version: 66.04
glider: 16
mission: 13
dive: 186
start: 7 10 109 5 47 36
data:
$ID,16
$MISSION,13
$DIVE,186
$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,-2110911.8
$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,31
$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
$GPS1,053225,6337.335,-1306.770,40,1.5,40,-12.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-66.0
$GPS2,054719,6337.417,-1306.840,9,1.0,14,-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,248.6,8078,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-59.08,0.000,3,0.000,0.000,64,2602,3416
$GC,82,-1.03,-146.6,5.5,-9.0,3,103,12.18,2.35,0.00,0.000,4,0.190,0.055,2130,3861,3417
$GC,165,-1.03,-146.6,26.9,-11.9,6,171,0.00,2.15,0.00,0.000,6,0.000,0.025,2129,2575,3418
$GC,483,-0.98,-146.6,64.3,-11.4,22,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2574,3418
$GC,791,-0.98,-146.6,100.8,-11.1,37,795,0.00,2.40,0.00,0.000,4,0.000,0.038,2129,1205,3420
$GC,863,-0.98,-146.6,109.1,-11.4,40,867,0.00,2.45,0.00,0.000,6,0.000,0.034,2129,2603,3419
$GC,1179,-0.98,-146.6,147.0,-12.3,55,1183,0.00,2.30,0.00,0.000,4,0.000,0.062,2130,3860,3419
$GC,1246,-0.98,-146.6,155.6,-12.3,58,1250,0.00,2.12,0.00,0.000,6,0.000,0.025,2130,2592,3420
$GC,1572,-0.98,-146.6,193.7,-11.6,74,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2590,3419
$GC,1882,-0.98,-146.6,231.2,-12.4,89,1886,0.00,2.42,0.00,0.000,4,0.000,0.039,2130,1208,3419
$GC,1922,-0.98,-146.6,235.9,-11.8,91,1926,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2609,3419
$GC,2249,-0.98,-146.6,275.4,-12.0,107,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3419
$GC,2558,-0.98,-146.6,310.1,-10.8,122,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3419
$GC,2866,-0.98,-146.6,342.4,-9.9,137,2871,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1212,3419
$GC,2933,-0.98,-146.6,348.6,-8.4,140,2937,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2599,3419
$GC,3256,-0.98,-146.6,375.7,-8.7,156,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3419
$GC,3564,-0.98,-146.6,399.1,-7.5,171,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3418
$GC,3874,-0.98,-146.6,423.6,-8.0,186,3878,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1215,3418
$GC,3930,-0.98,-146.6,428.3,-8.2,188,3936,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3418
$GC,4246,-0.98,-146.6,455.1,-8.7,204,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,4555,-0.98,-146.6,483.5,-9.2,219,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,4865,-0.98,-146.6,511.7,-8.7,234,4869,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1212,3418
$GC,4937,-0.98,-146.6,518.2,-8.6,237,4941,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2601,3417
$GC,5252,-0.98,-146.6,542.1,-8.4,252,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3417
$GC,5562,-0.98,-146.6,573.9,-11.4,267,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,5871,-0.98,-146.6,608.6,-9.9,282,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3417
$GC,6180,-0.98,-146.6,632.7,-6.5,297,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2601,3417
$GC,6490,-0.98,-146.6,656.8,-8.7,312,6494,0.00,2.42,0.00,0.000,4,0.000,0.039,2130,1217,3417
$GC,6530,-1.05,-146.6,660.3,-8.5,314,6534,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2605,3417
$GC,6856,-1.05,-146.6,691.8,-8.2,330,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3417
$GC,7165,-1.05,-146.6,715.5,-8.8,345,7169,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1214,3415
$STATE,7181,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7181,begin apogee
$GC,7190,-0.31,0.0,717.4,10.0,346,7323,0.77,0.00,127.93,1.048,6,0.095,0.000,2288,2314,2817
$STATE,7324,end apogee,CONTROL_FINISHED_OK
$STATE,7324,begin climb
$GC,7327,1.03,146.6,723.8,0.0,353,7465,1.38,2.60,128.93,1.038,4,0.071,0.044,2582,924,2218
$GC,7591,0.98,185.1,714.6,6.2,365,7633,0.00,2.45,34.62,0.999,6,0.000,0.035,2582,2306,2061
$GC,7963,0.92,185.1,682.4,10.8,383,7967,0.00,2.62,0.00,0.000,4,0.000,0.064,2582,3709,2056
$GC,8003,0.84,185.1,676.8,13.3,385,8008,0.20,2.42,0.00,0.000,6,0.097,0.030,2544,2322,2056
$GC,8330,0.84,186.8,651.6,7.4,401,8335,0.00,2.58,0.00,0.000,4,0.000,0.062,2544,3701,2054
$GC,8393,0.85,193.6,646.7,7.3,404,8407,0.00,2.45,7.70,0.820,6,0.000,0.029,2545,2296,2027
$GC,8725,0.96,253.1,627.7,5.5,420,8785,0.12,0.00,56.00,0.983,6,0.051,0.000,2582,2296,1785
$GC,9093,0.96,253.1,596.6,8.5,438,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2295,1776
$GC,9402,0.96,253.1,568.0,9.8,453,9407,0.00,2.60,0.00,0.000,4,0.000,0.061,2582,3701,1776
$GC,9447,0.96,253.1,563.3,9.7,455,9451,0.00,2.42,0.00,0.000,6,0.000,0.028,2582,2299,1776
$GC,9774,0.96,253.1,535.4,8.0,471,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2299,1775
$GC,10083,0.96,253.1,509.9,8.9,486,10087,0.00,2.53,0.00,0.000,4,0.000,0.048,2582,899,1774
$GC,10133,0.96,253.1,505.2,8.9,488,10137,0.00,2.45,0.00,0.000,6,0.000,0.033,2582,2303,1773
$GC,10448,0.97,255.9,479.1,7.4,503,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2303,1773
$GC,10758,1.00,291.1,459.6,6.3,518,10797,0.00,0.00,34.35,0.861,6,0.000,0.000,2582,2303,1629
$GC,11108,1.05,291.1,432.5,8.1,535,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2303,1624
$GC,11416,1.09,291.1,404.7,9.6,550,11420,0.00,2.50,0.00,0.000,4,0.000,0.044,2582,898,1623
$GC,11456,1.16,291.1,400.8,10.6,551,11462,0.15,2.45,0.00,0.000,6,0.054,0.032,2626,2303,1622
$GC,11772,1.09,291.1,362.1,12.4,567,11774,0.15,0.00,0.00,0.000,6,0.088,0.000,2596,2303,1622
$GC,12080,1.09,291.1,331.4,9.3,582,12085,0.00,2.50,0.00,0.000,4,0.000,0.043,2596,898,1623
$GC,12125,1.09,291.1,327.3,9.6,584,12129,0.00,2.45,0.00,0.000,6,0.000,0.032,2596,2305,1621
$GC,12446,1.09,291.1,299.8,8.3,600,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2305,1621
$GC,12755,1.09,291.1,274.0,8.3,615,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2305,1621
$GC,13064,1.09,291.1,249.3,7.8,630,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2305,1622
$GC,13373,1.09,291.1,223.4,9.0,645,13378,0.00,2.53,0.00,0.000,4,0.000,0.043,2596,891,1621
$GC,13413,1.09,291.1,219.9,8.5,647,13418,0.00,2.45,0.00,0.000,6,0.000,0.032,2596,2304,1621
$GC,13740,1.09,291.1,190.6,9.3,663,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2304,1621
$GC,14050,1.09,291.1,160.6,10.0,678,14054,0.00,2.50,0.00,0.000,4,0.000,0.042,2596,894,1621
$GC,14112,1.13,291.1,154.0,10.8,681,14116,0.00,2.42,0.00,0.000,6,0.000,0.033,2596,2299,1621
$GC,14445,1.13,291.1,119.0,10.4,697,14449,0.00,2.50,0.00,0.000,4,0.000,0.043,2596,894,1621
$GC,14495,1.18,291.1,113.7,10.0,699,14499,0.00,2.42,0.00,0.000,6,0.000,0.032,2596,2299,1621
$GC,14817,1.18,291.1,84.1,9.4,715,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2299,1621
$GC,15127,1.23,291.1,52.2,10.2,730,15132,0.15,2.50,0.00,0.000,4,0.045,0.042,2641,890,1622
$GC,15177,1.15,291.1,46.1,11.7,732,15182,0.15,2.45,0.00,0.000,6,0.087,0.032,2613,2303,1621
$GC,15493,1.15,291.1,14.9,9.1,747,15497,0.00,2.55,0.00,0.000,4,0.000,0.057,2612,3698,1621
$GC,15526,1.15,291.1,11.5,10.0,748,15533,0.00,2.40,0.00,0.000,6,0.000,0.027,2613,2291,1621
$STATE,15633,end climb,SURFACE_DEPTH_REACHED
$STATE,15633,begin surface coast
$FINISH,0.8,1.014311
$STATE,15656,end surface coast,CONTROL_FINISHED_OK
$STATE,15657,begin surface
$SM_CCo,15740,0.00,0.000,0,0,1619,293.87
$SM_GC,1.84,12.10,0.00,0.00,0.088,0.000,0.000,78,2600,1619,-10.45,0.00,293.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1774
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.5,26.6
$24V_AH,23.6,31.714
$10V_AH,10.1,15.915
$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,27.350,102.725,389.525,0.000,0.000,106.401,135.898,283.088,6.250,0.000,0.000,14.620,1356.977,12442.958,485.533,1564.427,785.302,0.000,1276.975,0.000,1525.761,0.000,45.195,0.000
$DEVICE_MAMPS,190.216,64.428,1048.489,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.418,516.253,437.897,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38001,755
$CAP_FILE_SIZE,113387,0
$CFSIZE,260165632,247881728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100709,101107,6337.117,-1309.717,35,0.8,35,-12.4