version: 66.04
glider: 16
mission: 13
dive: 177
start: 7 8 109 14 20 14
data:
$ID,16
$MISSION,13
$DIVE,177
$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,-2110792.5
$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,27
$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
$GPS1,141415,6351.031,-1307.222,40,3.9,59,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-66.3
$GPS2,141956,6350.983,-1307.256,13,1.5,13,-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,204.6,30280,-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,15,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-56.90,0.000,6,0.000,0.000,72,2601,3416
$GC,81,-1.03,-146.6,7.8,-15.1,3,102,11.95,2.35,0.00,0.000,4,0.185,0.058,2132,3857,3417
$GC,352,-1.03,-146.6,50.9,-9.3,15,356,0.00,2.15,0.00,0.000,6,0.000,0.026,2132,2577,3418
$GC,679,-1.03,-146.6,76.4,-8.5,31,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2576,3419
$GC,990,-1.03,-146.6,103.3,-8.6,46,994,0.00,2.35,0.00,0.000,4,0.000,0.060,2132,3855,3420
$GC,1039,-1.03,-146.6,108.4,-9.5,48,1043,0.00,2.12,0.00,0.000,6,0.000,0.025,2132,2587,3419
$GC,1361,-1.03,-146.6,136.4,-8.6,64,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2585,3420
$GC,1670,-1.03,-146.6,163.0,-8.8,79,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2585,3420
$GC,1979,-1.03,-146.6,189.8,-8.5,94,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2585,3420
$GC,2288,-1.03,-146.6,216.0,-8.1,109,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2585,3420
$GC,2597,-1.03,-146.6,241.1,-8.1,124,2602,0.00,2.40,0.00,0.000,4,0.000,0.039,2132,1214,3419
$GC,2638,-1.03,-146.6,244.1,-7.7,126,2642,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3420
$GC,2964,-1.03,-146.6,270.7,-7.9,142,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3273,-1.03,-146.6,297.1,-8.9,157,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3420
$GC,3582,-1.03,-146.6,325.0,-9.0,172,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3892,-1.03,-146.6,353.6,-9.2,187,3896,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1216,3419
$GC,3925,-1.03,-146.6,356.8,-10.1,188,3931,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2603,3419
$GC,4241,-1.03,-146.6,387.7,-10.0,204,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3419
$GC,4550,-1.03,-146.6,421.1,-11.2,219,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3419
$GC,4860,-1.03,-146.6,456.4,-11.1,234,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3419
$GC,5169,-1.03,-146.6,487.2,-9.2,249,5173,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1217,3419
$GC,5202,-1.03,-146.6,490.2,-9.1,250,5208,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2608,3419
$GC,5518,-1.03,-146.6,514.9,-8.0,266,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3419
$GC,5827,-1.03,-146.6,541.2,-9.6,281,5831,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1219,3419
$GC,5854,-1.03,-146.6,544.0,-9.7,282,5858,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2605,3419
$GC,6170,-1.03,-146.6,579.3,-11.9,297,6174,0.00,2.30,0.00,0.000,4,0.000,0.067,2132,3858,3418
$GC,6225,-1.03,-146.6,585.9,-11.8,299,6229,0.00,2.10,0.00,0.000,6,0.000,0.026,2132,2601,3418
$GC,6547,-1.03,-146.6,612.7,-7.0,315,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,6856,-1.03,-146.6,629.7,-4.8,330,6860,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1214,3418
$GC,6913,-1.08,-146.6,631.9,-4.0,332,6917,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2602,3418
$GC,7229,-1.08,-146.6,639.3,-1.0,347,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$STATE,7432,end dive,NO_VERTICAL_VELOCITY
$STATE,7432,begin apogee
$GC,7439,-0.31,0.0,639.3,0.0,357,7574,0.77,0.00,127.62,0.986,6,0.102,0.000,2288,2304,2817
$STATE,7575,end apogee,CONTROL_FINISHED_OK
$STATE,7575,begin climb
$GC,7578,1.03,146.6,633.3,0.0,364,7715,1.38,2.58,128.48,0.969,4,0.074,0.042,2580,917,2218
$GC,7780,0.96,146.6,618.1,8.9,373,7784,0.00,2.45,0.00,0.000,6,0.000,0.032,2581,2304,2214
$GC,8096,1.14,356.6,605.3,0.3,388,8290,0.12,2.60,187.07,0.960,4,0.048,0.045,2620,920,1361
$GC,8327,1.32,465.4,603.7,3.8,399,8429,0.12,2.45,95.38,0.944,6,0.050,0.033,2657,2302,918
$GC,8757,1.32,465.4,563.3,10.1,420,8761,0.00,2.53,0.00,0.000,4,0.000,0.048,2657,912,910
$GC,8819,1.36,465.4,557.1,9.2,423,8823,0.00,2.42,0.00,0.000,6,0.000,0.034,2657,2301,907
$GC,9151,1.36,465.4,524.6,9.9,439,9155,0.00,2.50,0.00,0.000,4,0.000,0.047,2657,920,907
$GC,9223,1.40,465.4,516.6,11.2,442,9228,0.00,2.42,0.00,0.000,6,0.000,0.032,2657,2304,907
$GC,9539,1.40,465.4,478.9,13.0,457,9543,0.00,2.50,0.00,0.000,4,0.000,0.046,2657,919,907
$GC,9624,1.40,465.4,467.2,14.5,461,9628,0.00,2.42,0.00,0.000,6,0.000,0.033,2657,2303,906
$GC,9951,1.40,465.4,420.1,14.4,477,9955,0.00,2.50,0.00,0.000,4,0.000,0.046,2656,912,906
$GC,10034,1.40,465.4,407.5,14.4,480,10041,0.00,2.42,0.00,0.000,6,0.000,0.032,2655,2304,906
$GC,10350,1.40,465.4,359.8,15.2,496,10354,0.00,2.47,0.00,0.000,4,0.000,0.045,2656,919,906
$GC,10441,1.40,465.4,345.3,15.9,500,10445,0.00,2.42,0.00,0.000,6,0.000,0.032,2657,2309,906
$GC,10768,1.40,465.4,293.2,15.6,516,10772,0.00,2.50,0.00,0.000,4,0.000,0.045,2657,918,905
$GC,10853,1.40,465.4,280.5,15.2,520,10857,0.00,2.42,0.00,0.000,6,0.000,0.033,2657,2309,906
$GC,11180,1.40,465.4,234.1,14.0,536,11184,0.00,2.50,0.00,0.000,4,0.000,0.045,2656,916,906
$GC,11264,1.40,465.4,222.2,14.7,540,11268,0.00,2.42,0.00,0.000,6,0.000,0.032,2657,2309,906
$GC,11591,1.40,465.4,176.1,14.1,556,11595,0.00,2.50,0.00,0.000,4,0.000,0.045,2657,914,905
$GC,11691,1.40,465.4,162.0,14.1,560,11698,0.00,2.40,0.00,0.000,6,0.000,0.033,2657,2301,906
$GC,12007,1.40,465.4,118.3,13.8,576,12012,0.00,2.47,0.00,0.000,4,0.000,0.045,2656,919,906
$GC,12098,1.44,465.4,105.3,13.5,580,12102,0.00,2.40,0.00,0.000,6,0.000,0.032,2657,2301,905
$GC,12419,1.44,465.4,59.2,14.4,596,12423,0.00,2.47,0.00,0.000,4,0.000,0.045,2657,914,905
$GC,12497,1.44,465.4,47.6,13.8,599,12503,0.00,2.40,0.00,0.000,6,0.000,0.033,2657,2301,905
$GC,12814,1.44,465.4,5.2,13.0,615,12819,0.00,2.47,0.00,0.000,4,0.000,0.045,2657,919,905
$STATE,12830,end climb,SURFACE_DEPTH_REACHED
$STATE,12830,begin surface coast
$FINISH,0.8,1.015257
$STATE,12853,end surface coast,CONTROL_FINISHED_OK
$STATE,12853,begin surface
$SM_CCo,12939,0.00,0.000,0,0,903,469.50
$SM_GC,1.61,12.50,0.00,0.00,0.095,0.000,0.000,71,2609,903,-10.46,0.25,469.50
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1747
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.7,30.480
$10V_AH,10.1,15.273
$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,26.850,102.725,538.550,0.000,0.000,18.045,32.064,176.478,5.000,0.000,0.000,13.854,1135.732,9659.537,598.290,1440.265,447.297,0.000,1348.659,0.000,1404.651,0.000,33.673,0.000
$DEVICE_MAMPS,184.847,66.729,985.595,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.387,419.705,382.645,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31673,617
$CAP_FILE_SIZE,94428,0
$CFSIZE,260165632,248377344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080709,175707,6348.297,-1311.723,38,0.9,38,-12.5