version: 66.04
glider: 16
mission: 13
dive: 175
start: 7 8 109 5 4 30
data:
$ID,16
$MISSION,13
$DIVE,175
$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,-2110765.5
$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,37
$R_STBD_OVSHOOT,24
$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
$GPS1,045837,6353.557,-1306.073,43,0.8,43,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.7
$GPS2,050413,6353.524,-1306.126,10,1.1,15,-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,218.3,7253,-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,16,-1.03,-146.6,0.0,0.0,0,72,0.00,0.00,-53.58,0.000,6,0.000,0.000,72,2597,3416
$GC,75,-1.03,-146.6,3.8,-8.9,2,97,11.90,2.38,0.00,0.000,4,0.183,0.057,2130,3866,3417
$GC,350,-0.99,-146.6,46.8,-11.5,14,354,0.00,2.17,0.00,0.000,6,0.000,0.025,2129,2576,3418
$GC,671,-0.99,-146.6,78.9,-10.0,30,675,0.00,2.38,0.00,0.000,4,0.000,0.060,2129,3866,3419
$GC,717,-0.95,-146.6,84.3,-11.6,32,721,0.12,2.12,0.00,0.000,6,0.102,0.025,2153,2596,3419
$GC,1038,-0.95,-146.6,114.8,-9.4,48,1042,0.00,2.42,0.00,0.000,4,0.000,0.038,2153,1215,3419
$GC,1083,-1.02,-146.6,119.1,-8.8,50,1087,0.00,2.42,0.00,0.000,6,0.000,0.034,2153,2600,3419
$GC,1404,-1.07,-146.6,148.9,-9.3,66,1406,0.12,0.00,0.00,0.000,6,0.044,0.000,2111,2600,3420
$GC,1713,-1.01,-146.6,184.1,-11.4,81,1715,0.15,0.00,0.00,0.000,6,0.093,0.000,2140,2601,3419
$GC,2022,-1.01,-146.6,215.6,-10.0,96,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2601,3419
$GC,2332,-1.01,-146.6,246.2,-9.9,111,2336,0.00,2.42,0.00,0.000,4,0.000,0.038,2140,1218,3419
$GC,2373,-1.06,-146.6,250.3,-9.6,113,2377,0.00,2.42,0.00,0.000,6,0.000,0.035,2140,2605,3419
$GC,2699,-1.06,-146.6,282.8,-9.7,129,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2605,3419
$GC,3008,-1.06,-146.6,311.9,-9.2,144,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2605,3419
$GC,3317,-1.06,-146.6,340.3,-9.3,159,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2605,3419
$GC,3627,-1.06,-146.6,368.4,-9.1,174,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2605,3419
$GC,3936,-1.06,-146.6,396.3,-9.4,189,3940,0.00,2.42,0.00,0.000,4,0.000,0.038,2140,1218,3419
$GC,3969,-1.11,-146.6,399.6,-9.4,190,3977,0.12,2.42,0.00,0.000,6,0.049,0.035,2100,2609,3418
$GC,4286,-1.03,-146.6,436.5,-11.5,206,4287,0.17,0.00,0.00,0.000,6,0.096,0.000,2134,2609,3418
$GC,4594,-1.03,-146.6,465.8,-9.0,221,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2609,3418
$GC,4904,-1.03,-146.6,494.8,-9.5,236,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2609,3418
$GC,5214,-1.03,-146.6,526.8,-10.3,251,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2609,3418
$GC,5522,-1.03,-146.6,557.0,-9.3,266,5526,0.00,2.45,0.00,0.000,4,0.000,0.038,2134,1211,3418
$GC,5555,-1.07,-146.6,560.1,-9.5,267,5561,0.00,2.42,0.00,0.000,6,0.000,0.035,2134,2600,3418
$GC,5871,-1.07,-146.6,587.6,-8.7,283,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2600,3418
$GC,6180,-1.07,-146.6,612.2,-7.5,298,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2600,3418
$GC,6490,-1.07,-146.6,633.1,-6.5,313,6494,0.00,2.33,0.00,0.000,4,0.000,0.068,2134,3861,3418
$GC,6591,-1.07,-146.6,640.4,-6.8,317,6595,0.00,2.10,0.00,0.000,6,0.000,0.027,2134,2605,3418
$GC,6912,-1.07,-146.6,661.1,-6.3,333,6916,0.00,2.45,0.00,0.000,4,0.000,0.041,2134,1208,3417
$GC,6986,-1.12,-146.6,666.3,-7.2,336,6990,0.00,2.45,0.00,0.000,6,0.000,0.036,2134,2609,3418
$GC,7302,-1.12,-146.6,687.5,-6.6,351,7306,0.00,2.45,0.00,0.000,4,0.000,0.039,2134,1209,3417
$GC,7353,-1.18,-146.6,690.9,-6.4,353,7358,0.15,2.42,0.00,0.000,6,0.045,0.036,2088,2600,3417
$GC,7669,-1.10,-146.6,719.5,-9.5,368,7671,0.15,0.00,0.00,0.000,6,0.096,0.000,2117,2600,3417
$GC,7977,-1.10,-146.6,745.3,-7.9,383,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2600,3416
$STATE,8243,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8244,begin apogee
$GC,8251,-0.31,0.0,765.9,7.2,396,8386,0.85,0.00,129.25,1.077,6,0.104,0.000,2288,2304,2817
$STATE,8387,end apogee,CONTROL_FINISHED_OK
$STATE,8387,begin climb
$GC,8389,1.03,146.6,770.8,0.0,403,8528,1.38,2.67,130.12,1.067,4,0.073,0.061,2580,3701,2219
$GC,8739,0.90,146.6,750.4,8.2,419,8744,0.12,2.42,0.00,0.000,6,0.095,0.029,2558,2310,2216
$GC,9066,0.86,146.6,725.9,7.7,435,9070,0.00,2.55,0.00,0.000,4,0.000,0.050,2558,900,2212
$GC,9151,0.79,146.6,719.2,8.4,439,9156,0.12,2.47,0.00,0.000,6,0.099,0.035,2534,2304,2211
$GC,9477,0.83,182.3,697.6,6.3,455,9516,0.00,0.00,32.50,0.998,6,0.000,0.000,2534,2304,2073
$GC,9827,0.95,235.6,676.6,5.7,472,9879,0.15,0.00,50.00,1.003,6,0.048,0.000,2578,2304,1856
$GC,10174,0.95,235.6,646.9,9.8,489,10179,0.00,2.53,0.00,0.000,4,0.000,0.047,2578,896,1849
$GC,10242,0.95,235.6,640.0,10.2,492,10246,0.00,2.47,0.00,0.000,6,0.000,0.035,2578,2303,1847
$GC,10562,0.95,235.6,607.9,10.2,508,10566,0.00,2.53,0.00,0.000,4,0.000,0.046,2578,896,1846
$GC,10595,0.95,235.6,604.5,10.2,509,10600,0.00,2.47,0.00,0.000,6,0.000,0.034,2578,2307,1844
$GC,10911,0.95,235.6,577.7,7.8,524,10916,0.00,2.58,0.00,0.000,4,0.000,0.061,2578,3698,1845
$GC,10953,0.95,235.6,574.4,8.6,526,10957,0.00,2.42,0.00,0.000,6,0.000,0.028,2578,2299,1845
$GC,11279,0.95,241.7,550.9,7.3,542,11286,0.00,0.00,5.07,0.670,6,0.000,0.000,2578,2299,1831
$GC,11589,0.95,241.7,523.1,10.0,557,11593,0.00,2.60,0.00,0.000,4,0.000,0.058,2578,3705,1830
$GC,11616,0.95,241.7,520.0,10.6,558,11620,0.00,2.45,0.00,0.000,6,0.000,0.028,2578,2294,1830
$GC,11931,0.95,241.7,484.5,11.2,573,11932,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2294,1830
$GC,12241,0.95,241.7,450.3,10.6,588,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2294,1830
$GC,12550,0.95,241.7,417.5,10.5,603,12551,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2294,1830
$GC,12859,0.95,241.7,383.9,11.0,618,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2294,1830
$GC,13169,0.95,241.7,349.8,10.8,633,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2294,1830
$GC,13477,0.95,241.7,318.9,9.7,648,13479,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2294,1830
$GC,13787,0.95,241.7,290.6,8.9,663,13788,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2294,1830
$GC,14096,0.95,241.7,262.6,9.4,678,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2294,1830
$GC,14405,0.95,241.7,235.2,9.0,693,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2294,1830
$GC,14715,0.96,249.1,211.3,7.2,708,14725,0.00,0.00,8.48,0.619,6,0.000,0.000,2577,2294,1801
$GC,15024,0.96,251.0,187.0,7.4,723,15026,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2293,1799
$GC,15333,0.96,251.0,162.2,8.5,738,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2293,1799
$GC,15644,0.96,251.0,134.0,9.4,753,15645,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2293,1799
$GC,15952,0.96,251.0,106.1,8.3,768,15957,0.00,2.47,0.00,0.000,4,0.000,0.045,2578,898,1799
$GC,15997,0.96,251.0,102.2,8.4,770,16001,0.00,2.45,0.00,0.000,6,0.000,0.031,2578,2310,1798
$GC,16318,0.96,251.0,74.7,8.5,786,16322,0.00,2.50,0.00,0.000,4,0.000,0.042,2578,898,1798
$GC,16363,1.01,251.0,70.5,9.9,788,16367,0.00,2.45,0.00,0.000,6,0.000,0.032,2578,2309,1798
$GC,16684,1.01,251.0,44.0,7.9,804,16685,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2310,1798
$GC,16994,1.09,268.5,21.1,6.9,819,17017,0.00,2.60,17.85,0.568,4,0.000,0.042,2578,898,1721
$GC,17046,1.19,278.7,17.1,7.2,821,17063,0.20,2.45,10.32,0.528,6,0.042,0.032,2634,2301,1679
$STATE,17185,end climb,SURFACE_DEPTH_REACHED
$STATE,17185,begin surface coast
$FINISH,0.7,1.026635
$STATE,17205,end surface coast,CONTROL_FINISHED_OK
$STATE,17205,begin surface
$SM_CCo,17289,0.00,0.000,0,0,1671,281.11
$SM_GC,1.81,12.07,0.00,0.00,0.078,0.000,0.000,73,2605,1671,-10.47,0.11,281.11
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1754
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.4,49.0
$24V_AH,23.6,30.201
$10V_AH,10.1,15.142
$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,27.800,88.750,383.600,0.000,0.000,18.326,27.389,173.895,6.250,0.000,0.000,14.990,1485.646,13502.755,475.986,1694.169,465.398,0.000,1304.668,0.000,1654.797,0.000,43.100,0.000
$DEVICE_MAMPS,183.313,68.263,1076.868,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,611.778,566.358,492.582,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41158,829
$CAP_FILE_SIZE,114360,0
$CFSIZE,260165632,248459264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080709,095355,6352.374,-1306.495,40,1.1,40,-12.4