version: 66.04
glider: 16
mission: 13
dive: 180
start: 7 9 109 3 4 56
data:
$ID,16
$MISSION,13
$DIVE,180
$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,-2110828.8
$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,30
$R_STBD_OVSHOOT,25
$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
$GPS1,025707,6345.993,-1309.438,38,1.4,38,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-64.3
$GPS2,030439,6345.977,-1309.499,12,1.8,12,-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,205.0,20828,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.97,0.000,2,0.000,0.000,81,2598,3159
$GC,82,-1.03,-146.6,4.8,-7.6,3,105,12.00,2.33,-4.53,0.000,4,0.189,0.074,2131,3862,3417
$GC,236,-0.97,-146.6,30.6,-13.2,9,243,0.00,2.17,0.00,0.000,6,0.000,0.025,2131,2567,3418
$GC,553,-0.97,-146.6,59.1,-7.3,25,557,0.00,2.38,0.00,0.000,4,0.000,0.038,2131,1214,3418
$GC,597,-0.97,-146.6,62.7,-8.0,27,601,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2599,3418
$GC,918,-0.97,-146.6,89.1,-9.8,43,922,0.00,2.33,0.00,0.000,4,0.000,0.063,2131,3861,3418
$GC,963,-0.97,-146.6,94.2,-11.3,45,966,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2596,3418
$GC,1290,-0.97,-146.6,132.1,-11.7,61,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2595,3418
$GC,1599,-0.97,-146.6,168.6,-10.9,76,1603,0.00,2.42,0.00,0.000,4,0.000,0.039,2131,1211,3418
$GC,1644,-0.97,-146.6,173.3,-10.1,78,1648,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2598,3418
$GC,1976,-0.97,-146.6,204.2,-8.9,94,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3418
$GC,2285,-0.97,-146.6,232.1,-9.4,109,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3418
$GC,2594,-0.97,-146.6,263.0,-10.5,124,2598,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1216,3418
$GC,2635,-1.01,-146.6,267.3,-10.7,126,2639,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2601,3418
$GC,2962,-1.01,-146.6,302.0,-10.7,142,2966,0.00,2.33,0.00,0.000,4,0.000,0.065,2131,3861,3418
$GC,2995,-1.01,-146.6,305.8,-11.4,143,3001,0.00,2.12,0.00,0.000,6,0.000,0.026,2131,2593,3418
$GC,3311,-1.01,-146.6,341.0,-11.6,159,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2593,3418
$GC,3621,-1.01,-146.6,376.3,-11.3,174,3625,0.00,2.40,0.00,0.000,4,0.000,0.039,2131,1219,3418
$GC,3677,-1.01,-146.6,383.0,-11.1,176,3683,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2603,3418
$GC,3992,-1.01,-146.6,418.0,-10.8,192,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,4302,-1.01,-146.6,450.3,-10.2,207,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,4611,-1.01,-146.6,479.8,-9.3,222,4615,0.00,2.45,0.00,0.000,4,0.000,0.039,2131,1209,3417
$GC,4672,-1.01,-146.6,485.6,-9.9,224,4678,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2609,3418
$GC,4987,-1.01,-146.6,515.1,-9.4,240,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2610,3418
$GC,5297,-1.01,-146.6,544.5,-9.9,255,5301,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1210,3417
$GC,5354,-1.06,-146.6,550.0,-9.3,257,5358,0.00,2.45,0.00,0.000,6,0.000,0.036,2131,2610,3417
$GC,5669,-1.06,-146.6,579.6,-9.4,272,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2610,3417
$GC,5979,-1.06,-146.6,608.4,-8.6,287,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2610,3417
$GC,6288,-1.06,-146.6,637.2,-9.2,302,6292,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1211,3417
$GC,6373,-1.11,-146.6,645.5,-10.5,306,6377,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2599,3417
$GC,6699,-1.11,-146.6,673.7,-8.3,322,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3417
$GC,7009,-1.11,-146.6,700.4,-7.7,337,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3416
$GC,7318,-1.15,-146.6,731.6,-12.8,352,7322,0.00,2.42,0.00,0.000,4,0.000,0.041,2131,1220,3415
$GC,7357,-1.24,-146.6,735.8,-10.5,353,7364,0.20,2.45,0.00,0.000,6,0.040,0.040,2072,2608,3415
$GC,7673,-0.99,-146.6,766.2,-10.8,369,7678,0.32,2.45,0.00,0.000,4,0.102,0.041,2139,1221,3414
$GC,7807,-1.11,-146.6,780.6,-1.3,375,7811,0.00,2.45,0.00,0.000,6,0.000,0.045,2139,2596,3414
$STATE,7986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7986,begin apogee
$GC,7993,-0.31,0.0,808.9,17.1,384,8129,0.75,0.00,129.62,1.108,6,0.097,0.000,2292,2304,2816
$STATE,8130,end apogee,CONTROL_FINISHED_OK
$STATE,8130,begin climb
$GC,8133,1.03,146.6,821.2,0.0,391,8269,1.35,0.00,130.55,1.098,6,0.072,0.000,2579,2302,2219
$GC,8567,1.06,267.7,814.8,3.4,412,8684,0.00,2.75,109.32,1.093,4,0.000,0.067,2579,3704,1724
$GC,8738,1.14,345.2,808.7,4.9,420,8816,0.12,2.45,71.60,1.080,6,0.052,0.031,2616,2317,1409
$GC,9125,1.14,345.2,767.1,17.3,438,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2317,1399
$GC,9434,1.14,345.2,726.2,13.0,453,9438,0.00,2.60,0.00,0.000,4,0.000,0.054,2616,901,1397
$GC,9512,1.14,345.2,713.8,12.2,456,9518,0.00,2.50,0.00,0.000,6,0.000,0.038,2616,2305,1396
$GC,9828,1.14,345.2,670.2,13.6,472,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2305,1395
$GC,10137,1.14,345.2,631.6,12.2,487,10141,0.00,2.58,0.00,0.000,4,0.000,0.051,2616,892,1395
$GC,10192,1.14,345.2,625.6,11.0,489,10198,0.00,2.50,0.00,0.000,6,0.000,0.036,2616,2305,1394
$GC,10508,1.14,345.2,590.8,10.2,505,10512,0.00,2.55,0.00,0.000,4,0.000,0.049,2616,899,1394
$GC,10557,1.14,345.2,585.5,10.5,507,10562,0.00,2.47,0.00,0.000,6,0.000,0.036,2616,2303,1394
$GC,10873,1.14,345.2,553.5,10.4,522,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2303,1394
$GC,11183,1.14,345.2,522.4,9.7,537,11187,0.00,2.53,0.00,0.000,4,0.000,0.048,2616,897,1394
$GC,11215,1.14,345.2,518.8,11.0,538,11219,0.00,2.47,0.00,0.000,6,0.000,0.035,2618,2306,1393
$GC,11531,1.14,345.2,488.9,9.5,553,11534,0.00,2.53,0.00,0.000,4,0.000,0.047,2616,894,1394
$GC,11576,1.14,345.2,484.4,9.6,555,11580,0.00,2.45,0.00,0.000,6,0.000,0.034,2616,2305,1393
$GC,11909,1.14,345.2,453.6,9.5,571,11913,0.00,2.53,0.00,0.000,4,0.000,0.044,2616,895,1393
$GC,11948,1.14,345.2,449.3,10.1,573,11953,0.00,2.45,0.00,0.000,6,0.000,0.033,2616,2300,1393
$GC,12275,1.14,345.2,412.8,11.5,589,12280,0.00,2.53,0.00,0.000,4,0.000,0.045,2616,889,1393
$GC,12310,1.14,345.2,408.7,11.9,590,12316,0.00,2.45,0.00,0.000,6,0.000,0.033,2616,2301,1393
$GC,12626,1.14,345.2,372.9,11.5,606,12627,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2301,1393
$GC,12935,1.14,345.2,338.3,11.1,621,12939,0.00,2.53,0.00,0.000,4,0.000,0.044,2617,891,1394
$GC,12991,1.14,345.2,331.6,11.9,623,12997,0.00,2.47,0.00,0.000,6,0.000,0.033,2616,2311,1394
$GC,13307,1.14,345.2,294.6,11.9,639,13311,0.00,2.53,0.00,0.000,4,0.000,0.044,2616,894,1393
$GC,13350,1.14,345.2,288.8,12.9,641,13355,0.00,2.45,0.00,0.000,6,0.000,0.032,2616,2305,1393
$GC,13672,1.14,345.2,248.8,12.3,657,13673,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2304,1394
$GC,13981,1.14,345.2,214.3,10.3,672,13985,0.00,2.53,0.00,0.000,4,0.000,0.043,2616,889,1394
$GC,14059,1.14,345.2,206.3,10.0,675,14063,0.00,2.45,0.00,0.000,6,0.000,0.033,2616,2299,1394
$GC,14375,1.14,345.2,177.0,9.5,690,14379,0.00,2.50,0.00,0.000,4,0.000,0.044,2616,896,1394
$GC,14419,1.18,345.2,172.5,9.7,692,14423,0.00,2.42,0.00,0.000,6,0.000,0.032,2616,2301,1394
$GC,14746,1.18,345.2,141.5,10.0,708,14747,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2302,1394
$GC,15056,1.18,345.2,109.1,10.7,723,15061,0.00,2.50,0.00,0.000,4,0.000,0.044,2616,895,1394
$GC,15119,1.18,345.2,102.5,10.0,726,15123,0.00,2.45,0.00,0.000,6,0.000,0.034,2616,2309,1394
$GC,15452,1.18,345.2,66.1,10.6,742,15453,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2309,1395
$GC,15760,1.18,345.2,36.2,10.3,757,15765,0.00,2.53,0.00,0.000,4,0.000,0.044,2616,894,1394
$GC,15828,1.23,345.2,28.5,11.2,760,15832,0.00,2.45,0.00,0.000,6,0.000,0.032,2616,2304,1394
$STATE,16084,end climb,SURFACE_DEPTH_REACHED
$STATE,16084,begin surface coast
$FINISH,0.8,1.002837
$STATE,16106,end surface coast,CONTROL_FINISHED_OK
$STATE,16106,begin surface
$SM_CCo,16190,0.00,0.000,0,0,1392,349.31
$SM_GC,1.78,12.32,0.00,0.00,0.097,0.000,0.000,66,2598,1392,-10.45,-0.06,349.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1782
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.1,40.7
$24V_AH,23.6,30.916
$10V_AH,10.1,15.492
$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,27.075,128.250,441.100,0.000,0.000,36.217,55.083,179.553,7.000,0.000,0.000,12.226,1405.748,12463.856,520.410,1714.311,536.348,0.000,1406.259,0.000,1667.117,0.000,49.538,0.000
$DEVICE_MAMPS,188.682,73.632,1107.548,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,566.556,527.262,458.325,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37954,774
$CAP_FILE_SIZE,116612,0
$CFSIZE,260165632,248188928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090709,073601,6343.285,-1311.043,39,1.0,39,-12.4