version: 66.04
glider: 16
mission: 13
dive: 215
start: 7 15 109 12 45 19
data:
$ID,16
$MISSION,13
$DIVE,215
$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,-2111432
$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,32
$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
$GPS1,123637,6312.816,-1311.485,35,1.2,35,-12.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-54.9
$GPS2,124502,6312.896,-1311.453,12,1.2,12,-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,184.9,42754,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-81.20,0.000,6,0.000,0.000,72,2604,3416
$GC,104,-1.03,-146.6,6.1,-7.7,4,126,11.88,2.53,0.00,0.000,4,0.182,0.035,2131,1189,3418
$GC,307,-1.03,-146.6,41.4,-12.6,13,311,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2597,3419
$GC,634,-1.03,-146.6,75.7,-10.2,29,638,0.00,2.33,0.00,0.000,4,0.000,0.064,2132,3860,3418
$GC,742,-1.03,-146.6,87.8,-11.0,34,746,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2569,3419
$GC,1070,-1.03,-146.6,121.8,-9.6,50,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2567,3419
$GC,1380,-1.03,-146.6,148.4,-7.1,65,1385,0.00,2.40,0.00,0.000,4,0.000,0.061,2132,3867,3419
$GC,1481,-1.03,-146.6,155.2,-6.4,69,1487,0.00,2.15,0.00,0.000,6,0.000,0.026,2132,2584,3419
$GC,1797,-1.03,-146.6,177.8,-8.1,85,1801,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1215,3419
$GC,1852,-1.03,-146.6,182.8,-9.3,87,1858,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2602,3419
$GC,2167,-1.03,-146.6,212.9,-10.0,103,2171,0.00,2.33,0.00,0.000,4,0.000,0.064,2132,3863,3419
$GC,2208,-1.03,-146.6,216.9,-10.3,105,2211,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2597,3419
$GC,2542,-1.03,-146.6,251.8,-10.5,121,2546,0.00,2.42,0.00,0.000,4,0.000,0.039,2132,1209,3418
$GC,2582,-1.03,-146.6,256.1,-10.7,123,2586,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2608,3419
$GC,2909,-1.03,-146.6,288.5,-10.2,139,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3419
$GC,3217,-1.03,-146.6,321.0,-10.6,154,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3418
$GC,3527,-1.03,-146.6,355.0,-11.1,169,3531,0.00,2.33,0.00,0.000,4,0.000,0.066,2132,3863,3418
$GC,3584,-1.03,-146.6,361.6,-11.7,171,3590,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2598,3418
$GC,3900,-1.03,-146.6,398.3,-11.7,187,3904,0.00,2.42,0.00,0.000,4,0.000,0.040,2132,1216,3418
$GC,3944,-1.03,-146.6,403.4,-10.9,189,3948,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2599,3418
$GC,4265,-1.03,-146.6,439.4,-10.4,205,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3418
$GC,4574,-1.03,-146.6,466.9,-8.9,220,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3418
$GC,4886,-1.03,-146.6,501.3,-12.1,235,4890,0.00,2.42,0.00,0.000,4,0.000,0.039,2132,1217,3417
$GC,4931,-1.08,-146.6,507.2,-12.2,237,4935,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3417
$GC,5251,-1.08,-146.6,547.8,-12.2,253,5255,0.00,2.33,0.00,0.000,4,0.000,0.067,2132,3860,3417
$GC,5313,-1.08,-146.6,555.5,-11.7,255,5319,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2590,3417
$GC,5630,-1.08,-146.6,581.4,-6.4,271,5634,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1213,3416
$GC,5663,-1.16,-146.6,584.5,-8.8,272,5670,0.12,2.42,0.00,0.000,6,0.048,0.036,2092,2600,3416
$GC,5980,-1.07,-146.6,619.5,-10.7,288,5984,0.17,2.33,0.00,0.000,4,0.094,0.067,2126,3858,3416
$GC,6023,-1.07,-146.6,624.0,-9.0,290,6027,0.00,2.12,0.00,0.000,6,0.000,0.027,2126,2596,3416
$GC,6353,-1.07,-146.6,651.0,-8.7,306,6357,0.00,2.42,0.00,0.000,4,0.000,0.041,2126,1214,3416
$GC,6387,-1.07,-146.6,654.0,-8.0,307,6391,0.00,2.45,0.00,0.000,6,0.000,0.037,2125,2610,3416
$GC,6703,-1.07,-146.6,671.4,-3.7,322,6707,0.00,2.33,0.00,0.000,4,0.000,0.070,2126,3861,3415
$GC,6753,-1.07,-146.6,674.1,-5.6,324,6757,0.00,2.12,0.00,0.000,6,0.000,0.028,2125,2603,3415
$GC,7081,-1.07,-146.6,689.8,-4.3,340,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2602,3415
$STATE,7346,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7346,begin apogee
$GC,7353,-0.31,0.0,705.6,8.1,353,7489,0.82,0.00,128.23,1.054,6,0.115,0.000,2287,2302,2817
$STATE,7489,end apogee,CONTROL_FINISHED_OK
$STATE,7489,begin climb
$GC,7493,1.03,146.6,710.9,0.0,360,7631,1.42,0.00,129.60,1.040,6,0.082,0.000,2580,2303,2218
$GC,7942,0.94,146.6,675.0,11.8,382,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2300,2211
$GC,8250,0.86,162.3,653.7,7.0,397,8272,0.17,2.67,13.88,0.921,4,0.099,0.063,2548,3701,2154
$GC,8312,0.85,194.2,649.3,6.4,399,8348,0.00,2.45,30.08,0.979,6,0.000,0.030,2548,2306,2024
$GC,8672,0.96,294.3,635.4,4.1,417,8769,0.10,0.00,91.38,1.003,6,0.057,0.000,2578,2306,1616
$GC,9086,1.06,345.0,614.7,5.8,437,9139,0.00,2.65,46.38,0.976,4,0.000,0.053,2578,906,1409
$GC,9170,1.16,345.0,607.7,8.9,441,9176,0.15,2.50,0.00,0.000,6,0.058,0.037,2613,2308,1405
$GC,9497,1.16,345.0,565.7,12.6,457,9502,0.00,2.58,0.00,0.000,4,0.000,0.051,2613,898,1400
$GC,9537,1.16,345.0,560.4,13.1,459,9541,0.00,2.47,0.00,0.000,6,0.000,0.037,2613,2299,1399
$GC,9864,1.16,345.0,517.4,12.3,475,9869,0.00,2.55,0.00,0.000,4,0.000,0.049,2613,895,1399
$GC,9909,1.16,345.0,512.2,12.0,477,9913,0.00,2.47,0.00,0.000,6,0.000,0.035,2613,2308,1398
$GC,10229,1.16,345.0,480.4,9.5,493,10233,0.00,2.55,0.00,0.000,4,0.000,0.048,2613,898,1398
$GC,10269,1.16,345.0,476.7,9.0,495,10273,0.00,2.47,0.00,0.000,6,0.000,0.035,2613,2302,1398
$GC,10596,1.16,345.0,448.6,8.9,511,10600,0.00,2.53,0.00,0.000,4,0.000,0.047,2613,895,1397
$GC,10629,1.16,345.0,445.2,9.9,512,10633,0.00,2.47,0.00,0.000,6,0.000,0.034,2613,2305,1397
$GC,10944,1.16,345.0,410.0,12.2,527,10948,0.00,2.53,0.00,0.000,4,0.000,0.046,2613,894,1397
$GC,10977,1.16,345.0,405.5,13.5,528,10981,0.00,2.47,0.00,0.000,6,0.000,0.034,2613,2307,1396
$GC,11293,1.16,345.0,365.0,12.8,543,11296,0.00,2.53,0.00,0.000,4,0.000,0.046,2613,899,1396
$GC,11344,1.16,345.0,358.1,13.0,545,11348,0.00,2.45,0.00,0.000,6,0.000,0.034,2613,2301,1397
$GC,11666,1.16,345.0,319.1,11.7,561,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2301,1396
$GC,11974,1.16,345.0,281.7,11.7,576,11978,0.00,2.53,0.00,0.000,4,0.000,0.045,2613,895,1397
$GC,12030,1.16,345.0,274.8,11.6,578,12034,0.00,2.45,0.00,0.000,6,0.000,0.033,2613,2299,1397
$GC,12346,1.16,345.0,239.0,11.1,593,12350,0.00,2.50,0.00,0.000,4,0.000,0.044,2613,897,1397
$GC,12401,1.16,345.0,232.1,13.1,595,12408,0.00,2.45,0.00,0.000,6,0.000,0.034,2613,2305,1397
$GC,12717,1.16,345.0,198.3,10.9,611,12721,0.00,2.50,0.00,0.000,4,0.000,0.044,2613,897,1397
$GC,12773,1.16,345.0,191.4,12.9,613,12777,0.00,2.45,0.00,0.000,6,0.000,0.033,2613,2302,1397
$GC,13088,1.16,345.0,148.1,14.7,628,13093,0.00,2.50,0.00,0.000,4,0.000,0.044,2614,896,1397
$GC,13138,1.16,345.0,140.1,16.0,630,13142,0.00,2.45,0.00,0.000,6,0.000,0.034,2613,2306,1397
$GC,13460,1.16,345.0,86.6,15.5,646,13462,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2306,1397
$GC,13769,1.16,345.0,43.1,12.2,661,13773,0.00,2.53,0.00,0.000,4,0.000,0.044,2613,892,1397
$GC,13870,1.21,345.0,33.1,9.6,665,13877,0.00,2.42,0.00,0.000,6,0.000,0.033,2613,2299,1397
$STATE,14185,end climb,SURFACE_DEPTH_REACHED
$STATE,14185,begin surface coast
$FINISH,1.6,1.026529
$STATE,14205,end surface coast,CONTROL_FINISHED_OK
$STATE,14205,begin surface
$SM_CCo,14289,0.00,0.000,0,0,1394,349.06
$SM_GC,1.57,11.68,0.00,0.00,0.067,0.000,0.000,73,2608,1394,-10.46,0.23,349.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1792
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.2,40.4
$24V_AH,23.6,35.471
$10V_AH,10.1,17.954
$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,26.525,131.550,439.525,0.000,0.000,41.770,60.008,219.166,6.000,0.000,0.000,12.138,1268.043,10837.173,553.560,1555.456,579.154,0.000,1366.341,0.000,1512.613,0.000,43.031,0.000
$DEVICE_MAMPS,181.779,69.797,1053.858,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.269,463.570,401.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34829,682
$CAP_FILE_SIZE,109217,0
$CFSIZE,260165632,246337536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150709,164437,6313.775,-1309.052,33,1.1,33,-12.2