version: 66.04
glider: 16
mission: 13
dive: 233
start: 7 18 109 15 13 30
data:
$ID,16
$MISSION,13
$DIVE,233
$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,-2111749.8
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,150757,6251.919,-1300.138,42,2.7,61,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-60.2
$GPS2,151313,6251.917,-1300.163,10,1.6,15,-12.0
$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,241.0,5417,-16.9,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.17,-103.4,0.0,0.0,0,79,0.00,0.00,-57.40,0.000,6,0.000,0.000,72,2601,3240
$GC,83,-1.17,-103.4,5.9,-10.4,3,104,11.57,2.35,0.00,0.000,4,0.178,0.057,2098,3857,3241
$GC,357,-1.10,-103.4,51.1,-11.3,15,362,0.12,2.15,0.00,0.000,6,0.106,0.025,2121,2577,3241
$GC,678,-1.10,-103.4,87.3,-11.1,31,682,0.00,2.35,0.00,0.000,4,0.000,0.059,2121,3856,3242
$GC,808,-1.10,-103.4,102.6,-11.9,37,812,0.00,2.10,0.00,0.000,6,0.000,0.025,2121,2597,3242
$GC,1143,-1.14,-138.4,129.5,-5.8,53,1145,0.00,0.00,-0.82,0.000,6,0.000,0.000,2121,2596,3391
$GC,1451,-1.20,-138.4,153.7,-8.8,68,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2596,3392
$GC,1760,-1.25,-138.4,183.0,-9.8,83,1761,0.15,0.00,0.00,0.000,6,0.043,0.000,2078,2596,3392
$GC,2069,-1.20,-138.4,222.4,-13.2,98,2071,0.12,0.00,0.00,0.000,6,0.102,0.000,2099,2596,3392
$GC,2378,-1.20,-138.4,257.8,-11.1,113,2382,0.00,2.33,0.00,0.000,4,0.000,0.063,2099,3857,3392
$GC,2441,-1.20,-138.4,265.0,-10.9,116,2445,0.00,2.12,0.00,0.000,6,0.000,0.026,2099,2594,3392
$GC,2774,-1.20,-138.4,301.6,-11.0,132,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2593,3392
$GC,3082,-1.20,-138.4,336.9,-11.4,147,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2593,3392
$GC,3391,-1.20,-138.4,371.4,-11.4,162,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2593,3391
$GC,3701,-1.20,-138.4,404.8,-10.2,177,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2593,3391
$GC,4010,-1.20,-138.4,438.1,-11.1,192,4014,0.00,2.35,0.00,0.000,4,0.000,0.064,2099,3861,3391
$GC,4054,-1.20,-138.4,443.4,-11.8,194,4058,0.00,2.12,0.00,0.000,6,0.000,0.026,2099,2595,3391
$GC,4381,-1.20,-138.4,480.2,-11.5,210,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2593,3390
$GC,4690,-1.20,-138.4,513.9,-10.9,225,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2593,3390
$GC,4999,-1.20,-138.4,548.1,-11.3,240,5004,0.00,2.42,0.00,0.000,4,0.000,0.040,2099,1212,3390
$GC,5067,-1.28,-138.4,555.9,-11.0,243,5072,0.00,2.42,0.00,0.000,6,0.000,0.035,2099,2596,3390
$GC,5388,-1.28,-138.4,593.2,-11.2,259,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2597,3390
$GC,5697,-1.28,-138.4,624.5,-10.1,274,5701,0.00,2.35,0.00,0.000,4,0.000,0.067,2099,3864,3390
$GC,5759,-1.28,-138.4,630.7,-10.1,277,5763,0.00,2.12,0.00,0.000,6,0.000,0.026,2099,2590,3390
$GC,6092,-1.33,-138.4,662.1,-9.4,293,6097,0.15,2.35,0.00,0.000,4,0.047,0.065,2056,3857,3390
$GC,6155,-1.23,-138.4,669.5,-13.3,296,6160,0.17,2.12,0.00,0.000,6,0.099,0.028,2089,2597,3390
$GC,6482,-1.23,-138.4,703.6,-10.3,312,6486,0.00,2.35,0.00,0.000,4,0.000,0.067,2089,3863,3389
$GC,6533,-1.23,-138.4,709.4,-11.7,314,6537,0.00,2.12,0.00,0.000,6,0.000,0.028,2089,2602,3389
$GC,6861,-1.23,-138.4,743.4,-10.2,330,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2600,3388
$STATE,6961,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6961,begin apogee
$GC,6968,-0.31,0.0,754.1,10.5,335,7094,1.00,0.00,122.80,1.068,6,0.101,0.000,2290,2305,2817
$STATE,7095,end apogee,CONTROL_FINISHED_OK
$STATE,7095,begin climb
$GC,7098,1.21,138.4,758.6,0.0,341,7229,1.55,2.58,123.75,1.056,4,0.078,0.048,2616,916,2251
$GC,7269,1.13,138.4,752.6,8.0,350,7273,0.00,2.45,0.00,0.000,6,0.000,0.035,2616,2300,2247
$GC,7590,1.07,138.4,724.8,8.7,366,7592,0.12,0.00,0.00,0.000,6,0.104,0.000,2593,2300,2244
$GC,7900,1.03,141.9,700.8,7.3,381,7905,0.00,2.62,0.00,0.000,4,0.000,0.064,2594,3701,2243
$GC,7968,0.92,141.9,694.9,8.7,384,7973,0.17,2.42,0.00,0.000,6,0.114,0.029,2562,2310,2242
$GC,8290,0.99,161.7,674.4,6.5,400,8316,0.00,2.65,20.80,0.966,4,0.000,0.061,2562,3700,2156
$GC,8366,0.99,161.7,668.5,8.6,403,8373,0.00,2.45,0.00,0.000,6,0.000,0.028,2562,2302,2154
$GC,8682,1.08,161.7,644.2,7.8,419,8687,0.15,2.62,0.00,0.000,4,0.049,0.060,2603,3705,2152
$GC,8739,0.98,161.7,639.4,8.7,421,8745,0.17,2.45,0.00,0.000,6,0.110,0.029,2572,2302,2152
$GC,9055,1.11,214.9,621.5,4.9,437,9109,0.12,2.67,48.28,0.979,4,0.051,0.061,2605,3707,1940
$GC,9156,1.11,214.9,615.0,7.7,441,9160,0.00,2.45,0.00,0.000,6,0.000,0.030,2605,2302,1938
$GC,9488,1.11,214.9,590.5,8.2,457,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2302,1933
$GC,9797,1.11,214.9,559.9,10.9,472,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2302,1933
$GC,10107,1.15,214.9,526.0,10.6,487,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2301,1933
$GC,10416,1.15,214.9,495.6,9.7,502,10420,0.00,2.58,0.00,0.000,4,0.000,0.059,2605,3701,1933
$GC,10448,1.15,214.9,492.2,10.2,503,10454,0.00,2.45,0.00,0.000,6,0.000,0.028,2605,2290,1933
$GC,10764,1.15,214.9,465.7,7.9,519,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2290,1933
$GC,11073,1.19,214.9,441.9,7.8,534,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2290,1932
$GC,11383,1.23,214.9,417.1,8.5,549,11388,0.10,2.60,0.00,0.000,4,0.054,0.057,2638,3702,1932
$GC,11439,1.12,214.9,410.9,11.9,551,11445,0.17,2.42,0.00,0.000,6,0.102,0.028,2606,2298,1933
$GC,11754,1.12,214.9,380.8,9.3,567,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2297,1933
$GC,12064,1.12,214.9,350.4,10.1,582,12068,0.00,2.58,0.00,0.000,4,0.000,0.056,2606,3704,1933
$GC,12119,1.12,214.9,344.2,11.4,584,12126,0.00,2.42,0.00,0.000,6,0.000,0.027,2606,2294,1933
$GC,12435,1.12,214.9,313.4,9.3,600,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2292,1933
$GC,12744,1.12,214.9,284.7,9.4,615,12745,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2292,1933
$GC,13054,1.17,214.9,254.1,9.8,630,13059,0.00,2.58,0.00,0.000,4,0.000,0.055,2606,3702,1933
$GC,13099,1.17,214.9,249.2,10.7,632,13103,0.00,2.40,0.00,0.000,6,0.000,0.027,2606,2299,1933
$GC,13426,1.22,214.9,215.9,10.3,648,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2299,1932
$GC,13736,1.27,214.9,184.4,10.0,663,13738,0.15,0.00,0.00,0.000,6,0.044,0.000,2651,2297,1932
$GC,14044,1.20,214.9,148.5,11.0,678,14046,0.15,0.00,0.00,0.000,6,0.095,0.000,2622,2297,1932
$GC,14354,1.20,214.9,117.9,11.0,693,14359,0.00,2.58,0.00,0.000,4,0.000,0.055,2621,3707,1933
$GC,14399,1.16,214.9,111.9,13.5,695,14404,0.00,2.42,0.00,0.000,6,0.000,0.027,2622,2294,1932
$GC,14721,1.16,214.9,72.8,10.3,711,14722,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2294,1933
$GC,15032,1.16,214.9,44.6,10.4,726,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2293,1933
$GC,15339,1.16,214.9,17.3,7.8,741,15344,0.00,2.47,0.00,0.000,4,0.000,0.045,2621,902,1933
$GC,15373,1.16,214.9,14.7,7.5,742,15379,0.00,2.42,0.00,0.000,6,0.000,0.031,2622,2309,1933
$STATE,15521,end climb,SURFACE_DEPTH_REACHED
$STATE,15521,begin surface coast
$FINISH,0.9,1.026488
$STATE,15543,end surface coast,CONTROL_FINISHED_OK
$STATE,15543,begin surface
$SM_CCo,15567,24.80,0.566,0,0,1797,250.21
$SM_GC,2.18,0.00,0.00,24.80,0.000,0.000,0.566,72,2608,1797,-10.52,0.20,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1784
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.2,12.8
$24V_AH,23.6,37.689
$10V_AH,10.2,19.169
$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,28.275,92.425,315.625,24.800,0.000,18.295,37.250,137.729,6.500,0.000,0.000,15.095,1371.035,12070.523,461.452,1560.747,446.236,0.000,1221.419,0.000,1522.841,0.000,44.611,0.000
$DEVICE_MAMPS,177.944,67.496,1068.431,566.046,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,551.207,511.603,449.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37883,751
$CAP_FILE_SIZE,108089,0
$CFSIZE,260165632,245432320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,180709,193437,6249.964,-1304.118,36,0.9,36,-12.0