version: 66.04
glider: 16
mission: 13
dive: 182
start: 7 9 109 12 22 55
data:
$ID,16
$MISSION,13
$DIVE,182
$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,-2110857.5
$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,34
$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
$GPS1,121737,6343.040,-1306.283,30,1.2,30,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-65.6
$GPS2,122238,6343.038,-1306.238,12,1.4,12,-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,218.3,16545,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,74,0.00,0.00,-53.78,0.000,6,0.000,0.000,69,2600,3416
$GC,77,-1.03,-146.6,3.7,-8.3,2,99,12.05,2.35,0.00,0.000,4,0.188,0.057,2130,3858,3417
$GC,302,-1.03,-146.6,40.7,-7.9,12,306,0.00,2.15,0.00,0.000,6,0.000,0.026,2129,2577,3418
$GC,634,-1.03,-146.6,69.2,-9.6,28,638,0.00,2.40,0.00,0.000,4,0.000,0.038,2130,1207,3419
$GC,724,-1.03,-146.6,77.6,-9.0,32,728,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2601,3419
$GC,1045,-1.03,-146.6,107.4,-10.0,48,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3420
$GC,1356,-1.03,-146.6,137.1,-9.0,63,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3420
$GC,1663,-1.03,-146.6,162.5,-7.9,78,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3419
$GC,1972,-1.03,-146.6,186.8,-7.8,93,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3420
$GC,2281,-1.03,-146.6,214.1,-9.3,108,2286,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1205,3420
$GC,2321,-1.03,-146.6,217.9,-10.3,110,2325,0.00,2.45,0.00,0.000,6,0.000,0.035,2128,2605,3419
$GC,2648,-1.03,-146.6,249.3,-9.4,126,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3419
$GC,2958,-1.03,-146.6,278.9,-9.6,141,2962,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1208,3418
$GC,2997,-1.03,-146.6,282.8,-9.5,143,3002,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2608,3419
$GC,3324,-1.03,-146.6,315.7,-9.9,159,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3419
$GC,3633,-1.03,-146.6,345.7,-9.8,174,3637,0.00,2.33,0.00,0.000,4,0.000,0.066,2130,3864,3419
$GC,3668,-1.03,-146.6,349.0,-10.1,175,3675,0.00,2.12,0.00,0.000,6,0.000,0.026,2130,2593,3419
$GC,3984,-1.03,-146.6,381.7,-11.0,191,3989,0.00,2.42,0.00,0.000,4,0.000,0.040,2130,1208,3419
$GC,4012,-1.03,-146.6,385.0,-11.7,192,4016,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2603,3419
$GC,4333,-1.03,-146.6,421.7,-11.7,208,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3419
$GC,4642,-1.03,-146.6,459.3,-12.7,223,4646,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1211,3419
$GC,4698,-1.03,-146.6,466.5,-12.9,225,4702,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3419
$GC,5014,-1.03,-146.6,504.8,-11.7,240,5018,0.00,2.33,0.00,0.000,4,0.000,0.067,2130,3858,3418
$GC,5053,-1.03,-146.6,509.6,-12.3,242,5057,0.00,2.10,0.00,0.000,6,0.000,0.027,2130,2604,3418
$GC,5386,-1.03,-146.6,545.8,-11.0,258,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3418
$GC,5695,-1.03,-146.6,581.8,-12.4,273,5700,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1209,3418
$GC,5740,-1.08,-146.6,587.2,-11.5,275,5744,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2609,3418
$GC,6062,-1.08,-146.6,623.4,-11.0,291,6066,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1211,3418
$GC,6095,-1.13,-146.6,627.1,-10.5,292,6102,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2608,3418
$GC,6411,-1.13,-146.6,657.2,-7.9,308,6415,0.00,2.33,0.00,0.000,4,0.000,0.069,2130,3860,3418
$STATE,6431,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6431,begin apogee
$GC,6441,-0.31,0.0,659.2,8.7,309,6571,0.75,0.00,127.18,1.000,6,0.104,0.000,2284,2316,2817
$STATE,6572,end apogee,CONTROL_FINISHED_OK
$STATE,6572,begin climb
$GC,6576,1.03,146.6,664.7,0.0,315,6714,1.40,2.65,128.10,0.990,4,0.074,0.045,2580,906,2219
$GC,6863,1.27,455.2,660.4,-3.0,328,7145,0.25,2.47,270.00,0.989,6,0.038,0.034,2647,2309,960
$GC,7458,1.27,455.2,592.9,12.8,357,7462,0.00,2.58,0.00,0.000,4,0.000,0.048,2647,897,952
$GC,7546,1.27,455.2,581.2,11.6,361,7551,0.00,2.47,0.00,0.000,6,0.000,0.035,2647,2298,951
$GC,7867,1.27,455.2,545.6,10.7,377,7872,0.00,2.53,0.00,0.000,4,0.000,0.047,2647,905,950
$GC,7918,1.32,455.2,539.9,11.0,379,7923,0.00,2.47,0.00,0.000,6,0.000,0.034,2647,2311,950
$GC,8234,1.32,455.2,506.9,10.7,394,8238,0.00,2.53,0.00,0.000,4,0.000,0.047,2647,905,949
$GC,8289,1.32,455.2,500.7,10.6,396,8294,0.00,2.45,0.00,0.000,6,0.000,0.033,2647,2301,949
$GC,8606,1.32,455.2,464.2,11.3,411,8610,0.00,2.53,0.00,0.000,4,0.000,0.045,2647,903,949
$GC,8672,1.32,455.2,456.6,10.8,414,8676,0.00,2.45,0.00,0.000,6,0.000,0.033,2647,2301,949
$GC,8993,1.32,455.2,418.6,12.6,430,8998,0.00,2.53,0.00,0.000,4,0.000,0.045,2647,902,949
$GC,9056,1.32,455.2,410.4,13.3,433,9060,0.00,2.45,0.00,0.000,6,0.000,0.033,2647,2306,949
$GC,9388,1.32,455.2,363.0,14.5,449,9392,0.00,2.53,0.00,0.000,4,0.000,0.045,2647,905,949
$GC,9465,1.32,455.2,351.5,14.7,452,9471,0.00,2.45,0.00,0.000,6,0.000,0.033,2648,2306,949
$GC,9781,1.32,455.2,306.6,14.0,468,9785,0.00,2.53,0.00,0.000,4,0.000,0.045,2647,902,948
$GC,9859,1.32,455.2,295.2,14.3,471,9865,0.00,2.45,0.00,0.000,6,0.000,0.033,2647,2305,948
$GC,10174,1.32,455.2,248.8,15.0,487,10178,0.00,2.53,0.00,0.000,4,0.000,0.045,2647,895,948
$GC,10241,1.36,455.2,238.9,14.6,490,10245,0.00,2.45,0.00,0.000,6,0.000,0.033,2647,2301,948
$GC,10562,1.36,455.2,191.9,14.1,506,10566,0.00,2.50,0.00,0.000,4,0.000,0.044,2647,904,948
$GC,10629,1.36,455.2,182.2,13.9,509,10633,0.00,2.45,0.00,0.000,6,0.000,0.033,2647,2309,948
$GC,10950,1.36,455.2,137.4,13.4,525,10954,0.00,2.53,0.00,0.000,4,0.000,0.045,2647,903,948
$GC,11035,1.36,455.2,125.6,13.5,529,11039,0.00,2.45,0.00,0.000,6,0.000,0.034,2647,2308,948
$GC,11362,1.36,455.2,85.8,12.2,545,11367,0.00,2.53,0.00,0.000,4,0.000,0.045,2647,895,948
$GC,11452,1.40,455.2,73.9,14.1,549,11457,0.00,2.45,0.00,0.000,6,0.000,0.033,2647,2303,948
$GC,11774,1.40,455.2,32.1,13.1,565,11778,0.00,2.50,0.00,0.000,4,0.000,0.044,2647,904,948
$GC,11882,1.46,455.2,17.4,13.0,570,11887,0.12,2.42,0.00,0.000,6,0.048,0.033,2687,2301,948
$STATE,11979,end climb,SURFACE_DEPTH_REACHED
$STATE,11979,begin surface coast
$FINISH,0.8,1.014614
$STATE,12001,end surface coast,CONTROL_FINISHED_OK
$STATE,12001,begin surface
$SM_CCo,12086,0.00,0.000,0,0,946,458.96
$SM_GC,1.54,12.60,0.00,0.00,0.094,0.000,0.000,80,2601,946,-10.45,0.03,458.96
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1758
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.2,68.6
$24V_AH,23.6,31.192
$10V_AH,10.1,15.625
$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,27.175,117.900,525.275,0.000,0.000,18.327,28.731,138.341,5.250,0.000,0.000,12.477,1092.992,8881.262,550.097,1454.434,407.167,0.000,1331.065,0.000,1410.542,0.000,37.991,0.000
$DEVICE_MAMPS,187.915,69.030,1000.168,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.374,390.461,372.017,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28511,576
$CAP_FILE_SIZE,94720,0
$CFSIZE,260165632,248111104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090709,154537,6341.011,-1306.355,40,1.6,40,-12.4