version: 66.04
glider: 16
mission: 13
dive: 185
start: 7 10 109 1 28 25
data:
$ID,16
$MISSION,13
$DIVE,185
$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,-2110896.5
$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
$GPS1,012307,6339.018,-1303.916,29,1.7,29,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-64.6
$GPS2,012808,6339.023,-1303.889,13,1.6,13,-12.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$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,243.2,11804,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-60.97,0.000,2,0.000,0.000,75,2604,3225
$GC,84,-1.03,-146.6,4.8,-7.7,3,106,12.02,2.30,-3.22,0.000,4,0.187,0.072,2132,3861,3416
$GC,245,-1.03,-146.6,32.5,-11.4,10,249,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2573,3416
$GC,573,-1.03,-146.6,68.6,-11.1,26,577,0.00,2.38,0.00,0.000,4,0.000,0.061,2132,3863,3417
$GC,704,-1.03,-146.6,84.3,-12.5,32,708,0.00,2.12,0.00,0.000,6,0.000,0.025,2132,2596,3417
$GC,1037,-1.03,-146.6,123.5,-10.9,48,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2592,3417
$GC,1345,-1.03,-146.6,152.9,-9.2,63,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2592,3418
$GC,1655,-1.03,-146.6,177.8,-7.7,78,1659,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1212,3418
$GC,1705,-1.07,-146.6,181.8,-8.0,80,1709,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2602,3418
$GC,2031,-1.07,-146.6,209.5,-9.4,96,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3418
$GC,2341,-1.07,-146.6,238.1,-9.2,111,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,2650,-1.07,-146.6,267.0,-9.4,126,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3418
$GC,2959,-1.07,-146.6,294.3,-8.9,141,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3418
$GC,3269,-1.07,-146.6,320.7,-9.0,156,3273,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1218,3418
$GC,3336,-1.07,-146.6,326.9,-9.0,159,3340,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2601,3418
$GC,3657,-1.07,-146.6,355.6,-8.6,175,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3417
$GC,3966,-1.07,-146.6,383.2,-9.2,190,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3417
$GC,4275,-1.07,-146.6,412.5,-9.2,205,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2601,3417
$GC,4584,-1.07,-146.6,439.0,-8.4,220,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3416
$GC,4894,-1.07,-146.6,465.7,-8.6,235,4898,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1212,3416
$GC,4956,-1.11,-146.6,471.1,-8.7,238,4960,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2602,3416
$GC,5288,-1.11,-146.6,502.2,-10.0,254,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3415
$GC,5598,-1.11,-146.6,537.1,-11.8,269,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3416
$GC,5906,-1.11,-146.6,574.5,-12.4,284,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3416
$GC,6216,-1.11,-146.6,609.1,-10.1,299,6220,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1217,3416
$GC,6294,-1.17,-146.6,616.6,-9.4,302,6299,0.12,2.42,0.00,0.000,6,0.046,0.036,2092,2606,3415
$GC,6610,-1.10,-146.6,654.9,-11.6,317,6614,0.12,2.30,0.00,0.000,4,0.101,0.068,2116,3856,3416
$GC,6755,-1.10,-146.6,668.7,-8.3,323,6759,0.00,2.10,0.00,0.000,6,0.000,0.027,2116,2593,3415
$STATE,6929,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6930,begin apogee
$GC,6937,-0.31,0.0,682.8,8.0,332,7072,0.85,0.00,127.65,1.016,6,0.094,0.000,2290,2302,2816
$STATE,7072,end apogee,CONTROL_FINISHED_OK
$STATE,7073,begin climb
$GC,7076,1.03,146.6,686.1,0.0,339,7214,1.38,2.55,129.05,1.009,4,0.070,0.048,2582,914,2218
$GC,7256,0.96,146.6,680.0,8.3,347,7262,0.00,2.45,0.00,0.000,6,0.000,0.034,2581,2307,2214
$GC,7572,0.85,146.6,651.4,9.3,363,7577,0.20,2.58,0.00,0.000,4,0.089,0.061,2540,3700,2213
$GC,7661,0.78,146.6,643.5,8.7,367,7666,0.00,2.40,0.00,0.000,6,0.000,0.028,2540,2308,2213
$GC,7988,0.91,265.5,626.9,3.4,383,8097,0.00,0.00,106.20,0.983,6,0.000,0.000,2540,2307,1734
$GC,8399,1.05,280.7,601.4,7.0,403,8418,0.22,0.00,13.95,0.882,6,0.044,0.000,2593,2306,1670
$GC,8727,1.05,280.7,568.5,9.9,419,8731,0.00,2.55,0.00,0.000,4,0.000,0.049,2593,899,1666
$GC,8771,1.05,280.7,564.3,10.0,421,8775,0.00,2.47,0.00,0.000,6,0.000,0.035,2593,2303,1664
$GC,9092,1.05,280.7,536.6,8.5,437,9096,0.00,2.60,0.00,0.000,4,0.000,0.061,2593,3701,1664
$GC,9141,1.05,280.7,531.3,10.0,439,9146,0.00,2.45,0.00,0.000,6,0.000,0.028,2593,2296,1664
$GC,9457,1.05,280.7,500.8,9.8,454,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2296,1663
$GC,9766,1.05,280.7,471.0,9.6,469,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1663
$GC,10075,1.05,280.7,441.6,9.7,484,10079,0.00,2.50,0.00,0.000,4,0.000,0.048,2593,896,1663
$GC,10122,1.05,280.7,437.2,10.0,486,10126,0.00,2.47,0.00,0.000,6,0.000,0.033,2593,2310,1662
$GC,10449,1.05,280.7,405.9,9.7,502,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2310,1662
$GC,10757,1.05,280.7,374.5,10.3,517,10759,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2310,1662
$GC,11067,1.05,280.7,341.9,10.4,532,11068,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2310,1662
$GC,11376,1.05,280.7,310.7,9.9,547,11380,0.00,2.53,0.00,0.000,4,0.000,0.044,2593,894,1662
$GC,11438,1.05,280.7,304.6,9.8,549,11444,0.00,2.45,0.00,0.000,6,0.000,0.032,2593,2304,1662
$GC,11753,1.05,280.7,272.0,10.9,565,11754,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2304,1662
$GC,12063,1.05,280.7,240.0,10.3,580,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2304,1662
$GC,12372,1.05,280.7,210.1,9.3,595,12375,0.00,2.50,0.00,0.000,4,0.000,0.042,2592,895,1662
$GC,12410,1.05,280.7,206.3,9.5,596,12416,0.00,2.45,0.00,0.000,6,0.000,0.033,2593,2304,1662
$GC,12726,1.05,280.7,175.4,10.0,612,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2304,1662
$GC,13036,1.05,280.7,142.7,10.9,627,13040,0.00,2.50,0.00,0.000,4,0.000,0.042,2593,896,1662
$GC,13069,1.05,280.7,138.9,10.9,628,13075,0.00,2.42,0.00,0.000,6,0.000,0.032,2594,2301,1662
$GC,13386,1.05,280.7,102.0,11.7,644,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2301,1663
$GC,13694,1.05,280.7,67.9,9.8,659,13695,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2301,1662
$GC,14004,1.09,283.7,41.4,7.4,674,14008,0.00,2.50,0.00,0.000,4,0.000,0.043,2593,889,1662
$GC,14134,1.16,283.7,30.8,8.8,680,14138,0.00,2.45,0.00,0.000,6,0.000,0.032,2593,2305,1663
$STATE,14459,end climb,SURFACE_DEPTH_REACHED
$STATE,14459,begin surface coast
$FINISH,0.8,1.026416
$STATE,14481,end surface coast,CONTROL_FINISHED_OK
$STATE,14481,begin surface
$SM_CCo,14564,0.00,0.000,0,0,1660,283.81
$SM_GC,1.86,11.98,0.00,0.00,0.087,0.000,0.000,65,2600,1660,-10.46,0.00,283.81
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1791
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.7,90.9
$24V_AH,23.6,31.575
$10V_AH,10.1,15.841
$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,26.900,78.500,376.850,0.000,0.000,18.073,29.970,135.286,5.000,0.000,0.000,13.069,1249.697,11267.479,489.987,1449.269,406.619,0.000,1193.834,0.000,1419.359,0.000,35.112,0.000
$DEVICE_MAMPS,187.148,72.098,1016.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.008,475.744,425.925,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34863,697
$CAP_FILE_SIZE,94245,0
$CFSIZE,260165632,247943168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100709,053225,6337.335,-1306.770,40,1.5,40,-12.3