version: 66.04
glider: 16
mission: 13
dive: 188
start: 7 10 109 14 54 55
data:
$ID,16
$MISSION,13
$DIVE,188
$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,-2110941.8
$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,29
$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
$GPS1,144937,6336.888,-1309.983,30,1.1,30,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-67.5
$GPS2,145438,6336.917,-1310.025,13,1.3,13,-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,241.5,5422,-16.9,-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,14,begin dive
$GC,18,-1.17,-103.7,0.0,0.0,0,69,0.00,0.00,-49.38,0.000,6,0.000,0.000,69,2608,3241
$GC,72,-1.17,-103.7,3.8,-7.7,2,94,11.77,2.33,0.00,0.000,4,0.185,0.056,2101,3856,3243
$GC,190,-1.10,-103.7,30.3,-13.3,7,194,0.00,2.15,0.00,0.000,6,0.000,0.025,2101,2582,3243
$GC,518,-1.10,-103.7,70.9,-11.4,23,522,0.00,2.40,0.00,0.000,4,0.000,0.037,2101,1205,3244
$GC,574,-1.10,-103.7,77.7,-11.5,25,580,0.00,2.42,0.00,0.000,6,0.000,0.035,2101,2596,3244
$GC,892,-1.10,-103.7,115.6,-11.5,41,896,0.00,2.33,0.00,0.000,4,0.000,0.061,2102,3863,3244
$GC,964,-1.10,-103.7,125.5,-12.6,44,968,0.00,2.12,0.00,0.000,6,0.000,0.025,2101,2595,3244
$GC,1285,-1.10,-103.7,163.2,-12.3,60,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2592,3243
$GC,1596,-1.10,-103.7,200.1,-11.8,75,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2592,3244
$GC,1904,-1.10,-103.7,234.7,-11.2,90,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2592,3244
$GC,2213,-1.10,-103.7,267.8,-10.1,105,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2592,3244
$GC,2523,-1.10,-103.7,299.0,-10.7,120,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2592,3243
$GC,2832,-1.10,-103.7,332.2,-10.3,135,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2590,3243
$GC,3141,-1.10,-103.7,363.9,-10.5,150,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2590,3243
$GC,3451,-1.10,-103.7,397.5,-10.7,165,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2590,3243
$GC,3759,-1.10,-103.7,431.8,-11.3,180,3763,0.00,2.40,0.00,0.000,4,0.000,0.038,2102,1218,3243
$GC,3799,-1.10,-103.7,436.2,-11.6,182,3803,0.00,2.42,0.00,0.000,6,0.000,0.035,2101,2607,3243
$GC,4127,-1.10,-103.7,475.9,-12.7,198,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2608,3243
$GC,4435,-1.10,-103.7,514.9,-12.9,213,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2608,3243
$GC,4747,-1.10,-103.7,552.3,-11.4,228,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2608,3243
$GC,5054,-1.10,-103.7,585.8,-10.4,243,5058,0.00,2.30,0.00,0.000,4,0.000,0.067,2101,3856,3243
$GC,5104,-1.10,-103.7,590.9,-9.9,245,5107,0.00,2.10,0.00,0.000,6,0.000,0.027,2101,2601,3243
$GC,5426,-1.10,-103.7,619.2,-8.4,261,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2600,3243
$GC,5735,-1.15,-146.6,634.9,-2.0,276,5739,0.00,2.30,0.00,0.000,4,0.000,0.066,2102,3856,3242
$GC,5787,-1.15,-146.6,635.6,-2.1,278,5790,0.00,2.10,0.00,0.000,6,0.000,0.027,2102,2601,3242
$GC,6114,-1.15,-146.6,630.7,2.6,294,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2600,3242
$GC,6423,-1.15,-146.6,634.0,-3.4,309,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2600,3242
$GC,6732,-1.15,-146.6,632.6,3.1,324,6736,0.00,2.33,0.00,0.000,4,0.000,0.067,2101,3861,3242
$GC,6779,-1.15,-146.6,631.2,2.7,326,6783,0.00,2.12,0.00,0.000,6,0.000,0.027,2101,2595,3242
$GC,7112,-1.15,-146.6,622.1,1.6,342,7116,0.00,2.42,0.00,0.000,4,0.000,0.041,2103,1209,3241
$GC,7197,-1.15,-146.6,621.6,0.7,346,7201,0.00,2.42,0.00,0.000,6,0.000,0.035,2101,2599,3242
$GC,7524,-1.15,-146.6,625.4,-4.7,362,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2599,3242
$GC,7833,-1.26,-146.6,655.3,-9.3,377,7837,0.00,2.45,0.00,0.000,4,0.000,0.041,2101,1208,3242
$GC,7905,-1.26,-146.6,659.5,-7.8,380,7909,0.00,2.42,0.00,0.000,6,0.000,0.035,2101,2601,3241
$GC,8221,-1.22,-146.6,695.1,-9.3,395,8225,0.00,2.33,0.00,0.000,4,0.000,0.070,2101,3861,3241
$GC,8288,-1.22,-146.6,702.7,-10.1,398,8292,0.00,2.12,0.00,0.000,6,0.000,0.028,2102,2604,3242
$STATE,8351,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8351,begin apogee
$GC,8358,-0.31,0.0,709.1,9.0,401,8454,0.98,0.00,91.25,1.038,6,0.130,0.000,2287,2290,2817
$STATE,8454,end apogee,CONTROL_FINISHED_OK
$STATE,8455,begin climb
$GC,8457,1.22,146.6,719.2,0.0,406,8593,1.58,0.00,130.55,1.029,6,0.072,0.000,2623,2290,2218
$GC,8891,1.08,146.6,689.1,7.8,427,8896,0.15,2.62,0.00,0.000,4,0.092,0.061,2595,3702,2212
$GC,8919,1.00,146.6,686.8,7.9,428,8924,0.00,2.42,0.00,0.000,6,0.000,0.028,2594,2309,2211
$GC,9235,1.00,146.6,649.9,12.5,443,9239,0.00,2.53,0.00,0.000,4,0.000,0.048,2594,901,2210
$GC,9441,1.00,146.6,632.1,8.0,452,9446,0.00,2.45,0.00,0.000,6,0.000,0.034,2594,2301,2208
$GC,9768,1.03,169.4,608.3,6.4,468,9793,0.00,2.67,19.95,0.917,4,0.000,0.061,2594,3709,2126
$GC,9833,0.96,169.4,603.5,7.6,471,9838,0.12,2.47,0.00,0.000,6,0.104,0.028,2572,2295,2124
$GC,10155,1.05,187.9,583.5,6.6,487,10177,0.00,2.70,17.60,0.896,4,0.000,0.058,2572,3704,2050
$GC,10233,1.05,187.9,577.0,9.6,490,10238,0.00,2.42,0.00,0.000,6,0.000,0.028,2572,2297,2049
$GC,10556,1.15,187.9,546.7,9.9,506,10558,0.17,0.00,0.00,0.000,6,0.046,0.000,2622,2298,2047
$GC,10865,1.10,187.9,509.0,12.4,521,10866,0.12,0.00,0.00,0.000,6,0.100,0.000,2599,2295,2046
$GC,11174,1.10,187.9,472.1,12.3,536,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2294,2046
$GC,11483,1.10,187.9,434.8,12.0,551,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2294,2046
$GC,11792,1.10,187.9,402.3,10.2,566,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2294,2045
$GC,12102,1.10,187.9,371.7,9.7,581,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2294,2046
$GC,12410,1.10,187.9,341.1,10.0,596,12415,0.00,2.58,0.00,0.000,4,0.000,0.057,2598,3707,2046
$GC,12461,1.10,187.9,335.7,11.1,598,12466,0.00,2.42,0.00,0.000,6,0.000,0.027,2598,2292,2046
$GC,12777,1.10,187.9,305.4,9.3,613,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2290,2045
$GC,13086,1.10,187.9,277.6,9.0,628,13087,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2290,2046
$GC,13396,1.14,187.9,251.9,8.1,643,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2291,2045
$GC,13705,1.16,204.9,229.7,6.7,658,13726,0.00,0.00,15.50,0.683,6,0.000,0.000,2598,2290,1980
$GC,14037,1.23,220.7,207.0,6.7,674,14059,0.12,2.65,14.80,0.663,4,0.049,0.054,2637,3709,1917
$GC,14087,1.13,220.7,202.5,9.9,676,14092,0.17,2.45,0.00,0.000,6,0.097,0.026,2604,2297,1916
$GC,14409,1.19,220.7,174.9,9.4,692,14410,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2296,1914
$GC,14718,1.24,220.7,143.4,10.2,707,14720,0.12,0.00,0.00,0.000,6,0.050,0.000,2642,2296,1915
$GC,15028,1.19,220.7,111.0,10.2,722,15030,0.12,0.00,0.00,0.000,6,0.095,0.000,2618,2295,1914
$GC,15338,1.19,220.7,78.6,11.0,737,15339,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2295,1914
$GC,15646,1.19,220.7,50.4,8.4,752,15647,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2295,1914
$GC,15955,1.19,220.7,25.6,8.1,767,15960,0.00,2.58,0.00,0.000,4,0.000,0.054,2618,3708,1914
$GC,16028,1.19,220.7,19.1,8.9,770,16032,0.00,2.42,0.00,0.000,6,0.000,0.027,2618,2292,1914
$STATE,16238,end climb,SURFACE_DEPTH_REACHED
$STATE,16238,begin surface coast
$FINISH,0.8,1.005751
$STATE,16260,end surface coast,CONTROL_FINISHED_OK
$STATE,16260,begin surface
$SM_CCo,16284,18.55,0.559,0,0,1796,250.21
$SM_GC,2.28,0.00,0.00,18.55,0.000,0.000,0.559,75,2612,1796,-10.52,0.37,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1776
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.7,92.8
$24V_AH,23.6,31.925
$10V_AH,10.1,16.058
$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,27.600,82.425,289.650,18.550,0.000,17.993,30.075,134.895,5.250,0.000,0.000,13.219,1411.500,12775.877,384.278,1600.519,434.136,0.000,1175.177,0.000,1567.935,0.000,36.734,0.000
$DEVICE_MAMPS,184.847,69.797,1037.751,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.395,535.743,451.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37965,781
$CAP_FILE_SIZE,107587,0
$CFSIZE,260165632,247775232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,100709,192800,6334.861,-1315.623,38,1.0,43,-12.4