version: 66.04
glider: 16
mission: 13
dive: 184
start: 7 9 109 20 43 49
data:
$ID,16
$MISSION,13
$DIVE,184
$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,-2110882.8
$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,34
$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
$GPS1,203842,6339.080,-1307.862,37,1.9,42,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-61.1
$GPS2,204332,6339.071,-1307.784,11,1.5,11,-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,230.7,9602,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-81.10,0.000,2,0.000,0.000,80,2603,3407
$GC,104,-1.03,-146.6,5.9,-6.9,4,126,12.10,2.35,0.00,0.000,4,0.193,0.059,2129,3858,3409
$GC,379,-0.97,-146.6,58.7,-13.0,16,383,0.00,2.15,0.00,0.000,6,0.000,0.026,2129,2579,3409
$GC,700,-0.97,-146.6,91.4,-8.1,32,704,0.00,2.35,0.00,0.000,4,0.000,0.060,2129,3857,3410
$GC,846,-0.97,-146.6,100.0,-5.7,38,852,0.00,2.10,0.00,0.000,6,0.000,0.026,2129,2593,3409
$GC,1164,-0.97,-146.6,115.5,-4.5,54,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3410
$GC,1472,-0.97,-146.6,131.9,-6.1,69,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3410
$GC,1780,-0.97,-146.6,153.8,-6.9,84,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3410
$GC,2089,-0.97,-146.6,178.6,-8.3,99,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3410
$GC,2399,-0.97,-146.6,206.3,-9.0,114,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3410
$GC,2708,-0.97,-146.6,235.0,-9.5,129,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3409
$GC,3017,-0.97,-146.6,267.4,-11.2,144,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3409
$GC,3327,-0.97,-146.6,303.9,-11.8,159,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3409
$GC,3635,-0.97,-146.6,339.7,-11.6,174,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3409
$GC,3945,-0.97,-146.6,374.8,-11.0,189,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3409
$GC,4254,-0.97,-146.6,409.8,-11.0,204,4258,0.00,2.40,0.00,0.000,4,0.000,0.039,2129,1221,3409
$GC,4304,-0.97,-146.6,415.4,-10.5,206,4309,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2606,3408
$GC,4625,-0.97,-146.6,447.2,-9.7,222,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2607,3408
$GC,4936,-0.97,-146.6,475.7,-9.3,237,4940,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1220,3408
$GC,4985,-0.97,-146.6,480.5,-9.4,239,4989,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2606,3408
$GC,5301,-0.97,-146.6,509.6,-8.9,254,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2606,3408
$GC,5611,-0.97,-146.6,535.1,-7.4,269,5615,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1220,3408
$GC,5673,-0.97,-146.6,539.1,-6.2,272,5677,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2608,3408
$GC,5999,-0.97,-146.6,561.4,-7.1,288,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2609,3408
$GC,6309,-0.97,-146.6,583.4,-6.9,303,6313,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1221,3408
$GC,6359,-1.02,-146.6,586.8,-6.5,305,6364,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2608,3407
$GC,6675,-1.02,-146.6,612.7,-9.6,320,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3407
$GC,6984,-1.02,-146.6,643.8,-9.3,335,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3407
$GC,7294,-1.02,-146.6,664.1,-5.9,350,7298,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1220,3407
$GC,7344,-1.09,-146.6,666.9,-5.3,352,7349,0.00,2.42,0.00,0.000,6,0.000,0.037,2129,2603,3407
$GC,7660,-1.09,-146.6,686.6,-6.9,367,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2603,3407
$GC,7969,-1.09,-146.6,704.9,-6.7,382,7973,0.00,2.35,0.00,0.000,4,0.000,0.076,2129,3856,3406
$GC,8020,-1.09,-146.6,706.3,-3.8,384,8024,0.00,2.10,0.00,0.000,6,0.000,0.027,2129,2607,3406
$STATE,8050,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8050,begin apogee
$GC,8057,-0.31,0.0,708.4,6.4,386,8186,0.77,0.00,125.85,1.041,6,0.091,0.000,2288,2309,2817
$STATE,8187,end apogee,CONTROL_FINISHED_OK
$STATE,8187,begin climb
$GC,8190,1.03,146.6,711.1,0.0,392,8326,1.38,2.60,128.85,1.032,4,0.072,0.048,2582,906,2219
$GC,8410,0.95,146.6,705.1,9.7,403,8415,0.00,2.47,0.00,0.000,6,0.000,0.033,2582,2308,2213
$GC,8732,0.85,146.6,673.7,10.2,419,8737,0.20,2.60,0.00,0.000,4,0.093,0.061,2540,3701,2210
$GC,8880,0.78,146.6,659.5,7.6,425,8886,0.00,2.42,0.00,0.000,6,0.000,0.029,2540,2306,2210
$GC,9196,0.78,146.6,631.0,8.5,441,9200,0.00,2.60,0.00,0.000,4,0.000,0.061,2540,3697,2209
$GC,9274,0.72,153.5,625.2,7.3,444,9286,0.12,2.42,5.60,0.734,6,0.104,0.028,2517,2299,2191
$GC,9610,0.86,211.8,607.0,5.5,461,9667,0.12,0.00,53.50,0.973,6,0.051,0.000,2554,2299,1953
$GC,9977,0.93,230.7,582.8,6.9,479,10002,0.00,2.70,17.55,0.904,4,0.000,0.061,2553,3699,1875
$GC,10037,0.94,237.4,578.7,7.3,481,10051,0.00,2.45,7.62,0.785,6,0.000,0.029,2553,2300,1849
$GC,10375,1.03,253.7,556.0,6.9,498,10394,0.15,0.00,16.02,0.878,6,0.050,0.000,2594,2300,1781
$GC,10703,1.03,253.7,525.8,9.3,514,10704,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2300,1778
$GC,11012,1.03,253.7,499.8,7.7,529,11016,0.00,2.50,0.00,0.000,4,0.000,0.048,2594,897,1777
$GC,11051,1.03,253.7,496.7,7.9,530,11057,0.00,2.45,0.00,0.000,6,0.000,0.034,2594,2300,1775
$GC,11367,1.05,265.4,473.7,7.1,546,11380,0.00,0.00,11.23,0.795,6,0.000,0.000,2594,2299,1734
$GC,11676,1.06,273.7,451.7,7.2,561,11690,0.00,2.55,8.88,0.751,4,0.000,0.044,2594,897,1700
$GC,11725,1.06,273.7,447.6,8.2,563,11729,0.00,2.47,0.00,0.000,6,0.000,0.033,2594,2305,1699
$GC,12045,1.06,273.7,420.6,9.1,579,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2305,1698
$GC,12355,1.06,273.7,393.9,9.0,594,12356,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2305,1698
$GC,12664,1.06,273.7,365.8,9.1,609,12669,0.00,2.53,0.00,0.000,4,0.000,0.043,2594,890,1698
$GC,12705,1.06,273.7,361.9,10.1,611,12709,0.00,2.47,0.00,0.000,6,0.000,0.033,2594,2308,1697
$GC,13031,1.06,273.7,331.2,9.5,627,13032,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2308,1697
$GC,13341,1.06,273.7,300.7,10.0,642,13345,0.00,2.50,0.00,0.000,4,0.000,0.043,2594,897,1697
$GC,13385,1.06,273.7,295.9,11.3,644,13389,0.00,2.45,0.00,0.000,6,0.000,0.032,2594,2306,1697
$GC,13705,1.06,273.7,262.5,10.6,660,13706,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2307,1697
$GC,14015,1.06,273.7,230.0,10.5,675,14016,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2307,1697
$GC,14324,1.06,273.7,198.4,10.2,690,14328,0.00,2.50,0.00,0.000,4,0.000,0.042,2594,892,1697
$GC,14357,1.06,273.7,194.9,9.9,691,14361,0.00,2.45,0.00,0.000,6,0.000,0.033,2594,2309,1697
$GC,14678,1.06,273.7,164.7,9.2,707,14679,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2309,1698
$GC,14987,1.06,273.7,136.3,9.0,722,14991,0.00,2.50,0.00,0.000,4,0.000,0.043,2594,897,1697
$GC,15020,1.06,273.7,132.9,9.9,723,15027,0.00,2.42,0.00,0.000,6,0.000,0.032,2594,2301,1697
$GC,15338,1.06,273.7,102.5,10.6,739,15339,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2301,1698
$GC,15646,1.06,273.7,73.7,8.1,754,15650,0.00,2.47,0.00,0.000,4,0.000,0.042,2594,896,1698
$GC,15712,1.07,282.7,68.3,7.2,757,15729,0.00,2.45,8.85,0.554,6,0.000,0.032,2594,2311,1663
$GC,16041,1.08,299.3,46.2,6.9,773,16063,0.00,2.55,16.33,0.579,4,0.000,0.056,2594,3700,1595
$GC,16080,1.08,299.3,42.8,7.8,774,16087,0.00,2.42,0.00,0.000,6,0.000,0.027,2594,2294,1593
$GC,16397,1.15,304.0,20.1,7.3,790,16407,0.00,2.47,5.15,0.458,4,0.000,0.044,2594,900,1576
$GC,16484,1.23,323.7,13.6,6.8,794,16509,0.15,2.45,18.48,0.561,6,0.053,0.032,2641,2310,1496
$STATE,16587,end climb,SURFACE_DEPTH_REACHED
$STATE,16587,begin surface coast
$FINISH,0.8,1.026540
$STATE,16609,end surface coast,CONTROL_FINISHED_OK
$STATE,16609,begin surface
$SM_CCo,16693,0.00,0.000,0,0,1489,325.51
$SM_GC,1.63,12.57,0.00,0.00,0.098,0.000,0.000,76,2604,1489,-10.45,0.11,325.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1748
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.5,41.0
$24V_AH,23.6,31.458
$10V_AH,10.1,15.776
$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,27.575,103.525,423.900,0.000,0.000,18.355,27.313,130.089,6.000,0.000,0.000,11.420,1448.624,12847.035,546.698,1701.089,437.258,0.000,1392.653,0.000,1665.054,0.000,42.739,0.000
$DEVICE_MAMPS,192.517,75.933,1040.819,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,588.368,546.237,504.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41087,800
$CAP_FILE_SIZE,114680,0
$CFSIZE,260165632,247975936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100709,012307,6339.018,-1303.916,29,1.7,29,-12.3