version: 66.04
glider: 16
mission: 13
dive: 183
start: 7 9 109 15 50 25
data:
$ID,16
$MISSION,13
$DIVE,183
$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,-2110870.5
$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,38
$R_STBD_OVSHOOT,20
$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
$GPS1,154537,6341.011,-1306.355,40,1.6,40,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.3
$GPS2,155008,6341.013,-1306.405,12,1.7,12,-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,224.9,13197,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.05,0.000,2,0.000,0.000,80,2603,3205
$GC,102,-1.03,-146.6,5.0,-5.4,4,125,12.10,2.33,-3.58,0.000,4,0.192,0.074,2132,3864,3415
$GC,276,-1.03,-146.6,34.6,-12.5,11,282,0.00,2.20,0.00,0.000,6,0.000,0.026,2132,2581,3415
$GC,592,-1.03,-146.6,68.6,-9.6,27,596,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1213,3415
$GC,641,-1.03,-146.6,73.2,-9.0,29,646,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2609,3415
$GC,959,-1.03,-146.6,105.5,-10.3,44,963,0.00,2.30,0.00,0.000,4,0.000,0.063,2132,3857,3415
$GC,999,-1.03,-146.6,109.7,-10.1,46,1003,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2592,3415
$GC,1331,-1.03,-146.6,140.6,-9.2,62,1335,0.00,2.42,0.00,0.000,4,0.000,0.039,2132,1209,3415
$GC,1364,-1.03,-146.6,143.8,-9.5,63,1370,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2597,3415
$GC,1679,-1.03,-146.6,173.3,-9.7,79,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2597,3415
$GC,1989,-1.03,-146.6,203.9,-9.8,94,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2597,3415
$GC,2298,-1.03,-146.6,234.2,-10.0,109,2302,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1215,3415
$GC,2338,-1.03,-146.6,238.4,-10.0,111,2343,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3415
$GC,2665,-1.03,-146.6,269.9,-9.5,127,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3415
$GC,2976,-1.03,-146.6,300.7,-10.2,142,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3415
$GC,3284,-1.03,-146.6,330.1,-9.4,157,3288,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1215,3415
$GC,3316,-1.03,-146.6,333.3,-9.7,158,3322,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2599,3415
$GC,3632,-1.03,-146.6,362.6,-9.2,174,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3415
$GC,3941,-1.03,-146.6,385.7,-7.1,189,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3415
$GC,4251,-1.03,-146.6,408.1,-7.0,204,4255,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1217,3415
$GC,4301,-1.03,-146.6,411.7,-6.9,206,4306,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3415
$GC,4617,-1.03,-146.6,434.8,-7.8,221,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3415
$GC,4927,-1.03,-146.6,456.7,-7.2,236,4931,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1216,3415
$GC,4968,-1.07,-146.6,459.7,-7.8,238,4972,0.00,2.42,0.00,0.000,6,0.000,0.036,2132,2602,3415
$GC,5294,-1.07,-146.6,485.8,-8.0,254,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3415
$GC,5604,-1.07,-146.6,508.6,-7.1,269,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3415
$GC,5913,-1.07,-146.6,529.2,-6.5,284,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3415
$GC,6223,-1.07,-146.6,550.5,-7.3,299,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3414
$GC,6532,-1.07,-146.6,574.5,-7.4,314,6536,0.00,2.42,0.00,0.000,4,0.000,0.039,2132,1214,3414
$GC,6578,-1.12,-146.6,577.2,-5.4,316,6583,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2600,3414
$GC,6905,-1.12,-146.6,598.8,-7.5,332,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3414
$GC,7215,-1.12,-146.6,623.1,-8.1,347,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3414
$GC,7524,-1.16,-146.6,647.0,-6.7,362,7529,0.12,2.33,0.00,0.000,4,0.047,0.067,2090,3857,3413
$GC,7567,-1.05,-146.6,650.2,-8.1,364,7572,0.20,2.10,0.00,0.000,6,0.100,0.027,2128,2602,3414
$GC,7894,-1.05,-146.6,675.0,-7.3,380,7899,0.00,2.45,0.00,0.000,4,0.000,0.041,2128,1211,3413
$GC,7985,-1.10,-146.6,681.8,-7.2,384,7989,0.00,2.45,0.00,0.000,6,0.000,0.037,2128,2609,3413
$GC,8312,-1.10,-146.6,707.7,-8.4,400,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2609,3413
$GC,8621,-1.48,-146.6,723.2,-0.0,415,8623,0.43,0.00,0.00,0.000,6,0.048,0.000,2030,2609,3412
$STATE,8803,end dive,NO_VERTICAL_VELOCITY
$STATE,8804,begin apogee
$GC,8811,-0.31,0.0,723.3,0.0,424,8946,1.23,0.00,127.12,1.053,6,0.074,0.000,2292,2302,2817
$STATE,8947,end apogee,CONTROL_FINISHED_OK
$STATE,8947,begin climb
$GC,8950,1.03,146.6,723.1,0.0,431,9088,1.35,2.72,128.55,1.035,4,0.072,0.062,2581,3701,2218
$GC,9226,0.89,146.6,706.8,8.6,443,9233,0.15,2.42,0.00,0.000,6,0.097,0.029,2554,2316,2215
$GC,9542,0.89,180.3,685.8,6.3,459,9574,0.00,0.00,29.95,0.988,6,0.000,0.000,2554,2316,2083
$GC,9871,0.93,214.8,665.4,6.3,475,9912,0.00,2.65,31.75,0.987,4,0.000,0.050,2555,908,1939
$GC,9946,0.94,227.7,660.5,7.1,478,9965,0.00,2.50,13.07,0.912,6,0.000,0.036,2554,2311,1887
$GC,10288,1.00,227.7,635.2,7.7,495,10293,0.10,2.60,0.00,0.000,4,0.054,0.064,2585,3704,1883
$GC,10351,0.93,227.7,628.8,10.7,498,10356,0.12,2.45,0.00,0.000,6,0.107,0.030,2563,2303,1883
$GC,10678,0.97,227.7,598.6,9.4,514,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2303,1881
$GC,10988,0.97,227.7,570.7,9.2,529,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2303,1881
$GC,11296,0.97,227.7,544.3,8.0,544,11301,0.00,2.60,0.00,0.000,4,0.000,0.061,2563,3701,1881
$GC,11337,0.97,227.7,540.7,9.9,546,11341,0.00,2.45,0.00,0.000,6,0.000,0.029,2562,2292,1880
$GC,11664,1.02,231.1,515.1,7.4,562,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2291,1880
$GC,11972,1.02,231.1,492.8,7.7,577,11973,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2291,1880
$GC,12282,1.07,231.1,468.5,7.8,592,12284,0.12,0.00,0.00,0.000,6,0.050,0.000,2601,2291,1880
$GC,12591,1.01,231.1,442.4,8.4,607,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2291,1880
$GC,12900,0.95,231.1,415.6,8.7,622,12905,0.17,2.60,0.00,0.000,4,0.091,0.058,2563,3702,1880
$GC,12956,0.95,231.1,411.0,8.3,624,12962,0.00,2.42,0.00,0.000,6,0.000,0.027,2563,2295,1880
$GC,13272,0.98,250.6,388.9,6.8,640,13297,0.00,2.55,20.35,0.794,4,0.000,0.045,2563,897,1794
$GC,13326,1.04,261.4,385.0,7.1,642,13343,0.10,2.47,11.07,0.737,6,0.052,0.032,2594,2305,1751
$GC,13661,1.04,261.4,358.3,7.9,659,13662,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2305,1747
$GC,13968,1.04,261.4,334.3,7.7,674,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2305,1747
$GC,14277,1.04,262.8,311.6,7.5,689,14279,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2305,1747
$GC,14587,1.06,278.8,289.0,7.0,704,14609,0.00,2.60,16.45,0.721,4,0.000,0.041,2595,898,1679
$GC,14638,1.08,296.4,285.3,6.9,706,14661,0.00,2.47,16.92,0.716,6,0.000,0.032,2595,2307,1607
$GC,14984,1.14,353.5,264.0,5.5,723,15037,0.00,0.00,51.12,0.743,6,0.000,0.000,2595,2306,1375
$GC,15334,1.28,423.7,245.5,5.1,740,15401,0.17,2.58,60.60,0.727,4,0.047,0.044,2651,901,1088
$GC,15461,1.28,423.7,234.9,9.2,746,15465,0.00,2.47,0.00,0.000,6,0.000,0.033,2651,2308,1082
$GC,15787,1.28,423.7,198.0,13.6,762,15791,0.00,2.53,0.00,0.000,4,0.000,0.044,2651,900,1079
$GC,15849,1.28,423.7,188.2,15.5,765,15853,0.00,2.45,0.00,0.000,6,0.000,0.033,2651,2305,1078
$GC,16182,1.28,423.7,129.8,17.7,781,16186,0.00,2.53,0.00,0.000,4,0.000,0.044,2651,897,1077
$GC,16237,1.28,423.7,120.4,15.8,783,16243,0.00,2.45,0.00,0.000,6,0.000,0.032,2651,2302,1076
$GC,16553,1.28,423.7,69.8,14.4,799,16554,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2302,1076
$GC,16863,1.28,423.7,32.8,10.9,814,16867,0.00,2.53,0.00,0.000,4,0.000,0.044,2651,892,1076
$GC,16985,1.28,423.7,17.8,13.8,819,16992,0.00,2.45,0.00,0.000,6,0.000,0.032,2652,2307,1076
$STATE,17113,end climb,SURFACE_DEPTH_REACHED
$STATE,17113,begin surface coast
$FINISH,1.0,1.026521
$STATE,17135,end surface coast,CONTROL_FINISHED_OK
$STATE,17135,begin surface
$SM_CCo,17219,0.00,0.000,0,0,1073,427.56
$SM_GC,1.77,12.57,0.00,0.00,0.098,0.000,0.000,80,2601,1073,-10.45,0.03,427.56
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1773
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.6,31.334
$10V_AH,10.1,15.700
$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,28.950,108.700,506.975,0.000,0.000,18.153,30.124,117.456,6.250,0.000,0.000,12.177,1482.467,13240.711,607.013,1737.096,424.872,0.000,1498.641,0.000,1696.119,0.000,44.290,0.000
$DEVICE_MAMPS,191.750,73.632,1053.091,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,607.746,564.523,449.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41140,827
$CAP_FILE_SIZE,119204,0
$CFSIZE,260165632,248025088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090709,203842,6339.080,-1307.862,37,1.9,42,-12.4