version: 66.04
glider: 16
mission: 13
dive: 151
start: 7 3 109 16 24 20
data:
$ID,16
$MISSION,13
$DIVE,151
$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,-2110305.2
$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,28
$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
$GPS1,160937,6345.994,-1327.526,32,1.1,33,-12.6
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-52.8
$GPS2,162402,6345.982,-1327.677,13,1.6,13,-12.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,2500.000
$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,75.3,16241,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,121,0.00,0.00,-101.68,0.000,2,0.000,0.000,57,2607,3325
$GC,125,-1.03,-146.6,5.1,-4.4,5,147,11.90,2.55,-1.52,0.000,4,0.179,0.048,2132,1188,3419
$GC,194,-1.03,-146.6,21.7,-10.7,8,198,0.00,2.50,0.00,0.000,6,0.000,0.035,2132,2602,3419
$GC,521,-1.03,-146.6,56.0,-10.4,24,525,0.00,2.33,0.00,0.000,4,0.000,0.064,2132,3860,3419
$GC,554,-1.03,-146.6,59.9,-11.6,25,560,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2565,3419
$GC,871,-1.03,-146.6,91.4,-10.3,41,875,0.00,2.40,0.00,0.000,4,0.000,0.061,2132,3864,3419
$GC,921,-1.03,-146.6,97.2,-11.2,43,924,0.00,2.12,0.00,0.000,6,0.000,0.025,2132,2599,3419
$GC,1242,-1.03,-146.6,130.0,-10.3,59,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2596,3419
$GC,1551,-1.03,-146.6,162.2,-10.6,74,1555,0.00,2.42,0.00,0.000,4,0.000,0.039,2132,1213,3419
$GC,1584,-1.03,-146.6,165.8,-10.3,75,1588,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2609,3419
$GC,1899,-1.03,-146.6,199.2,-10.4,90,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3418
$GC,2208,-1.03,-146.6,230.3,-9.8,105,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3418
$GC,2518,-1.03,-146.6,261.1,-9.6,120,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2609,3418
$GC,2827,-1.03,-146.6,289.9,-9.1,135,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,3136,-1.03,-146.6,316.0,-8.3,150,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,3446,-1.03,-146.6,343.6,-9.3,165,3450,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1212,3418
$GC,3485,-1.07,-146.6,347.5,-10.0,167,3490,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2599,3418
$GC,3812,-1.07,-146.6,381.3,-10.7,183,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3417
$GC,4122,-1.07,-146.6,412.0,-9.4,198,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3417
$GC,4431,-1.07,-146.6,439.9,-8.7,213,4435,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1213,3417
$GC,4464,-1.07,-146.6,443.0,-9.3,214,4470,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2599,3417
$GC,4780,-1.07,-146.6,470.4,-8.9,230,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3417
$GC,5089,-1.07,-146.6,496.2,-8.1,245,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3416
$GC,5398,-1.07,-146.6,522.1,-8.6,260,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3416
$GC,5707,-1.07,-146.6,546.8,-7.6,275,5712,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1212,3416
$GC,5753,-1.12,-146.6,550.4,-8.0,277,5757,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2599,3416
$GC,6076,-1.12,-146.6,576.1,-9.1,293,6080,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1214,3416
$GC,6103,-1.12,-146.6,578.9,-9.4,294,6107,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2608,3416
$GC,6424,-1.12,-146.6,605.9,-8.7,310,6428,0.00,2.33,0.00,0.000,4,0.000,0.069,2132,3860,3416
$GC,6457,-1.12,-146.6,608.9,-9.7,311,6463,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2592,3416
$GC,6773,-1.12,-146.6,637.0,-9.0,327,6777,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1212,3415
$GC,6845,-1.17,-146.6,644.0,-9.3,330,6850,0.12,2.42,0.00,0.000,6,0.047,0.036,2092,2599,3415
$GC,7161,-1.07,-146.6,680.4,-11.5,345,7163,0.17,0.00,0.00,0.000,6,0.094,0.000,2126,2600,3415
$GC,7471,-1.07,-146.6,707.1,-7.4,360,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2600,3415
$GC,7780,-1.07,-146.6,726.1,-5.0,375,7784,0.00,2.40,0.00,0.000,4,0.000,0.039,2126,1218,3415
$GC,7826,-1.11,-146.6,728.4,-5.2,377,7830,0.00,2.42,0.00,0.000,6,0.000,0.037,2126,2600,3415
$GC,8152,-1.11,-146.6,752.3,-7.5,393,8157,0.00,2.35,0.00,0.000,4,0.000,0.071,2126,3861,3414
$GC,8186,-1.11,-146.6,755.1,-8.4,394,8192,0.00,2.12,0.00,0.000,6,0.000,0.027,2126,2605,3414
$GC,8502,-1.11,-146.6,776.9,-6.8,410,8506,0.00,2.47,0.00,0.000,4,0.000,0.044,2126,1201,3414
$GC,8536,-1.17,-146.6,779.2,-6.8,411,8540,0.00,2.45,0.00,0.000,6,0.000,0.038,2126,2601,3414
$GC,8852,-1.17,-146.6,804.3,-8.9,426,8856,0.00,2.45,0.00,0.000,4,0.000,0.041,2125,1208,3413
$GC,8892,-1.23,-146.6,807.9,-9.6,428,8897,0.17,2.45,0.00,0.000,6,0.044,0.038,2077,2598,3413
$GC,9219,-1.13,-146.6,844.5,-10.7,444,9221,0.20,0.00,0.00,0.000,6,0.096,0.000,2115,2599,3412
$GC,9528,-1.13,-146.6,865.6,-5.8,459,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2599,3412
$GC,9837,-1.13,-146.6,890.3,-9.1,474,9841,0.00,2.47,0.00,0.000,4,0.000,0.044,2115,1204,3412
$GC,9864,-1.13,-146.6,892.8,-9.1,475,9868,0.00,2.47,0.00,0.000,6,0.000,0.041,2115,2599,3411
$GC,10180,-1.13,-146.6,918.3,-8.1,490,10184,0.00,2.38,0.00,0.000,4,0.000,0.076,2115,3861,3410
$GC,10220,-1.13,-146.6,921.4,-8.0,492,10224,0.00,2.15,0.00,0.000,6,0.000,0.031,2115,2606,3409
$STATE,10426,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10426,begin apogee
$GC,10433,-0.31,0.0,939.1,9.0,502,10569,0.85,0.00,132.50,1.203,6,0.101,0.000,2288,2299,2817
$STATE,10570,end apogee,CONTROL_FINISHED_OK
$STATE,10570,begin climb
$GC,10573,1.03,146.6,942.1,0.0,509,10719,1.38,2.75,134.05,1.191,4,0.079,0.070,2575,3701,2218
$GC,10927,0.95,192.9,932.9,5.9,525,10977,0.00,2.45,42.58,1.151,6,0.000,0.030,2576,2303,2029
$GC,11301,0.95,192.9,902.2,8.3,543,11306,0.00,2.62,0.00,0.000,4,0.000,0.063,2575,3705,2022
$GC,11335,0.89,192.9,898.8,9.3,544,11342,0.12,2.47,0.00,0.000,6,0.115,0.031,2553,2300,2022
$GC,11651,0.89,192.9,873.1,8.3,560,11652,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2300,2021
$GC,11960,0.89,192.9,847.5,8.3,575,11961,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2300,2020
$GC,12269,0.90,204.0,824.5,7.1,590,12280,0.00,0.00,9.52,0.972,6,0.000,0.000,2554,2300,1986
$GC,12578,0.90,204.0,800.3,8.1,605,12583,0.00,2.62,0.00,0.000,4,0.000,0.064,2553,3702,1984
$GC,12629,0.86,204.0,795.7,8.8,607,12633,0.00,2.47,0.00,0.000,6,0.000,0.031,2554,2294,1984
$GC,12944,0.86,204.0,769.9,8.2,622,12949,0.00,2.55,0.00,0.000,4,0.000,0.054,2553,894,1983
$GC,12995,0.86,204.0,765.5,9.7,624,12999,0.00,2.50,0.00,0.000,6,0.000,0.037,2553,2308,1981
$GC,13310,0.86,204.0,739.9,9.6,639,13314,0.00,2.55,0.00,0.000,4,0.000,0.051,2553,895,1982
$GC,13359,0.86,204.0,735.3,8.9,641,13364,0.00,2.47,0.00,0.000,6,0.000,0.037,2554,2299,1981
$GC,13676,0.91,251.3,712.6,5.9,656,13727,0.00,2.70,45.30,1.053,4,0.000,0.064,2553,3704,1791
$GC,13779,0.96,300.0,707.0,5.8,661,13831,0.00,2.47,46.10,1.039,6,0.000,0.031,2553,2299,1594
$GC,14149,1.08,300.0,678.8,9.1,679,14154,0.17,2.55,0.00,0.000,4,0.058,0.052,2598,898,1585
$GC,14199,1.08,300.0,673.2,11.1,681,14203,0.00,2.47,0.00,0.000,6,0.000,0.036,2598,2300,1584
$GC,14515,1.08,300.0,644.4,8.7,696,14516,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2300,1583
$GC,14824,1.08,300.0,614.6,10.0,711,14825,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2299,1583
$GC,15133,1.08,300.0,582.1,10.5,726,15137,0.00,2.53,0.00,0.000,4,0.000,0.048,2598,895,1581
$GC,15166,1.08,300.0,578.6,10.1,727,15170,0.00,2.47,0.00,0.000,6,0.000,0.035,2598,2305,1581
$GC,15482,1.08,300.0,545.4,11.1,742,15486,0.00,2.53,0.00,0.000,4,0.000,0.045,2598,894,1581
$GC,15520,1.08,300.0,540.7,11.6,743,15527,0.00,2.47,0.00,0.000,6,0.000,0.035,2598,2306,1581
$GC,15836,1.08,300.0,504.6,11.6,759,15837,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2305,1581
$GC,16146,1.08,300.0,470.2,10.9,774,16149,0.00,2.53,0.00,0.000,4,0.000,0.044,2598,891,1581
$GC,16213,1.08,300.0,462.5,11.0,777,16218,0.00,2.45,0.00,0.000,6,0.000,0.033,2598,2298,1581
$GC,16540,1.08,300.0,425.5,11.5,793,16541,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2298,1581
$GC,16850,1.08,300.0,391.0,10.6,808,16854,0.00,2.53,0.00,0.000,4,0.000,0.044,2598,889,1581
$GC,16905,1.08,300.0,384.8,11.0,810,16911,0.00,2.45,0.00,0.000,6,0.000,0.033,2598,2301,1581
$GC,17221,1.08,300.0,349.9,11.1,826,17222,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2301,1581
$GC,17530,1.08,300.0,316.8,10.1,841,17534,0.00,2.50,0.00,0.000,4,0.000,0.044,2598,895,1581
$GC,17563,1.08,300.0,313.2,9.6,842,17568,0.00,2.45,0.00,0.000,6,0.000,0.032,2598,2304,1580
$GC,17879,1.08,300.0,281.4,10.3,857,17883,0.00,2.50,0.00,0.000,4,0.000,0.043,2598,894,1581
$GC,17907,1.08,300.0,278.2,10.7,858,17911,0.00,2.45,0.00,0.000,6,0.000,0.032,2598,2304,1581
$GC,18227,1.08,300.0,244.8,10.8,874,18228,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2303,1581
$GC,18536,1.08,300.0,211.7,10.3,889,18541,0.00,2.53,0.00,0.000,4,0.000,0.043,2598,889,1582
$GC,18592,1.08,300.0,205.7,10.3,891,18598,0.00,2.45,0.00,0.000,6,0.000,0.032,2599,2300,1582
$GC,18908,1.08,300.0,176.5,8.4,907,18909,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2299,1582
$GC,19217,1.08,300.0,151.0,8.1,922,19221,0.00,2.47,0.00,0.000,4,0.000,0.044,2598,895,1582
$GC,19256,1.12,300.0,147.8,8.8,923,19262,0.00,2.45,0.00,0.000,6,0.000,0.032,2598,2307,1582
$GC,19572,1.12,300.0,122.5,8.4,939,19576,0.00,2.53,0.00,0.000,4,0.000,0.042,2598,886,1582
$GC,19605,1.16,300.0,119.3,8.5,940,19611,0.00,2.45,0.00,0.000,6,0.000,0.032,2598,2301,1582
$GC,19922,1.16,300.0,92.4,9.0,956,19923,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2301,1583
$GC,20231,1.16,300.0,66.2,8.4,971,20235,0.00,2.50,0.00,0.000,4,0.000,0.043,2599,895,1583
$GC,20294,1.21,300.0,60.4,9.4,974,20298,0.12,2.45,0.00,0.000,6,0.058,0.032,2634,2308,1582
$GC,20621,1.16,300.0,26.9,10.0,990,20626,0.12,2.55,0.00,0.000,4,0.097,0.058,2611,3702,1583
$GC,20694,1.16,300.0,19.6,9.7,993,20698,0.00,2.42,0.00,0.000,6,0.000,0.027,2611,2293,1583
$STATE,20862,end climb,SURFACE_DEPTH_REACHED
$STATE,20862,begin surface coast
$FINISH,0.9,1.014692
$STATE,20886,end surface coast,CONTROL_FINISHED_OK
$STATE,20886,begin surface
$SM_CCo,20969,0.00,0.000,0,0,1580,303.44
$SM_GC,1.93,11.80,0.00,0.00,0.075,0.000,0.000,73,2614,1580,-10.45,0.40,303.44
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1746
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.4,47.3
$24V_AH,23.5,27.181
$10V_AH,10.1,13.423
$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,27.150,167.625,410.050,0.000,0.000,36.222,55.508,580.990,8.000,0.000,0.000,13.524,1798.656,16359.871,564.354,2105.540,999.395,0.000,1642.428,0.000,2050.342,0.000,54.720,0.000
$DEVICE_MAMPS,178.711,75.933,1202.656,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,735.949,685.285,549.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50616,1002
$CAP_FILE_SIZE,156314,0
$CFSIZE,260165632,249696256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030709,221507,6347.754,-1320.105,41,1.0,42,-12.5