version: 66.04
glider: 16
mission: 13
dive: 190
start: 7 10 109 23 58 36
data:
$ID,16
$MISSION,13
$DIVE,190
$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,-2110974.5
$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,21
$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
$GPS1,235325,6334.871,-1313.512,42,1.3,42,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.7
$GPS2,235819,6334.894,-1313.459,11,1.5,16,-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,194.4,36866,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-69.75,0.000,6,0.000,0.000,75,2596,3416
$GC,94,-1.03,-146.6,6.6,-7.1,4,115,11.73,2.53,0.00,0.000,4,0.177,0.037,2130,1190,3419
$GC,144,-0.91,-146.6,23.3,-14.1,6,149,0.15,2.50,0.00,0.000,6,0.097,0.035,2158,2606,3418
$GC,466,-0.91,-146.6,47.0,-6.6,22,470,0.00,2.33,0.00,0.000,4,0.000,0.063,2158,3864,3419
$GC,560,-0.91,-146.6,54.2,-7.8,26,564,0.00,2.15,0.00,0.000,6,0.000,0.025,2158,2580,3419
$GC,883,-0.96,-146.6,74.4,-5.9,42,887,0.00,2.40,0.00,0.000,4,0.000,0.038,2158,1210,3419
$GC,917,-1.04,-146.6,76.5,-5.2,43,924,0.12,2.42,0.00,0.000,6,0.044,0.034,2114,2600,3419
$GC,1236,-0.97,-146.6,105.3,-10.8,59,1240,0.17,2.33,0.00,0.000,4,0.095,0.061,2151,3865,3420
$GC,1280,-1.03,-146.6,110.0,-9.5,61,1284,0.00,2.12,0.00,0.000,6,0.000,0.025,2151,2596,3420
$GC,1607,-1.03,-146.6,141.1,-10.1,77,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2593,3420
$GC,1916,-1.03,-146.6,172.4,-10.0,92,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2593,3420
$GC,2226,-1.03,-146.6,201.7,-9.0,107,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2593,3420
$GC,2535,-1.03,-146.6,227.1,-8.0,122,2539,0.00,2.40,0.00,0.000,4,0.000,0.038,2151,1220,3419
$GC,2580,-1.11,-146.6,230.7,-7.8,124,2585,0.15,2.42,0.00,0.000,6,0.041,0.035,2104,2608,3419
$GC,2901,-1.02,-146.6,260.2,-9.1,140,2903,0.17,0.00,0.00,0.000,6,0.093,0.000,2138,2608,3419
$GC,3210,-1.02,-146.6,283.3,-7.2,155,3214,0.00,2.42,0.00,0.000,4,0.000,0.038,2137,1219,3419
$GC,3245,-1.06,-146.6,285.7,-7.3,156,3251,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2605,3419
$GC,3560,-1.06,-146.6,309.0,-7.3,172,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2605,3419
$GC,3870,-1.06,-146.6,332.2,-7.5,187,3874,0.00,2.42,0.00,0.000,4,0.000,0.037,2138,1219,3419
$GC,3914,-1.12,-146.6,335.6,-7.0,189,3919,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2605,3419
$GC,4235,-1.12,-146.6,360.7,-7.9,205,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2605,3418
$GC,4545,-1.12,-146.6,386.8,-8.8,220,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2605,3419
$GC,4854,-1.12,-146.6,414.6,-9.0,235,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2605,3419
$GC,5163,-1.12,-146.6,440.4,-8.0,250,5167,0.00,2.42,0.00,0.000,4,0.000,0.038,2137,1219,3418
$GC,5219,-1.17,-146.6,444.8,-8.0,252,5226,0.15,2.42,0.00,0.000,6,0.045,0.035,2093,2608,3418
$GC,5535,-1.06,-146.6,474.9,-9.3,268,5537,0.17,0.00,0.00,0.000,6,0.095,0.000,2126,2608,3418
$GC,5844,-1.06,-146.6,497.7,-6.7,283,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2607,3418
$GC,6153,-1.06,-146.6,524.3,-9.3,298,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2608,3417
$GC,6463,-1.06,-146.6,550.8,-7.8,313,6467,0.00,2.42,0.00,0.000,4,0.000,0.038,2126,1219,3417
$GC,6529,-1.06,-146.6,556.1,-8.2,316,6533,0.00,2.42,0.00,0.000,6,0.000,0.036,2126,2606,3417
$GC,6857,-1.06,-146.6,585.3,-10.2,332,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2606,3417
$GC,7165,-1.06,-146.6,622.1,-10.3,347,7170,0.00,2.42,0.00,0.000,4,0.000,0.038,2126,1219,3417
$GC,7223,-1.11,-146.6,627.5,-10.0,349,7229,0.00,2.42,0.00,0.000,6,0.000,0.036,2126,2605,3417
$GC,7539,-1.11,-146.6,653.8,-7.3,365,7543,0.00,2.42,0.00,0.000,4,0.000,0.038,2126,1219,3416
$GC,7602,-1.18,-146.6,658.3,-7.2,368,7607,0.12,2.42,0.00,0.000,6,0.048,0.037,2087,2601,3416
$GC,7932,-1.10,-146.6,691.8,-10.2,384,7936,0.17,2.33,0.00,0.000,4,0.094,0.067,2120,3859,3416
$GC,8071,-1.10,-146.6,708.2,-11.7,390,8075,0.00,2.10,0.00,0.000,6,0.000,0.027,2120,2603,3416
$STATE,8102,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8103,begin apogee
$GC,8110,-0.31,0.0,711.2,9.6,392,8244,0.85,0.00,128.40,1.042,6,0.102,0.000,2291,2311,2817
$STATE,8245,end apogee,CONTROL_FINISHED_OK
$STATE,8245,begin climb
$GC,8248,1.03,146.6,721.8,0.0,399,8387,1.35,2.65,129.90,1.035,4,0.058,0.061,2584,3702,2218
$GC,8642,0.99,240.5,710.0,4.3,417,8733,0.00,2.42,84.12,1.020,6,0.000,0.028,2584,2310,1835
$GC,9049,0.99,240.5,673.6,9.5,437,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2310,1827
$GC,9359,0.99,240.5,645.6,8.1,452,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2310,1826
$GC,9668,0.99,240.5,620.7,8.5,467,9672,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,903,1824
$GC,9695,0.99,240.5,617.8,10.7,468,9700,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2308,1823
$GC,10011,0.99,240.5,583.8,10.0,483,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2308,1824
$GC,10320,0.99,240.5,555.1,8.5,498,10324,0.00,2.55,0.00,0.000,4,0.000,0.046,2584,895,1823
$GC,10352,0.99,240.5,552.2,8.4,499,10359,0.00,2.47,0.00,0.000,6,0.000,0.034,2584,2308,1823
$GC,10669,1.02,267.5,529.6,6.6,515,10694,0.00,0.00,23.62,0.890,6,0.000,0.000,2584,2308,1726
$GC,10998,1.04,293.1,508.3,6.6,531,11025,0.00,0.00,25.12,0.877,6,0.000,0.000,2584,2308,1621
$GC,11327,1.10,293.1,480.9,8.8,547,11329,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2309,1616
$GC,11636,1.16,293.1,452.2,9.8,562,11641,0.12,2.53,0.00,0.000,4,0.054,0.044,2621,894,1614
$GC,11688,1.12,293.1,446.5,11.3,564,11692,0.00,2.45,0.00,0.000,6,0.000,0.032,2620,2300,1614
$GC,12004,1.07,293.1,407.2,12.5,579,12006,0.15,0.00,0.00,0.000,6,0.096,0.000,2592,2300,1614
$GC,12313,1.07,293.1,374.8,10.0,594,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2300,1614
$GC,12622,1.07,293.1,345.2,9.6,609,12626,0.00,2.50,0.00,0.000,4,0.000,0.044,2592,894,1614
$GC,12655,1.07,293.1,341.7,10.0,610,12661,0.00,2.45,0.00,0.000,6,0.000,0.033,2592,2304,1614
$GC,12971,1.07,293.1,310.6,9.8,626,12972,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2304,1613
$GC,13280,1.07,293.1,279.2,10.5,641,13284,0.00,2.50,0.00,0.000,4,0.000,0.042,2592,897,1613
$GC,13319,1.11,293.1,274.7,11.2,642,13325,0.00,2.45,0.00,0.000,6,0.000,0.032,2592,2306,1613
$GC,13634,1.11,293.1,242.5,9.6,658,13638,0.00,2.50,0.00,0.000,4,0.000,0.043,2592,899,1613
$GC,13662,1.11,293.1,239.7,10.5,659,13666,0.00,2.42,0.00,0.000,6,0.000,0.031,2592,2298,1613
$GC,13983,1.11,293.1,205.9,10.9,675,13984,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2298,1613
$GC,14292,1.11,293.1,174.2,9.6,690,14293,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2298,1613
$GC,14601,1.11,293.1,146.7,8.6,705,14606,0.00,2.50,0.00,0.000,4,0.000,0.043,2592,894,1613
$GC,14658,1.15,293.1,141.8,8.5,707,14664,0.00,2.45,0.00,0.000,6,0.000,0.032,2592,2309,1613
$GC,14974,1.15,293.1,113.5,9.9,723,14978,0.00,2.50,0.00,0.000,4,0.000,0.042,2592,899,1613
$GC,15006,1.15,293.1,109.8,10.4,724,15013,0.00,2.42,0.00,0.000,6,0.000,0.032,2592,2301,1613
$GC,15324,1.15,293.1,77.1,10.8,740,15328,0.00,2.50,0.00,0.000,4,0.000,0.044,2592,897,1613
$GC,15365,1.20,293.1,72.0,11.8,742,15370,0.12,2.42,0.00,0.000,6,0.049,0.031,2626,2300,1613
$GC,15692,1.20,293.1,27.7,12.5,758,15696,0.00,2.55,0.00,0.000,4,0.000,0.057,2626,3699,1614
$GC,15742,1.15,293.1,21.6,11.8,760,15747,0.00,2.40,0.00,0.000,6,0.000,0.027,2626,2297,1614
$STATE,15933,end climb,SURFACE_DEPTH_REACHED
$STATE,15933,begin surface coast
$FINISH,0.7,1.012887
$STATE,15954,end surface coast,CONTROL_FINISHED_OK
$STATE,15954,begin surface
$SM_CCo,16037,0.00,0.000,0,0,1609,296.08
$SM_GC,1.80,12.15,0.00,0.00,0.087,0.000,0.000,73,2608,1609,-10.46,0.20,296.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1780
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.9,44.9
$24V_AH,23.6,32.183
$10V_AH,10.1,16.202
$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,27.875,112.775,391.175,0.000,0.000,17.993,24.961,131.880,5.750,0.000,0.000,16.277,1403.336,12348.783,504.061,1638.679,435.395,0.000,1332.812,0.000,1601.124,0.000,39.845,0.000
$DEVICE_MAMPS,177.177,67.496,1041.586,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.649,523.669,469.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38016,770
$CAP_FILE_SIZE,114217,0
$CFSIZE,260165632,247664640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110709,042707,6333.636,-1311.769,38,0.9,38,-12.4