version: 66.04
glider: 16
mission: 13
dive: 153
start: 7 4 109 4 42 31
data:
$ID,16
$MISSION,13
$DIVE,153
$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,-2110328.8
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,042301,6347.992,-1317.364,42,1.1,43,-12.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-52.2
$GPS2,044214,6348.154,-1317.576,12,1.6,12,-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,73.6,7069,-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,18,-1.03,-146.6,0.0,0.0,0,121,0.00,0.00,-101.45,0.000,2,0.000,0.000,62,2614,3346
$GC,125,-1.03,-146.6,5.4,-4.8,5,148,12.05,2.55,-1.12,0.000,4,0.186,0.049,2130,1198,3418
$GC,198,-1.03,-146.6,24.8,-11.9,8,202,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2589,3419
$GC,520,-0.97,-146.6,63.6,-12.4,24,524,0.00,2.35,0.00,0.000,4,0.000,0.062,2130,3862,3419
$GC,712,-0.97,-146.6,86.7,-11.7,32,719,0.00,2.15,0.00,0.000,6,0.000,0.025,2130,2579,3420
$GC,1030,-0.97,-146.6,119.5,-9.7,48,1034,0.00,2.38,0.00,0.000,4,0.000,0.061,2130,3865,3419
$GC,1080,-0.97,-146.6,124.6,-9.7,50,1084,0.00,2.15,0.00,0.000,6,0.000,0.025,2130,2590,3419
$GC,1401,-0.97,-146.6,152.8,-8.3,66,1405,0.00,2.35,0.00,0.000,4,0.000,0.061,2130,3861,3419
$GC,1433,-0.97,-146.6,155.9,-9.3,67,1439,0.00,2.12,0.00,0.000,6,0.000,0.026,2130,2597,3419
$GC,1749,-0.97,-146.6,181.5,-8.1,83,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,2058,-0.97,-146.6,206.6,-7.8,98,2062,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1216,3419
$GC,2086,-0.97,-146.6,208.9,-8.3,99,2090,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3419
$GC,2407,-0.97,-146.6,233.3,-7.5,115,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,2716,-0.97,-146.6,256.0,-7.2,130,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3026,-0.97,-146.6,278.7,-7.4,145,3030,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1211,3418
$GC,3065,-0.97,-146.6,281.8,-7.3,146,3071,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2612,3418
$GC,3381,-0.97,-146.6,308.0,-8.7,162,3385,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1213,3418
$GC,3408,-0.97,-146.6,310.4,-8.8,163,3412,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2599,3418
$GC,3724,-0.97,-146.6,337.9,-8.6,178,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3417
$GC,4033,-0.97,-146.6,365.9,-9.0,193,4037,0.00,2.40,0.00,0.000,4,0.000,0.038,2130,1218,3417
$GC,4065,-0.97,-146.6,369.0,-8.9,194,4070,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2605,3416
$GC,4381,-0.97,-146.6,396.7,-8.4,209,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3417
$GC,4691,-0.97,-146.6,420.4,-7.4,224,4695,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1209,3416
$GC,4734,-0.97,-146.6,423.8,-7.6,226,4739,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2606,3416
$GC,5057,-0.97,-146.6,450.9,-8.5,242,5061,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1208,3416
$GC,5096,-0.97,-146.6,454.4,-8.7,244,5100,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2609,3416
$GC,5422,-0.97,-146.6,483.0,-9.1,260,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3415
$GC,5732,-0.97,-146.6,511.2,-9.4,275,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3416
$GC,6041,-0.97,-146.6,542.6,-10.4,290,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3415
$GC,6352,-0.97,-146.6,575.2,-10.3,305,6356,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1214,3415
$GC,6397,-1.02,-146.6,579.7,-9.3,307,6401,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3415
$GC,6718,-1.02,-146.6,609.1,-8.6,323,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3415
$GC,7027,-1.02,-146.6,634.5,-8.7,338,7031,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1213,3414
$GC,7077,-1.07,-146.6,638.6,-7.9,340,7081,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2599,3414
$GC,7393,-1.07,-146.6,663.7,-8.1,355,7397,0.00,2.42,0.00,0.000,4,0.000,0.039,2130,1218,3414
$GC,7426,-1.07,-146.6,666.9,-10.0,356,7432,0.00,2.42,0.00,0.000,6,0.000,0.037,2130,2600,3414
$GC,7742,-1.07,-146.6,690.4,-7.4,372,7746,0.00,2.42,0.00,0.000,4,0.000,0.039,2130,1216,3413
$GC,7770,-1.12,-146.6,692.5,-7.4,373,7774,0.00,2.42,0.00,0.000,6,0.000,0.037,2130,2608,3414
$GC,8091,-1.12,-146.6,716.7,-7.4,389,8095,0.00,2.45,0.00,0.000,4,0.000,0.039,2130,1213,3413
$GC,8120,-1.18,-146.6,718.8,-7.1,390,8125,0.12,2.42,0.00,0.000,6,0.048,0.037,2091,2600,3413
$GC,8436,-1.11,-146.6,747.2,-8.5,405,8438,0.12,0.00,0.00,0.000,6,0.099,0.000,2115,2600,3412
$GC,8745,-1.11,-146.6,770.5,-7.2,420,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2600,3412
$GC,9054,-1.11,-146.6,796.3,-8.6,435,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2600,3411
$GC,9363,-1.11,-146.6,822.1,-7.8,450,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2600,3410
$STATE,9402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9402,begin apogee
$GC,9409,-0.31,0.0,826.0,8.6,452,9545,0.85,0.00,130.68,1.127,6,0.097,0.000,2289,2309,2816
$STATE,9546,end apogee,CONTROL_FINISHED_OK
$STATE,9546,begin climb
$GC,9549,1.03,146.6,831.7,0.0,459,9689,1.40,2.67,132.07,1.117,4,0.076,0.066,2579,3700,2218
$GC,9723,0.87,146.6,826.4,9.5,467,9728,0.15,2.45,0.00,0.000,6,0.115,0.030,2553,2315,2216
$GC,10040,0.80,162.2,805.4,7.0,482,10061,0.00,2.65,14.38,0.997,4,0.000,0.064,2553,3704,2155
$GC,10112,0.70,162.2,799.4,8.5,485,10117,0.20,2.47,0.00,0.000,6,0.103,0.031,2516,2302,2153
$GC,10435,0.82,193.8,778.7,6.4,501,10474,0.10,2.70,29.75,1.054,4,0.056,0.064,2545,3698,2025
$GC,10491,0.82,193.8,774.3,7.9,503,10497,0.00,2.47,0.00,0.000,6,0.000,0.030,2545,2300,2024
$GC,10807,0.82,193.8,747.2,7.7,519,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2300,2020
$GC,11116,0.82,193.8,723.2,7.6,534,11120,0.00,2.55,0.00,0.000,4,0.000,0.052,2545,898,2018
$GC,11149,0.82,193.8,720.4,8.3,535,11155,0.00,2.47,0.00,0.000,6,0.000,0.037,2545,2302,2017
$GC,11465,0.82,193.8,693.2,8.8,551,11469,0.00,2.60,0.00,0.000,4,0.000,0.064,2545,3701,2017
$GC,11542,0.82,193.8,685.6,9.1,554,11549,0.00,2.45,0.00,0.000,6,0.000,0.030,2545,2298,2017
$GC,11858,0.82,193.8,656.0,9.7,570,11862,0.00,2.53,0.00,0.000,4,0.000,0.051,2545,899,2017
$GC,11959,0.87,193.8,645.1,10.2,574,11964,0.00,2.47,0.00,0.000,6,0.000,0.037,2545,2302,2015
$GC,12275,0.91,193.8,615.9,8.3,589,12280,0.00,2.60,0.00,0.000,4,0.000,0.064,2545,3701,2015
$GC,12297,0.91,193.8,614.0,8.2,590,12301,0.00,2.45,0.00,0.000,6,0.000,0.030,2545,2296,2015
$GC,12619,0.99,219.9,591.6,6.6,606,12650,0.15,2.60,23.52,0.949,4,0.063,0.050,2584,908,1918
$GC,12722,0.99,219.9,583.5,7.9,610,12729,0.00,2.47,0.00,0.000,6,0.000,0.036,2582,2308,1915
$GC,13038,0.99,219.9,559.3,8.3,626,13043,0.00,2.60,0.00,0.000,4,0.000,0.062,2582,3708,1915
$GC,13079,0.93,219.9,555.6,9.0,628,13083,0.00,2.45,0.00,0.000,6,0.000,0.030,2582,2300,1915
$GC,13405,0.93,219.9,528.8,8.0,644,13409,0.00,2.60,0.00,0.000,4,0.000,0.061,2582,3701,1915
$GC,13449,0.87,219.9,524.8,9.4,646,13454,0.17,2.45,0.00,0.000,6,0.110,0.028,2551,2292,1915
$GC,13771,0.94,231.2,502.3,7.1,662,13787,0.00,2.65,10.75,0.816,4,0.000,0.059,2550,3703,1873
$GC,13815,0.99,231.2,498.7,8.5,663,13821,0.12,2.45,0.00,0.000,6,0.051,0.028,2584,2298,1873
$GC,14137,0.99,231.2,470.5,8.9,679,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2298,1871
$GC,14446,0.99,231.2,443.0,8.8,694,14450,0.00,2.58,0.00,0.000,4,0.000,0.058,2584,3702,1871
$GC,14473,0.95,231.2,440.4,9.4,695,14477,0.00,2.42,0.00,0.000,6,0.000,0.028,2585,2298,1871
$GC,14789,0.95,231.2,410.6,9.4,710,14793,0.00,2.50,0.00,0.000,4,0.000,0.047,2584,894,1871
$GC,14822,0.95,231.2,407.2,9.9,711,14826,0.00,2.45,0.00,0.000,6,0.000,0.033,2584,2305,1870
$GC,15142,0.95,231.2,377.5,8.9,727,15147,0.00,2.55,0.00,0.000,4,0.000,0.059,2584,3704,1870
$GC,15183,0.90,231.2,373.8,9.5,729,15188,0.15,2.42,0.00,0.000,6,0.098,0.028,2557,2297,1870
$GC,15510,0.98,237.4,349.3,7.3,745,15519,0.00,0.00,7.03,0.667,6,0.000,0.000,2557,2295,1848
$GC,15820,1.05,240.4,326.6,7.4,760,15827,0.15,0.00,4.32,0.540,6,0.047,0.000,2594,2295,1837
$GC,16128,1.05,240.4,298.7,9.4,775,16129,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2295,1837
$GC,16437,1.05,240.4,269.2,9.6,790,16438,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2295,1837
$GC,16747,1.05,240.4,239.9,9.6,805,16748,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2295,1837
$GC,17056,1.05,240.4,209.4,9.9,820,17057,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2295,1836
$GC,17365,1.05,240.4,179.7,9.6,835,17369,0.00,2.58,0.00,0.000,4,0.000,0.057,2594,3705,1837
$GC,17406,1.00,240.4,175.5,11.5,837,17411,0.00,2.42,0.00,0.000,6,0.000,0.028,2595,2295,1837
$GC,17735,1.00,240.4,145.1,8.6,853,17739,0.00,2.47,0.00,0.000,4,0.000,0.046,2595,901,1837
$GC,17797,1.00,240.4,139.4,8.1,856,17801,0.00,2.42,0.00,0.000,6,0.000,0.033,2595,2309,1836
$GC,18130,1.00,240.4,110.8,8.1,872,18135,0.00,2.55,0.00,0.000,4,0.000,0.058,2595,3705,1837
$GC,18186,0.94,240.4,105.6,8.8,874,18193,0.17,2.40,0.00,0.000,6,0.103,0.027,2562,2298,1837
$GC,18503,1.03,262.6,83.2,6.7,890,18526,0.00,0.00,20.85,0.612,6,0.000,0.000,2563,2296,1746
$GC,18834,1.16,297.3,61.4,6.3,906,18871,0.20,2.55,30.50,0.607,4,0.046,0.044,2620,896,1604
$GC,18918,1.12,297.3,53.3,9.3,909,18922,0.00,2.47,0.00,0.000,6,0.000,0.032,2619,2308,1601
$GC,19245,1.12,297.3,20.6,11.0,925,19249,0.00,2.50,0.00,0.000,4,0.000,0.043,2620,902,1599
$GC,19375,1.12,297.3,7.3,12.0,931,19379,0.00,2.42,0.00,0.000,6,0.000,0.032,2620,2297,1597
$STATE,19431,end climb,SURFACE_DEPTH_REACHED
$STATE,19431,begin surface coast
$FINISH,0.8,1.026511
$STATE,19453,end surface coast,CONTROL_FINISHED_OK
$STATE,19453,begin surface
$SM_CCo,19537,0.00,0.000,0,0,1595,299.51
$SM_GC,1.54,12.55,0.00,0.00,0.104,0.000,0.000,81,2610,1595,-10.45,0.28,299.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1738
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,801.6,32.9
$24V_AH,23.6,27.520
$10V_AH,10.1,13.615
$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,28.675,168.575,403.850,0.000,0.000,87.565,134.085,610.019,7.250,0.000,0.000,12.079,1716.080,15237.989,579.574,1994.987,1153.667,0.000,1598.105,0.000,1945.137,0.000,48.812,0.000
$DEVICE_MAMPS,185.614,65.962,1127.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.185,643.677,529.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47372,935
$CAP_FILE_SIZE,156857,0
$CFSIZE,260165632,249556992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,040709,100945,6350.326,-1309.624,41,2.5,60,-12.5