version: 66.04
glider: 16
mission: 13
dive: 217
start: 7 15 109 21 4 12
data:
$ID,16
$MISSION,13
$DIVE,217
$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,-2111461
$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,36
$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
$GPS1,205901,6314.039,-1307.708,38,1.6,38,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-53.9
$GPS2,210355,6314.048,-1307.804,10,1.3,15,-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,189.2,44601,-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,-146.6,0.0,0.0,0,87,0.00,0.00,-66.40,0.000,6,0.000,0.000,72,2614,3416
$GC,90,-1.03,-146.6,3.9,-5.2,3,112,11.80,2.55,0.00,0.000,4,0.179,0.038,2132,1191,3418
$GC,249,-1.03,-146.6,30.3,-7.7,10,253,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2587,3419
$GC,576,-0.97,-146.6,58.5,-8.3,26,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2587,3419
$GC,886,-0.97,-146.6,85.5,-8.8,41,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2587,3419
$GC,1194,-0.97,-146.6,116.4,-10.4,56,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2587,3419
$GC,1503,-0.97,-146.6,149.7,-10.7,71,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2587,3420
$GC,1813,-0.97,-146.6,183.7,-10.9,86,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2587,3419
$GC,2122,-0.97,-146.6,216.9,-10.4,101,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2587,3420
$GC,2431,-0.97,-146.6,247.1,-9.6,116,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2587,3419
$GC,2741,-0.97,-146.6,277.3,-9.7,131,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2587,3419
$GC,3050,-0.97,-146.6,305.0,-8.3,146,3054,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1191,3419
$GC,3077,-0.97,-146.6,307.4,-7.9,147,3081,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2602,3419
$GC,3393,-0.97,-146.6,336.6,-9.5,162,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3420
$GC,3702,-0.97,-146.6,366.1,-9.7,177,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,4011,-0.97,-146.6,397.8,-10.1,192,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,4320,-0.97,-146.6,427.1,-9.0,207,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2603,3418
$GC,4630,-0.97,-146.6,455.7,-9.5,222,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,4939,-0.97,-146.6,483.9,-10.1,237,4943,0.00,2.47,0.00,0.000,4,0.000,0.038,2131,1191,3418
$GC,4983,-1.02,-146.6,488.3,-9.3,239,4988,0.00,2.47,0.00,0.000,6,0.000,0.034,2132,2613,3418
$GC,5305,-1.02,-146.6,514.1,-8.7,255,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2613,3417
$GC,5614,-1.02,-146.6,541.5,-8.7,270,5618,0.00,2.50,0.00,0.000,4,0.000,0.038,2132,1188,3417
$GC,5676,-1.07,-146.6,547.2,-8.9,273,5680,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2603,3417
$GC,6003,-1.07,-146.6,581.1,-10.9,289,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3417
$GC,6311,-1.07,-146.6,619.7,-12.9,304,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3417
$GC,6621,-1.11,-146.6,651.3,-8.5,319,6626,0.00,2.47,0.00,0.000,4,0.000,0.040,2132,1192,3416
$GC,6695,-1.19,-146.6,657.4,-6.8,322,6700,0.15,2.47,0.00,0.000,6,0.045,0.036,2088,2605,3416
$STATE,6884,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6885,begin apogee
$GC,6892,-0.31,0.0,675.6,9.4,331,7027,1.05,0.00,127.75,1.022,6,0.123,0.000,2289,2281,2817
$STATE,7027,end apogee,CONTROL_FINISHED_OK
$STATE,7028,begin climb
$GC,7030,1.03,146.6,676.3,0.0,338,7168,1.35,2.55,128.50,1.010,4,0.074,0.044,2578,914,2217
$GC,7429,0.95,150.3,654.7,7.4,356,7434,0.00,2.45,0.00,0.000,6,0.000,0.035,2578,2309,2212
$GC,7757,0.95,203.4,633.5,5.7,372,7809,0.00,0.00,50.50,0.979,6,0.000,0.000,2578,2309,1987
$GC,8106,0.96,218.4,611.9,7.0,389,8127,0.00,2.60,14.32,0.898,4,0.000,0.048,2578,909,1925
$GC,8173,0.96,218.4,606.5,8.7,392,8177,0.00,2.45,0.00,0.000,6,0.000,0.035,2578,2300,1922
$GC,8505,0.96,218.4,579.1,7.6,408,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2300,1921
$GC,8815,1.03,275.6,560.6,5.5,423,8875,0.00,0.00,52.95,0.950,6,0.000,0.000,2578,2299,1692
$GC,9185,1.11,275.6,530.8,9.6,441,9190,0.10,2.50,0.00,0.000,4,0.058,0.048,2609,914,1685
$GC,9236,1.11,275.6,525.0,12.1,443,9241,0.00,2.45,0.00,0.000,6,0.000,0.035,2609,2300,1683
$GC,9552,1.11,275.6,488.6,11.0,458,9556,0.00,2.62,0.00,0.000,4,0.000,0.061,2609,3707,1683
$GC,9585,1.04,275.6,484.7,11.7,459,9592,0.12,2.42,0.00,0.000,6,0.096,0.030,2585,2314,1683
$GC,9901,1.04,275.6,452.9,10.0,475,9905,0.00,2.55,0.00,0.000,4,0.000,0.049,2585,902,1682
$GC,9928,1.04,275.6,449.8,11.8,476,9932,0.00,2.47,0.00,0.000,6,0.000,0.035,2585,2308,1680
$GC,10244,1.04,275.6,421.8,8.7,491,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2308,1681
$GC,10553,1.04,275.6,396.2,8.0,506,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2308,1681
$GC,10862,1.04,275.6,372.1,7.9,521,10866,0.00,2.53,0.00,0.000,4,0.000,0.045,2585,896,1681
$GC,10907,1.04,275.6,368.4,8.9,523,10911,0.00,2.45,0.00,0.000,6,0.000,0.034,2585,2302,1681
$GC,11239,1.04,275.6,339.7,8.9,539,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2302,1680
$GC,11548,1.04,275.6,313.4,8.4,554,11553,0.00,2.53,0.00,0.000,4,0.000,0.044,2585,894,1681
$GC,11589,1.04,275.6,309.7,8.8,556,11593,0.00,2.45,0.00,0.000,6,0.000,0.033,2585,2302,1680
$GC,11915,1.04,275.6,280.7,8.7,572,11916,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2302,1681
$GC,12225,1.04,275.6,254.8,8.1,587,12229,0.00,2.50,0.00,0.000,4,0.000,0.044,2585,898,1681
$GC,12268,1.04,275.6,250.8,8.6,589,12273,0.00,2.45,0.00,0.000,6,0.000,0.033,2585,2306,1681
$GC,12589,1.04,275.6,225.6,7.7,605,12590,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2306,1681
$GC,12899,1.04,275.6,199.8,8.6,620,12903,0.00,2.50,0.00,0.000,4,0.000,0.043,2585,899,1681
$GC,12938,1.08,275.6,196.2,8.8,621,12944,0.00,2.45,0.00,0.000,6,0.000,0.033,2585,2308,1681
$GC,13253,1.08,275.6,168.6,9.2,637,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2308,1681
$GC,13565,1.08,275.6,137.6,10.5,652,13569,0.00,2.50,0.00,0.000,4,0.000,0.043,2585,898,1681
$GC,13609,1.13,275.6,132.3,11.1,654,13614,0.00,2.45,0.00,0.000,6,0.000,0.032,2585,2309,1682
$GC,13931,1.13,275.6,97.5,11.8,670,13935,0.00,2.53,0.00,0.000,4,0.000,0.044,2585,891,1681
$GC,13987,1.18,275.6,90.3,12.4,672,13994,0.15,2.45,0.00,0.000,6,0.044,0.032,2625,2309,1680
$GC,14303,1.13,275.6,47.9,11.8,688,14308,0.00,2.55,0.00,0.000,4,0.000,0.058,2625,3702,1682
$GC,14331,1.05,275.6,44.4,11.3,689,14337,0.20,2.42,0.00,0.000,6,0.087,0.027,2586,2289,1682
$GC,14649,1.16,281.9,15.7,7.3,704,14656,0.12,0.00,5.28,0.462,6,0.048,0.000,2620,2288,1666
$STATE,14789,end climb,SURFACE_DEPTH_REACHED
$STATE,14789,begin surface coast
$FINISH,0.8,1.026570
$STATE,14811,end surface coast,CONTROL_FINISHED_OK
$STATE,14811,begin surface
$SM_CCo,14895,0.00,0.000,0,0,1662,283.32
$SM_GC,1.60,12.20,0.00,0.00,0.090,0.000,0.000,76,2606,1662,-10.45,0.17,283.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1778
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.6,108.8
$24V_AH,23.6,35.713
$10V_AH,10.1,18.088
$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,27.250,85.700,379.300,0.000,0.000,17.984,28.553,130.138,4.750,0.000,0.000,15.127,1280.231,11536.919,482.790,1473.408,414.690,0.000,1213.302,0.000,1442.355,0.000,33.539,0.000
$DEVICE_MAMPS,179.478,61.360,1022.411,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,517.963,485.114,434.229,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34816,712
$CAP_FILE_SIZE,98979,0
$CFSIZE,260165632,246239232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160709,011337,6314.553,-1304.695,34,1.3,34,-12.2