version: 66.04
glider: 16
mission: 13
dive: 178
start: 7 8 109 18 2 7
data:
$ID,16
$MISSION,13
$DIVE,178
$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,-2110804.5
$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,53
$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
$GPS1,175707,6348.297,-1311.723,38,0.9,38,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-59.5
$GPS2,180150,6348.281,-1311.863,11,1.9,11,-12.5
$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,198.5,24732,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.07,0.000,2,0.000,0.000,71,2609,3135
$GC,102,-1.03,-146.6,4.4,-4.8,4,125,11.80,2.38,-5.07,0.000,4,0.181,0.074,2129,3860,3419
$GC,351,-1.03,-146.6,41.7,-13.3,15,355,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2597,3420
$GC,684,-1.03,-146.6,80.8,-11.0,31,688,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1214,3421
$GC,756,-1.03,-146.6,88.8,-10.5,34,760,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2608,3420
$GC,1072,-1.03,-146.6,119.8,-9.2,49,1076,0.00,2.30,0.00,0.000,4,0.000,0.063,2129,3860,3420
$GC,1135,-1.03,-146.6,126.3,-10.9,52,1139,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2594,3420
$GC,1467,-1.03,-146.6,161.7,-10.8,68,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3420
$GC,1776,-1.03,-146.6,192.9,-9.4,83,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3421
$GC,2085,-1.03,-146.6,222.2,-9.5,98,2089,0.00,2.42,0.00,0.000,4,0.000,0.040,2129,1214,3420
$GC,2141,-1.03,-146.6,227.4,-9.0,100,2148,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2600,3420
$GC,2457,-1.03,-146.6,257.7,-9.7,116,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,2766,-1.03,-146.6,293.0,-12.3,131,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,3076,-1.03,-146.6,330.6,-12.9,146,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,3385,-1.03,-146.6,371.5,-13.4,161,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,3694,-1.03,-146.6,413.1,-13.3,176,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,4004,-1.03,-146.6,454.1,-13.1,191,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,4313,-1.03,-146.6,490.6,-11.4,206,4317,0.00,2.42,0.00,0.000,4,0.000,0.039,2129,1218,3420
$GC,4368,-1.07,-146.6,496.6,-10.9,208,4374,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2600,3420
$GC,4685,-1.07,-146.6,526.5,-8.7,224,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,4993,-1.07,-146.6,553.2,-8.5,239,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,5302,-1.07,-146.6,582.4,-8.9,254,5306,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1218,3420
$GC,5348,-1.12,-146.6,585.9,-7.5,256,5352,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2600,3420
$GC,5668,-1.12,-146.6,618.2,-10.9,272,5672,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1217,3420
$GC,5713,-1.16,-146.6,622.7,-9.6,274,5717,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2601,3420
$GC,6034,-1.16,-146.6,660.8,-12.5,290,6038,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1215,3419
$GC,6089,-1.22,-146.6,667.4,-11.5,292,6094,0.17,2.45,0.00,0.000,6,0.043,0.037,2077,2610,3419
$GC,6406,-1.10,-146.6,712.6,-12.5,307,6411,0.20,2.33,0.00,0.000,4,0.093,0.070,2119,3860,3419
$GC,6536,-1.10,-146.6,725.5,-9.8,313,6540,0.00,2.12,0.00,0.000,6,0.000,0.028,2119,2603,3419
$GC,6869,-1.10,-146.6,752.6,-8.5,329,6873,0.00,2.45,0.00,0.000,4,0.000,0.042,2119,1211,3419
$GC,6941,-1.10,-146.6,759.1,-9.5,332,6945,0.00,2.45,0.00,0.000,6,0.000,0.038,2119,2604,3419
$GC,7256,-1.10,-146.6,786.5,-9.5,347,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2603,3418
$STATE,7295,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7295,begin apogee
$GC,7302,-0.31,0.0,790.6,9.6,349,7439,0.85,0.00,130.27,1.091,6,0.099,0.000,2291,2297,2817
$STATE,7439,end apogee,CONTROL_FINISHED_OK
$STATE,7439,begin climb
$GC,7442,1.03,146.6,797.1,0.0,356,7581,1.38,2.62,131.02,1.082,4,0.070,0.048,2582,911,2219
$GC,7593,0.96,192.7,796.9,5.9,363,7645,0.00,2.50,41.92,1.052,6,0.000,0.036,2582,2307,2029
$GC,7956,0.97,197.6,770.5,7.3,381,7966,0.00,2.67,4.53,0.698,4,0.000,0.067,2582,3711,2011
$GC,8018,0.89,197.6,765.1,9.3,384,8023,0.15,2.42,0.00,0.000,6,0.095,0.031,2554,2318,2010
$GC,8345,0.89,197.6,737.7,8.4,400,8349,0.00,2.58,0.00,0.000,4,0.000,0.051,2554,901,2009
$GC,8406,0.89,197.6,732.5,8.8,403,8411,0.00,2.47,0.00,0.000,6,0.000,0.037,2554,2304,2008
$GC,8733,0.89,197.6,700.0,11.9,419,8737,0.00,2.55,0.00,0.000,4,0.000,0.048,2554,894,2007
$GC,8766,0.89,197.6,696.0,13.3,420,8772,0.00,2.47,0.00,0.000,6,0.000,0.036,2554,2299,2007
$GC,9082,0.89,197.6,663.9,8.5,436,9086,0.00,2.60,0.00,0.000,4,0.000,0.064,2554,3701,2007
$GC,9137,0.89,197.6,659.1,8.4,438,9143,0.00,2.45,0.00,0.000,6,0.000,0.029,2554,2298,2007
$GC,9453,0.97,274.0,639.4,4.9,454,9526,0.00,0.00,71.03,1.000,6,0.000,0.000,2554,2295,1700
$GC,9822,1.16,358.4,622.6,4.6,472,9906,0.28,2.62,77.18,0.979,4,0.042,0.051,2624,905,1354
$GC,9929,1.16,358.4,613.4,9.3,477,9933,0.00,2.50,0.00,0.000,6,0.000,0.035,2625,2308,1351
$GC,10250,1.16,358.4,578.1,12.2,493,10254,0.00,2.55,0.00,0.000,4,0.000,0.048,2624,902,1345
$GC,10289,1.16,358.4,572.9,13.5,495,10293,0.00,2.47,0.00,0.000,6,0.000,0.035,2624,2305,1344
$GC,10616,1.16,358.4,528.4,14.0,511,10620,0.00,2.55,0.00,0.000,4,0.000,0.047,2624,897,1343
$GC,10643,1.16,358.4,524.1,15.3,512,10647,0.00,2.47,0.00,0.000,6,0.000,0.034,2625,2306,1342
$GC,10959,1.16,358.4,482.6,12.5,527,10963,0.00,2.55,0.00,0.000,4,0.000,0.046,2625,892,1342
$GC,10999,1.16,358.4,477.6,12.5,529,11003,0.00,2.47,0.00,0.000,6,0.000,0.034,2624,2302,1341
$GC,11325,1.16,358.4,437.3,12.6,545,11329,0.00,2.53,0.00,0.000,4,0.000,0.045,2625,896,1341
$GC,11357,1.16,358.4,432.8,13.2,546,11363,0.00,2.45,0.00,0.000,6,0.000,0.033,2625,2299,1341
$GC,11673,1.16,358.4,394.6,11.4,562,11678,0.00,2.50,0.00,0.000,4,0.000,0.045,2624,900,1341
$GC,11713,1.16,358.4,389.9,11.2,564,11717,0.00,2.45,0.00,0.000,6,0.000,0.033,2625,2303,1341
$GC,12039,1.16,358.4,351.1,12.2,580,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2303,1341
$GC,12349,1.16,358.4,313.2,12.5,595,12353,0.00,2.53,0.00,0.000,4,0.000,0.044,2625,894,1341
$GC,12393,1.16,358.4,307.4,13.0,597,12397,0.00,2.45,0.00,0.000,6,0.000,0.033,2625,2300,1341
$GC,12713,1.16,358.4,266.8,12.7,613,12718,0.00,2.50,0.00,0.000,4,0.000,0.044,2625,898,1341
$GC,12753,1.16,358.4,261.8,12.1,615,12757,0.00,2.45,0.00,0.000,6,0.000,0.033,2625,2305,1341
$GC,13080,1.16,358.4,222.4,11.6,631,13084,0.00,2.53,0.00,0.000,4,0.000,0.043,2624,891,1341
$GC,13124,1.16,358.4,216.6,12.7,633,13128,0.00,2.45,0.00,0.000,6,0.000,0.032,2625,2301,1341
$GC,13445,1.16,358.4,176.7,12.8,649,13449,0.00,2.50,0.00,0.000,4,0.000,0.044,2625,898,1341
$GC,13494,1.16,358.4,170.1,12.7,651,13498,0.00,2.45,0.00,0.000,6,0.000,0.033,2624,2306,1341
$GC,13810,1.16,358.4,130.8,12.1,666,13814,0.00,2.50,0.00,0.000,4,0.000,0.044,2625,898,1341
$GC,13850,1.16,358.4,126.0,11.7,668,13854,0.00,2.42,0.00,0.000,6,0.000,0.033,2625,2300,1341
$GC,14183,1.16,358.4,91.1,9.6,684,14187,0.00,2.50,0.00,0.000,4,0.000,0.044,2625,896,1341
$GC,14216,1.16,358.4,87.7,9.5,685,14222,0.00,2.42,0.00,0.000,6,0.000,0.033,2625,2300,1341
$GC,14533,1.16,358.4,52.8,11.4,701,14537,0.00,2.58,0.00,0.000,4,0.000,0.058,2624,3707,1341
$GC,14555,1.16,358.4,50.0,11.1,702,14559,0.00,2.42,0.00,0.000,6,0.000,0.028,2625,2294,1341
$GC,14882,1.16,358.4,17.7,9.6,718,14886,0.00,2.50,0.00,0.000,4,0.000,0.044,2624,891,1341
$GC,15005,1.20,358.4,4.5,11.2,723,15012,0.00,2.45,0.00,0.000,6,0.000,0.034,2624,2307,1341
$STATE,15030,end climb,SURFACE_DEPTH_REACHED
$STATE,15030,begin surface coast
$FINISH,0.8,1.019347
$STATE,15052,end surface coast,CONTROL_FINISHED_OK
$STATE,15052,begin surface
$SM_CCo,15135,0.00,0.000,0,0,1339,362.55
$SM_GC,1.83,12.30,0.00,0.00,0.094,0.000,0.000,65,2603,1339,-10.46,0.06,362.55
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1763
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,750.8,49.2
$24V_AH,23.6,30.626
$10V_AH,10.1,15.344
$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,27.125,143.525,455.950,0.000,0.000,18.276,30.338,129.003,6.750,0.000,0.000,11.231,1344.316,11425.437,605.428,1618.921,426.086,0.000,1438.326,0.000,1579.086,0.000,44.710,0.000
$DEVICE_MAMPS,181.012,74.399,1090.674,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.120,496.908,429.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37880,726
$CAP_FILE_SIZE,113004,0
$CFSIZE,260165632,248311808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080709,221539,6347.507,-1311.253,39,1.9,41,-12.4