version: 66.04
glider: 16
mission: 13
dive: 232
start: 7 18 109 10 30 49
data:
$ID,16
$MISSION,13
$DIVE,232
$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,-2111734
$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,30
$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
$GPS1,102537,6255.325,-1254.600,27,1.0,27,-11.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.2
$GPS2,103032,6255.279,-1254.685,15,1.3,15,-11.9
$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,233.6,13102,-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,12,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-55.28,0.000,6,0.000,0.000,75,2605,3417
$GC,80,-1.03,-146.6,8.1,-15.4,3,102,11.88,2.53,0.00,0.000,4,0.183,0.035,2132,1190,3419
$GC,267,-1.03,-146.6,40.6,-9.2,11,271,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2599,3419
$GC,588,-1.03,-146.6,71.8,-10.0,27,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3420
$GC,897,-1.03,-146.6,101.5,-9.2,42,901,0.00,2.33,0.00,0.000,4,0.000,0.064,2132,3861,3420
$GC,942,-1.03,-146.6,106.0,-10.2,44,946,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2568,3420
$GC,1263,-1.03,-146.6,136.2,-8.9,60,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2566,3420
$GC,1572,-1.03,-146.6,164.1,-9.2,75,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2566,3421
$GC,1882,-1.03,-146.6,193.3,-9.4,90,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2565,3420
$GC,2191,-1.03,-146.6,220.9,-8.8,105,2195,0.00,2.40,0.00,0.000,4,0.000,0.063,2132,3864,3420
$GC,2237,-1.03,-146.6,225.2,-9.1,107,2241,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2599,3420
$GC,2564,-1.03,-146.6,255.2,-9.4,123,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2596,3421
$GC,2873,-1.03,-146.6,283.0,-8.9,138,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2596,3420
$GC,3182,-1.03,-146.6,310.9,-9.2,153,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2596,3420
$GC,3492,-1.03,-146.6,338.6,-8.8,168,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2596,3420
$GC,3801,-1.03,-146.6,366.9,-9.4,183,3805,0.00,2.42,0.00,0.000,4,0.000,0.039,2132,1206,3420
$GC,3846,-1.03,-146.6,371.0,-9.6,185,3850,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2611,3419
$GC,4173,-1.03,-146.6,402.4,-9.7,201,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2612,3419
$GC,4482,-1.03,-146.6,433.1,-10.0,216,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2610,3419
$GC,4791,-1.03,-146.6,461.1,-8.2,231,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2612,3419
$GC,5101,-1.03,-146.6,487.7,-9.1,246,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2612,3419
$GC,5409,-1.03,-146.6,516.0,-9.3,261,5413,0.00,2.45,0.00,0.000,4,0.000,0.038,2134,1205,3419
$GC,5471,-1.08,-146.6,521.8,-9.5,263,5477,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2604,3418
$GC,5788,-1.08,-146.6,550.8,-9.2,279,5792,0.00,2.33,0.00,0.000,4,0.000,0.067,2132,3863,3419
$GC,5834,-1.08,-146.6,555.3,-10.2,281,5837,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2594,3419
$GC,6166,-1.08,-146.6,586.7,-9.4,297,6170,0.00,2.42,0.00,0.000,4,0.000,0.040,2132,1211,3418
$GC,6206,-1.13,-146.6,590.2,-8.9,299,6210,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,6532,-1.13,-146.6,620.0,-9.3,315,6536,0.00,2.33,0.00,0.000,4,0.000,0.068,2132,3857,3418
$GC,6611,-1.13,-146.6,627.2,-9.4,318,6617,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2592,3418
$GC,6926,-1.13,-146.6,654.7,-8.6,334,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2592,3418
$GC,7236,-1.13,-146.6,680.5,-8.1,349,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2592,3417
$GC,7545,-1.13,-146.6,705.2,-8.0,364,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2590,3418
$STATE,7790,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7791,begin apogee
$GC,7798,-0.31,0.0,725.3,9.5,376,7933,0.80,0.00,128.45,1.061,6,0.121,0.000,2287,2309,2816
$STATE,7933,end apogee,CONTROL_FINISHED_OK
$STATE,7933,begin climb
$GC,7936,1.03,146.6,728.8,0.0,383,8070,1.38,0.00,129.88,1.047,6,0.074,0.000,2580,2309,2219
$GC,8372,0.95,149.6,704.6,7.4,404,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2309,2212
$GC,8677,0.91,170.8,684.2,6.8,419,8707,0.12,2.60,21.77,0.973,4,0.096,0.050,2557,902,2118
$GC,8724,0.95,213.7,681.3,6.0,421,8769,0.00,2.50,39.85,0.999,6,0.000,0.036,2556,2302,1944
$GC,9092,0.95,213.7,652.3,8.2,439,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2302,1937
$GC,9401,0.95,213.7,623.1,9.9,454,9406,0.00,2.62,0.00,0.000,4,0.000,0.064,2557,3701,1936
$GC,9480,0.95,213.7,615.2,10.0,457,9486,0.00,2.45,0.00,0.000,6,0.000,0.029,2557,2299,1936
$GC,9796,1.05,252.5,590.6,6.2,473,9839,0.15,2.60,35.53,0.959,4,0.051,0.050,2599,898,1786
$GC,9868,1.00,252.5,584.9,8.8,476,9872,0.00,2.50,0.00,0.000,6,0.000,0.035,2599,2300,1782
$GC,10189,0.96,252.5,557.8,8.6,492,10191,0.15,0.00,0.00,0.000,6,0.094,0.000,2571,2300,1780
$GC,10498,0.96,252.5,533.0,7.9,507,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2300,1779
$GC,10808,0.96,252.5,507.7,8.5,522,10809,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2300,1779
$GC,11116,0.96,252.5,481.9,8.1,537,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2300,1779
$GC,11425,0.96,252.5,457.2,8.0,552,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2300,1778
$GC,11735,0.96,252.5,431.2,8.6,567,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2300,1779
$GC,12044,0.96,252.5,404.3,8.7,582,12048,0.00,2.53,0.00,0.000,4,0.000,0.044,2571,892,1778
$GC,12077,1.00,252.5,401.3,8.7,583,12081,0.00,2.47,0.00,0.000,6,0.000,0.033,2571,2309,1776
$GC,12393,1.00,252.5,373.6,8.8,598,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2309,1777
$GC,12702,1.05,252.5,345.3,9.3,613,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2309,1777
$GC,13011,1.09,252.5,315.1,9.7,628,13016,0.12,2.53,0.00,0.000,4,0.050,0.044,2610,894,1777
$GC,13052,1.03,252.5,310.6,11.6,630,13057,0.15,2.45,0.00,0.000,6,0.091,0.032,2580,2309,1777
$GC,13379,1.03,252.5,278.3,9.5,646,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2310,1778
$GC,13688,1.03,252.5,248.9,9.3,661,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2310,1777
$GC,13997,1.03,252.5,220.6,8.9,676,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2309,1778
$GC,14306,1.03,252.5,192.3,9.2,691,14310,0.00,2.50,0.00,0.000,4,0.000,0.043,2580,897,1778
$GC,14345,1.03,252.5,188.6,10.4,692,14351,0.00,2.45,0.00,0.000,6,0.000,0.031,2580,2308,1778
$GC,14661,1.03,252.5,159.8,9.3,708,14662,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2308,1778
$GC,14971,1.03,252.5,132.6,8.4,723,14972,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2308,1778
$GC,15280,1.03,252.5,106.5,8.5,738,15284,0.00,2.50,0.00,0.000,4,0.000,0.042,2580,898,1778
$GC,15325,1.07,252.5,102.5,8.8,740,15329,0.00,2.45,0.00,0.000,6,0.000,0.032,2580,2308,1778
$GC,15646,1.11,286.5,79.7,6.3,756,15681,0.00,2.60,29.45,0.622,4,0.000,0.055,2580,3700,1648
$GC,15705,1.17,300.4,75.9,7.0,758,15728,0.15,2.45,13.68,0.582,6,0.044,0.027,2624,2291,1591
$GC,16038,1.17,300.4,43.9,12.0,774,16042,0.00,2.47,0.00,0.000,4,0.000,0.044,2624,901,1586
$GC,16111,1.17,300.4,34.9,12.7,777,16115,0.00,2.45,0.00,0.000,6,0.000,0.031,2624,2305,1584
$STATE,16424,end climb,SURFACE_DEPTH_REACHED
$STATE,16424,begin surface coast
$FINISH,0.9,1.013195
$STATE,16446,end surface coast,CONTROL_FINISHED_OK
$STATE,16446,begin surface
$SM_CCo,16530,0.00,0.000,0,0,1579,303.44
$SM_GC,2.01,12.10,0.00,0.00,0.083,0.000,0.000,73,2602,1579,-10.47,0.03,303.44
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1795
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.3,33.7
$24V_AH,23.6,37.580
$10V_AH,10.1,19.099
$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,27.000,83.625,398.600,0.000,0.000,13.022,26.081,143.136,6.000,0.000,0.000,15.505,1396.134,12937.619,488.681,1579.025,423.984,0.000,1267.885,0.000,1541.427,0.000,41.430,0.000
$DEVICE_MAMPS,182.546,68.263,1060.761,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,579.567,541.879,475.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41073,793
$CAP_FILE_SIZE,104783,0
$CFSIZE,260165632,245489664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180709,150757,6251.919,-1300.138,42,2.7,61,-12.0