version: 66.04
glider: 16
mission: 13
dive: 156
start: 7 4 109 20 21 15
data:
$ID,16
$MISSION,13
$DIVE,156
$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,-2110394
$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,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
$GPS1,201537,6347.104,-1306.246,31,0.9,31,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.7
$GPS2,202056,6347.109,-1306.193,15,0.9,15,-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,210.3,23571,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-56.78,0.000,6,0.000,0.000,72,2601,3416
$GC,80,-1.03,-146.6,7.5,-14.1,3,102,11.90,2.55,0.00,0.000,4,0.184,0.040,2129,1191,3417
$GC,198,-1.03,-146.6,33.0,-10.6,8,202,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2597,3418
$GC,519,-1.03,-146.6,63.6,-9.3,24,523,0.00,2.33,0.00,0.000,4,0.000,0.064,2129,3860,3418
$GC,569,-0.99,-146.6,69.0,-10.4,26,573,0.00,2.15,0.00,0.000,6,0.000,0.025,2129,2582,3418
$GC,885,-0.99,-146.6,103.6,-10.8,41,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2580,3418
$GC,1194,-0.99,-146.6,133.1,-8.5,56,1198,0.00,2.35,0.00,0.000,4,0.000,0.061,2129,3860,3418
$GC,1227,-0.99,-146.6,136.1,-9.0,57,1234,0.00,2.10,0.00,0.000,6,0.000,0.025,2130,2599,3418
$GC,1543,-0.99,-146.6,164.3,-9.3,73,1547,0.00,2.42,0.00,0.000,4,0.000,0.039,2129,1216,3419
$GC,1577,-0.99,-146.6,167.6,-9.8,74,1583,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2601,3419
$GC,1893,-0.99,-146.6,200.2,-10.3,90,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,2202,-0.99,-146.6,231.2,-9.8,105,2206,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1206,3418
$GC,2246,-0.99,-146.6,235.7,-9.8,107,2250,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2606,3418
$GC,2566,-0.99,-146.6,265.5,-9.2,123,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3418
$GC,2876,-0.99,-146.6,293.0,-8.5,138,2880,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1209,3418
$GC,2925,-0.99,-146.6,297.2,-8.1,140,2930,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2608,3418
$GC,3241,-0.99,-146.6,323.3,-8.3,155,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3418
$GC,3551,-0.99,-146.6,349.8,-8.4,170,3556,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1216,3418
$GC,3589,-0.99,-146.6,353.2,-8.0,171,3595,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2602,3418
$GC,3904,-0.99,-146.6,380.5,-8.9,187,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,4214,-0.99,-146.6,406.4,-8.2,202,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,4523,-0.99,-146.6,431.4,-8.1,217,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3417
$GC,4832,-0.99,-146.6,455.9,-7.9,232,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3417
$GC,5142,-0.99,-146.6,480.9,-7.9,247,5146,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1206,3417
$GC,5186,-0.99,-146.6,484.7,-8.4,249,5190,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2609,3417
$GC,5507,-0.99,-146.6,509.3,-7.7,265,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3417
$GC,5817,-0.99,-146.6,532.3,-6.7,280,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3417
$GC,6126,-0.99,-146.6,549.9,-5.2,295,6131,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1213,3417
$GC,6172,-1.04,-146.6,552.4,-5.9,297,6176,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2600,3417
$GC,6499,-1.04,-146.6,573.4,-7.4,313,6503,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1216,3416
$GC,6526,-1.09,-146.6,575.6,-8.0,314,6531,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2602,3416
$GC,6844,-1.09,-146.6,600.5,-7.6,329,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3416
$GC,7151,-1.09,-146.6,626.7,-9.2,344,7155,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1216,3416
$GC,7195,-1.14,-146.6,630.2,-7.6,346,7199,0.00,2.42,0.00,0.000,6,0.000,0.037,2129,2609,3416
$GC,7522,-1.14,-146.6,656.8,-8.4,362,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2609,3415
$GC,7831,-1.14,-146.6,684.4,-9.3,377,7835,0.00,2.30,0.00,0.000,4,0.000,0.071,2129,3857,3415
$GC,7928,-1.14,-146.6,693.8,-10.2,381,7932,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2594,3414
$STATE,8149,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8149,begin apogee
$GC,8156,-0.31,0.0,713.5,7.9,392,8292,0.82,0.00,128.85,1.052,6,0.116,0.000,2291,2303,2815
$STATE,8292,end apogee,CONTROL_FINISHED_OK
$STATE,8292,begin climb
$GC,8295,1.03,146.6,719.8,0.0,399,8433,1.38,2.67,130.12,1.039,4,0.078,0.063,2580,3704,2219
$GC,8585,0.89,146.6,706.9,7.8,411,8592,0.15,2.45,0.00,0.000,6,0.107,0.029,2554,2307,2215
$GC,8901,0.87,169.9,685.4,6.7,427,8928,0.00,2.67,21.27,0.965,4,0.000,0.062,2554,3697,2124
$GC,8953,0.84,219.1,682.5,5.8,429,9006,0.00,2.45,45.85,1.000,6,0.000,0.028,2553,2302,1923
$GC,9317,0.89,223.2,655.2,7.4,447,9321,0.00,2.62,0.00,0.000,4,0.000,0.062,2553,3708,1914
$GC,9379,0.89,223.2,649.9,9.4,450,9383,0.00,2.47,0.00,0.000,6,0.000,0.029,2553,2297,1914
$GC,9707,0.93,223.2,623.7,8.2,466,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2298,1913
$GC,10016,0.99,223.2,597.0,8.9,481,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2298,1913
$GC,10326,1.03,225.0,573.2,7.4,496,10333,0.15,0.00,4.78,0.671,6,0.052,0.000,2596,2297,1899
$GC,10635,0.98,225.0,543.3,9.9,511,10636,0.12,0.00,0.00,0.000,6,0.100,0.000,2573,2298,1898
$GC,10944,0.98,225.0,516.7,8.5,526,10945,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2298,1898
$GC,11253,0.99,234.3,492.3,7.2,541,11268,0.00,2.55,9.93,0.801,4,0.000,0.048,2573,898,1861
$GC,11307,0.99,234.3,487.7,9.1,542,11314,0.00,2.47,0.00,0.000,6,0.000,0.034,2573,2304,1859
$GC,11623,0.99,234.3,462.5,8.0,558,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2304,1859
$GC,11932,0.99,234.3,436.4,8.7,573,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2304,1859
$GC,12241,0.99,234.3,409.8,8.5,588,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2304,1859
$GC,12551,0.99,234.3,384.4,8.0,603,12555,0.00,2.58,0.00,0.000,4,0.000,0.060,2573,3708,1859
$GC,12583,0.99,234.3,381.5,8.3,604,12590,0.00,2.45,0.00,0.000,6,0.000,0.028,2573,2290,1859
$GC,12899,0.99,234.3,356.2,8.0,620,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2289,1859
$GC,13209,0.99,238.4,332.2,7.4,635,13216,0.00,0.00,4.97,0.582,6,0.000,0.000,2573,2289,1845
$GC,13518,0.99,238.4,307.8,7.7,650,13519,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2287,1844
$GC,13827,0.99,238.4,282.6,8.1,665,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2288,1844
$GC,14136,0.99,238.4,258.2,7.6,680,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2288,1843
$GC,14445,0.99,238.4,234.6,7.6,695,14447,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2288,1844
$GC,14755,1.04,242.8,211.7,7.3,710,14766,0.00,2.60,5.90,0.570,4,0.000,0.055,2573,3701,1827
$GC,14800,1.04,242.8,207.8,8.7,712,14804,0.00,2.42,0.00,0.000,6,0.000,0.027,2573,2295,1826
$GC,15121,1.04,242.8,182.0,8.2,728,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2295,1826
$GC,15430,1.08,242.8,157.3,7.6,743,15435,0.10,2.47,0.00,0.000,4,0.053,0.044,2607,901,1826
$GC,15464,1.03,242.8,154.4,9.2,744,15470,0.12,2.42,0.00,0.000,6,0.090,0.032,2584,2301,1825
$GC,15780,1.03,242.8,131.2,7.7,760,15781,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2301,1826
$GC,16089,1.03,242.8,105.0,8.5,775,16090,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2301,1826
$GC,16399,1.03,242.8,80.7,7.8,790,16403,0.00,2.50,0.00,0.000,4,0.000,0.042,2583,892,1825
$GC,16477,1.03,242.8,74.0,7.9,793,16483,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2301,1825
$GC,16793,1.06,271.5,52.1,6.5,809,16824,0.00,2.62,26.12,0.598,4,0.000,0.056,2583,3707,1709
$GC,16869,1.06,271.5,46.6,7.6,812,16876,0.00,2.42,0.00,0.000,6,0.000,0.027,2583,2299,1708
$GC,17186,1.12,271.5,18.4,8.8,828,17190,0.00,2.50,0.00,0.000,4,0.000,0.044,2583,894,1705
$GC,17345,1.18,271.5,5.1,7.8,835,17350,0.15,2.42,0.00,0.000,6,0.046,0.031,2629,2302,1703
$STATE,17375,end climb,SURFACE_DEPTH_REACHED
$STATE,17375,begin surface coast
$FINISH,0.7,1.022453
$STATE,17397,end surface coast,CONTROL_FINISHED_OK
$STATE,17397,begin surface
$SM_CCo,17481,0.00,0.000,0,0,1700,274.00
$SM_GC,1.68,12.23,0.00,0.00,0.088,0.000,0.000,58,2601,1700,-10.46,0.03,274.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1762
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.7,45.6
$24V_AH,23.6,27.883
$10V_AH,10.1,13.848
$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,27.125,108.525,377.800,0.000,0.000,18.356,28.680,146.130,6.000,0.000,0.000,15.257,1501.244,13618.702,481.902,1734.875,461.724,0.000,1350.208,0.000,1692.198,0.000,42.809,0.000
$DEVICE_MAMPS,184.080,71.331,1051.557,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.701,572.833,503.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41083,838
$CAP_FILE_SIZE,118086,0
$CFSIZE,260165632,249409536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050709,011337,6345.189,-1303.177,25,1.7,25,-12.4