version: 66.04
glider: 16
mission: 13
dive: 157
start: 7 5 109 1 24 55
data:
$ID,16
$MISSION,13
$DIVE,157
$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,-2110408
$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,36
$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
$GPS1,011337,6345.189,-1303.177,25,1.7,25,-12.4
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.5
$GPS2,012438,6345.199,-1303.329,13,1.8,13,-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,219.4,21196,-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,12,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-58.08,0.000,6,0.000,0.000,59,2602,3416
$GC,81,-1.03,-146.6,6.8,-12.8,3,102,11.95,2.53,0.00,0.000,4,0.182,0.035,2130,1193,3418
$GC,198,-1.03,-146.6,31.3,-10.6,8,202,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2595,3419
$GC,519,-1.03,-146.6,62.2,-9.5,24,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2595,3419
$GC,830,-1.03,-146.6,95.6,-9.8,39,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2595,3420
$GC,1137,-1.03,-146.6,122.7,-8.9,54,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2595,3420
$GC,1447,-1.03,-146.6,150.8,-9.1,69,1452,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1189,3420
$GC,1480,-1.03,-146.6,154.0,-9.6,70,1487,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2602,3419
$GC,1796,-1.03,-146.6,181.8,-9.0,86,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3419
$GC,2105,-1.03,-146.6,214.1,-11.8,101,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3419
$GC,2416,-1.03,-146.6,250.2,-11.4,116,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3419
$GC,2724,-1.03,-146.6,282.0,-9.7,131,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3419
$GC,3033,-1.03,-146.6,311.9,-9.6,146,3037,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1195,3419
$GC,3084,-1.03,-146.6,316.8,-9.3,148,3088,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2609,3419
$GC,3399,-1.03,-146.6,347.0,-9.4,163,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3418
$GC,3708,-1.03,-146.6,378.0,-10.3,178,3712,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1196,3418
$GC,3759,-1.03,-146.6,383.4,-10.5,180,3763,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2611,3418
$GC,4074,-1.03,-146.6,414.7,-9.6,195,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2611,3418
$GC,4383,-1.03,-146.6,441.8,-8.9,210,4388,0.00,2.50,0.00,0.000,4,0.000,0.038,2130,1190,3418
$GC,4428,-1.03,-146.6,446.0,-9.2,212,4432,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2605,3418
$GC,4751,-1.03,-146.6,477.1,-10.0,228,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3418
$GC,5058,-1.03,-146.6,507.1,-9.6,243,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2605,3417
$GC,5367,-1.03,-146.6,534.9,-8.3,258,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2604,3418
$GC,5676,-1.03,-146.6,560.8,-8.9,273,5680,0.00,2.47,0.00,0.000,4,0.000,0.038,2129,1190,3417
$GC,5715,-1.09,-146.6,564.1,-8.0,274,5722,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2606,3417
$GC,6031,-1.09,-146.6,587.6,-8.9,290,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3417
$GC,6340,-1.09,-146.6,614.3,-7.8,305,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3416
$GC,6650,-1.09,-146.6,637.9,-7.5,320,6654,0.00,2.47,0.00,0.000,4,0.000,0.039,2130,1191,3416
$GC,6689,-1.14,-146.6,640.9,-7.6,321,6696,0.00,2.47,0.00,0.000,6,0.000,0.037,2130,2601,3416
$GC,7005,-1.14,-146.6,666.6,-8.6,337,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3416
$GC,7314,-1.14,-146.6,695.2,-8.6,352,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3416
$STATE,7435,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7435,begin apogee
$GC,7443,-0.31,0.0,706.3,9.1,358,7578,0.77,0.00,128.68,1.044,6,0.095,0.000,2289,2281,2816
$STATE,7579,end apogee,CONTROL_FINISHED_OK
$STATE,7579,begin climb
$GC,7582,1.03,146.6,712.2,0.0,365,7721,1.35,2.55,129.95,1.032,4,0.068,0.046,2578,917,2218
$GC,7893,0.96,154.7,700.4,7.2,379,7909,0.00,2.45,7.57,0.824,6,0.000,0.035,2579,2302,2185
$GC,8219,0.88,154.7,676.3,8.9,395,8224,0.15,2.62,0.00,0.000,4,0.090,0.066,2550,3704,2184
$GC,8304,0.83,154.7,670.7,7.6,399,8308,0.00,2.40,0.00,0.000,6,0.000,0.029,2549,2313,2184
$GC,8636,0.85,218.1,649.5,5.3,415,8700,0.00,2.67,58.10,0.994,4,0.000,0.048,2550,900,1926
$GC,8729,0.94,294.4,645.3,4.9,419,8807,0.00,2.50,70.38,0.987,6,0.000,0.035,2550,2307,1616
$GC,9120,1.11,353.5,623.2,5.5,438,9183,0.20,2.70,53.78,0.969,4,0.048,0.062,2602,3701,1373
$GC,9207,1.11,353.5,615.9,8.9,442,9212,0.00,2.47,0.00,0.000,6,0.000,0.030,2603,2299,1371
$GC,9534,1.11,353.5,585.5,10.1,458,9538,0.00,2.55,0.00,0.000,4,0.000,0.051,2604,891,1366
$GC,9586,1.17,353.5,580.4,10.1,460,9590,0.00,2.50,0.00,0.000,6,0.000,0.035,2603,2308,1364
$GC,9901,1.17,353.5,553.8,7.6,475,9902,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2308,1364
$GC,10210,1.17,353.5,527.1,9.9,490,10215,0.00,2.55,0.00,0.000,4,0.000,0.048,2603,895,1363
$GC,10238,1.21,353.5,524.0,11.9,491,10242,0.00,2.47,0.00,0.000,6,0.000,0.035,2603,2306,1362
$GC,10554,1.21,353.5,484.4,12.7,506,10559,0.00,2.55,0.00,0.000,4,0.000,0.047,2603,894,1362
$GC,10588,1.26,353.5,479.6,13.4,507,10595,0.15,2.47,0.00,0.000,6,0.057,0.033,2646,2306,1361
$GC,10904,1.20,353.5,430.2,15.5,523,10909,0.12,2.55,0.00,0.000,4,0.097,0.046,2622,890,1361
$GC,10948,1.20,353.5,423.3,14.0,525,10952,0.00,2.47,0.00,0.000,6,0.000,0.034,2622,2302,1362
$GC,11275,1.20,353.5,378.3,13.4,541,11280,0.00,2.53,0.00,0.000,4,0.000,0.045,2622,895,1361
$GC,11325,1.20,353.5,371.5,13.5,543,11329,0.00,2.45,0.00,0.000,6,0.000,0.032,2622,2300,1361
$GC,11641,1.20,353.5,332.4,12.0,558,11644,0.00,2.50,0.00,0.000,4,0.000,0.044,2622,895,1361
$GC,11686,1.20,353.5,326.8,12.0,560,11690,0.00,2.45,0.00,0.000,6,0.000,0.033,2622,2305,1361
$GC,12019,1.20,353.5,286.5,12.3,576,12023,0.00,2.53,0.00,0.000,4,0.000,0.044,2622,894,1361
$GC,12058,1.20,353.5,281.5,12.5,578,12062,0.00,2.45,0.00,0.000,6,0.000,0.033,2622,2303,1361
$GC,12384,1.20,353.5,241.3,12.4,594,12388,0.00,2.53,0.00,0.000,4,0.000,0.044,2622,891,1361
$GC,12418,1.20,353.5,237.3,11.6,595,12425,0.00,2.45,0.00,0.000,6,0.000,0.032,2622,2302,1361
$GC,12734,1.20,353.5,200.9,11.3,611,12738,0.00,2.53,0.00,0.000,4,0.000,0.044,2622,889,1361
$GC,12779,1.20,353.5,195.1,11.8,613,12783,0.00,2.45,0.00,0.000,6,0.000,0.033,2622,2300,1361
$GC,13100,1.20,353.5,157.8,10.7,629,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2300,1361
$GC,13409,1.20,353.5,122.8,11.0,644,13414,0.00,2.53,0.00,0.000,4,0.000,0.044,2622,888,1361
$GC,13482,1.20,353.5,114.2,11.9,647,13486,0.00,2.45,0.00,0.000,6,0.000,0.033,2622,2300,1361
$GC,13800,1.20,353.5,79.4,10.5,662,13804,0.00,2.53,0.00,0.000,4,0.000,0.044,2622,886,1361
$GC,13855,1.20,353.5,73.4,11.1,664,13862,0.00,2.45,0.00,0.000,6,0.000,0.032,2622,2301,1361
$GC,14171,1.20,353.5,35.7,11.6,680,14172,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2301,1361
$GC,14481,1.20,353.5,3.1,9.5,695,14485,0.00,2.22,0.00,0.000,3,0.000,0.038,2622,1027,1361
$STATE,14485,end climb,SURFACE_DEPTH_REACHED
$STATE,14485,begin surface coast
$FINISH,0.6,1.017437
$STATE,14523,end surface coast,CONTROL_FINISHED_OK
$STATE,14523,begin surface
$SM_CCo,14608,0.00,0.000,0,0,1358,358.14
$SM_GC,1.50,11.75,0.00,0.00,0.070,0.000,0.000,69,2600,1358,-10.46,0.00,358.14
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1747
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.3,89.6
$24V_AH,23.6,28.034
$10V_AH,10.1,13.918
$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,26.450,115.525,448.450,0.000,0.000,54.097,85.603,268.207,5.250,0.000,0.000,13.196,1264.705,11306.400,517.949,1520.488,657.252,0.000,1317.386,0.000,1481.648,0.000,37.332,0.000
$DEVICE_MAMPS,181.779,65.962,1043.887,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.303,474.095,424.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34843,697
$CAP_FILE_SIZE,109196,0
$CFSIZE,260165632,249364480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050709,052936,6343.208,-1302.995,37,1.2,37,-12.3