version: 66.04
glider: 16
mission: 13
dive: 176
start: 7 8 109 10 2 55
data:
$ID,16
$MISSION,13
$DIVE,176
$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,-2110778
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,095355,6352.374,-1306.495,40,1.1,40,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.3
$GPS2,100238,6352.447,-1306.454,11,1.7,11,-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,225.0,5378,-17.1,-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,-1.18,-101.8,0.0,0.0,0,72,0.00,0.00,-54.00,0.000,6,0.000,0.000,73,2606,3233
$GC,75,-1.20,-118.6,3.4,-6.7,2,98,11.60,2.53,-1.17,0.000,4,0.179,0.049,2094,1201,3304
$GC,260,-1.20,-118.6,35.4,-11.2,10,264,0.00,2.45,0.00,0.000,6,0.000,0.035,2093,2597,3305
$GC,587,-1.20,-118.6,69.9,-10.3,26,592,0.00,2.35,0.00,0.000,4,0.000,0.064,2094,3868,3306
$GC,660,-1.20,-118.6,78.4,-11.6,29,664,0.00,2.17,0.00,0.000,6,0.000,0.025,2094,2580,3306
$GC,982,-1.20,-118.6,114.4,-11.7,45,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2577,3306
$GC,1291,-1.20,-118.6,150.1,-12.0,60,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2577,3306
$GC,1599,-1.20,-118.6,185.9,-10.7,75,1603,0.00,2.35,0.00,0.000,4,0.000,0.062,2094,3861,3306
$GC,1645,-1.20,-118.6,191.2,-11.7,77,1649,0.00,2.12,0.00,0.000,6,0.000,0.026,2093,2594,3306
$GC,1978,-1.20,-118.6,224.8,-9.6,93,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2592,3306
$GC,2287,-1.20,-118.6,253.2,-9.1,108,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2592,3306
$GC,2597,-1.20,-118.6,283.1,-9.9,123,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2591,3306
$GC,2905,-1.20,-118.6,314.6,-10.4,138,2909,0.00,2.35,0.00,0.000,4,0.000,0.064,2094,3864,3306
$GC,2950,-1.20,-118.6,319.9,-12.1,140,2954,0.00,2.12,0.00,0.000,6,0.000,0.026,2094,2599,3306
$GC,3277,-1.20,-118.6,356.4,-11.4,156,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2596,3306
$GC,3586,-1.20,-118.6,392.8,-11.9,171,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2596,3306
$GC,3896,-1.20,-118.6,431.1,-12.5,186,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2596,3306
$GC,4205,-1.20,-118.6,467.5,-11.7,201,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2596,3306
$GC,4514,-1.20,-118.6,503.7,-12.1,216,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2596,3306
$GC,4824,-1.20,-118.6,537.5,-9.9,231,4828,0.00,2.35,0.00,0.000,4,0.000,0.065,2094,3865,3306
$GC,4890,-1.20,-118.6,544.6,-9.6,234,4894,0.00,2.12,0.00,0.000,6,0.000,0.027,2094,2600,3306
$GC,5218,-1.20,-118.6,577.2,-10.6,250,5222,0.00,2.42,0.00,0.000,4,0.000,0.040,2094,1213,3306
$GC,5258,-1.24,-118.6,581.6,-10.9,252,5263,0.00,2.42,0.00,0.000,6,0.000,0.035,2094,2601,3306
$GC,5585,-1.24,-118.6,614.0,-8.4,268,5589,0.00,2.33,0.00,0.000,4,0.000,0.067,2094,3861,3305
$GC,5658,-1.24,-118.6,620.5,-9.3,271,5662,0.00,2.12,0.00,0.000,6,0.000,0.027,2094,2593,3304
$GC,5980,-1.24,-118.6,649.5,-10.5,287,5988,0.00,2.42,0.00,0.000,4,0.000,0.041,2094,1208,3305
$GC,6038,-1.31,-118.6,656.0,-11.2,289,6043,0.00,2.45,0.00,0.000,6,0.000,0.036,2094,2610,3305
$GC,6354,-1.31,-118.6,687.6,-9.0,304,6358,0.00,2.30,0.00,0.000,4,0.000,0.068,2094,3856,3304
$GC,6395,-1.31,-118.6,690.9,-8.4,306,6398,0.00,2.10,0.00,0.000,6,0.000,0.028,2094,2602,3304
$GC,6727,-1.31,-118.6,717.5,-9.3,322,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2600,3304
$GC,7036,-1.31,-118.6,746.6,-8.8,337,7040,0.00,2.35,0.00,0.000,4,0.000,0.070,2094,3863,3304
$GC,7121,-1.31,-118.6,754.2,-9.6,341,7125,0.00,2.12,0.00,0.000,6,0.000,0.029,2094,2610,3303
$STATE,7130,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7130,begin apogee
$GC,7137,-0.31,0.0,755.4,9.5,341,7248,0.93,0.00,105.25,1.062,6,0.102,0.000,2285,2293,2817
$STATE,7249,end apogee,CONTROL_FINISHED_OK
$STATE,7249,begin climb
$GC,7252,1.20,118.6,759.3,0.0,347,7370,1.60,2.72,106.68,1.050,4,0.072,0.061,2622,3699,2332
$GC,7436,1.03,125.8,753.7,7.1,355,7452,0.20,2.42,7.70,0.846,6,0.101,0.030,2585,2311,2304
$GC,7774,1.03,125.8,725.3,8.3,372,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2308,2298
$GC,8083,1.05,145.5,702.0,6.5,387,8103,0.00,0.00,18.27,0.962,6,0.000,0.000,2585,2308,2223
$GC,8412,1.08,170.9,681.3,6.2,403,8441,0.00,2.65,24.30,0.978,4,0.000,0.061,2586,3701,2120
$GC,8505,1.09,186.0,675.0,6.8,407,8525,0.00,2.45,15.07,0.933,6,0.000,0.030,2585,2300,2058
$GC,8847,1.14,186.0,651.6,8.3,424,8849,0.10,0.00,0.00,0.000,6,0.058,0.000,2616,2300,2054
$GC,9156,1.14,186.0,620.6,9.5,439,9160,0.00,2.53,0.00,0.000,4,0.000,0.051,2616,902,2052
$GC,9200,1.14,186.0,616.3,9.9,441,9204,0.00,2.47,0.00,0.000,6,0.000,0.035,2617,2305,2050
$GC,9520,1.14,186.0,589.0,9.6,457,9525,0.00,2.58,0.00,0.000,4,0.000,0.061,2616,3700,2050
$GC,9576,1.06,186.0,582.7,11.3,459,9583,0.12,2.45,0.00,0.000,6,0.106,0.029,2594,2292,2050
$GC,9892,1.06,186.0,549.9,10.3,475,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2291,2050
$GC,10201,1.10,186.0,521.5,9.5,490,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2291,2050
$GC,10511,1.15,186.0,488.2,10.6,505,10515,0.00,2.50,0.00,0.000,4,0.000,0.048,2594,895,2049
$GC,10572,1.15,186.0,482.1,9.5,507,10578,0.00,2.45,0.00,0.000,6,0.000,0.033,2594,2302,2049
$GC,10888,1.24,267.4,464.4,3.5,523,10967,0.15,0.00,73.88,0.881,6,0.049,0.000,2637,2302,1725
$GC,11277,1.24,267.4,438.8,7.6,542,11278,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2302,1717
$GC,11586,1.24,267.4,408.9,11.0,557,11590,0.00,2.50,0.00,0.000,4,0.000,0.044,2638,898,1715
$GC,11618,1.24,267.4,404.9,11.3,558,11623,0.00,2.45,0.00,0.000,6,0.000,0.033,2637,2299,1714
$GC,11934,1.24,267.4,365.8,12.7,573,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2299,1714
$GC,12243,1.24,267.4,325.2,13.5,588,12247,0.00,2.50,0.00,0.000,4,0.000,0.044,2638,896,1714
$GC,12276,1.24,267.4,320.6,13.5,589,12281,0.00,2.45,0.00,0.000,6,0.000,0.033,2637,2301,1713
$GC,12592,1.24,267.4,278.7,13.5,604,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2301,1712
$GC,12901,1.24,267.4,236.1,13.2,619,12905,0.00,2.50,0.00,0.000,4,0.000,0.043,2637,896,1712
$GC,12934,1.24,267.4,231.6,13.3,620,12938,0.00,2.45,0.00,0.000,6,0.000,0.032,2637,2303,1712
$GC,13250,1.24,267.4,192.7,11.5,635,13251,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2303,1712
$GC,13558,1.24,267.4,160.5,9.7,650,13562,0.00,2.50,0.00,0.000,4,0.000,0.043,2638,894,1712
$GC,13631,1.24,267.4,152.7,11.6,653,13635,0.00,2.45,0.00,0.000,6,0.000,0.032,2638,2303,1712
$GC,13954,1.24,267.4,111.7,13.0,669,13958,0.00,2.58,0.00,0.000,4,0.000,0.057,2637,3709,1712
$GC,13986,1.24,267.4,107.2,12.7,670,13993,0.00,2.42,0.00,0.000,6,0.000,0.027,2637,2293,1712
$GC,14302,1.24,267.4,71.9,10.8,686,14303,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2291,1712
$GC,14613,1.24,267.4,32.6,13.0,701,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2291,1712
$STATE,14877,end climb,SURFACE_DEPTH_REACHED
$STATE,14877,begin surface coast
$FINISH,0.8,1.003401
$STATE,14900,end surface coast,CONTROL_FINISHED_OK
$STATE,14900,begin surface
$SM_CCo,14984,0.00,0.000,0,0,1711,271.30
$SM_GC,1.68,12.35,0.00,0.00,0.094,0.000,0.000,73,2600,1711,-10.46,0.00,271.30
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1762
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.9,88.4
$24V_AH,23.6,30.320
$10V_AH,10.1,15.210
$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,27.050,97.025,351.150,0.000,0.000,38.509,70.712,234.338,5.750,0.000,0.000,11.681,1301.454,11666.537,460.932,1492.612,583.786,0.000,1206.094,0.000,1459.846,0.000,40.269,0.000
$DEVICE_MAMPS,178.711,69.797,1062.295,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,524.965,488.829,411.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34854,715
$CAP_FILE_SIZE,105057,0
$CFSIZE,260165632,248418304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080709,141415,6351.031,-1307.222,40,3.9,59,-12.4