version: 66.04
glider: 16
mission: 13
dive: 219
start: 7 16 109 5 0 55
data:
$ID,16
$MISSION,13
$DIVE,219
$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,-2111490
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,045554,6314.656,-1300.219,40,1.3,40,-12.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-54.0
$GPS2,050038,6314.638,-1300.201,15,1.3,15,-12.1
$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,197.2,45810,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,90,0.00,0.00,-71.43,0.000,6,0.000,0.000,76,2608,3417
$GC,93,-1.03,-146.6,4.0,-6.0,3,115,11.77,2.55,0.00,0.000,4,0.180,0.038,2128,1191,3418
$GC,229,-1.03,-146.6,36.8,-12.9,9,234,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2596,3420
$GC,556,-1.03,-146.6,82.2,-13.7,25,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3420
$GC,865,-1.03,-146.6,119.9,-11.0,40,869,0.00,2.33,0.00,0.000,4,0.000,0.064,2129,3861,3420
$GC,915,-1.03,-146.6,125.3,-10.2,42,919,0.00,2.15,0.00,0.000,6,0.000,0.026,2129,2581,3420
$GC,1236,-1.03,-146.6,152.5,-8.0,58,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3420
$GC,1545,-1.03,-146.6,183.1,-10.7,73,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3420
$GC,1855,-1.03,-146.6,214.6,-10.0,88,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3420
$GC,2164,-1.03,-146.6,245.1,-9.8,103,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3420
$GC,2474,-1.03,-146.6,275.6,-9.8,118,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3420
$GC,2783,-1.03,-146.6,306.4,-9.6,133,2787,0.00,2.40,0.00,0.000,4,0.000,0.039,2129,1211,3420
$GC,2815,-1.03,-146.6,309.9,-10.2,134,2821,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2610,3420
$GC,3131,-1.03,-146.6,342.3,-10.5,150,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2610,3420
$GC,3440,-1.03,-146.6,374.9,-10.6,165,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2610,3419
$GC,3749,-1.03,-146.6,403.7,-8.8,180,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2610,3419
$GC,4059,-1.03,-146.6,433.0,-10.1,195,4063,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1208,3419
$GC,4098,-1.03,-146.6,437.6,-11.6,196,4104,0.00,2.45,0.00,0.000,6,0.000,0.035,2128,2606,3419
$GC,4413,-1.03,-146.6,470.7,-9.8,212,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2606,3419
$GC,4723,-1.03,-146.6,498.2,-8.2,227,4727,0.00,2.33,0.00,0.000,4,0.000,0.067,2129,3863,3419
$GC,4780,-1.03,-146.6,503.2,-9.3,229,4786,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2594,3419
$GC,5097,-1.03,-146.6,525.8,-6.1,245,5101,0.00,2.42,0.00,0.000,4,0.000,0.039,2129,1210,3419
$GC,5181,-1.03,-146.6,531.5,-6.3,249,5186,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3418
$GC,5509,-1.03,-146.6,556.6,-6.8,265,5513,0.00,2.42,0.00,0.000,4,0.000,0.039,2129,1218,3418
$GC,5554,-1.10,-146.6,558.8,-4.3,267,5558,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2600,3418
$GC,5875,-1.10,-146.6,574.1,-5.6,283,5879,0.00,2.33,0.00,0.000,4,0.000,0.068,2129,3860,3417
$GC,5941,-1.10,-146.6,578.3,-6.5,286,5944,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2594,3418
$GC,6273,-1.10,-146.6,600.7,-7.2,302,6277,0.00,2.38,0.00,0.000,4,0.000,0.069,2129,3864,3417
$GC,6318,-1.10,-146.6,604.5,-8.6,304,6322,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2600,3417
$STATE,6417,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6417,begin apogee
$GC,6424,-0.31,0.0,611.9,7.6,309,6559,0.80,0.00,126.82,0.985,6,0.097,0.000,2291,2303,2817
$STATE,6560,end apogee,CONTROL_FINISHED_OK
$STATE,6560,begin climb
$GC,6563,1.03,146.6,615.2,0.0,316,6695,1.38,0.00,127.90,0.973,6,0.065,0.000,2585,2303,2219
$GC,7006,0.94,146.6,588.8,7.6,337,7010,0.00,2.62,0.00,0.000,4,0.000,0.063,2585,3702,2213
$GC,7073,0.79,163.3,583.6,6.9,340,7093,0.28,2.42,14.98,0.879,6,0.094,0.028,2531,2310,2151
$GC,7424,0.91,221.4,562.6,5.5,357,7487,0.12,2.70,52.47,0.939,4,0.051,0.061,2569,3704,1914
$GC,7558,0.87,221.4,553.8,7.6,363,7562,0.00,2.45,0.00,0.000,6,0.000,0.029,2568,2302,1910
$GC,7885,0.87,221.4,530.9,7.8,379,7889,0.00,2.55,0.00,0.000,4,0.000,0.048,2568,894,1906
$GC,7929,0.87,221.4,527.6,8.0,381,7933,0.00,2.50,0.00,0.000,6,0.000,0.035,2568,2312,1905
$GC,8250,0.88,228.7,504.7,7.3,397,8264,0.00,2.62,6.50,0.728,4,0.000,0.046,2569,901,1883
$GC,8316,0.88,233.4,499.6,7.3,400,8327,0.00,2.47,5.80,0.697,6,0.000,0.035,2568,2302,1865
$GC,8644,0.94,252.0,477.7,6.9,416,8668,0.00,2.67,18.45,0.854,4,0.000,0.061,2568,3693,1788
$GC,8693,0.98,284.1,474.4,6.4,418,8730,0.00,2.45,30.60,0.872,6,0.000,0.029,2569,2299,1657
$GC,9042,1.14,364.1,457.9,4.8,435,9125,0.17,2.65,72.38,0.877,4,0.052,0.049,2611,898,1329
$GC,9180,1.18,364.1,447.3,8.8,441,9184,0.00,2.47,0.00,0.000,6,0.000,0.034,2611,2298,1324
$GC,9500,1.18,364.1,420.0,9.1,457,9505,0.00,2.55,0.00,0.000,4,0.000,0.048,2612,895,1320
$GC,9563,1.18,364.1,413.7,10.1,460,9567,0.00,2.45,0.00,0.000,6,0.000,0.034,2611,2301,1320
$GC,9890,1.18,364.1,381.5,9.9,476,9894,0.00,2.53,0.00,0.000,4,0.000,0.046,2611,901,1318
$GC,9945,1.18,364.1,375.8,10.3,478,9951,0.00,2.47,0.00,0.000,6,0.000,0.034,2612,2309,1318
$GC,10261,1.18,364.1,341.9,11.2,494,10265,0.00,2.55,0.00,0.000,4,0.000,0.046,2611,894,1318
$GC,10322,1.18,364.1,335.0,10.9,497,10327,0.00,2.45,0.00,0.000,6,0.000,0.033,2611,2305,1317
$GC,10649,1.18,364.1,300.9,10.5,513,10653,0.00,2.53,0.00,0.000,4,0.000,0.045,2611,900,1317
$GC,10705,1.22,364.1,294.9,11.0,515,10711,0.00,2.45,0.00,0.000,6,0.000,0.033,2611,2305,1317
$GC,11021,1.22,364.1,261.9,10.2,531,11025,0.00,2.53,0.00,0.000,4,0.000,0.044,2611,899,1317
$GC,11077,1.27,364.1,255.9,11.3,533,11082,0.12,2.45,0.00,0.000,6,0.058,0.033,2644,2304,1317
$GC,11393,1.22,364.1,218.1,11.8,548,11397,0.00,2.53,0.00,0.000,4,0.000,0.045,2644,896,1316
$GC,11438,1.18,364.1,212.4,12.5,550,11443,0.15,2.45,0.00,0.000,6,0.091,0.033,2614,2302,1316
$GC,11759,1.18,364.1,180.4,9.7,566,11763,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,892,1317
$GC,11832,1.18,364.1,173.0,10.0,569,11836,0.00,2.45,0.00,0.000,6,0.000,0.033,2614,2308,1316
$GC,12155,1.18,364.1,141.5,9.9,585,12159,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,898,1318
$GC,12228,1.22,364.1,133.7,10.5,588,12232,0.00,2.45,0.00,0.000,6,0.000,0.033,2614,2305,1316
$GC,12544,1.22,364.1,101.8,10.2,603,12548,0.00,2.53,0.00,0.000,4,0.000,0.044,2613,895,1316
$GC,12599,1.27,364.1,96.0,10.3,605,12606,0.00,2.45,0.00,0.000,6,0.000,0.033,2614,2305,1316
$GC,12916,1.27,364.1,64.3,9.8,621,12920,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,892,1316
$GC,12965,1.27,364.1,58.9,10.5,623,12970,0.00,2.45,0.00,0.000,6,0.000,0.032,2614,2302,1317
$GC,13282,1.31,364.1,22.7,13.0,638,13287,0.15,2.50,0.00,0.000,4,0.044,0.044,2662,897,1316
$GC,13382,1.31,364.1,7.9,15.5,642,13389,0.00,2.42,0.00,0.000,6,0.000,0.031,2661,2306,1316
$STATE,13428,end climb,SURFACE_DEPTH_REACHED
$STATE,13428,begin surface coast
$FINISH,0.9,1.026597
$STATE,13450,end surface coast,CONTROL_FINISHED_OK
$STATE,13450,begin surface
$SM_CCo,13533,0.00,0.000,0,0,1312,369.18
$SM_GC,1.39,11.98,0.00,0.00,0.071,0.000,0.000,77,2598,1312,-10.45,-0.08,369.18
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1784
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.2,45.9
$24V_AH,23.7,35.978
$10V_AH,10.1,18.215
$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,26.925,128.650,455.900,0.000,0.000,18.024,26.666,128.039,4.750,0.000,0.000,15.037,1215.684,10123.768,548.352,1517.425,413.346,0.000,1352.249,0.000,1475.023,0.000,33.371,0.000
$DEVICE_MAMPS,180.245,69.030,984.828,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.300,439.690,390.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31678,646
$CAP_FILE_SIZE,105733,0
$CFSIZE,260165632,246145024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160709,084736,6312.983,-1258.920,32,1.7,32,-12.1