version: 66.04
glider: 16
mission: 13
dive: 26
start: 6 9 109 13 53 10
data:
$ID,16
$MISSION,13
$DIVE,26
$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,-2108064
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,134706,6140.939,-843.661,38,1.4,43,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.6
$GPS2,135219,6140.951,-843.742,11,1.6,16,-9.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.122,-0.206
$KALMAN_X,-43358.5,-84.7,609.4,18903.1,-8735.6
$KALMAN_Y,97595.8,-1819.2,-900.4,-64484.9,22565.6
$MHEAD_RNG_PITCHd_Wd,149.9,26185,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-60.92,0.000,2,0.000,0.000,77,2599,3194
$GC,83,-1.03,-146.6,4.4,-7.0,3,106,11.82,2.53,-3.90,0.000,4,0.183,0.054,2130,1178,3415
$GC,281,-1.03,-146.6,35.4,-11.3,11,287,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2601,3415
$GC,597,-1.03,-146.6,75.6,-13.3,27,601,0.00,2.50,0.00,0.000,4,0.000,0.040,2130,1185,3416
$GC,641,-1.07,-146.6,82.3,-15.0,29,646,0.00,2.50,0.00,0.000,6,0.000,0.037,2130,2601,3416
$GC,963,-1.07,-146.6,131.9,-15.0,45,967,0.00,2.35,0.00,0.000,4,0.000,0.069,2130,3861,3417
$GC,995,-1.07,-146.6,136.9,-14.5,46,1002,0.00,2.20,0.00,0.000,6,0.000,0.029,2130,2564,3417
$GC,1312,-1.07,-146.6,175.7,-11.4,62,1316,0.00,2.40,0.00,0.000,4,0.000,0.043,2130,1206,3417
$GC,1345,-1.12,-146.6,179.0,-8.9,63,1350,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2601,3417
$GC,1661,-1.12,-146.6,207.4,-8.2,78,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3417
$GC,1970,-1.12,-146.6,233.0,-8.7,93,1974,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1202,3417
$GC,2039,-1.17,-146.6,239.2,-9.2,96,2044,0.12,2.47,0.00,0.000,6,0.045,0.038,2091,2607,3418
$GC,2363,-1.08,-146.6,276.2,-12.2,112,2365,0.17,0.00,0.00,0.000,6,0.099,0.000,2123,2607,3418
$GC,2669,-1.08,-146.6,308.7,-10.5,127,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2607,3418
$GC,2978,-1.08,-146.6,340.2,-10.2,142,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2607,3418
$GC,3287,-1.08,-146.6,371.1,-9.7,157,3292,0.00,2.47,0.00,0.000,4,0.000,0.042,2123,1208,3418
$GC,3315,-1.08,-146.6,373.8,-9.4,158,3319,0.00,2.45,0.00,0.000,6,0.000,0.038,2124,2599,3418
$GC,3630,-1.08,-146.6,403.3,-9.3,173,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2599,3417
$GC,3940,-1.08,-146.6,428.8,-7.5,188,3944,0.00,2.35,0.00,0.000,4,0.000,0.073,2123,3858,3417
$GC,3973,-1.08,-146.6,431.5,-7.8,189,3979,0.00,2.15,0.00,0.000,6,0.000,0.030,2123,2592,3417
$GC,4288,-1.08,-146.6,453.9,-7.1,205,4292,0.00,2.45,0.00,0.000,4,0.000,0.044,2124,1206,3417
$GC,4328,-1.14,-146.6,456.9,-7.5,206,4334,0.00,2.45,0.00,0.000,6,0.000,0.039,2124,2598,3417
$GC,4643,-1.14,-146.6,480.8,-8.1,222,4647,0.00,2.35,0.00,0.000,4,0.000,0.073,2124,3858,3417
$GC,4676,-1.14,-146.6,483.8,-9.0,223,4682,0.00,2.15,0.00,0.000,6,0.000,0.031,2124,2599,3417
$GC,4991,-1.14,-146.6,511.7,-9.7,239,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2597,3417
$GC,5300,-1.14,-146.6,544.7,-10.6,254,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2596,3416
$GC,5610,-1.14,-146.6,579.9,-11.3,269,5614,0.00,2.47,0.00,0.000,4,0.000,0.047,2124,1208,3415
$GC,5705,-1.20,-146.6,590.5,-10.7,273,5710,0.12,2.47,0.00,0.000,6,0.049,0.043,2086,2601,3415
$GC,6021,-1.14,-146.6,624.8,-10.0,288,6023,0.12,0.00,0.00,0.000,6,0.100,0.000,2109,2601,3415
$GC,6330,-1.14,-146.6,653.5,-9.1,303,6334,0.00,2.40,0.00,0.000,4,0.000,0.083,2108,3857,3415
$GC,6385,-1.14,-146.6,659.0,-10.6,305,6391,0.00,2.17,0.00,0.000,6,0.000,0.037,2109,2604,3415
$GC,6701,-1.14,-146.6,684.3,-7.2,321,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2602,3413
$GC,7010,-1.14,-146.6,709.8,-8.6,336,7014,0.00,2.58,0.00,0.000,4,0.000,0.061,2109,1199,3411
$GC,7060,-1.20,-146.6,713.9,-5.4,338,7065,0.00,2.55,0.00,0.000,6,0.000,0.053,2109,2601,3411
$GC,7376,-1.20,-146.6,740.2,-10.0,353,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2602,3410
$GC,7686,-1.20,-146.6,772.2,-7.2,368,7690,0.00,2.45,0.00,0.000,4,0.000,0.092,2109,3864,3409
$GC,7733,-1.16,-146.6,777.4,-12.0,370,7737,0.00,2.22,0.00,0.000,6,0.000,0.043,2109,2605,3408
$GC,8059,-1.16,-146.6,809.4,-10.5,386,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2602,3406
$STATE,8160,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8160,begin apogee
$GC,8167,-0.31,0.0,820.1,10.8,391,8302,0.93,0.00,128.82,1.133,6,0.120,0.000,2288,2299,2816
$STATE,8303,end apogee,CONTROL_FINISHED_OK
$STATE,8303,begin climb
$GC,8306,1.03,146.6,826.5,0.0,398,8446,1.38,2.70,131.73,1.111,4,0.079,0.068,2577,898,2217
$GC,8703,0.94,170.2,811.1,6.7,415,8729,0.00,2.58,20.88,1.039,6,0.000,0.053,2577,2302,2123
$GC,9048,0.96,302.1,787.7,3.0,432,9176,0.00,2.78,119.93,1.091,4,0.000,0.068,2577,900,1584
$GC,9272,0.96,302.1,767.3,12.1,442,9276,0.00,2.55,0.00,0.000,6,0.000,0.049,2577,2301,1575
$GC,9593,0.96,302.1,737.0,8.9,458,9598,0.00,2.72,0.00,0.000,4,0.000,0.081,2577,3705,1570
$GC,9634,0.89,302.1,732.0,14.1,460,9639,0.12,2.55,0.00,0.000,6,0.112,0.049,2555,2307,1571
$GC,9961,0.89,302.1,703.4,11.6,476,9965,0.00,2.67,0.00,0.000,4,0.000,0.070,2555,889,1569
$GC,10016,0.95,302.1,697.1,9.7,478,10023,0.00,2.58,0.00,0.000,6,0.000,0.049,2555,2304,1567
$GC,10332,1.01,302.1,671.9,8.1,494,10337,0.12,2.70,0.00,0.000,4,0.061,0.079,2587,3705,1567
$GC,10377,0.94,302.1,667.2,11.4,496,10382,0.12,2.53,0.00,0.000,6,0.107,0.044,2565,2293,1567
$GC,10698,0.94,302.1,638.5,9.3,512,10699,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2293,1567
$GC,11007,0.95,312.7,613.9,7.1,527,11021,0.00,2.75,7.72,0.839,4,0.000,0.076,2566,3702,1542
$GC,11090,0.95,312.7,606.9,8.8,530,11096,0.00,2.50,0.00,0.000,6,0.000,0.041,2565,2299,1541
$GC,11406,0.95,312.7,580.8,8.3,546,11410,0.00,2.62,0.00,0.000,4,0.000,0.064,2565,887,1540
$GC,11473,1.00,312.7,575.1,8.8,549,11477,0.00,2.55,0.00,0.000,6,0.000,0.045,2565,2302,1539
$GC,11794,1.03,341.4,552.1,6.5,565,11829,0.00,2.78,27.85,0.937,4,0.000,0.071,2565,3705,1425
$GC,11869,1.09,341.4,546.1,8.5,568,11874,0.15,2.53,0.00,0.000,6,0.054,0.038,2603,2298,1422
$GC,12185,1.09,341.4,511.9,11.4,583,12186,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2298,1420
$GC,12494,1.09,341.4,479.6,9.6,598,12498,0.00,2.55,0.00,0.000,4,0.000,0.058,2604,894,1420
$GC,12545,1.09,341.4,474.6,9.6,600,12549,0.00,2.50,0.00,0.000,6,0.000,0.040,2604,2303,1419
$GC,12860,1.09,341.4,442.0,10.5,615,12865,0.00,2.58,0.00,0.000,4,0.000,0.053,2604,890,1420
$GC,12882,1.09,341.4,439.6,10.3,616,12886,0.00,2.50,0.00,0.000,6,0.000,0.038,2604,2304,1419
$GC,13203,1.09,341.4,406.2,10.9,632,13207,0.00,2.55,0.00,0.000,4,0.000,0.051,2604,892,1419
$GC,13235,1.09,341.4,402.5,11.4,633,13241,0.00,2.50,0.00,0.000,6,0.000,0.038,2604,2309,1419
$GC,13551,1.09,341.4,370.0,10.4,649,13555,0.00,2.58,0.00,0.000,4,0.000,0.051,2604,884,1419
$GC,13592,1.09,341.4,365.2,11.8,651,13597,0.00,2.50,0.00,0.000,6,0.000,0.038,2604,2302,1419
$GC,13919,1.09,341.4,324.0,12.5,667,13920,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2302,1420
$GC,14228,1.09,341.4,285.2,12.8,682,14233,0.00,2.55,0.00,0.000,4,0.000,0.049,2604,888,1420
$GC,14284,1.09,341.4,277.6,13.6,684,14290,0.00,2.50,0.00,0.000,6,0.000,0.037,2604,2311,1420
$GC,14599,1.09,341.4,236.6,13.8,700,14604,0.00,2.55,0.00,0.000,4,0.000,0.049,2604,892,1420
$GC,14627,1.09,341.4,232.2,15.4,701,14631,0.00,2.47,0.00,0.000,6,0.000,0.037,2604,2303,1420
$GC,14943,1.09,341.4,186.6,14.5,716,14947,0.00,2.55,0.00,0.000,4,0.000,0.048,2604,884,1420
$GC,14975,1.09,341.4,181.2,15.8,717,14982,0.00,2.50,0.00,0.000,6,0.000,0.037,2604,2309,1420
$GC,15292,1.09,341.4,133.4,14.7,733,15296,0.00,2.55,0.00,0.000,4,0.000,0.048,2604,891,1421
$GC,15325,1.09,341.4,127.9,15.3,734,15331,0.00,2.47,0.00,0.000,6,0.000,0.036,2604,2306,1421
$GC,15642,1.09,341.4,83.6,12.3,750,15646,0.00,2.55,0.00,0.000,4,0.000,0.049,2604,889,1421
$GC,15697,1.09,341.4,76.3,12.7,752,15704,0.00,2.47,0.00,0.000,6,0.000,0.036,2604,2302,1421
$GC,16013,1.09,341.4,37.7,11.2,768,16014,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2302,1422
$GC,16322,1.09,341.4,3.6,10.7,783,16326,0.00,2.22,0.00,0.000,3,0.000,0.044,2604,1042,1423
$STATE,16327,end climb,SURFACE_DEPTH_REACHED
$STATE,16327,begin surface coast
$FINISH,0.7,1.026806
$STATE,16365,end surface coast,CONTROL_FINISHED_OK
$STATE,16365,begin surface
$SM_CCo,16450,0.00,0.000,0,0,1421,342.19
$SM_GC,1.44,11.73,0.00,0.00,0.072,0.000,0.000,61,2608,1421,-10.46,0.25,342.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1711
$TCM_TEMP,17.40
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,725.7,103.3
$24V_AH,23.5,10.560
$10V_AH,10.1,4.178
$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,26.925,155.550,436.925,0.000,0.000,18.063,28.796,145.780,10.250,0.000,0.000,16.594,1459.832,12531.909,542.260,1775.135,452.483,33.344,1474.556,0.000,1724.947,0.000,43.236,0.000
$DEVICE_MAMPS,182.546,92.040,1132.859,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.844,552.428,420.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41053,785
$CAP_FILE_SIZE,124027,0
$CFSIZE,260165632,256770048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,090609,182837,6141.854,-848.662,41,1.1,41,-9.2