version: 66.04
glider: 16
mission: 13
dive: 158
start: 7 5 109 5 37 55
data:
$ID,16
$MISSION,13
$DIVE,158
$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,-2110424.5
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,052936,6343.208,-1302.995,37,1.2,37,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-60.1
$GPS2,053738,6343.209,-1302.938,15,1.1,15,-12.3
$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,225.5,18163,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.03,0.000,2,0.000,0.000,68,2600,3011
$GC,82,-1.03,-146.6,4.1,-6.2,3,108,11.80,2.55,-7.68,0.000,4,0.180,0.051,2132,1189,3417
$GC,264,-1.03,-146.6,28.2,-9.6,11,268,0.00,2.50,0.00,0.000,6,0.000,0.035,2132,2603,3418
$GC,592,-1.03,-146.6,62.6,-11.6,27,596,0.00,2.33,0.00,0.000,4,0.000,0.064,2132,3864,3418
$GC,677,-1.03,-146.6,73.2,-11.9,31,681,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2572,3418
$GC,1004,-1.03,-146.6,109.7,-10.8,47,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2570,3418
$GC,1314,-1.03,-146.6,145.0,-11.8,62,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2570,3418
$GC,1624,-1.03,-146.6,175.5,-9.3,77,1628,0.00,2.38,0.00,0.000,4,0.000,0.039,2132,1213,3418
$GC,1668,-1.03,-146.6,179.7,-8.8,79,1672,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2602,3418
$GC,1988,-1.03,-146.6,206.2,-8.5,95,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,2298,-1.03,-146.6,232.5,-8.8,110,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3419
$GC,2607,-1.03,-146.6,260.5,-9.2,125,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,2916,-1.03,-146.6,288.3,-9.1,140,2920,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1206,3418
$GC,2966,-1.03,-146.6,292.7,-8.6,142,2970,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2605,3418
$GC,3288,-1.03,-146.6,321.1,-9.8,158,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,3597,-1.03,-146.6,350.5,-9.6,173,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,3906,-1.03,-146.6,381.2,-10.4,188,3910,0.00,2.45,0.00,0.000,4,0.000,0.039,2132,1209,3418
$GC,3961,-1.03,-146.6,386.9,-10.5,190,3968,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,4277,-1.03,-146.6,419.7,-9.7,206,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3417
$GC,4586,-1.03,-146.6,447.8,-8.9,221,4590,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1212,3417
$GC,4642,-1.03,-146.6,453.1,-9.1,223,4648,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,4958,-1.03,-146.6,483.0,-9.8,239,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3417
$GC,5267,-1.03,-146.6,514.8,-10.9,254,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3417
$GC,5577,-1.03,-146.6,546.7,-9.0,269,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3417
$GC,5886,-1.03,-146.6,571.6,-7.5,284,5890,0.00,2.33,0.00,0.000,4,0.000,0.069,2132,3857,3417
$GC,5941,-1.03,-146.6,575.9,-7.5,286,5948,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2590,3416
$GC,6257,-1.03,-146.6,603.0,-9.6,302,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2590,3416
$GC,6566,-1.03,-146.6,635.5,-10.7,317,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2590,3415
$STATE,6873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6873,begin apogee
$GC,6881,-0.31,0.0,666.9,9.1,332,7016,0.77,0.00,128.12,1.009,6,0.094,0.000,2292,2310,2816
$STATE,7016,end apogee,CONTROL_FINISHED_OK
$STATE,7016,begin climb
$GC,7019,1.03,146.6,671.8,0.0,339,7157,1.35,2.60,128.38,1.006,4,0.075,0.047,2579,922,2218
$GC,7398,0.94,161.5,653.3,7.0,356,7417,0.00,2.45,13.82,0.896,6,0.000,0.035,2579,2311,2157
$GC,7749,0.90,192.1,631.2,6.5,373,7784,0.12,2.67,28.02,0.943,4,0.107,0.062,2556,3694,2034
$GC,7840,0.86,214.1,625.2,6.7,377,7867,0.00,2.42,21.17,0.925,6,0.000,0.028,2556,2306,1944
$GC,8185,0.91,214.1,597.1,8.7,394,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2306,1938
$GC,8492,0.95,214.1,570.9,8.7,409,8496,0.00,2.58,0.00,0.000,4,0.000,0.061,2556,3700,1938
$GC,8554,0.95,214.1,565.1,9.8,412,8558,0.00,2.42,0.00,0.000,6,0.000,0.028,2556,2297,1937
$GC,8887,1.05,251.9,541.2,6.2,428,8927,0.15,0.00,35.22,0.914,6,0.050,0.000,2596,2296,1789
$GC,9236,1.02,261.2,515.2,7.2,445,9247,0.00,0.00,8.65,0.776,6,0.000,0.000,2596,2296,1752
$GC,9545,1.02,261.2,489.6,9.3,460,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2296,1750
$GC,9854,1.02,261.2,459.2,9.6,475,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2296,1749
$GC,10163,1.02,261.2,430.0,9.4,490,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2296,1748
$GC,10473,1.02,261.2,401.6,9.0,505,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2297,1748
$GC,10782,1.02,261.2,371.4,9.6,520,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2296,1748
$GC,11091,1.02,261.2,341.1,9.7,535,11092,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2296,1748
$GC,11400,1.02,261.2,312.7,9.4,550,11404,0.00,2.47,0.00,0.000,4,0.000,0.044,2596,901,1748
$GC,11446,1.02,261.2,308.1,10.0,552,11451,0.00,2.45,0.00,0.000,6,0.000,0.032,2596,2310,1747
$GC,11772,1.02,261.2,277.8,9.0,568,11773,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2309,1747
$GC,12082,1.02,261.2,250.9,8.4,583,12086,0.00,2.50,0.00,0.000,4,0.000,0.043,2596,898,1747
$GC,12109,1.02,261.2,248.3,9.0,584,12114,0.00,2.45,0.00,0.000,6,0.000,0.032,2596,2308,1747
$GC,12425,1.02,261.2,221.9,8.4,599,12426,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2309,1747
$GC,12734,1.02,261.2,194.7,9.0,614,12738,0.00,2.50,0.00,0.000,4,0.000,0.042,2596,899,1747
$GC,12774,1.02,261.2,191.2,9.4,616,12778,0.00,2.42,0.00,0.000,6,0.000,0.033,2596,2301,1747
$GC,13100,1.02,261.2,158.3,10.5,632,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2301,1747
$GC,13410,1.02,261.2,125.7,10.9,647,13411,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2301,1747
$GC,13721,1.02,261.2,94.7,9.5,662,13725,0.00,2.47,0.00,0.000,4,0.000,0.042,2596,899,1747
$GC,13761,1.02,261.2,90.8,9.2,664,13765,0.00,2.42,0.00,0.000,6,0.000,0.032,2596,2301,1747
$GC,14088,1.02,261.2,61.2,9.0,680,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2300,1747
$GC,14397,1.02,261.2,36.4,7.7,695,14401,0.00,2.47,0.00,0.000,4,0.000,0.042,2596,898,1747
$GC,14528,1.02,261.2,25.3,8.0,701,14532,0.00,2.42,0.00,0.000,6,0.000,0.032,2596,2302,1747
$STATE,14790,end climb,SURFACE_DEPTH_REACHED
$STATE,14790,begin surface coast
$FINISH,0.7,1.026644
$STATE,14812,end surface coast,CONTROL_FINISHED_OK
$STATE,14812,begin surface
$SM_CCo,14896,0.00,0.000,0,0,1745,262.96
$SM_GC,1.44,11.70,0.00,0.00,0.075,0.000,0.000,73,2599,1745,-10.46,-0.06,262.96
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1755
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.9,75.1
$24V_AH,23.6,28.152
$10V_AH,10.1,13.986
$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,25.900,74.125,363.400,0.000,0.000,38.585,54.156,210.780,5.250,0.000,0.000,15.643,1276.419,11618.145,442.966,1507.212,533.478,0.000,1184.496,0.000,1471.003,0.000,38.312,0.000
$DEVICE_MAMPS,180.245,69.030,1008.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,521.799,491.985,446.559,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34792,715
$CAP_FILE_SIZE,99527,0
$CFSIZE,260165632,249319424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050709,094736,6342.507,-1258.269,37,0.9,49,-12.3