version: 66.04
glider: 16
mission: 13
dive: 181
start: 7 9 109 7 44 19
data:
$ID,16
$MISSION,13
$DIVE,181
$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,-2110844.2
$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,30
$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
$GPS1,073601,6343.285,-1311.043,39,1.0,39,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.3
$GPS2,074402,6343.286,-1310.981,14,1.0,14,-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,204.6,15698,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-60.88,0.000,2,0.000,0.000,66,2600,3075
$GC,82,-1.03,-146.6,4.2,-6.4,3,105,11.98,2.40,-6.30,0.000,4,0.185,0.076,2130,3858,3418
$GC,302,-0.97,-146.6,39.6,-14.7,12,309,0.00,2.15,0.00,0.000,6,0.000,0.026,2130,2575,3418
$GC,620,-0.97,-146.6,80.6,-11.9,28,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2575,3418
$GC,927,-0.97,-146.6,115.2,-10.4,43,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2575,3418
$GC,1237,-0.97,-146.6,149.1,-11.3,58,1241,0.00,2.38,0.00,0.000,4,0.000,0.062,2130,3864,3418
$GC,1277,-0.97,-146.6,154.5,-13.8,60,1281,0.00,2.12,0.00,0.000,6,0.000,0.027,2130,2601,3419
$GC,1609,-0.97,-146.6,194.4,-11.5,76,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,1919,-0.97,-146.6,229.2,-11.0,91,1923,0.00,2.42,0.00,0.000,4,0.000,0.039,2130,1214,3418
$GC,1969,-0.97,-146.6,234.6,-10.6,93,1973,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2597,3419
$GC,2284,-0.97,-146.6,268.2,-11.3,108,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,2594,-0.97,-146.6,305.7,-12.1,123,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3418
$GC,2903,-0.97,-146.6,342.9,-11.6,138,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2598,3418
$GC,3215,-0.97,-146.6,376.7,-10.8,153,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2598,3418
$GC,3521,-0.97,-146.6,408.8,-10.1,168,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2598,3418
$GC,3831,-0.97,-146.6,438.0,-8.9,183,3835,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1213,3418
$GC,3864,-0.97,-146.6,441.2,-8.9,184,3870,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,4180,-0.97,-146.6,470.8,-9.4,200,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,4489,-0.97,-146.6,498.8,-9.1,215,4494,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1213,3418
$GC,4545,-1.01,-146.6,504.0,-9.1,217,4551,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,4861,-1.01,-146.6,529.9,-7.9,233,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,5171,-1.01,-146.6,554.8,-8.6,248,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,5479,-1.01,-146.6,580.2,-8.3,263,5484,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1205,3417
$GC,5547,-1.06,-146.6,585.8,-7.7,266,5551,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2603,3417
$GC,5868,-1.06,-146.6,611.0,-7.9,282,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3417
$GC,6176,-1.06,-146.6,636.9,-8.5,297,6181,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1206,3417
$GC,6227,-1.11,-146.6,641.2,-8.2,299,6231,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2603,3417
$GC,6543,-1.16,-146.6,670.6,-8.9,314,6547,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1208,3417
$GC,6621,-1.22,-146.6,676.8,-7.9,317,6627,0.17,2.45,0.00,0.000,6,0.042,0.037,2080,2604,3417
$GC,6937,-1.11,-146.6,706.2,-8.7,333,6942,0.17,2.35,0.00,0.000,4,0.098,0.069,2117,3864,3416
$GC,6992,-1.11,-146.6,711.0,-8.0,335,6998,0.00,2.12,0.00,0.000,6,0.000,0.028,2117,2601,3416
$GC,7309,-1.11,-146.6,731.8,-7.4,351,7313,0.00,2.33,0.00,0.000,4,0.000,0.069,2117,3857,3415
$GC,7355,-1.06,-146.6,734.8,-5.1,353,7359,0.00,2.12,0.00,0.000,6,0.000,0.029,2116,2604,3414
$STATE,7478,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7478,begin apogee
$GC,7485,-0.31,0.0,743.5,6.9,359,7621,0.85,0.00,128.20,1.063,6,0.095,0.000,2290,2301,2817
$STATE,7622,end apogee,CONTROL_FINISHED_OK
$STATE,7622,begin climb
$GC,7625,1.03,146.6,746.5,0.0,366,7764,1.38,2.67,129.73,1.049,4,0.069,0.064,2581,3702,2218
$GC,7934,0.89,146.6,725.7,10.0,380,7939,0.15,2.45,0.00,0.000,6,0.100,0.030,2554,2309,2215
$GC,8250,0.91,169.5,704.3,6.7,395,8276,0.00,2.67,20.85,0.973,4,0.000,0.063,2554,3705,2125
$GC,8333,0.85,169.5,698.2,7.6,399,8337,0.00,2.47,0.00,0.000,6,0.000,0.030,2554,2292,2123
$GC,8661,0.86,185.0,675.0,7.0,415,8683,0.00,2.67,14.65,0.934,4,0.000,0.061,2554,3704,2062
$GC,8689,0.81,185.0,672.9,7.5,416,8693,0.00,2.47,0.00,0.000,6,0.000,0.029,2554,2299,2062
$GC,9010,0.81,185.0,647.8,8.0,432,9014,0.00,2.55,0.00,0.000,4,0.000,0.051,2554,894,2058
$GC,9031,0.81,185.0,646.0,8.1,433,9036,0.00,2.50,0.00,0.000,6,0.000,0.035,2553,2312,2057
$GC,9352,0.81,185.0,620.7,7.7,449,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2312,2058
$GC,9662,0.86,230.9,600.9,5.9,464,9706,0.00,0.00,42.28,0.963,6,0.000,0.000,2554,2312,1875
$GC,10014,0.93,230.9,576.2,7.8,481,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2312,1868
$GC,10323,1.00,238.1,553.3,7.3,496,10337,0.10,2.62,6.80,0.752,4,0.058,0.045,2583,897,1845
$GC,10360,1.00,238.1,550.1,8.7,497,10366,0.00,2.47,0.00,0.000,6,0.000,0.034,2583,2300,1844
$GC,10676,1.00,240.8,525.1,7.4,513,10685,0.00,2.65,3.90,0.570,4,0.000,0.061,2583,3698,1835
$GC,10721,0.95,240.8,521.4,9.0,515,10725,0.00,2.45,0.00,0.000,6,0.000,0.028,2583,2292,1835
$GC,11048,0.95,240.8,494.1,8.9,531,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2292,1835
$GC,11357,0.95,240.8,464.7,9.9,546,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2292,1835
$GC,11666,0.95,240.8,437.9,8.4,561,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2292,1835
$GC,11975,0.95,240.8,412.6,8.3,576,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2291,1835
$GC,12284,0.95,240.8,385.2,9.0,591,12289,0.00,2.58,0.00,0.000,4,0.000,0.058,2583,3698,1835
$GC,12312,0.95,240.8,382.6,8.9,592,12316,0.00,2.42,0.00,0.000,6,0.000,0.028,2583,2293,1835
$GC,12628,0.95,240.8,354.9,8.8,607,12629,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2294,1835
$GC,12936,0.95,240.8,324.2,9.8,622,12938,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2291,1835
$GC,13246,0.95,240.8,293.5,9.7,637,13247,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2291,1835
$GC,13555,0.95,240.8,262.1,10.8,652,13559,0.00,2.58,0.00,0.000,4,0.000,0.057,2583,3704,1835
$GC,13595,0.95,240.8,257.9,11.9,654,13599,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2299,1835
$GC,13927,0.95,240.8,224.3,9.9,670,13928,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2299,1835
$GC,14236,0.95,240.8,193.2,10.2,685,14237,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2299,1835
$GC,14546,0.95,240.8,161.0,10.3,700,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2299,1835
$GC,14855,0.95,240.8,130.4,9.9,715,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2299,1835
$GC,15165,0.95,240.8,100.5,9.6,730,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2299,1835
$GC,15474,0.95,240.8,72.5,9.0,745,15475,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2299,1835
$GC,15783,0.95,240.8,45.2,8.7,760,15787,0.00,2.50,0.00,0.000,4,0.000,0.046,2583,894,1835
$GC,15860,0.95,240.8,38.1,8.7,763,15867,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2302,1835
$GC,16177,1.00,240.8,11.4,8.6,779,16181,0.00,2.50,0.00,0.000,4,0.000,0.042,2583,892,1835
$GC,16233,1.05,240.8,6.4,8.4,781,16240,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2299,1835
$STATE,16279,end climb,SURFACE_DEPTH_REACHED
$STATE,16279,begin surface coast
$FINISH,1.3,1.026547
$STATE,16300,end surface coast,CONTROL_FINISHED_OK
$STATE,16300,begin surface
$SM_CCo,16324,4.82,0.438,0,0,1797,250.21
$SM_GC,3.10,0.00,0.00,4.82,0.000,0.000,0.438,69,2600,1797,-10.54,0.00,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1781
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.0,52.5
$24V_AH,23.6,31.034
$10V_AH,10.1,15.565
$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,26.700,98.725,346.400,4.825,0.000,51.205,62.795,183.992,6.000,0.000,0.000,14.643,1407.646,12767.283,466.267,1618.153,552.302,0.000,1272.221,0.000,1579.425,0.000,41.781,0.000
$DEVICE_MAMPS,184.847,75.933,1063.062,437.957,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.933,537.548,461.645,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38071,785
$CAP_FILE_SIZE,111844,0
$CFSIZE,260165632,248135680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090709,121737,6343.040,-1306.283,30,1.2,30,-12.4