version: 66.04
glider: 16
mission: 13
dive: 191
start: 7 11 109 4 35 18
data:
$ID,16
$MISSION,13
$DIVE,191
$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,-2110992
$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,30
$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
$GPS1,042707,6333.636,-1311.769,38,0.9,38,-12.4
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-66.4
$GPS2,043501,6333.670,-1311.874,11,1.0,16,-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,196.7,34675,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,81,0.00,0.00,-60.10,0.000,6,0.000,0.000,74,2608,3417
$GC,84,-1.03,-146.6,6.9,-12.8,3,106,11.75,2.53,0.00,0.000,4,0.178,0.035,2129,1195,3419
$GC,235,-1.03,-146.6,35.7,-10.9,9,241,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2596,3420
$GC,551,-1.03,-146.6,72.1,-10.6,25,555,0.00,2.33,0.00,0.000,4,0.000,0.062,2128,3861,3420
$GC,645,-1.03,-146.6,81.7,-9.8,29,649,0.00,2.15,0.00,0.000,6,0.000,0.025,2130,2581,3420
$GC,967,-1.03,-146.6,111.0,-9.0,45,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3420
$GC,1278,-1.03,-146.6,141.2,-9.5,60,1282,0.00,2.40,0.00,0.000,4,0.000,0.038,2129,1210,3420
$GC,1318,-1.03,-146.6,145.2,-9.3,62,1322,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2609,3420
$GC,1644,-1.03,-146.6,179.7,-11.2,78,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3420
$GC,1954,-1.03,-146.6,212.7,-10.0,93,1958,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1211,3420
$GC,2016,-1.03,-146.6,218.6,-9.1,96,2020,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3420
$GC,2342,-1.03,-146.6,254.1,-11.3,112,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,2652,-1.03,-146.6,288.5,-10.8,127,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,2960,-1.03,-146.6,320.9,-10.4,142,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3420
$GC,3270,-1.03,-146.6,352.7,-10.1,157,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,3579,-1.03,-146.6,384.2,-9.8,172,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,3888,-1.03,-146.6,414.7,-10.1,187,3892,0.00,2.42,0.00,0.000,4,0.000,0.038,2128,1213,3419
$GC,3938,-1.03,-146.6,419.7,-10.0,189,3943,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3419
$GC,4255,-1.03,-146.6,452.3,-10.7,204,4259,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1213,3419
$GC,4301,-1.08,-146.6,457.3,-10.5,206,4305,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3419
$GC,4628,-1.08,-146.6,490.7,-10.9,222,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,4936,-1.08,-146.6,524.3,-11.1,237,4941,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1212,3419
$GC,4958,-1.08,-146.6,527.0,-11.9,238,4962,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2601,3418
$GC,5285,-1.08,-146.6,561.9,-10.5,254,5290,0.00,2.33,0.00,0.000,4,0.000,0.067,2129,3860,3418
$GC,5326,-1.08,-146.6,566.1,-10.4,256,5330,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2589,3418
$GC,5658,-1.08,-146.6,596.8,-8.8,272,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2586,3418
$GC,5968,-1.08,-146.6,621.8,-8.1,287,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2586,3418
$GC,6277,-1.08,-146.6,645.7,-7.5,302,6281,0.00,2.40,0.00,0.000,4,0.000,0.041,2129,1218,3418
$GC,6355,-1.15,-146.6,651.5,-7.7,305,6361,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2608,3418
$GC,6672,-1.15,-146.6,676.7,-7.1,321,6676,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1209,3418
$GC,6739,-1.23,-146.6,681.8,-7.2,324,6744,0.17,2.45,0.00,0.000,6,0.042,0.037,2078,2608,3418
$GC,7061,-1.11,-146.6,715.4,-10.3,340,7063,0.20,0.00,0.00,0.000,6,0.097,0.000,2117,2608,3417
$GC,7369,-1.11,-146.6,742.5,-8.9,355,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2608,3417
$STATE,7388,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7388,begin apogee
$GC,7395,-0.31,0.0,744.1,8.6,356,7530,0.90,0.00,129.25,1.067,6,0.126,0.000,2289,2300,2816
$STATE,7531,end apogee,CONTROL_FINISHED_OK
$STATE,7531,begin climb
$GC,7534,1.03,146.6,748.6,0.0,363,7674,1.40,2.70,129.80,1.055,4,0.078,0.063,2582,3704,2218
$GC,7700,0.87,153.3,743.3,7.3,371,7715,0.17,2.45,7.18,0.829,6,0.099,0.028,2550,2305,2191
$GC,8034,0.87,194.3,719.9,6.1,387,8077,0.00,2.65,37.55,1.013,4,0.000,0.048,2550,905,2024
$GC,8133,0.87,194.3,712.3,9.5,391,8137,0.00,2.47,0.00,0.000,6,0.000,0.035,2550,2300,2019
$GC,8449,0.87,194.3,687.2,7.6,406,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2300,2018
$GC,8759,0.87,194.3,660.1,8.1,421,8763,0.00,2.53,0.00,0.000,4,0.000,0.047,2549,902,2016
$GC,8826,0.87,194.3,653.5,9.8,424,8830,0.00,2.47,0.00,0.000,6,0.000,0.035,2550,2305,2014
$GC,9147,0.94,218.1,631.2,6.7,440,9171,0.00,0.00,21.92,0.953,6,0.000,0.000,2550,2305,1927
$GC,9477,1.01,225.4,608.0,7.3,456,9487,0.12,0.00,7.47,0.802,6,0.053,0.000,2587,2305,1898
$GC,9785,1.01,225.4,582.0,7.8,471,9789,0.00,2.60,0.00,0.000,4,0.000,0.062,2586,3709,1897
$GC,9830,0.94,225.4,578.4,7.9,473,9834,0.00,2.45,0.00,0.000,6,0.000,0.028,2587,2300,1896
$GC,10156,0.94,225.4,552.2,8.3,489,10161,0.00,2.60,0.00,0.000,4,0.000,0.059,2586,3704,1896
$GC,10213,0.87,225.4,547.0,9.9,491,10219,0.20,2.42,0.00,0.000,6,0.093,0.028,2548,2298,1896
$GC,10529,0.95,225.4,522.3,8.1,507,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2298,1896
$GC,10838,1.02,225.4,495.0,8.7,522,10840,0.15,0.00,0.00,0.000,6,0.048,0.000,2589,2297,1896
$GC,11147,1.02,225.4,467.9,9.4,537,11151,0.00,2.50,0.00,0.000,4,0.000,0.047,2590,898,1896
$GC,11186,1.02,225.4,463.9,10.2,539,11191,0.00,2.45,0.00,0.000,6,0.000,0.033,2590,2305,1894
$GC,11513,0.97,225.4,434.2,9.0,555,11517,0.00,2.50,0.00,0.000,4,0.000,0.043,2589,901,1894
$GC,11563,0.93,225.4,429.5,9.9,557,11568,0.15,2.45,0.00,0.000,6,0.087,0.032,2560,2307,1894
$GC,11879,0.98,225.4,401.7,9.0,572,11883,0.00,2.55,0.00,0.000,4,0.000,0.058,2560,3700,1895
$GC,11928,0.98,225.4,396.8,9.9,574,11933,0.00,2.40,0.00,0.000,6,0.000,0.027,2558,2297,1895
$GC,12245,1.02,225.4,368.0,8.8,589,12246,0.10,0.00,0.00,0.000,6,0.051,0.000,2592,2296,1895
$GC,12553,1.02,225.4,338.8,9.3,604,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2296,1894
$GC,12862,1.02,225.4,312.5,8.3,619,12863,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2296,1894
$GC,13173,0.99,229.4,289.6,7.4,634,13183,0.00,2.58,5.18,0.571,4,0.000,0.055,2592,3698,1880
$GC,13228,0.91,229.4,284.9,8.8,636,13235,0.17,2.42,0.00,0.000,6,0.089,0.027,2558,2293,1880
$GC,13545,0.99,254.2,264.9,6.6,652,13570,0.00,0.00,23.52,0.726,6,0.000,0.000,2558,2293,1780
$GC,13873,1.08,254.2,238.0,8.9,668,13875,0.17,0.00,0.00,0.000,6,0.043,0.000,2608,2292,1776
$GC,14182,1.03,254.2,204.9,11.1,683,14184,0.12,0.00,0.00,0.000,6,0.090,0.000,2583,2292,1776
$GC,14492,1.03,254.2,177.9,8.4,698,14493,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2292,1776
$GC,14801,1.03,254.2,153.0,7.8,713,14802,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2292,1776
$GC,15110,1.03,254.2,127.5,8.8,728,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2292,1776
$GC,15420,1.03,254.2,99.0,8.9,743,15424,0.00,2.47,0.00,0.000,4,0.000,0.046,2583,901,1776
$GC,15460,1.08,254.2,95.4,8.8,745,15464,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2301,1774
$GC,15792,1.08,254.2,69.3,8.2,761,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1775
$GC,16103,1.19,318.4,49.1,5.3,776,16167,0.17,2.62,55.78,0.605,4,0.042,0.056,2636,3705,1517
$GC,16184,1.14,320.3,43.4,7.4,779,16191,0.15,2.45,0.00,0.000,6,0.093,0.027,2608,2293,1516
$GC,16501,1.25,425.0,29.2,3.9,795,16596,0.12,2.53,88.18,0.584,4,0.048,0.044,2649,898,1082
$GC,16635,1.25,425.0,18.5,9.3,801,16639,0.00,2.47,0.00,0.000,6,0.000,0.031,2649,2306,1077
$STATE,16783,end climb,SURFACE_DEPTH_REACHED
$STATE,16783,begin surface coast
$FINISH,0.7,1.013340
$STATE,16805,end surface coast,CONTROL_FINISHED_OK
$STATE,16806,begin surface
$SM_CCo,16889,0.00,0.000,0,0,1071,428.29
$SM_GC,1.63,12.27,0.00,0.00,0.083,0.000,0.000,68,2606,1071,-10.45,0.17,428.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1758
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.2,26.5
$24V_AH,23.6,32.326
$10V_AH,10.1,16.279
$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,28.525,109.075,505.825,0.000,0.000,35.994,54.038,193.839,6.250,0.000,0.000,16.858,1454.008,13074.468,579.551,1697.777,555.835,0.000,1445.913,0.000,1653.883,0.000,43.335,0.000
$DEVICE_MAMPS,177.944,67.496,1066.897,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,592.402,552.422,498.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41163,809
$CAP_FILE_SIZE,120423,0
$CFSIZE,260165632,247595008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110709,091801,6332.159,-1313.025,38,1.6,38,-12.4