95,-146.6,185.5,-9.9,84,1777,0.12,2.12,0.00,0.000,6,0.100,0.026,2153,2596,3418
$GC,2087,-0.95,-146.6,209.7,-7.5,100,2091,0.00,2.42,0.00,0.000,4,0.000,0.038,2153,1213,3418
$GC,2120,-1.02,-146.6,212.4,-7.2,101,2126,0.00,2.42,0.00,0.000,6,0.000,0.035,2153,2600,3418
$GC,2436,-1.02,-146.6,236.7,-7.8,117,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2600,3418
$GC,2745,-1.02,-146.6,261.1,-7.9,132,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2600,3418
$GC,3055,-1.06,-146.6,285.5,-8.0,147,3059,0.12,2.42,0.00,0.000,4,0.044,0.037,2110,1217,3418
$GC,3095,-1.01,-146.6,289.4,-10.3,149,3100,0.15,2.42,0.00,0.000,6,0.097,0.035,2138,2600,3418
$GC,3421,-1.01,-146.6,320.3,-10.0,165,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3418
$GC,3731,-1.01,-146.6,351.1,-9.7,180,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2600,3418
$GC,4040,-1.01,-146.6,380.3,-9.3,195,4044,0.00,2.42,0.00,0.000,4,0.000,0.038,2138,1217,3418
$GC,4085,-1.07,-146.6,384.7,-9.3,197,4089,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2599,3418
$GC,4406,-1.07,-146.6,415.3,-9.6,213,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3418
$GC,4715,-1.07,-146.6,444.2,-9.2,228,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3418
$GC,5024,-1.07,-146.6,471.3,-8.6,243,5028,0.00,2.42,0.00,0.000,4,0.000,0.038,2138,1213,3418
$GC,5074,-1.13,-146.6,475.9,-9.2,245,5079,0.12,2.42,0.00,0.000,6,0.049,0.035,2099,2600,3418
$GC,5390,-1.03,-146.6,514.2,-12.9,260,5392,0.17,0.00,0.00,0.000,6,0.097,0.000,2132,2600,3418
$GC,5700,-1.03,-146.6,551.6,-11.9,275,5704,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1212,3418
$GC,5773,-1.07,-146.6,560.3,-11.7,278,5777,0.00,2.42,0.00,0.000,6,0.000,0.036,2132,2600,3418
$GC,6088,-1.07,-146.6,594.9,-9.5,293,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3417
$GC,6398,-1.07,-146.6,616.9,-6.4,308,6403,0.00,2.42,0.00,0.000,4,0.000,0.039,2132,1213,3417
$GC,6506,-1.15,-146.6,623.1,-4.5,313,6512,0.12,2.42,0.00,0.000,6,0.048,0.037,2093,2599,3417
$GC,6836,-1.06,-146.6,640.6,-4.1,329,6841,0.17,2.35,0.00,0.000,4,0.096,0.070,2130,3860,3417
$GC,6937,-1.06,-146.6,646.1,-6.0,333,6943,0.00,2.12,0.00,0.000,6,0.000,0.027,2130,2593,3416
$GC,7253,-1.06,-146.6,662.7,-6.4,349,7257,0.00,2.42,0.00,0.000,4,0.000,0.041,2130,1217,3415
$GC,7309,-1.17,-146.6,666.8,-6.4,351,7316,0.12,2.45,0.00,0.000,6,0.050,0.038,2092,2609,3415
$GC,7625,-1.06,-146.6,695.5,-9.3,367,7627,0.17,0.00,0.00,0.000,6,0.095,0.000,2126,2609,3414
$STATE,7829,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7829,begin apogee
$GC,7836,-0.31,0.0,711.2,9.3,377,7971,0.80,0.00,128.80,1.053,6,0.097,0.000,2289,2307,2816
$STATE,7972,end apogee,CONTROL_FINISHED_OK
$STATE,7972,begin climb
$GC,7975,1.03,146.6,714.4,0.0,384,8115,1.40,2.58,129.77,1.043,4,0.074,0.047,2581,912,2217
$GC,8297,1.01,215.0,697.9,5.2,399,8363,0.00,2.47,60.95,1.020,6,0.000,0.038,2581,2302,1940
$GC,8691,1.03,232.2,666.5,6.9,418,8713,0.00,2.67,16.05,0.939,4,0.000,0.064,2580,3701,1869
$GC,8786,1.03,232.2,656.8,9.9,422,8790,0.00,2.45,0.00,0.000,6,0.000,0.030,2581,2309,1867
$GC,9107,1.03,232.2,624.3,10.1,438,9111,0.00,2.62,0.00,0.000,4,0.000,0.064,2581,3705,1864
$GC,9139,1.03,232.2,620.7,10.7,439,9145,0.00,2.47,0.00,0.000,6,0.000,0.031,2580,2295,1864
$GC,9455,1.03,232.2,591.4,8.8,455,9459,0.00,2.55,0.00,0.000,4,0.000,0.053,2580,895,1863
$GC,9504,1.03,232.2,586.3,10.8,457,9509,0.00,2.47,0.00,0.000,6,0.000,0.037,2581,2305,1861
$GC,9820,1.03,232.2,555.8,8.7,472,9824,0.00,2.60,0.00,0.000,4,0.000,0.064,2581,3700,1861
$GC,9864,1.03,232.2,551.3,9.7,474,9868,0.00,2.45,0.00,0.000,6,0.000,0.030,2581,2299,1861
$GC,10185,1.03,232.2,523.6,8.4,490,10189,0.00,2.55,0.00,0.000,4,0.000,0.050,2580,892,1861
$GC,10217,1.03,232.2,520.7,8.8,491,10223,0.00,2.47,0.00,0.000,6,0.000,0.035,2581,2301,1860
$GC,10533,1.03,232.2,494.0,8.3,507,10537,0.00,2.53,0.00,0.000,4,0.000,0.048,2580,898,1860
$GC,10560,1.03,232.2,491.5,8.9,508,10564,0.00,2.47,0.00,0.000,6,0.000,0.035,2581,2306,1860
$GC,10881,1.03,232.2,463.3,8.9,524,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2306,1860
$GC,11190,1.03,232.2,437.2,8.2,539,11191,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2306,1860
$GC,11499,1.03,232.2,410.7,9.1,554,11500,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2307,1860
$GC,11808,1.03,232.2,380.0,10.6,569,11809,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2306,1860
$GC,12118,1.03,232.2,350.4,8.9,584,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2306,1860
$GC,12427,1.03,232.2,321.6,9.9,599,12431,0.00,2.58,0.00,0.000,4,0.000,0.059,2580,3702,1861
$GC,12476,1.03,232.2,315.7,11.7,601,12480,0.00,2.42,0.00,0.000,6,0.000,0.028,2581,2294,1861
$GC,12798,1.03,232.2,281.0,10.1,617,12802,0.00,2.50,0.00,0.000,4,0.000,0.044,2580,894,1861
$GC,12837,1.03,232.2,277.2,10.3,619,12841,0.00,2.45,0.00,0.000,6,0.000,0.032,2580,2302,1860
$GC,13163,1.03,232.2,249.3,8.9,635,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2302,1861
$GC,13473,1.03,232.2,219.5,9.0,650,13477,0.00,2.58,0.00,0.000,4,0.000,0.058,2580,3702,1861
$GC,13494,1.03,232.2,217.5,8.9,651,13498,0.00,2.42,0.00,0.000,6,0.000,0.028,2580,2293,1861
$GC,13815,1.03,232.2,190.6,8.8,667,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2292,1861
$GC,14125,1.03,232.2,163.6,8.2,682,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2293,1861
$GC,14434,1.03,232.2,137.5,8.5,697,14439,0.00,2.60,0.00,0.000,4,0.000,0.057,2580,3707,1862
$GC,14479,1.03,232.2,133.3,9.3,699,14483,0.00,2.42,0.00,0.000,6,0.000,0.028,2580,2297,1862
$GC,14801,1.04,238.4,107.6,7.3,715,14808,0.00,0.00,5.85,0.525,6,0.000,0.000,2580,2296,1845
$GC,15111,1.04,238.4,85.2,8.2,730,15112,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2296,1844
$GC,15419,1.04,238.4,55.2,9.8,745,15420,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2296,1844
$GC,15729,1.11,248.2,31.6,7.2,760,15744,0.00,2.50,10.20,0.548,4,0.000,0.044,2580,895,1804
$GC,15895,1.11,248.2,18.8,8.6,766,15902,0.00,2.45,0.00,0.000,6,0.000,0.033,2580,2299,1801
$STATE,16106,end climb,SURFACE_DEPTH_REACHED
$STATE,16106,begin surface coast
$FINISH,1.1,1.026549
$STATE,16129,end surface coast,CONTROL_FINISHED_OK
$STATE,16129,begin surface
$SM_CCo,16153,-0.10,0.000,0,0,1798,250.21
$SM_GC,2.80,0.00,0.00,-0.10,0.000,0.000,0.000,72,2609,1798,-10.52,0.25,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1778
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.3,18.9
$24V_AH,23.6,35.162
$10V_AH,10.1,17.815
$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,27.300,123.450,351.625,0.000,0.000,18.055,28.377,130.862,6.250,0.000,0.000,14.773,1429.618,12376.147,489.135,1710.005,445.751,0.000,1340.909,0.000,1667.510,0.000,44.255,0.000
$DEVICE_MAMPS,178.711,69.797,1053.091,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.602,529.683,485.889,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38024,778
$CAP_FILE_SIZE,116497,0
$CFSIZE,260165632,246439936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150709,082407,6312.495,-1311.211,37,1.4,37,-12.2