version: 66.04
glider: 16
mission: 13
dive: 173
start: 7 7 109 19 47 25
data:
$ID,16
$MISSION,13
$DIVE,173
$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,-2110736.8
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,192836,6357.578,-1310.302,24,2.0,24,-12.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.3
$GPS2,194708,6357.605,-1310.076,11,1.4,11,-12.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$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,192.2,14086,-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,-60.75,0.000,2,0.000,0.000,74,2602,3310
$GC,82,-1.03,-146.6,5.2,-8.8,3,104,12.07,2.55,-1.77,0.000,4,0.189,0.049,2129,1189,3419
$GC,256,-1.03,-146.6,32.2,-9.1,10,262,0.00,2.47,0.00,0.000,6,0.000,0.035,2128,2601,3420
$GC,574,-0.98,-146.6,63.9,-11.2,26,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,881,-0.98,-146.6,102.2,-11.8,41,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3419
$GC,1190,-0.98,-146.6,135.0,-10.1,56,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,1500,-0.98,-146.6,166.4,-9.8,71,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,1809,-0.98,-146.6,196.0,-9.5,86,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3420
$GC,2119,-0.98,-146.6,226.4,-9.9,101,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,2428,-0.98,-146.6,255.8,-9.7,116,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3419
$GC,2737,-0.98,-146.6,286.5,-9.7,131,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,3046,-0.98,-146.6,316.1,-9.6,146,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,3355,-0.98,-146.6,345.5,-9.3,161,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2601,3419
$GC,3667,-0.98,-146.6,375.1,-9.8,176,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,3974,-0.98,-146.6,405.4,-9.9,191,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3418
$GC,4283,-0.98,-146.6,434.0,-9.5,206,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,4592,-0.98,-146.6,463.4,-10.5,221,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,4902,-0.98,-146.6,487.9,-7.1,236,4906,0.00,2.47,0.00,0.000,4,0.000,0.036,2129,1188,3419
$GC,4980,-0.98,-146.6,492.3,-4.8,239,4986,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2601,3418
$GC,5296,-0.98,-146.6,519.9,-8.2,255,5300,0.00,2.47,0.00,0.000,4,0.000,0.037,2129,1190,3418
$GC,5346,-1.02,-146.6,524.7,-9.5,257,5351,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2603,3418
$GC,5667,-1.02,-146.6,550.6,-8.0,273,5672,0.00,2.33,0.00,0.000,4,0.000,0.069,2129,3858,3418
$GC,5717,-1.02,-146.6,555.0,-8.2,275,5721,0.00,2.15,0.00,0.000,6,0.000,0.026,2129,2577,3418
$GC,6040,-1.02,-146.6,580.8,-8.0,291,6044,0.00,2.40,0.00,0.000,4,0.000,0.041,2129,1211,3418
$GC,6084,-1.08,-146.6,584.7,-8.3,293,6089,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2610,3417
$GC,6405,-1.08,-146.6,611.8,-8.6,309,6410,0.00,2.33,0.00,0.000,4,0.000,0.070,2129,3860,3417
$GC,6478,-1.08,-146.6,618.5,-9.3,312,6482,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2599,3416
$GC,6800,-1.08,-146.6,640.3,-5.8,328,6804,0.00,2.35,0.00,0.000,4,0.000,0.067,2129,3861,3417
$GC,6982,-1.08,-146.6,655.3,-8.2,336,6986,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2607,3416
$GC,7309,-1.08,-146.6,685.2,-9.6,352,7313,0.00,2.33,0.00,0.000,4,0.000,0.068,2129,3855,3416
$GC,7438,-1.08,-146.6,699.9,-10.5,358,7442,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2603,3416
$STATE,7582,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7583,begin apogee
$GC,7590,-0.31,0.0,714.9,10.3,365,7725,0.80,0.00,128.55,1.040,6,0.100,0.000,2291,2305,2816
$STATE,7726,end apogee,CONTROL_FINISHED_OK
$STATE,7726,begin climb
$GC,7729,1.03,146.6,721.0,0.0,372,7866,1.35,2.62,129.45,1.034,4,0.071,0.051,2580,902,2218
$GC,8011,0.96,173.8,712.8,6.6,385,8041,0.00,2.47,24.88,0.979,6,0.000,0.035,2580,2302,2108
$GC,8366,0.93,200.6,688.3,6.6,402,8396,0.00,2.67,24.60,0.976,4,0.000,0.063,2579,3700,1999
$GC,8495,0.84,200.6,678.2,8.7,408,8500,0.17,2.45,0.00,0.000,6,0.097,0.031,2547,2298,1996
$GC,8822,0.88,200.6,652.6,7.7,424,8827,0.00,2.62,0.00,0.000,4,0.000,0.063,2547,3698,1993
$GC,8885,0.88,200.6,647.4,8.5,427,8889,0.00,2.47,0.00,0.000,6,0.000,0.031,2546,2293,1993
$GC,9212,0.94,214.6,623.2,7.0,443,9233,0.00,2.67,13.50,0.905,4,0.000,0.061,2547,3692,1941
$GC,9307,0.95,216.1,615.7,7.4,447,9311,0.00,2.45,0.00,0.000,6,0.000,0.029,2547,2296,1940
$GC,9628,1.05,249.8,594.4,6.3,463,9670,0.20,2.70,33.67,0.951,4,0.048,0.061,2602,3698,1798
$GC,9794,0.94,249.8,578.4,10.8,470,9799,0.20,2.45,0.00,0.000,6,0.097,0.029,2564,2300,1795
$GC,10110,1.00,249.8,549.3,9.5,485,10114,0.00,2.55,0.00,0.000,4,0.000,0.051,2564,893,1792
$GC,10150,1.06,249.8,545.2,10.4,487,10155,0.12,2.47,0.00,0.000,6,0.053,0.034,2601,2303,1790
$GC,10476,1.06,249.8,509.8,10.3,503,10481,0.00,2.53,0.00,0.000,4,0.000,0.046,2601,895,1791
$GC,10549,1.02,249.8,502.1,11.1,506,10554,0.00,2.47,0.00,0.000,6,0.000,0.034,2602,2311,1790
$GC,10866,0.97,249.8,471.6,9.4,521,10868,0.15,0.00,0.00,0.000,6,0.095,0.000,2573,2311,1790
$GC,11175,1.01,249.8,445.4,8.1,536,11179,0.00,2.55,0.00,0.000,4,0.000,0.045,2573,891,1790
$GC,11202,1.01,249.8,442.9,8.4,537,11206,0.00,2.47,0.00,0.000,6,0.000,0.033,2573,2308,1789
$GC,11518,1.01,249.8,417.8,8.2,552,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2308,1790
$GC,11827,1.01,249.8,391.3,8.7,567,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2308,1790
$GC,12136,1.01,249.8,364.2,8.7,582,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2308,1790
$GC,12446,1.01,249.8,336.9,8.5,597,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2308,1790
$GC,12755,1.01,249.8,310.6,8.5,612,12759,0.00,2.50,0.00,0.000,4,0.000,0.043,2573,895,1790
$GC,12800,1.07,249.8,306.7,8.3,614,12805,0.00,2.42,0.00,0.000,6,0.000,0.032,2573,2303,1790
$GC,13133,1.07,249.8,280.5,7.7,630,13137,0.00,2.53,0.00,0.000,4,0.000,0.042,2574,887,1790
$GC,13166,1.07,249.8,277.6,8.0,631,13172,0.00,2.45,0.00,0.000,6,0.000,0.032,2573,2300,1790
$GC,13482,1.11,249.8,253.2,7.6,647,13484,0.12,0.00,0.00,0.000,6,0.050,0.000,2613,2299,1790
$GC,13792,1.05,249.8,224.4,9.2,662,13794,0.12,0.00,0.00,0.000,6,0.093,0.000,2588,2300,1790
$GC,14100,1.05,249.8,198.4,8.5,677,14104,0.00,2.50,0.00,0.000,4,0.000,0.042,2588,887,1790
$GC,14139,1.05,249.8,194.7,8.7,678,14145,0.00,2.45,0.00,0.000,6,0.000,0.032,2588,2300,1789
$GC,14455,1.05,249.8,168.0,8.4,694,14456,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2300,1790
$GC,14764,1.05,249.8,140.4,9.0,709,14768,0.00,2.50,0.00,0.000,4,0.000,0.043,2588,891,1791
$GC,14827,1.05,249.8,134.7,7.9,712,14831,0.00,2.45,0.00,0.000,6,0.000,0.032,2588,2306,1790
$GC,15154,1.05,249.8,104.0,9.9,728,15155,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2307,1791
$GC,15463,1.05,249.8,73.7,9.9,743,15467,0.00,2.50,0.00,0.000,4,0.000,0.041,2588,894,1791
$GC,15502,1.05,249.8,69.6,10.1,745,15507,0.00,2.42,0.00,0.000,6,0.000,0.031,2588,2299,1791
$GC,15830,1.05,249.8,41.9,7.6,761,15831,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2300,1791
$GC,16139,1.05,249.8,13.6,8.7,776,16143,0.00,2.50,0.00,0.000,4,0.000,0.041,2588,886,1791
$GC,16201,1.05,249.8,8.2,8.7,779,16205,0.00,2.45,0.00,0.000,6,0.000,0.032,2588,2301,1791
$STATE,16259,end climb,SURFACE_DEPTH_REACHED
$STATE,16259,begin surface coast
$FINISH,1.0,1.026699
$STATE,16279,end surface coast,CONTROL_FINISHED_OK
$STATE,16279,begin surface
$SM_CCo,16363,0.00,0.000,0,0,1787,252.17
$SM_GC,1.57,12.12,0.00,0.00,0.095,0.000,0.000,77,2601,1787,-10.45,0.00,252.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1759
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.3,99.2
$24V_AH,23.6,29.964
$10V_AH,10.1,14.994
$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,27.450,108.925,354.650,0.000,0.000,90.598,142.335,495.993,5.250,0.000,0.000,11.443,1438.322,12839.335,444.752,1738.904,1013.706,0.000,1314.691,0.000,1697.467,0.000,37.970,0.000
$DEVICE_MAMPS,189.449,69.797,1040.052,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.492,535.849,465.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41095,783
$CAP_FILE_SIZE,124921,0
$CFSIZE,260165632,248557568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,080709,002125,6356.757,-1303.935,41,1.3,41,-12.4