version: 66.04
glider: 16
mission: 13
dive: 174
start: 7 8 109 0 27 31
data:
$ID,16
$MISSION,13
$DIVE,174
$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,-2110749.8
$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,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
$GPS1,002125,6356.757,-1303.935,41,1.3,41,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-67.3
$GPS2,002714,6356.782,-1303.892,12,1.3,12,-12.4
$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,214.1,13515,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,72,0.00,0.00,-54.17,0.000,6,0.000,0.000,77,2601,3416
$GC,75,-1.03,-146.6,3.8,-9.2,2,97,12.05,2.35,0.00,0.000,4,0.189,0.058,2130,3858,3418
$GC,350,-0.97,-146.6,54.3,-11.3,14,354,0.00,2.17,0.00,0.000,6,0.000,0.025,2130,2567,3418
$GC,671,-0.97,-146.6,90.7,-12.1,30,675,0.00,2.38,0.00,0.000,4,0.000,0.060,2129,3857,3419
$GC,894,-0.97,-146.6,117.4,-11.0,40,898,0.00,2.12,0.00,0.000,6,0.000,0.025,2130,2589,3419
$GC,1221,-0.97,-146.6,152.7,-10.6,56,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2587,3419
$GC,1531,-0.97,-146.6,183.0,-9.3,71,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2588,3419
$GC,1840,-0.97,-146.6,209.9,-8.3,86,1844,0.00,2.40,0.00,0.000,4,0.000,0.039,2130,1209,3419
$GC,1873,-0.97,-146.6,212.8,-8.6,87,1877,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2597,3420
$GC,2189,-0.97,-146.6,238.9,-8.5,102,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,2498,-0.97,-146.6,266.2,-8.8,117,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,2807,-0.97,-146.6,294.5,-9.3,132,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,3116,-0.97,-146.6,323.3,-9.4,147,3121,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1212,3420
$GC,3156,-0.97,-146.6,327.1,-9.2,149,3161,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3419
$GC,3483,-0.97,-146.6,360.2,-10.5,165,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3419
$GC,3792,-0.97,-146.6,393.4,-10.8,180,3796,0.00,2.33,0.00,0.000,4,0.000,0.066,2130,3861,3419
$GC,3842,-0.97,-146.6,399.4,-12.1,182,3846,0.00,2.10,0.00,0.000,6,0.000,0.025,2130,2601,3419
$GC,4164,-0.97,-146.6,434.6,-11.1,198,4168,0.00,2.42,0.00,0.000,4,0.000,0.039,2130,1212,3418
$GC,4204,-0.97,-146.6,439.1,-11.2,200,4208,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2601,3418
$GC,4532,-0.97,-146.6,476.3,-11.2,216,4536,0.00,2.33,0.00,0.000,4,0.000,0.067,2130,3861,3419
$GC,4582,-0.97,-146.6,482.3,-11.7,218,4585,0.00,2.12,0.00,0.000,6,0.000,0.026,2130,2593,3419
$GC,4903,-0.97,-146.6,514.5,-9.4,234,4907,0.00,2.42,0.00,0.000,4,0.000,0.040,2130,1209,3419
$GC,4935,-0.97,-146.6,517.7,-9.1,235,4942,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2601,3419
$GC,5252,-0.97,-146.6,550.6,-11.4,251,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,5561,-0.97,-146.6,583.6,-11.4,266,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3417
$GC,5870,-0.97,-146.6,615.8,-9.4,281,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,6179,-0.97,-146.6,644.9,-9.0,296,6183,0.00,2.33,0.00,0.000,4,0.000,0.070,2130,3858,3418
$GC,6269,-0.97,-146.6,653.2,-8.7,300,6273,0.00,2.10,0.00,0.000,6,0.000,0.027,2130,2603,3418
$GC,6596,-0.97,-146.6,678.3,-7.6,316,6601,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1209,3417
$GC,6670,-1.03,-146.6,683.7,-7.7,319,6674,0.00,2.42,0.00,0.000,6,0.000,0.037,2130,2600,3417
$GC,6991,-1.03,-146.6,709.3,-8.4,335,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$STATE,7174,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7174,begin apogee
$GC,7181,-0.31,0.0,725.0,8.4,344,7317,0.77,0.00,129.12,1.048,6,0.097,0.000,2287,2304,2817
$STATE,7318,end apogee,CONTROL_FINISHED_OK
$STATE,7318,begin climb
$GC,7321,1.03,146.6,730.1,0.0,351,7456,1.35,0.00,129.93,1.039,6,0.069,0.000,2578,2304,2219
$GC,7755,1.01,176.0,707.7,6.5,372,7784,0.00,0.00,27.05,0.982,6,0.000,0.000,2578,2304,2099
$GC,8084,1.04,203.0,684.9,6.6,388,8111,0.00,0.00,25.02,0.970,6,0.000,0.000,2578,2304,1990
$GC,8413,1.05,206.1,660.8,7.4,404,8419,0.00,0.00,4.03,0.617,6,0.000,0.000,2578,2304,1976
$GC,8723,1.05,208.7,638.5,7.4,419,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2304,1974
$GC,9031,1.05,208.7,612.5,9.2,434,9036,0.00,2.60,0.00,0.000,4,0.000,0.061,2578,3702,1973
$GC,9087,1.05,208.7,607.1,9.5,436,9093,0.00,2.42,0.00,0.000,6,0.000,0.028,2578,2306,1973
$GC,9403,1.05,208.7,581.1,7.9,452,9407,0.00,2.60,0.00,0.000,4,0.000,0.060,2578,3705,1971
$GC,9469,1.05,208.7,575.3,9.2,455,9474,0.00,2.45,0.00,0.000,6,0.000,0.028,2578,2297,1972
$GC,9791,1.05,208.7,547.2,8.7,471,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2297,1971
$GC,10101,1.05,208.7,521.0,7.9,486,10105,0.00,2.60,0.00,0.000,4,0.000,0.059,2578,3702,1971
$GC,10185,1.05,208.7,513.3,8.8,490,10189,0.00,2.42,0.00,0.000,6,0.000,0.028,2578,2300,1971
$GC,10512,1.05,208.7,487.2,7.9,506,10516,0.00,2.50,0.00,0.000,4,0.000,0.048,2578,899,1971
$GC,10545,1.05,208.7,484.4,8.3,507,10551,0.00,2.45,0.00,0.000,6,0.000,0.033,2578,2305,1970
$GC,10861,1.05,208.7,460.0,7.6,523,10865,0.00,2.58,0.00,0.000,4,0.000,0.060,2578,3705,1970
$GC,10900,1.05,208.7,456.7,8.3,525,10905,0.00,2.42,0.00,0.000,6,0.000,0.028,2578,2299,1971
$GC,11228,1.05,208.8,432.4,7.5,541,11229,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1970
$GC,11537,1.08,238.0,411.6,6.5,556,11572,0.00,2.62,29.70,0.824,4,0.000,0.058,2578,3700,1845
$GC,11606,1.09,243.6,406.7,7.3,559,11622,0.00,2.45,6.57,0.665,6,0.000,0.027,2578,2295,1823
$GC,11932,1.14,247.0,383.1,7.4,575,11939,0.15,0.00,4.10,0.537,6,0.051,0.000,2623,2294,1810
$GC,12241,1.07,247.0,353.9,9.8,590,12243,0.17,0.00,0.00,0.000,6,0.088,0.000,2589,2294,1809
$GC,12550,1.07,247.0,325.7,9.3,605,12554,0.00,2.47,0.00,0.000,4,0.000,0.045,2589,898,1808
$GC,12599,1.07,247.0,320.8,9.3,607,12604,0.00,2.45,0.00,0.000,6,0.000,0.032,2589,2304,1806
$GC,12920,1.07,247.0,292.5,8.8,623,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2304,1807
$GC,13230,1.07,247.0,267.1,8.2,638,13234,0.00,2.55,0.00,0.000,4,0.000,0.058,2589,3698,1807
$GC,13269,1.07,247.0,263.3,10.2,640,13274,0.00,2.42,0.00,0.000,6,0.000,0.028,2589,2289,1807
$GC,13596,1.07,247.0,234.6,8.7,656,13598,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2289,1807
$GC,13906,1.07,247.0,206.7,9.4,671,13907,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2288,1807
$GC,14215,1.07,247.0,178.1,9.1,686,14219,0.00,2.47,0.00,0.000,4,0.000,0.044,2589,892,1806
$GC,14259,1.07,247.0,173.8,9.5,688,14263,0.00,2.45,0.00,0.000,6,0.000,0.032,2589,2304,1806
$GC,14580,1.07,247.0,143.8,9.8,704,14584,0.00,2.53,0.00,0.000,4,0.000,0.057,2589,3700,1806
$GC,14624,1.07,247.0,138.7,11.0,706,14629,0.00,2.40,0.00,0.000,6,0.000,0.027,2589,2298,1807
$GC,14946,1.07,247.0,104.7,10.8,722,14950,0.00,2.47,0.00,0.000,4,0.000,0.043,2589,899,1807
$GC,14986,1.07,247.0,100.2,11.5,724,14990,0.00,2.42,0.00,0.000,6,0.000,0.032,2589,2304,1806
$GC,15319,1.07,247.0,65.8,9.4,740,15323,0.00,2.47,0.00,0.000,4,0.000,0.041,2589,902,1806
$GC,15363,1.07,247.0,61.8,8.1,742,15367,0.00,2.42,0.00,0.000,6,0.000,0.031,2589,2301,1806
$GC,15685,1.07,247.0,37.6,7.6,758,15686,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2302,1807
$GC,15995,1.07,247.0,13.8,7.9,773,15997,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2302,1807
$STATE,16135,end climb,SURFACE_DEPTH_REACHED
$STATE,16136,begin surface coast
$FINISH,1.0,1.026681
$STATE,16159,end surface coast,CONTROL_FINISHED_OK
$STATE,16159,begin surface
$SM_CCo,16182,0.90,0.123,0,0,1797,250.21
$SM_GC,2.93,0.00,0.00,0.90,0.000,0.000,0.123,71,2596,1797,-10.53,-0.11,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1773
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.3,83.5
$24V_AH,23.6,30.079
$10V_AH,10.1,15.066
$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,26.400,107.225,355.525,0.900,0.000,18.003,32.450,182.346,5.500,0.000,0.000,12.355,1417.371,12510.769,455.949,1663.383,486.748,0.000,1284.631,0.000,1628.805,0.000,38.332,0.000
$DEVICE_MAMPS,189.449,69.797,1048.489,122.720,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,575.495,537.091,456.463,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37974,781
$CAP_FILE_SIZE,111304,0
$CFSIZE,260165632,248516608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080709,045837,6353.557,-1306.073,43,0.8,43,-12.4