version: 66.04
glider: 16
mission: 13
dive: 150
start: 7 3 109 10 9 26
data:
$ID,16
$MISSION,13
$DIVE,150
$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,-2110291
$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,29
$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
$GPS1,095107,6346.449,-1329.684,27,2.0,27,-12.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-53.4
$GPS2,100910,6346.390,-1330.007,14,2.4,33,-12.6
$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,80.3,17655,-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,-101.75,0.000,2,0.000,0.000,68,2600,3394
$GC,123,-1.03,-146.6,5.7,-5.0,5,145,12.00,2.55,-0.35,0.000,4,0.186,0.047,2132,1187,3417
$GC,170,-0.86,-146.6,20.1,-15.2,7,175,0.20,2.50,0.00,0.000,6,0.092,0.035,2171,2603,3417
$GC,497,-0.94,-146.6,40.8,-7.5,23,501,0.00,2.33,0.00,0.000,4,0.000,0.063,2171,3861,3417
$GC,561,-1.01,-146.6,46.8,-10.0,26,566,0.15,2.17,0.00,0.000,6,0.041,0.025,2127,2570,3418
$GC,888,-1.01,-146.6,82.6,-9.5,42,892,0.00,2.38,0.00,0.000,4,0.000,0.038,2126,1218,3417
$GC,952,-1.01,-146.6,88.9,-10.1,45,956,0.00,2.42,0.00,0.000,6,0.000,0.035,2125,2600,3417
$GC,1279,-1.01,-146.6,123.4,-11.2,61,1283,0.00,2.33,0.00,0.000,4,0.000,0.063,2125,3862,3417
$GC,1346,-1.01,-146.6,131.1,-10.7,64,1349,0.00,2.12,0.00,0.000,6,0.000,0.025,2126,2599,3417
$GC,1672,-1.01,-146.6,164.2,-10.5,80,1676,0.00,2.42,0.00,0.000,4,0.000,0.038,2126,1214,3417
$GC,1706,-1.01,-146.6,167.8,-10.0,81,1712,0.00,2.42,0.00,0.000,6,0.000,0.035,2126,2601,3417
$GC,2022,-1.01,-146.6,200.3,-10.3,97,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2602,3417
$GC,2330,-1.01,-146.6,230.8,-9.7,112,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2601,3417
$GC,2640,-1.01,-146.6,262.8,-10.3,127,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2601,3416
$GC,2949,-1.01,-146.6,293.7,-9.9,142,2953,0.00,2.33,0.00,0.000,4,0.000,0.065,2126,3860,3416
$GC,2976,-1.01,-146.6,296.8,-10.7,143,2980,0.00,2.10,0.00,0.000,6,0.000,0.026,2127,2600,3416
$GC,3297,-1.01,-146.6,328.7,-9.8,159,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2599,3416
$GC,3606,-1.01,-146.6,357.4,-8.9,174,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2599,3415
$GC,3916,-1.01,-146.6,384.9,-8.7,189,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2599,3415
$GC,4225,-1.01,-146.6,412.7,-9.0,204,4229,0.00,2.45,0.00,0.000,4,0.000,0.041,2126,1206,3415
$GC,4258,-1.01,-146.6,416.2,-9.8,205,4264,0.00,2.45,0.00,0.000,6,0.000,0.036,2126,2606,3415
$GC,4574,-1.01,-146.6,445.9,-9.9,221,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2608,3414
$GC,4884,-1.01,-146.6,475.5,-9.3,236,4888,0.00,2.45,0.00,0.000,4,0.000,0.038,2126,1212,3414
$GC,4912,-1.01,-146.6,478.3,-9.3,237,4916,0.00,2.42,0.00,0.000,6,0.000,0.035,2126,2602,3414
$GC,5227,-1.01,-146.6,506.9,-9.0,252,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2601,3414
$GC,5537,-1.01,-146.6,535.4,-9.3,267,5541,0.00,2.42,0.00,0.000,4,0.000,0.038,2126,1214,3413
$GC,5564,-1.01,-146.6,538.2,-9.4,268,5568,0.00,2.42,0.00,0.000,6,0.000,0.035,2127,2599,3414
$GC,5885,-1.01,-146.6,567.8,-9.5,284,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2600,3413
$GC,6194,-1.01,-146.6,597.0,-9.6,299,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3413
$GC,6503,-1.01,-146.6,627.8,-10.2,314,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2600,3413
$GC,6812,-1.01,-146.6,659.4,-9.9,329,6817,0.00,2.45,0.00,0.000,4,0.000,0.039,2126,1206,3413
$GC,6853,-1.01,-146.6,663.3,-10.2,331,6857,0.00,2.45,0.00,0.000,6,0.000,0.036,2127,2607,3413
$GC,7179,-1.01,-146.6,692.9,-9.1,347,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2608,3413
$GC,7488,-1.01,-146.6,723.3,-10.4,362,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2608,3412
$GC,7798,-1.01,-146.6,755.1,-10.0,377,7802,0.00,2.42,0.00,0.000,4,0.000,0.039,2126,1214,3412
$GC,7870,-1.07,-146.6,762.2,-9.7,380,7874,0.00,2.42,0.00,0.000,6,0.000,0.037,2126,2600,3412
$GC,8192,-1.07,-146.6,789.9,-8.8,396,8196,0.00,2.45,0.00,0.000,4,0.000,0.040,2126,1205,3412
$GC,8225,-1.12,-146.6,793.2,-9.7,397,8232,0.00,2.45,0.00,0.000,6,0.000,0.038,2126,2597,3412
$GC,8541,-1.12,-146.6,820.8,-8.7,413,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2597,3411
$GC,8850,-1.12,-146.6,844.1,-6.9,428,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2597,3411
$GC,9160,-1.16,-146.6,871.5,-9.5,443,9164,0.00,2.42,0.00,0.000,4,0.000,0.042,2126,1217,3411
$GC,9200,-1.23,-146.6,875.1,-8.9,444,9207,0.15,2.45,0.00,0.000,6,0.044,0.041,2080,2600,3411
$GC,9516,-1.14,-146.6,911.6,-10.9,460,9521,0.15,2.38,0.00,0.000,4,0.099,0.074,2108,3864,3410
$GC,9560,-1.14,-146.6,916.4,-10.8,462,9564,0.00,2.15,0.00,0.000,6,0.000,0.030,2108,2608,3410
$GC,9887,-1.14,-146.6,947.5,-9.2,478,9891,0.00,2.50,0.00,0.000,4,0.000,0.047,2109,1203,3409
$GC,9942,-1.14,-146.6,952.2,-8.1,480,9949,0.00,2.47,0.00,0.000,6,0.000,0.041,2109,2608,3408
$GC,10258,-1.14,-146.6,978.2,-9.0,496,10262,0.00,2.35,0.00,0.000,4,0.000,0.072,2108,3864,3407
$GC,10292,-1.09,-146.6,981.6,-10.3,497,10298,0.00,2.17,0.00,0.000,6,0.000,0.030,2109,2593,3407
$STATE,10398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10398,begin apogee
$GC,10406,-0.31,0.0,992.2,9.8,503,10543,0.90,0.00,133.45,1.232,6,0.101,0.000,2290,2295,2817
$STATE,10543,end apogee,CONTROL_FINISHED_OK
$STATE,10544,begin climb
$GC,10546,1.03,146.6,996.9,0.0,510,10692,1.38,2.70,135.35,1.223,4,0.077,0.064,2580,3705,2218
$GC,10870,0.90,156.8,982.2,7.2,524,10885,0.12,2.47,10.02,1.032,6,0.113,0.031,2558,2302,2177
$GC,11205,0.87,181.6,959.1,6.7,541,11231,0.00,0.00,24.20,1.141,6,0.000,0.000,2558,2302,2076
$GC,11530,0.87,181.6,935.0,8.2,557,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2302,2070
$GC,11840,0.91,219.1,913.1,6.2,572,11882,0.00,2.70,35.80,1.152,4,0.000,0.062,2558,3709,1922
$GC,11916,0.91,219.1,906.5,11.0,575,11920,0.00,2.47,0.00,0.000,6,0.000,0.031,2558,2300,1920
$GC,12232,0.91,219.1,877.8,9.3,590,12236,0.00,2.55,0.00,0.000,4,0.000,0.053,2558,898,1915
$GC,12271,0.91,219.1,874.1,9.5,592,12275,0.00,2.50,0.00,0.000,6,0.000,0.037,2558,2309,1914
$GC,12597,0.91,219.1,844.2,9.6,608,12602,0.00,2.62,0.00,0.000,4,0.000,0.065,2558,3707,1914
$GC,12670,0.91,219.1,836.8,10.5,611,12674,0.00,2.47,0.00,0.000,6,0.000,0.032,2558,2296,1914
$GC,12986,0.91,219.1,802.1,11.1,626,12990,0.00,2.55,0.00,0.000,4,0.000,0.053,2558,897,1914
$GC,13048,0.91,219.1,794.9,12.1,629,13052,0.00,2.47,0.00,0.000,6,0.000,0.038,2558,2301,1912
$GC,13374,0.91,219.1,760.4,9.4,645,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2301,1913
$GC,13684,0.91,226.0,735.3,7.3,660,13695,0.00,2.58,6.22,0.830,4,0.000,0.049,2558,892,1894
$GC,13724,0.96,271.8,732.7,5.9,662,13774,0.00,2.50,44.25,1.060,6,0.000,0.036,2557,2305,1709
$GC,14100,1.08,297.2,709.0,6.6,680,14127,0.17,0.00,24.40,1.012,6,0.058,0.000,2602,2305,1604
$GC,14427,1.08,297.2,680.8,9.0,696,14428,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2305,1600
$GC,14736,1.08,297.2,652.9,9.0,711,14740,0.00,2.55,0.00,0.000,4,0.000,0.049,2602,889,1599
$GC,14787,1.08,297.2,648.2,8.9,713,14791,0.00,2.50,0.00,0.000,6,0.000,0.035,2602,2309,1597
$GC,15102,1.08,297.2,621.6,8.2,728,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2310,1597
$GC,15412,1.08,297.2,594.7,8.9,743,15416,0.00,2.55,0.00,0.000,4,0.000,0.047,2602,895,1597
$GC,15475,1.08,297.2,588.5,10.0,746,15479,0.00,2.47,0.00,0.000,6,0.000,0.034,2602,2309,1596
$GC,15801,1.08,297.2,557.1,9.2,762,15805,0.00,2.55,0.00,0.000,4,0.000,0.046,2602,891,1596
$GC,15834,1.08,297.2,553.9,9.5,763,15840,0.00,2.47,0.00,0.000,6,0.000,0.034,2602,2305,1596
$GC,16149,1.08,297.2,522.6,10.6,779,16150,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2305,1597
$GC,16459,1.08,297.2,490.4,10.3,794,16463,0.00,2.53,0.00,0.000,4,0.000,0.045,2602,893,1597
$GC,16520,1.08,297.2,483.7,11.9,796,16526,0.00,2.45,0.00,0.000,6,0.000,0.033,2602,2301,1596
$GC,16835,1.08,297.2,449.5,11.0,812,16839,0.00,2.53,0.00,0.000,4,0.000,0.044,2602,892,1597
$GC,16863,1.08,297.2,446.3,10.1,813,16867,0.00,2.45,0.00,0.000,6,0.000,0.032,2602,2302,1597
$GC,17179,1.08,297.2,411.1,11.0,828,17180,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2302,1597
$GC,17488,1.08,297.2,378.9,10.0,843,17492,0.00,2.53,0.00,0.000,4,0.000,0.044,2602,887,1597
$GC,17551,1.08,297.2,372.5,9.3,846,17555,0.00,2.45,0.00,0.000,6,0.000,0.033,2602,2299,1597
$GC,17877,1.08,297.2,341.9,9.1,862,17881,0.00,2.53,0.00,0.000,4,0.000,0.044,2600,887,1597
$GC,17904,1.08,297.2,339.4,9.2,863,17908,0.00,2.45,0.00,0.000,6,0.000,0.032,2602,2299,1597
$GC,18220,1.08,297.2,311.9,8.7,878,18221,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2300,1597
$GC,18529,1.08,297.2,285.3,8.6,893,18533,0.00,2.53,0.00,0.000,4,0.000,0.044,2602,886,1597
$GC,18572,1.08,297.2,281.2,8.2,895,18577,0.00,2.47,0.00,0.000,6,0.000,0.033,2602,2308,1597
$GC,18894,1.08,297.2,252.8,8.5,911,18898,0.00,2.53,0.00,0.000,4,0.000,0.044,2602,892,1597
$GC,18927,1.08,297.2,249.8,8.0,912,18933,0.00,2.45,0.00,0.000,6,0.000,0.032,2602,2301,1597
$GC,19243,1.08,297.2,222.2,8.8,928,19247,0.00,2.50,0.00,0.000,4,0.000,0.044,2602,894,1598
$GC,19293,1.08,297.2,218.0,7.9,930,19297,0.00,2.45,0.00,0.000,6,0.000,0.032,2602,2304,1597
$GC,19608,1.08,297.2,188.7,9.9,945,19612,0.00,2.50,0.00,0.000,4,0.000,0.044,2602,894,1597
$GC,19652,1.08,297.2,184.5,8.7,947,19656,0.00,2.45,0.00,0.000,6,0.000,0.032,2602,2308,1597
$GC,19979,1.08,297.2,150.6,11.0,963,19980,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2308,1598
$GC,20288,1.08,297.2,113.5,11.9,978,20292,0.00,2.53,0.00,0.000,4,0.000,0.044,2602,888,1598
$GC,20351,1.08,297.2,105.9,12.0,981,20355,0.00,2.45,0.00,0.000,6,0.000,0.032,2602,2301,1598
$GC,20679,1.08,297.2,67.1,11.4,997,20680,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2301,1598
$GC,20989,1.08,297.2,36.1,9.6,1012,20993,0.00,2.50,0.00,0.000,4,0.000,0.043,2602,893,1598
$GC,21029,1.08,297.2,32.1,9.1,1014,21034,0.00,2.45,0.00,0.000,6,0.000,0.032,2602,2306,1598
$STATE,21333,end climb,SURFACE_DEPTH_REACHED
$STATE,21333,begin surface coast
$FINISH,0.7,1.013906
$STATE,21355,end surface coast,CONTROL_FINISHED_OK
$STATE,21356,begin surface
$SM_CCo,21379,158.43,0.574,0,0,509,566.15
$SM_GC,1.41,0.00,0.00,158.43,0.000,0.000,0.574,59,2606,509,-10.58,0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1730
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,976.4,34.1
$24V_AH,23.5,27.007
$10V_AH,10.1,13.327
$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,27.400,172.625,413.700,158.425,0.000,100.513,201.370,360.686,8.750,0.000,0.000,34.129,1847.154,16826.785,738.442,2182.429,1019.254,0.000,1832.356,0.000,2103.633,0.000,60.150,0.000
$DEVICE_MAMPS,185.614,73.632,1231.802,574.483,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,746.373,711.047,548.150,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53660,1030
$CAP_FILE_SIZE,158563,0
$CFSIZE,260165632,249704448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,030709,160937,6345.994,-1327.526,32,1.1,33,-12.6