version: 66.04
glider: 16
mission: 13
dive: 22
start: 6 8 109 18 20 41
data:
$ID,16
$MISSION,13
$DIVE,22
$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,1
$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,-2108004.8
$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,26
$R_STBD_OVSHOOT,21
$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
$GPS1,181500,6136.669,-837.501,38,1.1,44,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-62.0
$GPS2,181950,6136.729,-837.556,15,1.1,15,-9.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.098,-0.219
$KALMAN_X,-33707.6,145.8,266.2,14829.2,-4529.3
$KALMAN_Y,75645.9,-3230.5,-1141.0,-48659.4,22449.8
$MHEAD_RNG_PITCHd_Wd,147.4,16687,-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,17,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-57.67,0.000,6,0.000,0.000,75,2597,3416
$GC,81,-1.03,-146.6,6.5,-11.6,3,102,11.85,2.55,0.00,0.000,4,0.182,0.039,2131,1182,3416
$GC,203,-1.03,-146.6,31.1,-10.1,8,208,0.00,2.50,0.00,0.000,6,0.000,0.036,2130,2601,3416
$GC,520,-1.03,-146.6,59.9,-7.4,23,524,0.00,2.35,0.00,0.000,4,0.000,0.068,2130,3861,3417
$GC,560,-1.03,-146.6,64.5,-11.2,25,564,0.00,2.17,0.00,0.000,6,0.000,0.028,2130,2577,3417
$GC,893,-1.03,-146.6,96.4,-10.7,41,897,0.00,2.42,0.00,0.000,4,0.000,0.042,2131,1202,3417
$GC,948,-1.07,-146.6,102.1,-9.7,43,955,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2601,3418
$GC,1265,-1.07,-146.6,131.8,-9.4,59,1269,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1204,3418
$GC,1298,-1.11,-146.6,134.8,-7.9,60,1305,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2601,3418
$GC,1614,-1.11,-146.6,161.4,-7.6,76,1618,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1201,3418
$GC,1635,-1.11,-146.6,163.2,-7.9,77,1640,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2602,3418
$GC,1957,-1.11,-146.6,189.4,-8.2,93,1961,0.00,2.35,0.00,0.000,4,0.000,0.069,2131,3865,3418
$GC,2006,-1.11,-146.6,194.1,-9.0,95,2010,0.00,2.15,0.00,0.000,6,0.000,0.029,2131,2595,3418
$GC,2328,-1.11,-146.6,221.8,-9.2,111,2332,0.00,2.45,0.00,0.000,4,0.000,0.042,2131,1205,3418
$GC,2378,-1.19,-146.6,226.6,-9.1,113,2383,0.15,2.47,0.00,0.000,6,0.044,0.038,2086,2611,3418
$GC,2694,-1.09,-146.6,262.8,-11.7,128,2699,0.17,2.33,0.00,0.000,4,0.100,0.068,2122,3858,3418
$GC,2716,-1.04,-146.6,265.5,-11.7,129,2720,0.00,2.12,0.00,0.000,6,0.000,0.030,2122,2602,3418
$GC,3043,-1.04,-146.6,300.8,-11.9,145,3047,0.00,2.45,0.00,0.000,4,0.000,0.043,2122,1209,3419
$GC,3094,-1.08,-146.6,306.8,-10.9,147,3098,0.00,2.45,0.00,0.000,6,0.000,0.038,2122,2608,3418
$GC,3409,-1.08,-146.6,338.1,-9.4,162,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2609,3419
$GC,3718,-1.08,-146.6,366.9,-9.5,177,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2609,3419
$GC,4028,-1.08,-146.6,398.0,-9.8,192,4032,0.00,2.47,0.00,0.000,4,0.000,0.042,2122,1208,3419
$GC,4090,-1.13,-146.6,403.7,-9.2,195,4094,0.00,2.45,0.00,0.000,6,0.000,0.038,2121,2600,3418
$GC,4417,-1.13,-146.6,433.0,-8.9,211,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2600,3419
$GC,4726,-1.13,-146.6,458.8,-8.5,226,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2600,3419
$GC,5035,-1.13,-146.6,488.2,-9.4,241,5039,0.00,2.47,0.00,0.000,4,0.000,0.042,2122,1203,3419
$GC,5148,-1.19,-146.6,499.3,-9.4,246,5152,0.00,2.47,0.00,0.000,6,0.000,0.040,2122,2601,3418
$GC,5469,-1.19,-146.6,529.0,-9.3,262,5472,0.00,2.35,0.00,0.000,4,0.000,0.074,2122,3861,3418
$GC,5608,-1.19,-146.6,541.4,-8.3,268,5612,0.00,2.15,0.00,0.000,6,0.000,0.031,2122,2601,3418
$GC,5936,-1.19,-146.6,565.6,-7.3,284,5940,0.00,2.47,0.00,0.000,4,0.000,0.046,2122,1205,3418
$GC,5981,-1.26,-146.6,568.7,-6.9,286,5986,0.17,2.47,0.00,0.000,6,0.043,0.041,2072,2604,3418
$GC,6302,-1.16,-146.6,598.2,-10.4,302,6307,0.17,2.50,0.00,0.000,4,0.103,0.045,2108,1203,3417
$GC,6341,-1.16,-146.6,602.5,-10.7,304,6346,0.00,2.47,0.00,0.000,6,0.000,0.041,2108,2601,3417
$GC,6668,-1.16,-146.6,643.1,-10.4,320,6672,0.00,2.38,0.00,0.000,4,0.000,0.077,2109,3861,3416
$GC,6780,-1.11,-146.6,655.2,-14.2,325,6784,0.00,2.15,0.00,0.000,6,0.000,0.034,2108,2609,3416
$GC,7107,-1.11,-146.6,683.3,-8.1,341,7111,0.00,2.53,0.00,0.000,4,0.000,0.051,2108,1199,3415
$GC,7185,-1.11,-146.6,688.7,-6.9,344,7191,0.00,2.50,0.00,0.000,6,0.000,0.046,2108,2599,3416
$GC,7500,-1.11,-146.6,710.2,-8.6,360,7504,0.00,2.53,0.00,0.000,4,0.000,0.052,2108,1201,3415
$GC,7562,-1.11,-146.6,716.1,-10.5,363,7566,0.00,2.53,0.00,0.000,6,0.000,0.049,2108,2602,3415
$GC,7888,-1.11,-146.6,751.4,-10.5,379,7892,0.00,2.42,0.00,0.000,4,0.000,0.090,2109,3860,3413
$GC,7950,-1.11,-146.6,756.4,-7.0,382,7954,0.00,2.20,0.00,0.000,6,0.000,0.042,2108,2609,3412
$GC,8282,-1.11,-146.6,786.6,-10.3,398,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2607,3411
$STATE,8485,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8486,begin apogee
$GC,8493,-0.31,0.0,809.2,10.5,408,8628,0.98,0.00,128.25,1.115,6,0.144,0.000,2289,2305,2817
$STATE,8629,end apogee,CONTROL_FINISHED_OK
$STATE,8629,begin climb
$GC,8632,1.03,146.6,817.3,0.0,415,8772,1.40,2.78,131.25,1.108,4,0.083,0.081,2581,3705,2219
$GC,9029,0.81,146.6,799.5,9.1,432,9034,0.25,2.55,0.00,0.000,6,0.108,0.044,2535,2301,2211
$GC,9350,0.86,189.6,778.1,6.0,448,9395,0.00,2.80,38.03,1.066,4,0.000,0.081,2535,3700,2043
$GC,9527,0.88,254.9,762.2,5.3,456,9592,0.00,2.55,60.12,1.071,6,0.000,0.044,2535,2295,1777
$GC,9923,0.94,254.9,732.1,9.7,475,9928,0.12,2.72,0.00,0.000,4,0.060,0.079,2567,3704,1767
$GC,10001,0.87,254.9,721.9,13.4,478,10008,0.00,2.55,0.00,0.000,6,0.000,0.044,2567,2293,1767
$GC,10317,0.87,254.9,675.7,14.5,494,10321,0.00,2.72,0.00,0.000,4,0.000,0.078,2567,3705,1765
$GC,10349,0.87,254.9,671.2,13.6,495,10356,0.00,2.53,0.00,0.000,6,0.000,0.044,2567,2301,1765
$GC,10665,0.87,254.9,637.3,9.0,511,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2301,1763
$GC,10975,0.90,274.9,615.3,6.8,526,10994,0.00,0.00,17.08,0.948,6,0.000,0.000,2567,2300,1696
$GC,11304,0.96,336.9,596.8,5.4,542,11370,0.00,2.78,58.15,0.988,4,0.000,0.070,2567,3709,1441
$GC,11412,1.02,354.6,590.0,6.9,547,11434,0.00,2.55,16.73,0.915,6,0.000,0.040,2567,2291,1370
$GC,11743,1.12,360.2,567.7,7.3,563,11752,0.17,0.00,5.47,0.714,6,0.058,0.000,2614,2290,1348
$GC,12074,1.12,360.2,527.7,14.1,579,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2289,1345
$GC,12384,1.07,360.2,485.9,13.6,594,12388,0.00,2.58,0.00,0.000,4,0.000,0.056,2614,885,1345
$GC,12446,1.07,360.2,477.1,14.6,597,12450,0.00,2.53,0.00,0.000,6,0.000,0.039,2614,2314,1344
$GC,12772,1.07,360.2,430.9,14.6,613,12777,0.12,2.60,0.00,0.000,4,0.096,0.050,2591,884,1344
$GC,12816,1.14,360.2,425.2,11.7,615,12820,0.00,2.53,0.00,0.000,6,0.000,0.039,2591,2308,1343
$GC,13138,1.18,360.2,385.7,12.1,631,13140,0.12,0.00,0.00,0.000,6,0.051,0.000,2629,2308,1343
$GC,13447,1.13,360.2,339.7,15.0,646,13452,0.12,2.58,0.00,0.000,4,0.096,0.051,2605,888,1343
$GC,13509,1.13,360.2,330.6,13.8,649,13514,0.00,2.50,0.00,0.000,6,0.000,0.037,2605,2309,1343
$GC,13835,1.13,360.2,289.1,12.5,665,13839,0.00,2.58,0.00,0.000,4,0.000,0.049,2605,882,1343
$GC,13868,1.13,360.2,284.7,13.5,666,13874,0.00,2.50,0.00,0.000,6,0.000,0.036,2605,2305,1343
$GC,14183,1.13,360.2,245.6,13.5,682,14188,0.00,2.55,0.00,0.000,4,0.000,0.049,2605,889,1343
$GC,14211,1.13,360.2,241.3,14.5,683,14215,0.00,2.47,0.00,0.000,6,0.000,0.035,2605,2302,1343
$GC,14526,1.13,360.2,200.8,12.5,698,14531,0.00,2.55,0.00,0.000,4,0.000,0.048,2605,883,1343
$GC,14582,1.13,360.2,193.3,13.8,700,14588,0.00,2.47,0.00,0.000,6,0.000,0.036,2605,2299,1344
$GC,14898,1.13,360.2,152.8,12.3,716,14899,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2299,1343
$GC,15207,1.13,360.2,119.5,10.8,731,15211,0.00,2.53,0.00,0.000,4,0.000,0.048,2605,888,1344
$GC,15247,1.13,360.2,115.3,10.5,733,15251,0.00,2.47,0.00,0.000,6,0.000,0.035,2605,2304,1343
$GC,15573,1.13,360.2,83.1,9.9,749,15578,0.00,2.55,0.00,0.000,4,0.000,0.047,2605,881,1344
$GC,15663,1.13,360.2,73.5,11.7,753,15667,0.00,2.47,0.00,0.000,6,0.000,0.035,2605,2299,1344
$GC,15984,1.13,360.2,41.7,10.6,769,15989,0.00,2.53,0.00,0.000,4,0.000,0.047,2605,888,1344
$GC,16017,1.13,360.2,37.7,11.8,770,16024,0.00,2.45,0.00,0.000,6,0.000,0.035,2605,2301,1344
$GC,16335,1.13,360.2,3.4,10.8,786,16339,0.00,2.22,0.00,0.000,3,0.000,0.044,2605,1043,1345
$STATE,16340,end climb,SURFACE_DEPTH_REACHED
$STATE,16340,begin surface coast
$FINISH,0.6,1.014340
$STATE,16377,end surface coast,CONTROL_FINISHED_OK
$STATE,16377,begin surface
$SM_CCo,16463,0.00,0.000,0,0,1343,361.57
$SM_GC,1.48,12.05,0.00,0.00,0.087,0.000,0.000,73,2597,1343,-10.45,-0.08,361.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1700
$TCM_TEMP,17.60
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,726.3,91.9
$24V_AH,23.5,9.960
$10V_AH,10.1,3.861
$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,27.875,164.100,455.075,0.000,0.000,18.233,25.884,135.257,8.500,0.000,0.000,15.320,1490.554,12392.120,550.250,1886.712,434.409,33.340,1526.795,0.000,1831.555,0.000,43.203,0.000
$DEVICE_MAMPS,181.779,89.739,1115.218,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.387,555.588,465.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41109,788
$CAP_FILE_SIZE,128313,0
$CFSIZE,260165632,257032192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,080609,225607,6138.813,-839.757,27,1.7,27,-9.1