version: 66.04
glider: 16
mission: 13
dive: 154
start: 7 4 109 10 15 58
data:
$ID,16
$MISSION,13
$DIVE,154
$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,-2110363
$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,37
$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
$GPS1,100945,6350.326,-1309.624,41,2.5,60,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-64.1
$GPS2,101540,6350.321,-1309.624,13,2.3,32,-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,201.4,28719,-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,-61.20,0.000,2,0.000,0.000,80,2611,3369
$GC,82,-1.03,-146.6,5.6,-10.0,3,104,12.00,2.55,-0.77,0.000,4,0.189,0.049,2129,1193,3418
$GC,183,-1.03,-146.6,27.2,-9.9,7,187,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2597,3420
$GC,500,-1.03,-146.6,56.8,-9.3,22,504,0.00,2.33,0.00,0.000,4,0.000,0.064,2129,3860,3420
$GC,623,-1.03,-146.6,69.4,-9.7,27,629,0.00,2.15,0.00,0.000,6,0.000,0.026,2127,2576,3420
$GC,940,-1.03,-146.6,96.4,-8.7,43,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2576,3420
$GC,1248,-1.03,-146.6,122.7,-9.0,58,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2576,3420
$GC,1557,-1.03,-146.6,152.6,-9.9,73,1561,0.00,2.40,0.00,0.000,4,0.000,0.038,2129,1206,3420
$GC,1590,-1.03,-146.6,155.9,-9.3,74,1596,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2603,3421
$GC,1905,-1.03,-146.6,186.5,-9.8,90,1909,0.00,2.33,0.00,0.000,4,0.000,0.064,2129,3864,3420
$GC,1949,-1.03,-146.6,191.1,-10.3,92,1953,0.00,2.10,0.00,0.000,6,0.000,0.025,2129,2599,3420
$GC,2276,-1.03,-146.6,222.6,-9.5,108,2280,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1211,3421
$GC,2308,-1.03,-146.6,225.9,-9.8,109,2314,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2601,3421
$GC,2624,-1.03,-146.6,257.1,-10.2,125,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,2933,-1.03,-146.6,288.2,-9.7,140,2938,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1216,3420
$GC,2967,-1.03,-146.6,291.6,-9.6,141,2973,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2601,3420
$GC,3282,-1.03,-146.6,322.2,-9.8,157,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,3592,-1.03,-146.6,351.3,-9.4,172,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,3900,-1.03,-146.6,380.1,-9.2,187,3905,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1213,3420
$GC,3934,-1.03,-146.6,383.2,-9.3,188,3940,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3420
$GC,4249,-1.03,-146.6,412.0,-9.3,204,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,4558,-1.03,-146.6,442.1,-10.4,219,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,4868,-1.03,-146.6,471.3,-8.9,234,4872,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1216,3421
$GC,4908,-1.03,-146.6,474.8,-8.7,236,4916,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2605,3419
$GC,5243,-1.03,-146.6,508.7,-10.1,252,5247,0.00,2.33,0.00,0.000,4,0.000,0.068,2129,3860,3419
$GC,5315,-1.03,-146.6,516.2,-10.2,255,5319,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2592,3419
$GC,5637,-1.03,-146.6,544.5,-9.0,271,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2590,3419
$GC,5947,-1.03,-146.6,576.9,-10.9,286,5951,0.00,2.42,0.00,0.000,4,0.000,0.041,2129,1212,3419
$GC,5980,-1.08,-146.6,580.6,-10.4,287,5986,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3418
$GC,6296,-1.08,-146.6,613.6,-10.4,303,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,6605,-1.08,-146.6,641.3,-9.3,318,6609,0.00,2.42,0.00,0.000,4,0.000,0.041,2128,1214,3418
$GC,6667,-1.13,-146.6,647.2,-9.2,320,6673,0.00,2.42,0.00,0.000,6,0.000,0.037,2129,2600,3418
$GC,6983,-1.13,-146.6,674.5,-8.5,336,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,7295,-1.13,-146.6,701.5,-8.2,351,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,7603,-1.13,-146.6,727.3,-7.9,366,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3416
$GC,7911,-1.13,-146.6,753.1,-8.4,381,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3416
$STATE,8155,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8155,begin apogee
$GC,8162,-0.31,0.0,774.3,8.5,393,8298,0.80,0.00,130.12,1.091,6,0.098,0.000,2291,2305,2817
$STATE,8299,end apogee,CONTROL_FINISHED_OK
$STATE,8299,begin climb
$GC,8302,1.03,146.6,780.0,0.0,400,8441,1.35,2.58,130.85,1.081,4,0.071,0.048,2581,915,2218
$GC,8477,0.95,162.9,775.6,6.9,407,8497,0.00,2.47,15.52,0.977,6,0.000,0.035,2580,2302,2153
$GC,8814,0.89,162.9,751.1,7.8,424,8816,0.15,0.00,0.00,0.000,6,0.095,0.000,2551,2302,2146
$GC,9123,0.92,194.7,729.8,6.4,439,9154,0.00,0.00,29.23,1.016,6,0.000,0.000,2551,2302,2023
$GC,9452,0.93,202.4,706.3,7.2,455,9466,0.00,2.70,7.68,0.854,4,0.000,0.065,2551,3702,1991
$GC,9512,0.93,202.4,701.0,8.0,457,9519,0.00,2.42,0.00,0.000,6,0.000,0.030,2551,2316,1990
$GC,9828,0.93,202.4,672.8,9.0,473,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2316,1989
$GC,10137,0.93,202.4,647.9,8.0,488,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2316,1989
$GC,10446,0.93,202.4,622.9,8.4,503,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2316,1988
$GC,10756,1.03,252.1,603.0,5.8,518,10810,0.15,2.65,46.90,0.983,4,0.051,0.051,2591,908,1788
$GC,10833,1.03,252.1,597.4,8.3,521,10839,0.00,2.50,0.00,0.000,6,0.000,0.036,2591,2309,1785
$GC,11148,1.03,252.1,571.3,9.3,537,11152,0.00,2.55,0.00,0.000,4,0.000,0.048,2591,902,1781
$GC,11175,1.03,252.1,568.3,10.6,538,11179,0.00,2.47,0.00,0.000,6,0.000,0.035,2591,2304,1779
$GC,11491,1.03,252.1,536.7,9.7,553,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2304,1779
$GC,11800,1.03,252.1,509.5,9.0,568,11804,0.00,2.60,0.00,0.000,4,0.000,0.062,2591,3707,1779
$GC,11855,0.98,252.1,504.1,10.0,570,11862,0.00,2.45,0.00,0.000,6,0.000,0.029,2591,2297,1779
$GC,12171,0.98,252.1,475.3,8.7,586,12176,0.00,2.53,0.00,0.000,4,0.000,0.049,2591,895,1779
$GC,12205,0.98,252.1,472.1,9.1,587,12211,0.00,2.47,0.00,0.000,6,0.000,0.035,2591,2309,1777
$GC,12520,0.98,252.1,443.4,9.2,603,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2309,1778
$GC,12830,0.98,252.1,416.1,8.7,618,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2309,1778
$GC,13139,0.98,252.1,388.4,9.2,633,13142,0.00,2.53,0.00,0.000,4,0.000,0.044,2591,897,1778
$GC,13162,0.98,252.1,386.1,9.8,634,13166,0.00,2.45,0.00,0.000,6,0.000,0.033,2592,2304,1778
$GC,13488,0.98,252.1,354.9,9.6,650,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2304,1778
$GC,13797,0.98,252.1,324.8,9.7,665,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2304,1778
$GC,14106,0.98,252.1,298.3,8.0,680,14107,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2304,1779
$GC,14416,0.98,252.1,273.3,8.7,695,14417,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2304,1779
$GC,14725,0.98,252.1,242.7,9.9,710,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2304,1779
$GC,15034,0.98,252.1,209.4,11.5,725,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2304,1779
$GC,15343,0.98,252.1,171.7,12.5,740,15347,0.00,2.50,0.00,0.000,4,0.000,0.043,2591,897,1779
$GC,15405,0.98,252.1,164.0,12.6,742,15411,0.00,2.45,0.00,0.000,6,0.000,0.033,2591,2307,1779
$GC,15722,0.98,252.1,131.2,9.4,758,15726,0.00,2.53,0.00,0.000,4,0.000,0.043,2591,891,1779
$GC,15762,0.98,252.1,127.3,9.2,760,15766,0.00,2.45,0.00,0.000,6,0.000,0.033,2591,2302,1779
$GC,16089,0.98,252.1,98.0,8.6,776,16090,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2302,1780
$GC,16398,0.98,252.1,71.7,9.2,791,16402,0.00,2.50,0.00,0.000,4,0.000,0.042,2591,896,1780
$GC,16453,0.98,252.1,66.5,8.9,793,16460,0.00,2.42,0.00,0.000,6,0.000,0.032,2591,2301,1780
$GC,16770,0.98,252.1,42.1,8.2,809,16774,0.00,2.50,0.00,0.000,4,0.000,0.043,2591,895,1780
$GC,16848,1.02,252.1,34.7,10.1,812,16854,0.00,2.42,0.00,0.000,6,0.000,0.032,2591,2300,1780
$GC,17164,1.02,252.1,6.7,8.7,828,17165,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2299,1780
$STATE,17202,end climb,SURFACE_DEPTH_REACHED
$STATE,17202,begin surface coast
$FINISH,1.6,1.026619
$STATE,17224,end surface coast,CONTROL_FINISHED_OK
$STATE,17224,begin surface
$SM_CCo,17307,0.00,0.000,0,0,1778,255.11
$SM_GC,1.55,11.70,0.00,0.00,0.074,0.000,0.000,68,2603,1778,-10.47,0.08,255.11
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1744
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.5,58.4
$24V_AH,23.6,27.640
$10V_AH,10.1,13.691
$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,26.150,108.425,360.300,0.000,0.000,18.013,27.870,163.026,6.500,0.000,0.000,33.531,1464.196,13545.568,479.999,1696.995,469.832,0.000,1320.226,0.000,1637.536,0.000,48.009,0.000
$DEVICE_MAMPS,188.682,68.263,1091.441,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,608.447,566.805,498.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41081,831
$CAP_FILE_SIZE,113003,0
$CFSIZE,260165632,249544704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040709,150537,6347.899,-1310.057,36,1.1,36,-12.4