version: 66.04
glider: 16
mission: 13
dive: 28
start: 6 9 109 23 52 22
data:
$ID,16
$MISSION,13
$DIVE,28
$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,-2108099.2
$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,25
$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
$GPS1,234551,6141.428,-853.024,30,2.0,44,-9.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-61.3
$GPS2,235131,6141.401,-852.991,10,1.4,15,-9.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.065,-0.231
$KALMAN_X,-58369.2,129.8,621.3,25480.0,-13565.6
$KALMAN_Y,105997.3,-1647.0,-1143.4,-71924.7,16214.0
$MHEAD_RNG_PITCHd_Wd,139.7,32522,-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,16,-1.03,-146.6,0.0,0.0,0,90,0.00,0.00,-71.88,0.000,6,0.000,0.000,71,2603,3417
$GC,93,-1.03,-146.6,3.9,-6.0,3,115,11.90,2.58,0.00,0.000,4,0.183,0.041,2130,1181,3418
$GC,233,-1.03,-146.6,31.3,-8.7,9,237,0.00,2.53,0.00,0.000,6,0.000,0.038,2130,2600,3418
$GC,554,-1.03,-146.6,62.8,-10.6,25,558,0.00,2.35,0.00,0.000,4,0.000,0.070,2130,3861,3418
$GC,609,-1.03,-146.6,69.2,-11.2,27,616,0.00,2.17,0.00,0.000,6,0.000,0.028,2130,2578,3418
$GC,925,-1.03,-146.6,101.3,-10.2,43,929,0.00,2.42,0.00,0.000,4,0.000,0.042,2131,1208,3419
$GC,989,-1.09,-146.6,107.4,-9.3,46,993,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2610,3419
$GC,1315,-1.09,-146.6,137.5,-9.7,62,1320,0.00,2.50,0.00,0.000,4,0.000,0.041,2131,1202,3419
$GC,1356,-1.14,-146.6,141.8,-11.1,64,1360,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2606,3419
$GC,1682,-1.14,-146.6,179.9,-11.3,80,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3419
$GC,1991,-1.14,-146.6,206.7,-8.4,95,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3419
$GC,2301,-1.14,-146.6,233.4,-9.1,110,2304,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1209,3419
$GC,2357,-1.19,-146.6,238.5,-8.7,112,2361,0.15,2.45,0.00,0.000,6,0.044,0.038,2086,2600,3419
$GC,2673,-1.08,-146.6,273.4,-11.0,127,2677,0.17,2.35,0.00,0.000,4,0.098,0.069,2122,3857,3419
$GC,2716,-1.08,-146.6,278.0,-10.2,129,2720,0.00,2.15,0.00,0.000,6,0.000,0.030,2123,2596,3419
$GC,3043,-1.08,-146.6,307.1,-8.1,145,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2594,3419
$GC,3352,-1.08,-146.6,335.5,-8.5,160,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2594,3419
$GC,3662,-1.08,-146.6,365.1,-10.6,175,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2594,3419
$GC,3971,-1.08,-146.6,394.7,-9.9,190,3975,0.00,2.45,0.00,0.000,4,0.000,0.044,2122,1209,3419
$GC,4004,-1.12,-146.6,398.1,-9.6,191,4010,0.00,2.45,0.00,0.000,6,0.000,0.038,2123,2600,3419
$GC,4319,-1.12,-146.6,429.1,-9.6,207,4323,0.00,2.35,0.00,0.000,4,0.000,0.073,2123,3857,3419
$GC,4381,-1.12,-146.6,434.9,-9.2,209,4387,0.00,2.15,0.00,0.000,6,0.000,0.031,2122,2594,3419
$GC,4696,-1.12,-146.6,464.0,-9.7,225,4700,0.00,2.45,0.00,0.000,4,0.000,0.045,2122,1211,3419
$GC,4736,-1.17,-146.6,467.6,-9.1,227,4740,0.00,2.45,0.00,0.000,6,0.000,0.040,2122,2599,3420
$GC,5062,-1.17,-146.6,493.8,-7.1,243,5066,0.00,2.35,0.00,0.000,4,0.000,0.074,2122,3857,3418
$GC,5118,-1.17,-146.6,497.8,-7.1,245,5125,0.00,2.15,0.00,0.000,6,0.000,0.031,2124,2593,3418
$GC,5434,-1.17,-146.6,521.7,-10.9,261,5438,0.00,2.47,0.00,0.000,4,0.000,0.048,2122,1206,3418
$GC,5456,-1.17,-146.6,524.3,-11.3,262,5460,0.00,2.47,0.00,0.000,6,0.000,0.041,2122,2604,3418
$GC,5777,-1.17,-146.6,557.9,-9.4,278,5781,0.00,2.47,0.00,0.000,4,0.000,0.044,2123,1208,3418
$GC,5850,-1.17,-146.6,563.8,-7.6,281,5854,0.00,2.47,0.00,0.000,6,0.000,0.041,2122,2605,3418
$GC,6166,-1.17,-146.6,582.3,-4.7,296,6171,0.00,2.50,0.00,0.000,4,0.000,0.045,2122,1201,3418
$GC,6207,-1.24,-146.6,584.9,-6.2,298,6212,0.15,2.47,0.00,0.000,6,0.048,0.042,2079,2598,3417
$GC,6534,-1.15,-146.6,618.8,-11.7,314,6539,0.15,2.40,0.00,0.000,4,0.100,0.077,2107,3865,3417
$GC,6578,-1.15,-146.6,624.4,-11.7,316,6582,0.00,2.17,0.00,0.000,6,0.000,0.034,2107,2600,3416
$GC,6905,-1.15,-146.6,657.8,-8.3,332,6909,0.00,2.50,0.00,0.000,4,0.000,0.050,2107,1206,3416
$GC,7006,-1.15,-146.6,664.4,-6.5,336,7012,0.00,2.50,0.00,0.000,6,0.000,0.045,2107,2603,3416
$GC,7321,-1.15,-146.6,678.1,-3.3,352,7326,0.00,2.53,0.00,0.000,4,0.000,0.049,2107,1201,3415
$GC,7362,-1.15,-146.6,679.5,-3.6,354,7366,0.00,2.53,0.00,0.000,6,0.000,0.048,2107,2605,3415
$GC,7688,-1.15,-146.6,695.8,-6.0,370,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2605,3414
$GC,7997,-1.15,-146.6,721.3,-9.5,385,8001,0.00,2.55,0.00,0.000,4,0.000,0.055,2107,1203,3412
$GC,8046,-1.15,-146.6,726.6,-10.4,387,8051,0.00,2.53,0.00,0.000,6,0.000,0.052,2107,2599,3412
$GC,8362,-1.15,-146.6,758.1,-10.0,402,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2598,3410
$GC,8671,-1.15,-146.6,787.2,-9.3,417,8675,0.00,2.55,0.00,0.000,4,0.000,0.058,2107,1204,3408
$GC,8715,-1.15,-146.6,791.4,-9.5,419,8719,0.00,2.55,0.00,0.000,6,0.000,0.054,2107,2600,3408
$GC,9036,-1.15,-146.6,811.8,-3.6,435,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2600,3407
$GC,9345,-1.15,-146.6,833.9,-5.3,450,9349,0.00,2.55,0.00,0.000,4,0.000,0.058,2107,1206,3406
$GC,9384,-1.15,-146.6,837.1,-8.0,452,9389,0.00,2.55,0.00,0.000,6,0.000,0.056,2107,2600,3406
$GC,9711,-1.15,-146.6,868.0,-10.1,468,9715,0.00,2.45,0.00,0.000,4,0.000,0.092,2107,3863,3405
$STATE,9758,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9758,begin apogee
$GC,9767,-0.31,0.0,871.4,5.6,470,9901,0.93,0.00,129.70,1.177,6,0.134,0.000,2285,2317,2817
$STATE,9901,end apogee,CONTROL_FINISHED_OK
$STATE,9902,begin climb
$GC,9904,1.03,146.6,873.7,0.0,477,10046,1.42,2.75,132.82,1.147,4,0.079,0.066,2581,891,2218
$GC,10300,0.90,146.6,855.5,7.6,495,10306,0.15,2.58,0.00,0.000,6,0.105,0.050,2554,2307,2209
$GC,10617,0.84,181.2,840.7,6.3,510,10653,0.00,2.75,30.48,1.087,4,0.000,0.081,2554,3701,2079
$GC,10677,0.69,181.2,835.8,9.4,512,10682,0.22,2.58,0.00,0.000,6,0.107,0.044,2511,2292,2076
$GC,11003,0.72,203.4,815.5,6.7,528,11030,0.00,2.80,20.90,1.056,4,0.000,0.078,2512,3707,1987
$GC,11087,0.77,253.2,809.9,5.8,532,11142,0.00,2.55,47.65,1.104,6,0.000,0.044,2512,2300,1784
$GC,11461,0.97,307.7,788.7,5.6,550,11519,0.28,0.00,50.72,1.094,6,0.051,0.000,2577,2300,1561
$GC,11828,0.97,307.7,757.0,8.4,568,11832,0.00,2.70,0.00,0.000,4,0.000,0.080,2577,3702,1553
$GC,11855,0.97,307.7,754.5,8.8,569,11859,0.00,2.55,0.00,0.000,6,0.000,0.044,2577,2297,1553
$GC,12170,0.97,307.7,727.2,8.7,584,12171,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2297,1551
$GC,12480,0.97,307.7,699.3,9.1,599,12484,0.00,2.72,0.00,0.000,4,0.000,0.078,2577,3709,1549
$GC,12501,0.97,307.7,696.9,10.1,600,12505,0.00,2.53,0.00,0.000,6,0.000,0.044,2577,2300,1549
$GC,12823,0.97,307.7,660.2,12.5,616,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2300,1549
$GC,13132,0.97,307.7,621.2,11.6,631,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2300,1548
$GC,13441,0.97,307.7,587.2,10.6,646,13443,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2300,1548
$GC,13751,0.97,307.7,557.5,9.2,661,13755,0.00,2.60,0.00,0.000,4,0.000,0.061,2577,893,1548
$GC,13790,0.97,307.7,554.2,7.6,663,13794,0.00,2.53,0.00,0.000,6,0.000,0.043,2577,2305,1547
$GC,14116,0.97,307.7,527.2,8.7,679,14121,0.00,2.60,0.00,0.000,4,0.000,0.056,2577,889,1547
$GC,14151,0.97,307.7,524.1,9.2,680,14157,0.00,2.53,0.00,0.000,6,0.000,0.041,2577,2309,1547
$GC,14467,0.97,307.7,497.1,7.7,696,14471,0.00,2.62,0.00,0.000,4,0.000,0.068,2577,3707,1547
$GC,14516,0.97,307.7,492.8,8.8,698,14521,0.00,2.50,0.00,0.000,6,0.000,0.036,2577,2292,1547
$GC,14832,0.97,307.7,467.2,8.9,713,14836,0.00,2.62,0.00,0.000,4,0.000,0.065,2577,3702,1547
$GC,14858,0.97,307.7,464.7,8.9,714,14863,0.00,2.47,0.00,0.000,6,0.000,0.036,2577,2300,1547
$GC,15174,0.98,320.8,442.8,7.1,729,15190,0.00,2.60,10.88,0.780,4,0.000,0.054,2577,891,1509
$GC,15230,1.04,320.8,438.5,7.8,730,15236,0.00,2.50,0.00,0.000,6,0.000,0.038,2577,2301,1507
$GC,15546,1.04,320.8,412.0,9.8,746,15550,0.00,2.55,0.00,0.000,4,0.000,0.050,2577,888,1507
$GC,15585,1.09,320.8,407.7,10.2,747,15591,0.00,2.50,0.00,0.000,6,0.000,0.038,2577,2305,1507
$GC,15901,1.13,320.8,375.8,9.7,763,15906,0.12,2.60,0.00,0.000,4,0.052,0.064,2615,3708,1507
$GC,15934,1.04,320.8,371.8,12.6,764,15941,0.15,2.47,0.00,0.000,6,0.094,0.034,2584,2298,1507
$GC,16249,1.04,320.8,340.2,10.1,780,16253,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,893,1507
$GC,16295,1.08,320.8,335.0,11.5,782,16300,0.00,2.47,0.00,0.000,6,0.000,0.037,2586,2302,1507
$GC,16622,1.08,320.8,297.0,11.2,798,16626,0.00,2.55,0.00,0.000,4,0.000,0.048,2586,888,1507
$GC,16649,1.08,320.8,293.6,13.4,799,16653,0.00,2.47,0.00,0.000,6,0.000,0.037,2586,2301,1508
$GC,16965,1.08,320.8,251.5,12.9,814,16969,0.00,2.53,0.00,0.000,4,0.000,0.048,2586,894,1508
$GC,17022,1.13,320.8,244.0,11.4,816,17028,0.00,2.47,0.00,0.000,6,0.000,0.036,2586,2305,1508
$GC,17338,1.13,320.8,205.6,11.9,832,17339,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2305,1508
$GC,17647,1.13,320.8,168.4,12.6,847,17651,0.00,2.55,0.00,0.000,4,0.000,0.048,2586,885,1508
$GC,17702,1.18,320.8,160.9,13.4,849,17709,0.15,2.47,0.00,0.000,6,0.045,0.035,2632,2301,1508
$GC,18019,1.08,320.8,116.5,12.6,865,18024,0.17,2.53,0.00,0.000,4,0.089,0.047,2594,894,1509
$GC,18046,1.08,320.8,113.0,12.3,866,18050,0.00,2.47,0.00,0.000,6,0.000,0.035,2593,2310,1509
$GC,18363,1.08,320.8,82.7,8.9,881,18368,0.00,2.55,0.00,0.000,4,0.000,0.048,2593,888,1509
$GC,18381,1.08,320.8,80.9,8.8,882,18385,0.00,2.45,0.00,0.000,6,0.000,0.035,2593,2301,1509
$GC,18713,1.08,320.8,53.3,7.9,898,18718,0.00,2.53,0.00,0.000,4,0.000,0.048,2593,892,1509
$GC,18741,1.08,320.8,50.8,9.2,899,18745,0.00,2.47,0.00,0.000,6,0.000,0.035,2593,2310,1509
$GC,19058,1.08,320.8,20.6,10.5,914,19059,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2311,1509
$STATE,19239,end climb,SURFACE_DEPTH_REACHED
$STATE,19240,begin surface coast
$FINISH,0.8,1.026788
$STATE,19261,end surface coast,CONTROL_FINISHED_OK
$STATE,19262,begin surface
$SM_CCo,19345,0.00,0.000,0,0,1509,320.85
$SM_GC,1.62,12.05,0.00,0.00,0.091,0.000,0.000,68,2603,1509,-10.45,0.08,320.85
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1694
$TCM_TEMP,17.50
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,850.5,30.6
$24V_AH,23.5,10.861
$10V_AH,10.1,4.348
$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,28.175,195.550,423.150,0.000,0.000,17.992,26.295,175.269,14.000,0.000,0.000,17.839,1715.348,14823.129,579.572,2050.802,512.795,33.352,1634.785,0.000,1990.605,0.000,54.084,0.000
$DEVICE_MAMPS,183.313,92.040,1176.578,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,666.720,651.269,508.553,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47479,924
$CAP_FILE_SIZE,147487,0
$CFSIZE,260165632,256610304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100609,051606,6141.442,-854.511,43,1.1,43,-9.2