version: 66.04
glider: 16
mission: 13
dive: 189
start: 7 10 109 19 33 20
data:
$ID,16
$MISSION,13
$DIVE,189
$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,-2110957.5
$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,37
$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
$GPS1,192800,6334.861,-1315.623,38,1.0,43,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.4
$GPS2,193302,6334.809,-1315.653,14,1.0,14,-12.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-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,191.5,36690,-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,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,61,0.00,0.00,-42.08,0.000,2,0.000,0.000,75,2613,3005
$GC,64,-1.03,-146.6,4.3,-10.5,2,90,11.73,2.33,-7.57,0.000,4,0.177,0.074,2131,3846,3417
$GC,247,-1.03,-146.6,34.2,-14.2,10,251,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2576,3418
$GC,574,-1.03,-146.6,73.6,-10.8,26,579,0.00,2.35,0.00,0.000,4,0.000,0.059,2131,3854,3419
$GC,641,-1.03,-146.6,81.1,-11.5,29,645,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2589,3419
$GC,969,-1.03,-146.6,113.1,-9.7,45,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2589,3419
$GC,1278,-1.03,-146.6,142.6,-9.7,60,1282,0.00,2.40,0.00,0.000,4,0.000,0.038,2131,1217,3419
$GC,1305,-1.03,-146.6,145.4,-9.3,61,1309,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2602,3419
$GC,1621,-1.03,-146.6,178.7,-11.1,76,1625,0.00,2.30,0.00,0.000,4,0.000,0.062,2131,3860,3419
$GC,1661,-1.03,-146.6,183.7,-12.5,78,1665,0.00,2.10,0.00,0.000,6,0.000,0.026,2131,2600,3419
$GC,1993,-1.03,-146.6,220.7,-10.9,94,1997,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1212,3419
$GC,2043,-1.03,-146.6,226.2,-10.9,96,2047,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3419
$GC,2359,-1.03,-146.6,258.9,-9.9,111,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,2668,-1.03,-146.6,288.0,-9.2,126,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,2978,-1.03,-146.6,319.3,-10.6,141,2982,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1213,3420
$GC,3022,-1.03,-146.6,324.1,-10.4,143,3026,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3419
$GC,3343,-1.03,-146.6,356.3,-9.5,159,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,3652,-1.03,-146.6,384.4,-9.0,174,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3419
$GC,3961,-1.03,-146.6,411.8,-8.9,189,3965,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1212,3418
$GC,4005,-1.07,-146.6,416.1,-9.4,191,4009,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2601,3418
$GC,4326,-1.07,-146.6,447.7,-9.8,207,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3418
$GC,4635,-1.07,-146.6,479.9,-10.9,222,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3418
$GC,4945,-1.07,-146.6,512.4,-10.2,237,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3418
$GC,5253,-1.07,-146.6,541.5,-8.7,252,5258,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1213,3418
$GC,5298,-1.07,-146.6,545.0,-7.7,254,5302,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3418
$GC,5619,-1.07,-146.6,569.3,-6.7,270,5623,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1211,3417
$GC,5659,-1.11,-146.6,572.3,-7.4,272,5663,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2601,3417
$GC,5986,-1.11,-146.6,598.2,-4.5,288,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3417
$GC,6296,-1.11,-146.6,626.6,-8.3,303,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3416
$GC,6604,-1.11,-146.6,645.6,-7.1,318,6608,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1210,3416
$GC,6650,-1.18,-146.6,648.8,-7.3,320,6655,0.15,2.42,0.00,0.000,6,0.043,0.036,2086,2600,3416
$GC,6980,-1.07,-146.6,681.7,-10.9,336,6985,0.20,2.33,0.00,0.000,4,0.099,0.067,2127,3860,3416
$GC,7088,-1.07,-146.6,693.0,-10.2,341,7091,0.00,2.10,0.00,0.000,6,0.000,0.026,2127,2603,3416
$GC,7421,-1.07,-146.6,720.3,-7.4,357,7425,0.00,2.42,0.00,0.000,4,0.000,0.041,2127,1215,3415
$GC,7528,-1.13,-146.6,728.5,-8.5,362,7532,0.00,2.42,0.00,0.000,6,0.000,0.037,2127,2603,3415
$GC,7861,-1.13,-146.6,753.3,-7.5,378,7865,0.00,2.33,0.00,0.000,4,0.000,0.071,2128,3857,3415
$GC,7930,-1.13,-146.6,759.7,-10.4,381,7934,0.00,2.12,0.00,0.000,6,0.000,0.028,2127,2603,3415
$STATE,8053,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8054,begin apogee
$GC,8060,-0.31,0.0,768.1,6.9,387,8196,0.80,0.00,129.15,1.071,6,0.095,0.000,2290,2298,2816
$STATE,8197,end apogee,CONTROL_FINISHED_OK
$STATE,8197,begin climb
$GC,8200,1.03,146.6,772.1,0.0,394,8341,1.38,2.58,130.35,1.058,4,0.066,0.051,2583,912,2218
$GC,8596,0.95,160.4,748.2,7.0,412,8616,0.00,2.45,13.15,0.939,6,0.000,0.035,2583,2303,2162
$GC,8946,0.99,275.3,722.2,3.6,429,9058,0.00,2.60,105.00,1.039,4,0.000,0.047,2583,919,1692
$GC,9116,0.99,275.3,709.2,9.9,437,9120,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2300,1687
$GC,9442,0.99,275.3,672.4,10.7,453,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2300,1681
$GC,9752,1.04,275.3,634.1,13.3,468,9756,0.00,2.53,0.00,0.000,4,0.000,0.048,2583,905,1681
$GC,9779,1.04,275.3,630.2,14.3,469,9783,0.00,2.47,0.00,0.000,6,0.000,0.035,2583,2306,1679
$GC,10100,1.08,275.3,588.8,13.5,485,10104,0.00,2.53,0.00,0.000,4,0.000,0.046,2583,908,1679
$GC,10128,1.12,275.3,584.3,15.6,486,10132,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2299,1679
$GC,10444,1.12,275.3,538.7,13.7,501,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2299,1679
$GC,10754,1.17,275.3,498.0,12.7,516,10756,0.15,0.00,0.00,0.000,6,0.055,0.000,2626,2299,1679
$GC,11063,1.10,275.3,452.7,14.6,531,11065,0.12,0.00,0.00,0.000,6,0.097,0.000,2602,2299,1679
$GC,11372,1.10,275.3,414.1,11.8,546,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2300,1679
$GC,11681,1.10,275.3,378.6,11.5,561,11682,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2299,1679
$GC,11991,1.10,275.3,342.0,11.8,576,11995,0.00,2.47,0.00,0.000,4,0.000,0.044,2602,906,1678
$GC,12018,1.10,275.3,338.3,12.9,577,12023,0.00,2.42,0.00,0.000,6,0.000,0.032,2602,2302,1678
$GC,12339,1.10,275.3,298.3,11.4,593,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2302,1678
$GC,12649,1.10,275.3,262.8,11.8,608,12650,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2302,1678
$GC,12958,1.10,275.3,224.0,12.4,623,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2303,1678
$GC,13267,1.10,275.3,187.4,11.4,638,13271,0.00,2.47,0.00,0.000,4,0.000,0.041,2602,909,1678
$GC,13307,1.10,275.3,182.8,11.7,640,13311,0.00,2.42,0.00,0.000,6,0.000,0.032,2602,2306,1678
$GC,13634,1.10,275.3,148.7,10.4,656,13636,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2306,1678
$GC,13943,1.10,275.3,118.4,9.4,671,13944,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2306,1678
$GC,14253,1.10,275.3,92.0,7.9,686,14254,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2306,1678
$GC,14561,1.10,275.3,67.8,8.1,701,14566,0.00,2.55,0.00,0.000,4,0.000,0.058,2601,3701,1678
$GC,14589,1.10,275.3,65.2,8.8,702,14593,0.00,2.40,0.00,0.000,6,0.000,0.027,2602,2299,1679
$GC,14905,1.14,310.5,42.5,6.3,717,14940,0.00,2.58,28.75,0.593,4,0.000,0.044,2602,901,1549
$GC,15003,1.19,356.0,36.2,5.9,721,15050,0.00,2.45,39.95,0.590,6,0.000,0.031,2603,2302,1364
$GC,15370,1.28,356.0,8.6,9.1,739,15374,0.17,2.50,0.00,0.000,4,0.044,0.041,2659,901,1356
$STATE,15417,end climb,SURFACE_DEPTH_REACHED
$STATE,15417,begin surface coast
$FINISH,0.8,1.026422
$STATE,15440,end surface coast,CONTROL_FINISHED_OK
$STATE,15440,begin surface
$SM_CCo,15527,0.00,0.000,0,0,1352,359.61
$SM_GC,1.71,12.20,0.00,0.00,0.079,0.000,0.000,75,2595,1352,-10.46,-0.14,359.61
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1759
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.4,26.5
$24V_AH,23.6,32.060
$10V_AH,10.1,16.130
$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,26.900,106.800,446.350,0.000,0.000,18.383,26.241,137.161,6.750,0.000,0.000,14.895,1354.751,11882.064,487.496,1665.426,438.808,0.000,1334.281,0.000,1619.817,0.000,47.602,0.000
$DEVICE_MAMPS,177.177,74.399,1070.732,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,544.662,506.177,463.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38032,742
$CAP_FILE_SIZE,109418,0
$CFSIZE,260165632,247721984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100709,235325,6334.871,-1313.512,42,1.3,42,-12.4