version: 66.04
glider: 16
mission: 13
dive: 155
start: 7 4 109 15 16 19
data:
$ID,16
$MISSION,13
$DIVE,155
$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,-2110378
$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,32
$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
$GPS1,150537,6347.899,-1310.057,36,1.1,36,-12.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-65.5
$GPS2,151602,6347.888,-1310.250,14,1.1,14,-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,201.7,24188,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-55.12,0.000,6,0.000,0.000,68,2604,3417
$GC,82,-1.03,-146.6,7.9,-15.0,3,104,11.82,2.55,0.00,0.000,4,0.179,0.037,2132,1184,3418
$GC,151,-1.08,-146.6,28.0,-11.6,6,156,0.00,2.47,0.00,0.000,6,0.000,0.035,2133,2593,3419
$GC,478,-1.08,-146.6,67.7,-12.2,22,482,0.00,2.47,0.00,0.000,4,0.000,0.037,2132,1189,3419
$GC,533,-1.08,-146.6,74.7,-12.9,24,539,0.00,2.47,0.00,0.000,6,0.000,0.035,2133,2606,3419
$GC,849,-1.08,-146.6,108.6,-9.8,40,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3419
$GC,1160,-1.08,-146.6,130.1,-5.9,55,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3420
$GC,1468,-1.08,-146.6,148.3,-6.2,70,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3419
$GC,1776,-1.08,-146.6,171.7,-8.3,85,1781,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1193,3419
$GC,1809,-1.08,-146.6,174.7,-8.4,86,1820,0.00,2.47,0.00,0.000,6,0.000,0.035,2133,2605,3420
$GC,2126,-1.08,-146.6,200.8,-8.8,102,2130,0.00,2.33,0.00,0.000,4,0.000,0.065,2133,3864,3420
$GC,2182,-1.08,-146.6,206.4,-9.6,104,2188,0.00,2.17,0.00,0.000,6,0.000,0.026,2133,2571,3420
$GC,2497,-1.08,-146.6,237.9,-10.0,120,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2570,3420
$GC,2806,-1.08,-146.6,266.4,-8.7,135,2810,0.00,2.38,0.00,0.000,4,0.000,0.038,2133,1214,3420
$GC,2869,-1.08,-146.6,271.7,-8.4,138,2873,0.00,2.40,0.00,0.000,6,0.000,0.035,2133,2600,3420
$GC,3202,-1.08,-146.6,300.9,-8.8,154,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3510,-1.08,-146.6,327.2,-8.6,169,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3820,-1.08,-146.6,353.0,-8.3,184,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3419
$GC,4128,-1.08,-146.6,378.6,-8.5,199,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2600,3419
$GC,4438,-1.08,-146.6,404.4,-8.4,214,4442,0.00,2.42,0.00,0.000,4,0.000,0.038,2133,1216,3418
$GC,4471,-1.08,-146.6,407.3,-8.5,215,4477,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2607,3419
$GC,4787,-1.08,-146.6,433.0,-7.5,231,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3418
$GC,5096,-1.08,-146.6,458.8,-8.3,246,5100,0.00,2.42,0.00,0.000,4,0.000,0.038,2133,1211,3418
$GC,5165,-1.13,-146.6,464.1,-7.4,249,5169,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,5491,-1.13,-146.6,492.0,-8.8,265,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,5801,-1.13,-146.6,519.7,-9.0,280,5805,0.00,2.42,0.00,0.000,4,0.000,0.038,2133,1213,3418
$GC,5868,-1.18,-146.6,526.1,-9.0,283,5873,0.15,2.42,0.00,0.000,6,0.045,0.035,2087,2610,3418
$GC,6189,-1.07,-146.6,564.4,-12.0,299,6194,0.20,2.33,0.00,0.000,4,0.093,0.068,2129,3863,3418
$GC,6245,-1.07,-146.6,570.6,-10.7,301,6251,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2594,3417
$GC,6561,-1.07,-146.6,600.7,-9.4,317,6565,0.00,2.42,0.00,0.000,4,0.000,0.041,2129,1215,3417
$GC,6605,-1.12,-146.6,605.0,-9.2,319,6609,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2600,3417
$GC,6926,-1.12,-146.6,633.8,-8.9,335,6930,0.00,2.33,0.00,0.000,4,0.000,0.070,2129,3857,3417
$GC,6981,-1.12,-146.6,639.3,-10.1,337,6987,0.00,2.10,0.00,0.000,6,0.000,0.027,2129,2600,3417
$GC,7296,-1.12,-146.6,670.0,-9.2,353,7301,0.00,2.45,0.00,0.000,4,0.000,0.042,2129,1211,3417
$GC,7342,-1.18,-146.6,674.2,-9.3,355,7347,0.12,2.45,0.00,0.000,6,0.049,0.037,2091,2609,3417
$GC,7666,-1.11,-146.6,711.5,-12.0,371,7668,0.15,0.00,0.00,0.000,6,0.097,0.000,2119,2609,3416
$GC,7972,-1.11,-146.6,739.8,-8.5,386,7976,0.00,2.33,0.00,0.000,4,0.000,0.073,2119,3856,3415
$GC,8017,-1.11,-146.6,744.1,-9.3,388,8020,0.00,2.12,0.00,0.000,6,0.000,0.028,2119,2603,3415
$STATE,8238,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8238,begin apogee
$GC,8245,-0.31,0.0,762.5,8.1,399,8381,0.85,0.00,129.82,1.084,6,0.107,0.000,2288,2303,2816
$STATE,8382,end apogee,CONTROL_FINISHED_OK
$STATE,8382,begin climb
$GC,8385,1.03,146.6,766.7,0.0,406,8524,1.38,2.70,130.73,1.071,4,0.071,0.064,2582,3707,2218
$GC,8765,0.89,146.6,746.3,8.4,422,8772,0.15,2.45,0.00,0.000,6,0.099,0.031,2555,2312,2213
$GC,9081,0.87,164.9,723.9,6.9,438,9102,0.00,0.00,16.83,0.973,6,0.000,0.000,2555,2312,2144
$GC,9412,0.87,164.9,698.9,7.9,454,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2312,2140
$GC,9721,0.88,178.0,675.2,7.1,469,9743,0.00,2.65,12.50,0.925,4,0.000,0.062,2555,3695,2091
$GC,9789,0.82,178.0,670.0,8.5,472,9793,0.00,2.42,0.00,0.000,6,0.000,0.030,2555,2299,2089
$GC,10121,0.82,178.0,644.1,7.8,488,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2299,2087
$GC,10430,0.82,178.0,615.7,9.1,503,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2299,2087
$GC,10739,0.82,178.0,590.0,7.5,518,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2299,2087
$GC,11049,0.82,178.0,564.3,8.8,533,11050,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2299,2087
$GC,11358,0.82,178.0,538.3,8.3,548,11362,0.00,2.60,0.00,0.000,4,0.000,0.061,2555,3708,2087
$GC,11465,0.75,178.0,529.4,8.2,553,11470,0.17,2.45,0.00,0.000,6,0.101,0.028,2522,2291,2087
$GC,11793,0.89,207.2,506.1,6.5,569,11822,0.15,0.00,26.58,0.897,6,0.050,0.000,2564,2292,1971
$GC,12145,0.89,207.2,475.9,8.5,586,12149,0.00,2.50,0.00,0.000,4,0.000,0.048,2564,902,1968
$GC,12173,0.89,207.2,473.3,9.7,587,12177,0.00,2.45,0.00,0.000,6,0.000,0.034,2564,2303,1966
$GC,12488,0.89,207.2,445.6,8.4,602,12489,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2303,1966
$GC,12797,0.89,207.2,419.4,8.5,617,12802,0.00,2.58,0.00,0.000,4,0.000,0.060,2564,3700,1966
$GC,12831,0.89,207.2,416.5,8.5,618,12837,0.00,2.42,0.00,0.000,6,0.000,0.027,2565,2293,1966
$GC,13146,0.89,207.2,392.5,7.6,634,13148,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2293,1966
$GC,13456,0.90,217.7,370.4,7.1,649,13471,0.00,2.62,9.98,0.729,4,0.000,0.058,2564,3702,1929
$GC,13499,0.90,217.7,366.9,7.9,650,13504,0.00,2.42,0.00,0.000,6,0.000,0.026,2565,2297,1928
$GC,13821,0.91,229.0,343.6,7.1,666,13839,0.00,0.00,11.73,0.729,6,0.000,0.000,2565,2297,1883
$GC,14149,0.96,229.0,318.9,7.5,682,14150,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2297,1881
$GC,14459,1.02,244.0,296.2,7.0,697,14478,0.00,0.00,14.70,0.720,6,0.000,0.000,2564,2296,1822
$GC,14788,1.09,252.5,272.3,7.2,713,14799,0.15,0.00,8.95,0.657,6,0.050,0.000,2606,2296,1787
$GC,15097,1.05,252.5,244.4,9.2,728,15101,0.00,2.47,0.00,0.000,4,0.000,0.045,2606,902,1785
$GC,15142,1.00,252.5,240.0,10.6,730,15147,0.15,2.42,0.00,0.000,6,0.090,0.032,2578,2301,1783
$GC,15469,1.00,252.5,212.1,8.7,746,15473,0.00,2.50,0.00,0.000,4,0.000,0.042,2578,895,1783
$GC,15502,1.00,252.5,209.0,9.4,747,15508,0.00,2.45,0.00,0.000,6,0.000,0.032,2578,2304,1783
$GC,15817,1.00,252.5,179.3,9.3,763,15822,0.00,2.50,0.00,0.000,4,0.000,0.042,2578,895,1783
$GC,15857,1.00,252.5,175.6,9.3,765,15861,0.00,2.45,0.00,0.000,6,0.000,0.032,2578,2306,1783
$GC,16184,1.00,252.5,148.6,8.0,781,16185,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2306,1783
$GC,16493,1.01,265.2,124.6,7.1,796,16512,0.00,0.00,12.02,0.607,6,0.000,0.000,2578,2306,1734
$GC,16823,1.06,265.2,97.3,9.3,812,16828,0.00,2.55,0.00,0.000,4,0.000,0.058,2578,3698,1733
$GC,16864,1.06,265.2,93.0,10.2,814,16868,0.00,2.40,0.00,0.000,6,0.000,0.027,2578,2300,1733
$GC,17191,1.12,265.2,57.1,10.1,830,17196,0.12,2.47,0.00,0.000,4,0.048,0.043,2618,902,1733
$GC,17255,1.08,265.2,50.0,10.5,833,17260,0.12,2.42,0.00,0.000,6,0.088,0.032,2594,2300,1732
$GC,17583,1.08,265.2,20.8,8.2,849,17584,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2300,1732
$STATE,17786,end climb,SURFACE_DEPTH_REACHED
$STATE,17786,begin surface coast
$FINISH,1.3,1.026587
$STATE,17808,end surface coast,CONTROL_FINISHED_OK
$STATE,17808,begin surface
$SM_CCo,17891,0.00,0.000,0,0,1730,266.64
$SM_GC,1.38,11.95,0.00,0.00,0.085,0.000,0.000,73,2601,1730,-10.45,0.03,266.64
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1752
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.6,69.9
$24V_AH,23.6,27.767
$10V_AH,10.1,13.772
$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,27.650,117.750,373.825,0.000,0.000,54.155,81.038,238.034,6.000,0.000,0.000,14.277,1547.411,14013.030,505.204,1794.189,654.628,0.000,1397.316,0.000,1751.455,0.000,42.139,0.000
$DEVICE_MAMPS,178.711,72.865,1083.771,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,627.898,588.386,505.080,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44302,860
$CAP_FILE_SIZE,126962,0
$CFSIZE,260165632,249470976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040709,201537,6347.104,-1306.246,31,0.9,31,-12.4