version: 66.04
glider: 16
mission: 13
dive: 187
start: 7 10 109 10 22 37
data:
$ID,16
$MISSION,13
$DIVE,187
$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,-2110927.8
$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,26
$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
$GPS1,101107,6337.117,-1309.717,35,0.8,35,-12.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-67.0
$GPS2,102220,6337.106,-1309.632,15,1.5,15,-12.4
$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,241.0,5897,-15.2,-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,-1.09,-125.1,0.0,0.0,0,79,0.00,0.00,-57.75,0.000,6,0.000,0.000,77,2600,3329
$GC,83,-1.09,-125.1,6.3,-11.2,3,104,11.85,2.35,0.00,0.000,4,0.186,0.058,2115,3858,3330
$GC,357,-1.01,-125.1,50.1,-11.4,15,362,0.12,2.15,0.00,0.000,6,0.108,0.025,2138,2577,3331
$GC,678,-1.01,-125.1,80.3,-9.4,31,682,0.00,2.35,0.00,0.000,4,0.000,0.060,2138,3858,3331
$GC,757,-1.01,-125.1,88.1,-9.7,34,763,0.00,2.15,0.00,0.000,6,0.000,0.025,2138,2592,3331
$GC,1073,-1.01,-125.1,117.0,-8.9,50,1077,0.00,2.40,0.00,0.000,4,0.000,0.038,2138,1219,3331
$GC,1113,-1.09,-125.1,120.5,-8.1,52,1118,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2603,3331
$GC,1441,-1.13,-125.1,147.8,-8.1,68,1443,0.12,0.00,0.00,0.000,6,0.044,0.000,2097,2603,3331
$GC,1749,-1.06,-125.1,178.6,-9.7,83,1751,0.15,0.00,0.00,0.000,6,0.100,0.000,2125,2603,3331
$GC,2058,-1.06,-125.1,204.7,-8.8,98,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2603,3331
$GC,2367,-1.06,-125.1,231.7,-9.0,113,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2603,3331
$GC,2677,-1.06,-125.1,261.0,-9.3,128,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2603,3330
$GC,2986,-1.06,-125.1,289.1,-9.3,143,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2602,3331
$GC,3295,-1.06,-125.1,318.1,-9.2,158,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2603,3331
$GC,3604,-1.06,-125.1,345.4,-8.4,173,3609,0.00,2.42,0.00,0.000,4,0.000,0.038,2125,1219,3330
$GC,3662,-1.11,-125.1,350.2,-8.2,175,3668,0.00,2.42,0.00,0.000,6,0.000,0.035,2125,2612,3330
$GC,3978,-1.11,-125.1,377.1,-8.6,191,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2611,3330
$GC,4287,-1.11,-125.1,403.8,-9.0,206,4291,0.00,2.45,0.00,0.000,4,0.000,0.038,2125,1210,3330
$GC,4327,-1.18,-125.1,407.5,-9.6,208,4331,0.00,2.42,0.00,0.000,6,0.000,0.035,2125,2600,3330
$GC,4653,-1.18,-125.1,438.1,-9.4,224,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3330
$GC,4962,-1.18,-125.1,466.6,-9.1,239,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3329
$GC,5272,-1.18,-125.1,493.4,-8.5,254,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2600,3329
$GC,5581,-1.18,-125.1,519.4,-8.8,269,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3329
$GC,5890,-1.18,-125.1,544.6,-7.8,284,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3329
$GC,6200,-1.18,-125.1,570.2,-9.3,299,6204,0.00,2.42,0.00,0.000,4,0.000,0.038,2125,1215,3328
$GC,6244,-1.24,-125.1,574.8,-10.6,301,6252,0.17,2.42,0.00,0.000,6,0.043,0.035,2076,2602,3329
$GC,6575,-1.13,-125.1,619.3,-12.8,317,6576,0.20,0.00,0.00,0.000,6,0.101,0.000,2114,2601,3328
$GC,6887,-1.13,-125.1,651.5,-9.3,332,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2602,3329
$GC,7192,-1.13,-125.1,680.6,-8.4,347,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2602,3328
$GC,7502,-1.14,-139.0,706.6,-6.9,362,7506,0.00,2.33,0.00,0.000,4,0.000,0.070,2114,3857,3328
$GC,7547,-1.15,-146.6,710.0,-6.7,364,7551,0.00,2.10,0.00,0.000,6,0.000,0.028,2114,2609,3327
$STATE,7687,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7687,begin apogee
$GC,7694,-0.31,0.0,721.0,8.3,371,7809,0.88,0.00,109.88,1.051,6,0.105,0.000,2290,2300,2817
$STATE,7809,end apogee,CONTROL_FINISHED_OK
$STATE,7809,begin climb
$GC,7813,1.11,146.6,725.7,0.0,377,7950,1.45,2.65,129.35,1.039,4,0.074,0.061,2597,3701,2219
$GC,8144,0.98,146.6,705.1,11.6,392,8149,0.12,2.42,0.00,0.000,6,0.105,0.029,2576,2314,2215
$GC,8466,0.91,159.9,678.2,7.0,408,8487,0.00,2.67,12.00,0.902,4,0.000,0.061,2575,3705,2165
$GC,8543,0.81,159.9,672.3,7.5,411,8548,0.20,2.47,0.00,0.000,6,0.112,0.029,2538,2292,2164
$GC,8861,0.95,224.4,656.2,4.9,426,8923,0.12,0.00,59.30,0.997,6,0.051,0.000,2574,2292,1902
$GC,9228,0.95,224.4,633.4,8.5,444,9233,0.00,2.62,0.00,0.000,4,0.000,0.061,2574,3707,1894
$GC,9324,0.95,224.4,624.0,8.8,448,9328,0.00,2.45,0.00,0.000,6,0.000,0.029,2574,2300,1895
$GC,9645,1.00,224.4,592.5,9.4,464,9650,0.00,2.60,0.00,0.000,4,0.000,0.061,2574,3701,1894
$GC,9686,1.00,224.4,588.6,10.7,466,9690,0.00,2.45,0.00,0.000,6,0.000,0.029,2574,2295,1893
$GC,10013,1.05,224.4,559.8,8.6,482,10017,0.00,2.50,0.00,0.000,4,0.000,0.050,2574,901,1892
$GC,10108,1.11,233.8,553.2,7.1,486,10125,0.12,2.45,8.05,0.790,6,0.060,0.035,2603,2305,1863
$GC,10434,1.11,233.8,524.7,8.7,502,10438,0.00,2.53,0.00,0.000,4,0.000,0.045,2603,892,1861
$GC,10478,1.11,233.8,520.4,9.6,504,10482,0.00,2.47,0.00,0.000,6,0.000,0.034,2603,2309,1860
$GC,10804,1.11,233.8,489.6,9.4,520,10808,0.00,2.58,0.00,0.000,4,0.000,0.060,2603,3707,1861
$GC,10837,1.05,233.8,486.2,10.1,521,10843,0.00,2.45,0.00,0.000,6,0.000,0.028,2603,2295,1860
$GC,11153,1.05,233.8,456.5,9.5,537,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2294,1860
$GC,11462,1.05,233.8,428.8,8.9,552,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2292,1860
$GC,11772,1.05,233.8,402.5,8.1,567,11773,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2291,1860
$GC,12081,1.05,233.8,376.6,8.5,582,12082,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2291,1860
$GC,12390,1.05,233.8,349.1,9.2,597,12391,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2292,1860
$GC,12700,1.05,233.8,319.3,9.7,612,12701,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2292,1860
$GC,13008,1.05,233.8,287.5,10.5,627,13012,0.00,2.47,0.00,0.000,4,0.000,0.045,2603,892,1860
$GC,13042,1.05,233.8,283.8,10.8,628,13046,0.00,2.45,0.00,0.000,6,0.000,0.032,2603,2303,1860
$GC,13358,1.05,233.8,251.0,10.4,643,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2303,1860
$GC,13666,1.05,233.8,220.3,9.9,658,13668,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2303,1860
$GC,13976,1.05,233.8,189.9,9.5,673,13977,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2304,1860
$GC,14285,1.05,233.8,162.9,7.8,688,14287,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2304,1860
$GC,14596,1.05,233.8,135.2,10.1,703,14600,0.00,2.50,0.00,0.000,4,0.000,0.042,2603,892,1860
$GC,14625,1.05,233.8,132.0,11.1,704,14629,0.00,2.45,0.00,0.000,6,0.000,0.031,2603,2306,1860
$GC,14940,1.05,233.8,97.9,10.6,719,14945,0.00,2.55,0.00,0.000,4,0.000,0.057,2603,3706,1861
$GC,15013,1.05,233.8,89.5,10.7,722,15018,0.00,2.42,0.00,0.000,6,0.000,0.027,2603,2292,1860
$GC,15331,1.05,233.8,56.3,10.8,737,15332,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2290,1861
$GC,15639,1.05,233.8,24.2,9.5,752,15643,0.00,2.45,0.00,0.000,4,0.000,0.044,2603,899,1861
$GC,15809,1.05,233.8,9.7,8.4,759,15815,0.00,2.42,0.00,0.000,6,0.000,0.032,2603,2310,1860
$STATE,15895,end climb,SURFACE_DEPTH_REACHED
$STATE,15895,begin surface coast
$FINISH,0.7,1.012766
$STATE,15917,end surface coast,CONTROL_FINISHED_OK
$STATE,15918,begin surface
$SM_CCo,15940,9.52,0.525,0,0,1797,250.21
$SM_GC,2.98,0.00,0.00,9.52,0.000,0.000,0.525,70,2608,1797,-10.53,0.23,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1765
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.5,78.8
$24V_AH,23.6,31.830
$10V_AH,10.1,15.988
$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,27.475,88.875,318.575,9.525,0.000,69.461,131.974,226.067,5.500,0.000,0.000,15.269,1385.499,12500.994,431.837,1626.161,681.714,0.000,1231.186,0.000,1587.048,0.000,38.629,0.000
$DEVICE_MAMPS,185.614,69.797,1050.790,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,561.711,522.942,456.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37936,765
$CAP_FILE_SIZE,111438,0
$CFSIZE,260165632,247824384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,100709,144937,6336.888,-1309.983,30,1.1,30,-12.4