version: 66.04
glider: 16
mission: 13
dive: 149
start: 7 3 109 3 26 44
data:
$ID,16
$MISSION,13
$DIVE,149
$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,566.1524
$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,-2110256
$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,27
$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
$GPS1,030955,6346.962,-1336.556,38,1.4,39,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-60.4
$GPS2,032628,6347.020,-1336.587,11,2.3,30,-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,88.4,22404,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.75,0.000,6,0.000,0.000,76,2600,3416
$GC,122,-1.03,-146.6,6.1,-5.4,5,136,11.68,0.00,0.00,0.000,6,0.175,0.000,2132,2600,3418
$GC,454,-1.03,-146.6,47.7,-8.2,21,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,763,-1.03,-146.6,75.8,-9.6,36,768,0.00,2.50,0.00,0.000,4,0.000,0.037,2132,1180,3419
$GC,830,-1.03,-146.6,82.7,-9.6,39,835,0.00,2.50,0.00,0.000,6,0.000,0.035,2132,2597,3419
$GC,1152,-1.03,-146.6,112.2,-8.9,55,1156,0.00,2.35,0.00,0.000,4,0.000,0.066,2132,3864,3419
$GC,1237,-1.03,-146.6,120.3,-9.8,59,1241,0.00,2.17,0.00,0.000,6,0.000,0.026,2133,2573,3419
$GC,1564,-1.03,-146.6,150.7,-9.4,75,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2571,3419
$GC,1872,-1.03,-146.6,178.9,-8.9,90,1877,0.00,2.38,0.00,0.000,4,0.000,0.063,2133,3859,3418
$GC,1900,-1.03,-146.6,181.6,-10.0,91,1904,0.00,2.12,0.00,0.000,6,0.000,0.026,2133,2597,3418
$GC,2222,-1.03,-146.6,211.8,-9.6,107,2226,0.00,2.42,0.00,0.000,4,0.000,0.039,2133,1216,3418
$GC,2249,-1.03,-146.6,214.6,-10.3,108,2253,0.00,2.42,0.00,0.000,6,0.000,0.035,2133,2601,3418
$GC,2565,-1.03,-146.6,244.7,-9.5,123,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3418
$GC,2874,-1.03,-146.6,271.8,-8.4,138,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2601,3418
$GC,3183,-1.03,-146.6,296.9,-8.5,153,3187,0.00,2.45,0.00,0.000,4,0.000,0.038,2133,1206,3417
$GC,3217,-1.03,-146.6,299.8,-8.7,154,3224,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2603,3417
$GC,3532,-1.03,-146.6,327.1,-8.8,170,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2604,3417
$GC,3841,-1.03,-146.6,354.2,-9.0,185,3845,0.00,2.45,0.00,0.000,4,0.000,0.038,2133,1210,3417
$GC,3869,-1.03,-146.6,356.7,-9.1,186,3874,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2608,3417
$GC,4185,-1.03,-146.6,384.0,-8.8,201,4189,0.00,2.33,0.00,0.000,4,0.000,0.067,2133,3864,3417
$GC,4225,-1.03,-146.6,387.8,-9.4,203,4229,0.00,2.12,0.00,0.000,6,0.000,0.026,2133,2599,3417
$GC,4558,-1.03,-146.6,419.2,-9.9,219,4562,0.00,2.42,0.00,0.000,4,0.000,0.039,2133,1214,3416
$GC,4590,-1.03,-146.6,422.6,-9.7,220,4597,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2598,3416
$GC,4907,-1.03,-146.6,456.3,-10.7,236,4911,0.00,2.33,0.00,0.000,4,0.000,0.067,2133,3858,3416
$GC,4969,-1.03,-146.6,463.4,-11.6,239,4973,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2593,3416
$GC,5302,-1.03,-146.6,499.3,-11.2,255,5306,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1213,3416
$GC,5324,-1.03,-146.6,501.8,-11.7,256,5329,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2601,3416
$GC,5651,-1.03,-146.6,536.5,-10.4,272,5655,0.00,2.33,0.00,0.000,4,0.000,0.067,2133,3865,3416
$GC,5697,-1.03,-146.6,541.3,-10.6,274,5701,0.00,2.12,0.00,0.000,6,0.000,0.027,2133,2594,3415
$GC,6030,-1.03,-146.6,577.0,-11.1,290,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2593,3415
$GC,6339,-1.03,-146.6,606.2,-8.4,305,6343,0.00,2.35,0.00,0.000,4,0.000,0.067,2133,3857,3415
$GC,6378,-1.03,-146.6,609.5,-8.5,307,6382,0.00,2.12,0.00,0.000,6,0.000,0.027,2133,2594,3415
$GC,6711,-1.03,-146.6,632.1,-6.1,323,6715,0.00,2.42,0.00,0.000,4,0.000,0.041,2133,1216,3414
$GC,6751,-1.11,-146.6,634.5,-5.9,325,6755,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2601,3415
$GC,7079,-1.11,-146.6,642.1,-4.8,341,7083,0.00,2.33,0.00,0.000,4,0.000,0.069,2132,3860,3415
$GC,7118,-1.11,-146.6,644.5,-6.0,342,7124,0.00,2.10,0.00,0.000,6,0.000,0.027,2133,2599,3415
$GC,7434,-1.11,-146.6,665.5,-7.3,358,7438,0.00,2.45,0.00,0.000,4,0.000,0.041,2133,1209,3414
$GC,7478,-1.17,-146.6,669.0,-8.7,360,7483,0.15,2.45,0.00,0.000,6,0.045,0.036,2087,2606,3414
$GC,7802,-1.09,-146.6,703.6,-11.2,376,7804,0.17,0.00,0.00,0.000,6,0.094,0.000,2120,2606,3414
$GC,8109,-1.09,-146.6,735.0,-9.7,391,8113,0.00,2.33,0.00,0.000,4,0.000,0.070,2120,3856,3413
$GC,8226,-1.09,-146.6,744.8,-8.2,396,8230,0.00,2.12,0.00,0.000,6,0.000,0.028,2120,2600,3413
$GC,8548,-1.09,-146.6,766.3,-6.2,412,8552,0.00,2.35,0.00,0.000,4,0.000,0.069,2120,3860,3413
$GC,8615,-1.09,-146.6,770.6,-6.2,415,8619,0.00,2.15,0.00,0.000,6,0.000,0.028,2120,2599,3413
$GC,8943,-1.09,-146.6,790.8,-6.4,431,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2599,3412
$GC,9252,-1.09,-146.6,811.6,-7.2,446,9256,0.00,2.35,0.00,0.000,4,0.000,0.071,2120,3856,3412
$GC,9286,-1.09,-146.6,814.4,-8.1,447,9292,0.00,2.15,0.00,0.000,6,0.000,0.030,2120,2599,3412
$GC,9602,-1.09,-146.6,838.7,-7.7,463,9606,0.00,2.50,0.00,0.000,4,0.000,0.047,2120,1195,3411
$GC,9652,-1.13,-146.6,842.9,-7.6,465,9656,0.00,2.47,0.00,0.000,6,0.000,0.040,2120,2596,3411
$GC,9967,-1.13,-146.6,868.4,-8.0,480,9971,0.00,2.38,0.00,0.000,4,0.000,0.075,2120,3860,3410
$GC,10023,-1.13,-146.6,873.5,-8.9,482,10029,0.00,2.17,0.00,0.000,6,0.000,0.030,2120,2591,3410
$GC,10339,-1.13,-146.6,896.9,-7.0,498,10343,0.00,2.47,0.00,0.000,4,0.000,0.047,2120,1201,3410
$GC,10366,-1.17,-146.6,899.1,-7.9,499,10371,0.00,2.47,0.00,0.000,6,0.000,0.041,2120,2601,3410
$GC,10682,-1.17,-146.6,930.8,-11.0,514,10686,0.00,2.50,0.00,0.000,4,0.000,0.044,2120,1198,3409
$GC,10745,-1.22,-146.6,937.8,-10.8,517,10750,0.12,2.47,0.00,0.000,6,0.051,0.040,2084,2599,3409
$GC,11078,-1.13,-146.6,977.2,-12.3,533,11083,0.15,2.35,0.00,0.000,4,0.101,0.071,2112,3860,3408
$GC,11152,-1.13,-146.6,986.7,-12.0,536,11156,0.00,2.17,0.00,0.000,6,0.000,0.030,2112,2586,3408
$STATE,11197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11197,begin apogee
$GC,11204,-0.31,0.0,992.1,11.4,538,11340,0.90,0.00,133.55,1.240,6,0.116,0.000,2287,2298,2817
$STATE,11341,end apogee,CONTROL_FINISHED_OK
$STATE,11341,begin climb
$GC,11344,1.03,146.6,1001.2,0.0,545,11492,1.42,2.60,135.68,1.233,4,0.090,0.051,2581,910,2218
$GC,11585,0.96,177.1,996.6,6.5,556,11619,0.00,2.47,28.95,1.172,6,0.000,0.037,2581,2310,2093
$GC,11938,0.91,177.1,969.9,8.2,573,11943,0.12,2.60,0.00,0.000,4,0.104,0.062,2558,3701,2087
$GC,11982,0.82,177.1,965.4,10.2,575,11987,0.00,2.45,0.00,0.000,6,0.000,0.030,2558,2305,2087
$GC,12305,0.83,188.1,938.9,7.1,591,12317,0.00,0.00,10.23,1.035,6,0.000,0.000,2558,2305,2050
$GC,12614,0.89,245.6,919.8,5.5,606,12676,0.00,2.62,55.90,1.177,4,0.000,0.052,2558,898,1813
$GC,12733,0.91,260.9,912.2,7.0,611,12753,0.00,2.50,14.75,1.074,6,0.000,0.037,2557,2298,1753
$GC,13079,0.97,271.8,889.2,7.1,628,13095,0.00,0.00,11.30,1.029,6,0.000,0.000,2557,2298,1708
$GC,13406,1.04,285.5,865.5,7.0,644,13427,0.12,0.00,13.98,1.051,6,0.054,0.000,2591,2298,1652
$GC,13736,1.04,285.5,836.5,9.0,660,13740,0.00,2.55,0.00,0.000,4,0.000,0.051,2592,899,1649
$GC,13791,1.04,285.5,831.2,9.5,662,13795,0.00,2.50,0.00,0.000,6,0.000,0.037,2591,2308,1648
$GC,14107,1.04,285.5,802.8,8.8,677,14111,0.00,2.60,0.00,0.000,4,0.000,0.064,2591,3703,1648
$GC,14146,1.04,285.5,798.9,10.3,679,14151,0.00,2.47,0.00,0.000,6,0.000,0.032,2591,2297,1648
$GC,14473,1.04,285.5,769.4,8.8,695,14474,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2297,1647
$GC,14783,1.04,285.5,741.2,9.2,710,14787,0.00,2.62,0.00,0.000,4,0.000,0.061,2591,3708,1647
$GC,14804,0.99,285.5,739.1,9.6,711,14809,0.00,2.47,0.00,0.000,6,0.000,0.030,2591,2294,1647
$GC,15125,0.99,285.5,708.5,9.9,727,15126,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2293,1647
$GC,15435,0.99,285.5,675.3,11.3,742,15439,0.00,2.53,0.00,0.000,4,0.000,0.052,2591,897,1646
$GC,15474,0.99,285.5,670.7,12.3,744,15479,0.00,2.47,0.00,0.000,6,0.000,0.035,2591,2305,1645
$GC,15801,0.99,285.5,636.0,9.5,760,15805,0.00,2.58,0.00,0.000,4,0.000,0.060,2591,3701,1645
$GC,15840,0.99,285.5,632.5,9.6,762,15845,0.00,2.45,0.00,0.000,6,0.000,0.030,2591,2295,1646
$GC,16167,0.99,285.5,606.4,8.1,778,16171,0.00,2.53,0.00,0.000,4,0.000,0.051,2590,890,1646
$GC,16200,0.99,285.5,603.5,8.7,779,16204,0.00,2.47,0.00,0.000,6,0.000,0.035,2591,2301,1645
$GC,16516,0.99,285.5,575.8,9.1,794,16517,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2301,1646
$GC,16825,0.99,285.5,550.2,8.5,809,16829,0.00,2.53,0.00,0.000,4,0.000,0.047,2591,888,1646
$GC,16863,0.99,285.5,546.6,8.1,810,16870,0.00,2.47,0.00,0.000,6,0.000,0.034,2591,2310,1646
$GC,17180,0.99,285.5,518.9,8.7,826,17184,0.00,2.53,0.00,0.000,4,0.000,0.046,2591,896,1646
$GC,17219,0.99,285.5,515.3,8.8,828,17223,0.00,2.45,0.00,0.000,6,0.000,0.033,2591,2301,1646
$GC,17545,0.99,285.5,487.2,8.8,844,17546,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2301,1646
$GC,17855,0.99,285.5,458.7,9.3,859,17859,0.00,2.50,0.00,0.000,4,0.000,0.045,2591,895,1647
$GC,17916,0.99,285.5,452.9,8.0,861,17922,0.00,2.45,0.00,0.000,6,0.000,0.033,2591,2304,1647
$GC,18231,0.99,285.5,425.6,8.6,877,18232,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2304,1647
$GC,18541,0.99,285.5,397.9,9.0,892,18545,0.00,2.50,0.00,0.000,4,0.000,0.044,2591,895,1647
$GC,18592,0.99,285.5,392.9,9.8,894,18597,0.00,2.45,0.00,0.000,6,0.000,0.032,2591,2303,1647
$GC,18913,0.99,285.5,363.0,9.2,910,18918,0.00,2.53,0.00,0.000,4,0.000,0.044,2591,888,1647
$GC,18953,0.99,285.5,359.1,11.2,912,18957,0.00,2.45,0.00,0.000,6,0.000,0.032,2591,2299,1647
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$GC,19645,0.99,285.5,294.8,10.0,945,19651,0.00,2.45,0.00,0.000,6,0.000,0.032,2591,2304,1647
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$STATE,22782,end climb,SURFACE_DEPTH_REACHED
$STATE,22782,begin surface coast
$FINISH,0.7,1.015685
$STATE,22805,end surface coast,CONTROL_FINISHED_OK
$STATE,22806,begin surface
$SM_CCo,22829,166.10,0.574,0,0,509,566.15
$SM_GC,1.50,0.00,0.00,166.10,0.000,0.000,0.574,70,2601,509,-10.53,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1711
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,977.2,53.0
$24V_AH,23.5,26.808
$10V_AH,10.1,13.227
$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,26.875,208.825,404.325,166.100,0.000,90.466,137.761,345.064,8.750,0.000,0.000,31.652,2004.083,17878.119,750.637,2381.216,969.086,0.000,1963.948,0.000,2298.966,0.000,60.527,0.000
$DEVICE_MAMPS,174.876,75.166,1240.239,574.483,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,807.605,754.302,594.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56963,1098
$CAP_FILE_SIZE,173370,0
$CFSIZE,260165632,249778176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030709,095107,6346.449,-1329.684,27,2.0,27,-12.6