version: 66.04
glider: 16
mission: 13
dive: 220
start: 7 16 109 8 59 52
data:
$ID,16
$MISSION,13
$DIVE,220
$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,-2111520.8
$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,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
$GPS1,084736,6312.983,-1258.920,32,1.7,32,-12.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-56.8
$GPS2,085936,6312.887,-1259.275,14,1.9,30,-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,198.6,42662,-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,-146.6,0.0,0.0,0,94,0.00,0.00,-73.57,0.000,6,0.000,0.000,75,2598,3418
$GC,97,-1.03,-146.6,3.6,-5.0,3,119,11.88,2.38,0.00,0.000,4,0.183,0.059,2131,3860,3419
$GC,373,-0.99,-146.6,52.3,-10.5,15,377,0.00,2.17,0.00,0.000,6,0.000,0.025,2131,2573,3419
$GC,694,-0.99,-146.6,85.0,-11.0,31,698,0.00,2.38,0.00,0.000,4,0.000,0.061,2131,3860,3420
$GC,953,-0.99,-146.6,114.1,-10.7,42,959,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2589,3420
$GC,1269,-0.99,-146.6,141.9,-8.5,58,1273,0.00,2.35,0.00,0.000,4,0.000,0.061,2132,3864,3420
$GC,1347,-0.99,-146.6,148.8,-8.3,61,1353,0.00,2.15,0.00,0.000,6,0.000,0.026,2132,2601,3420
$GC,1663,-0.99,-146.6,174.8,-8.8,77,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3420
$GC,1971,-0.99,-146.6,205.6,-10.2,92,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3420
$GC,2281,-0.99,-146.6,235.9,-9.8,107,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3419
$GC,2590,-0.99,-146.6,268.3,-9.2,122,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,2899,-0.99,-146.6,299.7,-10.3,137,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3419
$GC,3208,-0.99,-146.6,328.2,-8.7,152,3213,0.00,2.42,0.00,0.000,4,0.000,0.039,2132,1216,3419
$GC,3242,-0.99,-146.6,331.2,-8.7,153,3248,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2599,3418
$GC,3558,-0.99,-146.6,358.9,-8.6,169,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2598,3419
$GC,3867,-0.99,-146.6,387.3,-9.4,184,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3419
$GC,4177,-0.99,-146.6,420.3,-10.9,199,4181,0.00,2.33,0.00,0.000,4,0.000,0.067,2132,3858,3418
$GC,4232,-0.99,-146.6,427.1,-11.5,201,4238,0.00,2.10,0.00,0.000,6,0.000,0.027,2131,2602,3418
$GC,4548,-0.99,-146.6,463.2,-11.8,217,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3418
$GC,4857,-0.99,-146.6,497.0,-11.7,232,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3418
$GC,5166,-0.99,-146.6,536.9,-13.7,247,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3418
$GC,5475,-0.99,-146.6,572.4,-10.6,262,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,5789,-0.99,-146.6,601.0,-8.6,277,5794,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1212,3417
$GC,5857,-1.05,-146.6,606.9,-7.8,280,5861,0.00,2.42,0.00,0.000,6,0.000,0.036,2132,2599,3417
$GC,6180,-1.13,-146.6,631.4,-7.2,296,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3416
$STATE,6443,end dive,NO_VERTICAL_VELOCITY
$STATE,6443,begin apogee
$GC,6451,-0.31,0.0,631.5,0.0,309,6581,0.77,0.00,126.78,0.992,6,0.097,0.000,2289,2307,2817
$STATE,6581,end apogee,CONTROL_FINISHED_OK
$STATE,6581,begin climb
$GC,6584,1.03,146.6,631.4,0.0,315,6719,1.38,2.55,127.20,0.980,4,0.073,0.044,2582,915,2218
$GC,6978,0.94,146.6,614.2,8.1,333,6982,0.00,2.45,0.00,0.000,6,0.000,0.035,2582,2301,2212
$GC,7306,0.89,168.0,591.4,6.8,349,7331,0.15,2.58,19.17,0.907,4,0.096,0.045,2553,921,2130
$GC,7434,0.91,186.3,582.9,6.9,354,7461,0.00,2.42,17.20,0.893,6,0.000,0.035,2553,2300,2055
$GC,7771,0.91,186.3,557.1,8.0,371,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2300,2052
$GC,8079,0.91,186.3,532.2,8.2,386,8083,0.00,2.50,0.00,0.000,4,0.000,0.047,2553,911,2050
$GC,8107,0.91,186.3,529.8,8.7,387,8111,0.00,2.45,0.00,0.000,6,0.000,0.035,2553,2302,2049
$GC,8428,0.96,228.3,506.7,6.1,403,8473,0.00,2.72,37.92,0.905,4,0.000,0.061,2554,3710,1886
$GC,8502,0.96,228.3,501.4,7.8,406,8506,0.00,2.45,0.00,0.000,6,0.000,0.029,2553,2316,1884
$GC,8818,1.02,228.3,474.8,8.5,421,8823,0.12,2.58,0.00,0.000,4,0.051,0.048,2589,895,1880
$GC,8862,1.02,228.3,470.5,9.4,423,8866,0.00,2.45,0.00,0.000,6,0.000,0.034,2589,2299,1878
$GC,9183,1.03,237.5,445.9,7.2,439,9193,0.00,0.00,8.62,0.749,6,0.000,0.000,2589,2299,1848
$GC,9493,1.09,291.2,427.8,5.7,454,9545,0.00,0.00,49.80,0.855,6,0.000,0.000,2589,2299,1629
$GC,9844,1.13,291.2,402.3,7.5,471,9848,0.00,2.53,0.00,0.000,4,0.000,0.047,2589,900,1622
$GC,9896,1.18,291.2,397.9,8.3,473,9901,0.12,2.47,0.00,0.000,6,0.054,0.033,2627,2308,1621
$GC,10218,1.11,291.2,362.6,12.3,489,10223,0.12,2.55,0.00,0.000,4,0.095,0.044,2604,892,1620
$GC,10245,1.11,291.2,359.1,11.9,490,10250,0.00,2.47,0.00,0.000,6,0.000,0.033,2603,2306,1618
$GC,10561,1.11,291.2,323.3,11.1,505,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2306,1619
$GC,10870,1.11,291.2,290.5,9.9,520,10875,0.00,2.53,0.00,0.000,4,0.000,0.044,2603,900,1618
$GC,10933,1.11,291.2,284.2,10.6,523,10937,0.00,2.45,0.00,0.000,6,0.000,0.033,2603,2304,1618
$GC,11259,1.11,291.2,250.1,10.5,539,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2304,1619
$GC,11569,1.11,291.2,218.1,10.3,554,11573,0.00,2.53,0.00,0.000,4,0.000,0.044,2603,894,1618
$GC,11618,1.11,291.2,212.6,10.2,556,11622,0.00,2.45,0.00,0.000,6,0.000,0.032,2603,2305,1619
$GC,11939,1.11,291.2,181.4,9.4,572,11943,0.00,2.53,0.00,0.000,4,0.000,0.044,2604,894,1618
$GC,11968,1.11,291.2,178.7,10.1,573,11972,0.00,2.45,0.00,0.000,6,0.000,0.032,2603,2301,1618
$GC,12284,1.11,291.2,146.6,10.5,588,12288,0.00,2.50,0.00,0.000,4,0.000,0.044,2603,899,1618
$GC,12317,1.11,291.2,142.8,10.9,589,12323,0.00,2.45,0.00,0.000,6,0.000,0.033,2603,2309,1619
$GC,12635,1.11,291.2,109.0,10.9,605,12636,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2309,1618
$GC,12942,1.11,291.2,75.6,11.2,620,12946,0.00,2.53,0.00,0.000,4,0.000,0.044,2603,896,1618
$GC,12997,1.11,291.2,69.2,11.0,622,13003,0.00,2.45,0.00,0.000,6,0.000,0.032,2604,2307,1618
$GC,13313,1.11,291.2,38.5,8.1,638,13318,0.00,2.50,0.00,0.000,4,0.000,0.043,2603,897,1618
$GC,13448,1.17,291.2,27.0,8.9,644,13452,0.00,2.45,0.00,0.000,6,0.000,0.033,2603,2306,1618
$STATE,13725,end climb,SURFACE_DEPTH_REACHED
$STATE,13725,begin surface coast
$FINISH,0.8,1.026427
$STATE,13747,end surface coast,CONTROL_FINISHED_OK
$STATE,13747,begin surface
$SM_CCo,13831,0.00,0.000,0,0,1616,294.61
$SM_GC,1.60,11.85,0.00,0.00,0.078,0.000,0.000,67,2606,1616,-10.45,0.17,294.61
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,1796
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.6,36.108
$10V_AH,10.1,18.284
$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,26.400,93.625,386.700,0.000,0.000,54.677,91.233,310.390,5.500,0.000,0.000,30.095,1216.415,10610.039,476.032,1546.141,701.091,0.000,1243.466,0.000,1489.062,0.000,39.954,0.000
$DEVICE_MAMPS,182.546,66.729,992.498,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.734,447.838,413.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31757,659
$CAP_FILE_SIZE,104007,0
$CFSIZE,260165632,246091776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160709,125136,6311.759,-1300.465,37,1.2,37,-12.1