version: 66.04
glider: 16
mission: 13
dive: 225
start: 7 17 109 5 25 33
data:
$ID,16
$MISSION,13
$DIVE,225
$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,-2111601
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,051951,6305.628,-1303.636,40,2.1,59,-12.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-59.4
$GPS2,052513,6305.629,-1303.630,11,2.0,11,-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,194.4,28968,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,88,0.00,0.00,-70.53,0.000,6,0.000,0.000,66,2610,3416
$GC,91,-1.03,-146.6,3.9,-5.8,3,113,12.05,2.55,0.00,0.000,4,0.187,0.035,2129,1184,3418
$GC,278,-1.03,-146.6,39.8,-13.4,11,283,0.00,2.50,0.00,0.000,6,0.000,0.035,2129,2601,3419
$GC,600,-0.98,-146.6,74.9,-9.6,27,604,0.00,2.33,0.00,0.000,4,0.000,0.063,2130,3861,3419
$GC,651,-0.94,-146.6,79.9,-9.4,29,656,0.12,2.17,0.00,0.000,6,0.097,0.025,2153,2572,3419
$GC,967,-0.94,-146.6,104.7,-8.9,44,971,0.00,2.38,0.00,0.000,4,0.000,0.038,2153,1215,3419
$GC,1007,-1.02,-146.6,108.3,-8.5,46,1012,0.00,2.45,0.00,0.000,6,0.000,0.035,2153,2612,3419
$GC,1335,-1.02,-146.6,132.2,-6.5,62,1339,0.00,2.30,0.00,0.000,4,0.000,0.062,2153,3861,3419
$GC,1385,-1.06,-146.6,136.2,-7.2,64,1390,0.12,2.12,0.00,0.000,6,0.044,0.025,2111,2594,3419
$GC,1702,-0.97,-146.6,165.9,-9.3,79,1707,0.17,2.42,0.00,0.000,4,0.092,0.038,2149,1211,3419
$GC,1742,-1.05,-146.6,168.9,-7.2,81,1747,0.00,2.42,0.00,0.000,6,0.000,0.035,2149,2599,3419
$GC,2070,-1.05,-146.6,189.4,-5.9,97,2074,0.00,2.33,0.00,0.000,4,0.000,0.064,2149,3860,3419
$GC,2133,-1.05,-146.6,193.3,-6.3,100,2137,0.00,2.12,0.00,0.000,6,0.000,0.025,2149,2594,3420
$GC,2466,-1.05,-146.6,215.2,-7.3,116,2470,0.00,2.42,0.00,0.000,4,0.000,0.038,2149,1209,3419
$GC,2506,-1.13,-146.6,218.1,-7.5,118,2511,0.17,2.42,0.00,0.000,6,0.041,0.035,2096,2599,3419
$GC,2835,-1.00,-146.6,253.6,-11.2,134,2840,0.17,2.33,0.00,0.000,4,0.096,0.063,2133,3858,3419
$GC,2907,-1.00,-146.6,261.8,-10.3,137,2911,0.00,2.12,0.00,0.000,6,0.000,0.026,2133,2594,3419
$GC,3229,-1.00,-146.6,290.7,-8.9,153,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2592,3420
$GC,3538,-1.00,-146.6,319.4,-9.5,168,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2592,3419
$GC,3847,-1.00,-146.6,347.3,-8.5,183,3851,0.00,2.42,0.00,0.000,4,0.000,0.039,2133,1210,3418
$GC,3881,-1.00,-146.6,350.1,-8.2,184,3887,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2608,3419
$GC,4197,-1.00,-146.6,376.0,-7.9,200,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2608,3418
$GC,4506,-1.00,-146.6,398.8,-7.5,215,4510,0.00,2.45,0.00,0.000,4,0.000,0.038,2133,1211,3418
$GC,4557,-1.05,-146.6,402.7,-7.3,217,4561,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2608,3418
$GC,4878,-1.05,-146.6,431.2,-9.3,233,4882,0.00,2.45,0.00,0.000,4,0.000,0.038,2133,1213,3417
$GC,4911,-1.05,-146.6,434.4,-9.8,234,4915,0.00,2.42,0.00,0.000,6,0.000,0.035,2133,2599,3418
$GC,5227,-1.05,-146.6,463.8,-9.2,249,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2599,3417
$GC,5536,-1.05,-146.6,491.4,-8.8,264,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2599,3417
$GC,5845,-1.05,-146.6,518.1,-8.3,279,5849,0.00,2.42,0.00,0.000,4,0.000,0.039,2133,1217,3417
$GC,5923,-1.10,-146.6,525.0,-8.1,282,5930,0.00,2.42,0.00,0.000,6,0.000,0.036,2133,2599,3417
$GC,6239,-1.10,-146.6,553.5,-8.4,298,6243,0.00,2.35,0.00,0.000,4,0.000,0.069,2133,3861,3416
$GC,6295,-1.10,-146.6,558.5,-9.1,300,6301,0.00,2.12,0.00,0.000,6,0.000,0.027,2133,2594,3416
$GC,6611,-1.10,-146.6,586.1,-9.1,316,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2594,3416
$GC,6920,-1.10,-146.6,613.0,-8.9,331,6924,0.00,2.35,0.00,0.000,4,0.000,0.069,2133,3856,3416
$GC,6960,-1.10,-146.6,616.2,-7.9,333,6964,0.00,2.12,0.00,0.000,6,0.000,0.028,2133,2599,3415
$GC,7293,-1.10,-146.6,644.9,-7.4,349,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2597,3415
$STATE,7475,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7475,begin apogee
$GC,7482,-0.31,0.0,658.5,7.7,358,7617,0.77,0.00,127.35,1.021,6,0.099,0.000,2290,2304,2816
$STATE,7618,end apogee,CONTROL_FINISHED_OK
$STATE,7618,begin climb
$GC,7621,1.03,146.6,664.1,0.0,365,7762,1.38,2.65,128.73,1.011,4,0.067,0.049,2582,912,2217
$GC,8001,0.97,157.8,645.6,7.1,382,8016,0.00,2.47,10.20,0.864,6,0.000,0.036,2582,2305,2173
$GC,8338,0.89,157.8,625.5,7.9,399,8340,0.15,0.00,0.00,0.000,6,0.091,0.000,2554,2305,2170
$GC,8648,0.93,239.8,603.8,4.7,414,8731,0.00,2.72,73.70,0.979,4,0.000,0.064,2554,3701,1838
$GC,8771,0.93,239.8,595.6,8.5,419,8777,0.00,2.47,0.00,0.000,6,0.000,0.031,2554,2303,1835
$GC,9086,1.00,239.8,569.5,8.7,435,9088,0.10,0.00,0.00,0.000,6,0.055,0.000,2585,2303,1830
$GC,9396,1.00,239.8,543.6,7.8,450,9400,0.00,2.62,0.00,0.000,4,0.000,0.063,2585,3700,1829
$GC,9435,0.95,239.8,539.9,9.7,452,9440,0.00,2.45,0.00,0.000,6,0.000,0.030,2585,2302,1828
$GC,9762,0.95,239.8,510.0,9.4,468,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2302,1828
$GC,10071,0.95,239.8,483.8,8.5,483,10076,0.00,2.55,0.00,0.000,4,0.000,0.051,2585,898,1827
$GC,10105,0.95,239.8,480.9,8.1,484,10111,0.00,2.47,0.00,0.000,6,0.000,0.035,2585,2302,1826
$GC,10420,0.95,239.8,452.7,9.6,500,10424,0.00,2.55,0.00,0.000,4,0.000,0.048,2585,892,1826
$GC,10442,0.95,239.8,450.6,9.6,501,10446,0.00,2.47,0.00,0.000,6,0.000,0.034,2586,2300,1825
$GC,10762,0.95,239.8,419.2,9.8,517,10767,0.00,2.60,0.00,0.000,4,0.000,0.061,2585,3700,1824
$GC,10835,0.91,239.8,411.8,10.1,520,10840,0.15,2.45,0.00,0.000,6,0.096,0.029,2557,2296,1826
$GC,11151,0.99,243.3,387.3,7.4,535,11156,0.00,2.53,0.00,0.000,4,0.000,0.048,2557,895,1825
$GC,11185,1.07,249.5,384.6,7.3,536,11200,0.17,2.47,7.75,0.709,6,0.047,0.034,2606,2306,1799
$GC,11525,1.02,249.5,353.1,9.2,553,11527,0.12,0.00,0.00,0.000,6,0.094,0.000,2583,2306,1797
$GC,11831,1.02,249.5,326.1,9.0,568,11836,0.00,2.58,0.00,0.000,4,0.000,0.059,2583,3702,1797
$GC,11864,1.02,249.5,323.0,8.6,569,11871,0.00,2.45,0.00,0.000,6,0.000,0.028,2583,2290,1797
$GC,12180,1.02,249.5,295.6,9.4,585,12185,0.00,2.50,0.00,0.000,4,0.000,0.046,2583,894,1797
$GC,12208,1.02,249.5,292.8,9.7,586,12212,0.00,2.47,0.00,0.000,6,0.000,0.033,2583,2309,1797
$GC,12524,1.02,249.5,264.5,8.6,601,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2310,1796
$GC,12834,1.02,249.5,238.3,8.5,616,12835,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2309,1797
$GC,13142,1.02,249.5,211.0,8.6,631,13146,0.00,2.53,0.00,0.000,4,0.000,0.044,2583,892,1797
$GC,13188,1.02,249.5,206.7,9.2,633,13192,0.00,2.45,0.00,0.000,6,0.000,0.032,2583,2301,1797
$GC,13521,1.02,249.5,177.9,8.6,649,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2301,1798
$GC,13829,1.02,249.5,152.3,8.2,664,13834,0.00,2.50,0.00,0.000,4,0.000,0.043,2583,898,1798
$GC,13863,1.02,249.5,149.2,9.2,665,13869,0.00,2.45,0.00,0.000,6,0.000,0.033,2583,2308,1798
$GC,14181,1.04,259.9,124.0,7.1,681,14198,0.00,0.00,10.73,0.600,6,0.000,0.000,2583,2308,1756
$GC,14509,1.04,259.9,97.4,9.1,697,14513,0.00,2.55,0.00,0.000,4,0.000,0.057,2582,3698,1755
$GC,14530,1.04,259.9,95.3,8.4,698,14535,0.00,2.42,0.00,0.000,6,0.000,0.027,2582,2294,1755
$GC,14859,1.16,330.3,72.8,5.1,714,14928,0.15,2.60,61.70,0.621,4,0.045,0.044,2630,902,1469
$GC,14986,1.16,330.3,61.3,9.0,720,14991,0.00,2.45,0.00,0.000,6,0.000,0.032,2630,2298,1463
$GC,15313,1.16,330.3,25.2,11.5,736,15317,0.00,2.50,0.00,0.000,4,0.000,0.043,2630,902,1461
$GC,15376,1.16,330.3,17.7,12.8,739,15380,0.00,2.45,0.00,0.000,6,0.000,0.032,2630,2305,1459
$STATE,15516,end climb,SURFACE_DEPTH_REACHED
$STATE,15516,begin surface coast
$FINISH,0.8,1.026538
$STATE,15536,end surface coast,CONTROL_FINISHED_OK
$STATE,15536,begin surface
$SM_CCo,15619,0.00,0.000,0,0,1456,333.85
$SM_GC,1.63,11.75,0.00,0.00,0.066,0.000,0.000,72,2605,1456,-10.45,0.14,333.85
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1774
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.4,65.9
$24V_AH,23.6,36.779
$10V_AH,10.1,18.630
$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,27.575,137.200,420.150,0.000,0.000,18.015,26.960,162.867,5.000,0.000,0.000,11.031,1388.552,11860.032,532.765,1684.151,477.358,0.000,1407.479,0.000,1643.475,0.000,35.057,0.000
$DEVICE_MAMPS,187.148,69.030,1020.877,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,545.922,507.503,467.080,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37941,747
$CAP_FILE_SIZE,118693,0
$CFSIZE,260165632,245821440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170709,094724,6303.449,-1300.710,39,1.6,56,-12.0