version: 66.04
glider: 16
mission: 13
dive: 140
start: 7 1 109 13 22 19
data:
$ID,16
$MISSION,13
$DIVE,140
$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,-2110060
$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,25
$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
$GPS1,131406,6354.635,-1328.960,33,1.5,33,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.7
$GPS2,132202,6354.638,-1329.009,12,1.7,12,-12.7
$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,131.7,17743,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,92,0.00,0.00,-73.90,0.000,6,0.000,0.000,68,2601,3417
$GC,95,-1.03,-146.6,3.6,-4.8,3,117,11.93,2.35,0.00,0.000,4,0.183,0.058,2132,3857,3418
$GC,298,-1.03,-146.6,39.9,-9.6,12,302,0.00,2.17,0.00,0.000,6,0.000,0.026,2132,2572,3419
$GC,626,-1.03,-146.6,71.4,-8.9,28,630,0.00,2.40,0.00,0.000,4,0.000,0.039,2131,1208,3419
$GC,703,-1.03,-146.6,78.8,-9.0,31,710,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2597,3419
$GC,1020,-1.03,-146.6,105.2,-8.6,47,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2597,3419
$GC,1330,-1.03,-146.6,132.1,-8.7,62,1334,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1206,3419
$GC,1381,-1.08,-146.6,136.5,-7.5,64,1385,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2597,3419
$GC,1697,-1.08,-146.6,164.6,-8.7,79,1701,0.00,2.35,0.00,0.000,4,0.000,0.064,2132,3868,3419
$GC,1769,-1.08,-146.6,171.6,-9.4,82,1773,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2599,3419
$GC,2091,-1.08,-146.6,200.6,-8.9,98,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2598,3419
$GC,2399,-1.08,-146.6,228.1,-8.8,113,2403,0.00,2.42,0.00,0.000,4,0.000,0.039,2132,1211,3418
$GC,2461,-1.08,-146.6,234.1,-9.7,115,2467,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2608,3419
$GC,2776,-1.08,-146.6,264.5,-10.2,131,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3419
$GC,3086,-1.08,-146.6,295.2,-9.9,146,3090,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1212,3419
$GC,3131,-1.12,-146.6,299.3,-8.8,148,3135,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2598,3419
$GC,3452,-1.12,-146.6,330.7,-10.1,164,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2598,3419
$GC,3761,-1.12,-146.6,362.7,-10.7,179,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3418
$GC,4070,-1.12,-146.6,394.7,-10.4,194,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3418
$GC,4381,-1.12,-146.6,425.0,-9.8,209,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2598,3418
$GC,4689,-1.12,-146.6,454.8,-8.9,224,4693,0.00,2.35,0.00,0.000,4,0.000,0.067,2132,3864,3418
$GC,4729,-1.12,-146.6,459.1,-10.8,226,4733,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2598,3418
$GC,5061,-1.12,-146.6,497.1,-13.7,242,5066,0.00,2.35,0.00,0.000,4,0.000,0.066,2132,3864,3418
$GC,5151,-1.12,-146.6,508.9,-12.8,246,5154,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2600,3418
$GC,5477,-1.12,-146.6,544.1,-9.5,262,5481,0.00,2.35,0.00,0.000,4,0.000,0.067,2132,3862,3418
$GC,5512,-1.12,-146.6,547.2,-9.3,263,5518,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2595,3418
$GC,5828,-1.12,-146.6,570.5,-6.4,279,5832,0.00,2.42,0.00,0.000,4,0.000,0.042,2132,1218,3418
$GC,5918,-1.18,-146.6,575.9,-5.6,283,5923,0.15,2.42,0.00,0.000,6,0.044,0.037,2089,2600,3418
$GC,6239,-1.09,-146.6,605.4,-10.5,299,6244,0.17,2.45,0.00,0.000,4,0.100,0.040,2125,1212,3418
$GC,6279,-1.15,-146.6,609.0,-8.7,301,6284,0.00,2.45,0.00,0.000,6,0.000,0.038,2125,2605,3418
$GC,6606,-1.15,-146.6,635.7,-7.8,317,6611,0.00,2.35,0.00,0.000,4,0.000,0.071,2125,3863,3418
$GC,6679,-1.15,-146.6,641.2,-7.3,320,6683,0.00,2.12,0.00,0.000,6,0.000,0.028,2125,2607,3417
$GC,7001,-1.15,-146.6,663.1,-8.0,336,7005,0.00,2.47,0.00,0.000,4,0.000,0.043,2125,1206,3417
$GC,7041,-1.23,-146.6,666.0,-8.1,338,7046,0.15,2.47,0.00,0.000,6,0.047,0.042,2084,2598,3417
$GC,7370,-1.15,-146.6,702.9,-12.7,354,7374,0.12,2.35,0.00,0.000,4,0.101,0.071,2107,3860,3416
$GC,7470,-1.10,-146.6,715.2,-11.3,358,7476,0.00,2.15,0.00,0.000,6,0.000,0.031,2107,2604,3415
$GC,7787,-1.06,-146.6,736.8,-3.9,374,7792,0.12,2.50,0.00,0.000,4,0.115,0.048,2129,1203,3414
$GC,7804,-1.06,-146.6,737.6,-4.0,375,7808,0.00,2.47,0.00,0.000,6,0.000,0.039,2129,2603,3414
$GC,8131,-1.11,-146.6,765.7,-10.4,391,8135,0.00,2.38,0.00,0.000,4,0.000,0.077,2129,3860,3413
$GC,8200,-1.11,-146.6,776.3,-19.4,394,8203,0.00,2.17,0.00,0.000,6,0.000,0.033,2129,2599,3412
$STATE,8215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8215,begin apogee
$GC,8222,-0.31,0.0,779.0,16.8,395,8357,0.80,0.00,129.88,1.111,6,0.103,0.000,2290,2299,2817
$STATE,8358,end apogee,CONTROL_FINISHED_OK
$STATE,8358,begin climb
$GC,8361,1.03,146.6,786.9,0.0,402,8501,1.38,2.65,131.40,1.102,4,0.074,0.056,2581,894,2217
$GC,8758,0.92,146.6,759.8,11.0,419,8762,0.00,2.50,0.00,0.000,6,0.000,0.039,2581,2302,2210
$GC,9079,0.79,146.6,731.9,12.6,435,9081,0.25,0.00,0.00,0.000,6,0.100,0.000,2533,2302,2208
$GC,9388,0.79,146.6,702.3,9.9,450,9392,0.00,2.65,0.00,0.000,4,0.000,0.067,2533,3704,2207
$GC,9547,0.74,146.6,691.1,9.1,457,9551,0.00,2.47,0.00,0.000,6,0.000,0.033,2533,2302,2206
$GC,9868,0.88,278.6,668.4,3.0,473,9993,0.00,2.70,118.32,1.048,4,0.000,0.065,2533,3702,1681
$GC,10012,0.99,283.1,660.8,7.3,479,10023,0.20,2.50,5.12,0.727,6,0.050,0.033,2583,2300,1662
$GC,10345,0.99,283.1,635.8,7.6,496,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2299,1654
$GC,10654,0.99,283.1,612.7,7.8,511,10658,0.00,2.65,0.00,0.000,4,0.000,0.064,2583,3709,1652
$GC,10732,0.99,283.1,605.4,9.1,514,10738,0.00,2.50,0.00,0.000,6,0.000,0.032,2583,2292,1651
$GC,11047,0.99,283.1,575.5,9.7,530,11052,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,891,1650
$GC,11110,0.99,283.1,569.5,9.6,533,11114,0.00,2.50,0.00,0.000,6,0.000,0.035,2583,2311,1649
$GC,11436,0.99,283.1,537.5,10.3,549,11440,0.00,2.58,0.00,0.000,4,0.000,0.048,2583,888,1649
$GC,11464,0.99,283.1,534.5,10.8,550,11468,0.00,2.50,0.00,0.000,6,0.000,0.035,2583,2306,1648
$GC,11779,0.99,283.1,506.1,7.9,565,11784,0.00,2.60,0.00,0.000,4,0.000,0.061,2583,3708,1649
$GC,11829,0.99,283.1,501.7,7.9,567,11833,0.00,2.47,0.00,0.000,6,0.000,0.029,2583,2290,1649
$GC,12151,1.07,355.6,482.9,5.0,583,12221,0.00,0.00,65.18,0.915,6,0.000,0.000,2583,2289,1366
$GC,12546,1.18,402.5,460.6,5.9,602,12591,0.15,0.00,42.58,0.883,6,0.051,0.000,2625,2289,1175
$GC,12893,1.18,402.5,426.3,10.4,619,12897,0.00,2.50,0.00,0.000,4,0.000,0.048,2625,898,1166
$GC,12949,1.18,402.5,420.7,9.9,621,12953,0.00,2.47,0.00,0.000,6,0.000,0.033,2627,2305,1165
$GC,13265,1.18,402.5,387.6,11.0,636,13269,0.00,2.55,0.00,0.000,4,0.000,0.046,2625,892,1165
$GC,13309,1.18,402.5,382.6,10.6,638,13313,0.00,2.47,0.00,0.000,6,0.000,0.033,2625,2306,1164
$GC,13629,1.18,402.5,349.7,9.8,654,13634,0.00,2.55,0.00,0.000,4,0.000,0.045,2625,891,1164
$GC,13696,1.18,402.5,342.9,9.9,657,13701,0.00,2.47,0.00,0.000,6,0.000,0.033,2625,2306,1164
$GC,14018,1.18,402.5,307.3,11.6,673,14022,0.00,2.53,0.00,0.000,4,0.000,0.044,2625,896,1164
$GC,14080,1.18,402.5,299.5,12.9,676,14085,0.00,2.45,0.00,0.000,6,0.000,0.033,2625,2302,1164
$GC,14407,1.18,402.5,256.9,14.2,692,14411,0.00,2.53,0.00,0.000,4,0.000,0.044,2625,895,1164
$GC,14474,1.18,402.5,246.3,15.7,695,14478,0.00,2.45,0.00,0.000,6,0.000,0.032,2625,2300,1164
$GC,14795,1.18,402.5,193.9,17.0,711,14799,0.00,2.53,0.00,0.000,4,0.000,0.045,2625,891,1164
$GC,14862,1.18,402.5,182.4,16.3,714,14866,0.00,2.45,0.00,0.000,6,0.000,0.033,2625,2300,1164
$GC,15185,1.18,402.5,127.4,15.9,730,15189,0.00,2.53,0.00,0.000,4,0.000,0.045,2625,889,1163
$GC,15270,1.18,402.5,114.6,14.9,734,15274,0.00,2.45,0.00,0.000,6,0.000,0.032,2625,2298,1164
$GC,15597,1.18,402.5,72.7,12.0,750,15601,0.00,2.53,0.00,0.000,4,0.000,0.044,2625,891,1164
$GC,15652,1.18,402.5,66.0,11.8,752,15658,0.00,2.45,0.00,0.000,6,0.000,0.033,2625,2304,1164
$GC,15968,1.18,402.5,28.4,11.5,768,15972,0.00,2.53,0.00,0.000,4,0.000,0.044,2626,891,1164
$GC,16068,1.18,402.5,16.4,13.0,772,16075,0.00,2.45,0.00,0.000,6,0.000,0.032,2625,2309,1164
$STATE,16196,end climb,SURFACE_DEPTH_REACHED
$STATE,16196,begin surface coast
$FINISH,0.8,1.016816
$STATE,16218,end surface coast,CONTROL_FINISHED_OK
$STATE,16218,begin surface
$SM_CCo,16301,0.00,0.000,0,0,1163,405.73
$SM_GC,1.59,12.35,0.00,0.00,0.095,0.000,0.000,68,2603,1163,-10.46,0.08,405.73
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1741
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.1,13.0
$24V_AH,23.6,25.350
$10V_AH,10.1,12.561
$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,27.775,156.800,492.475,0.000,0.000,35.956,59.783,198.842,7.000,0.000,0.000,12.798,1477.653,12238.980,588.968,1900.065,570.216,0.000,1573.555,0.000,1846.124,0.000,49.450,0.000
$DEVICE_MAMPS,182.546,77.467,1111.383,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,574.473,531.402,445.083,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41126,780
$CAP_FILE_SIZE,130963,0
$CFSIZE,260165632,250384384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,010709,175527,6353.729,-1327.831,31,2.7,50,-12.7