version: 66.04
glider: 16
mission: 13
dive: 30
start: 6 10 109 10 34 47
data:
$ID,16
$MISSION,13
$DIVE,30
$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,-2108129.5
$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,34
$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
$GPS1,102331,6142.452,-856.613,37,1.8,37,-9.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-59.7
$GPS2,103356,6142.562,-856.662,12,1.4,12,-9.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.011,-0.239
$KALMAN_X,-63647.5,2818.9,1385.3,23976.4,-15176.6
$KALMAN_Y,117670.2,-874.5,-1104.3,-82278.9,18656.2
$MHEAD_RNG_PITCHd_Wd,139.0,36388,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.97,0.000,2,0.000,0.000,73,2619,3157
$GC,81,-1.03,-146.6,4.3,-6.9,3,104,12.02,2.55,-4.60,0.000,4,0.187,0.053,2132,1185,3416
$GC,285,-1.03,-146.6,31.7,-9.1,12,290,0.00,2.50,0.00,0.000,6,0.000,0.038,2132,2597,3416
$GC,612,-1.03,-146.6,60.1,-8.6,28,616,0.00,2.35,0.00,0.000,4,0.000,0.069,2132,3861,3416
$GC,689,-1.03,-146.6,66.7,-8.5,31,696,0.00,2.17,0.00,0.000,6,0.000,0.029,2132,2577,3416
$GC,1005,-1.03,-146.6,91.6,-7.8,47,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2576,3417
$GC,1316,-1.03,-146.6,118.9,-9.1,62,1320,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1204,3417
$GC,1344,-1.03,-146.6,121.7,-8.1,63,1348,0.00,2.47,0.00,0.000,6,0.000,0.037,2132,2607,3417
$GC,1661,-1.03,-146.6,151.0,-9.8,78,1665,0.00,2.33,0.00,0.000,4,0.000,0.068,2132,3860,3417
$GC,1711,-1.03,-146.6,156.1,-10.1,80,1715,0.00,2.15,0.00,0.000,6,0.000,0.029,2132,2593,3417
$GC,2033,-1.03,-146.6,188.2,-10.3,96,2037,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1204,3418
$GC,2100,-1.08,-146.6,194.6,-9.4,99,2103,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2601,3418
$GC,2426,-1.08,-146.6,222.1,-7.7,115,2430,0.00,2.45,0.00,0.000,4,0.000,0.041,2133,1212,3418
$GC,2467,-1.15,-146.6,225.1,-7.5,117,2471,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2602,3418
$GC,2793,-1.15,-146.6,255.3,-9.7,133,2797,0.00,2.35,0.00,0.000,4,0.000,0.070,2132,3863,3417
$GC,2866,-1.15,-146.6,262.8,-10.1,136,2870,0.00,2.15,0.00,0.000,6,0.000,0.029,2132,2599,3417
$GC,3187,-1.15,-146.6,292.3,-9.4,152,3191,0.00,2.45,0.00,0.000,4,0.000,0.043,2132,1212,3417
$GC,3231,-1.20,-146.6,295.9,-8.0,154,3236,0.17,2.45,0.00,0.000,6,0.041,0.038,2081,2600,3418
$GC,3552,-1.07,-146.6,330.0,-10.1,170,3557,0.20,2.47,0.00,0.000,4,0.098,0.041,2123,1204,3418
$GC,3585,-1.07,-146.6,332.9,-7.9,171,3591,0.00,2.47,0.00,0.000,6,0.000,0.039,2123,2607,3417
$GC,3901,-1.07,-146.6,361.1,-9.3,187,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2607,3417
$GC,4210,-1.07,-146.6,388.6,-8.5,202,4214,0.00,2.47,0.00,0.000,4,0.000,0.042,2123,1210,3417
$GC,4249,-1.07,-146.6,391.8,-7.9,204,4254,0.00,2.45,0.00,0.000,6,0.000,0.039,2122,2602,3417
$GC,4576,-1.07,-146.6,418.3,-7.9,220,4580,0.00,2.35,0.00,0.000,4,0.000,0.073,2123,3858,3416
$GC,4608,-1.07,-146.6,421.1,-8.4,221,4614,0.00,2.15,0.00,0.000,6,0.000,0.030,2123,2597,3416
$GC,4925,-1.07,-146.6,451.1,-12.4,237,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2596,3416
$GC,5233,-1.07,-146.6,479.0,-7.7,252,5237,0.00,2.38,0.00,0.000,4,0.000,0.072,2123,3863,3416
$GC,5283,-1.07,-146.6,483.2,-8.4,254,5287,0.00,2.15,0.00,0.000,6,0.000,0.031,2123,2602,3416
$GC,5604,-1.07,-146.6,509.6,-8.4,270,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2600,3416
$GC,5914,-1.07,-146.6,536.5,-8.9,285,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2600,3416
$GC,6223,-1.07,-146.6,566.3,-9.8,300,6227,0.00,2.38,0.00,0.000,4,0.000,0.076,2123,3861,3415
$GC,6273,-1.07,-146.6,571.3,-10.0,302,6277,0.00,2.17,0.00,0.000,6,0.000,0.034,2123,2598,3415
$GC,6600,-1.07,-146.6,603.8,-10.5,318,6604,0.00,2.40,0.00,0.000,4,0.000,0.078,2123,3858,3415
$GC,6667,-1.12,-146.6,611.0,-10.9,321,6671,0.00,2.17,0.00,0.000,6,0.000,0.035,2122,2594,3415
$GC,6994,-1.12,-146.6,642.1,-12.3,337,6998,0.00,2.53,0.00,0.000,4,0.000,0.055,2123,1201,3415
$GC,7049,-1.19,-146.6,648.4,-12.1,339,7055,0.00,2.53,0.00,0.000,6,0.000,0.049,2123,2599,3414
$GC,7365,-1.19,-146.6,681.6,-10.4,355,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2599,3412
$GC,7674,-1.19,-146.6,717.9,-13.1,370,7678,0.00,2.55,0.00,0.000,4,0.000,0.056,2123,1201,3411
$GC,7713,-1.27,-146.6,722.7,-12.7,372,7719,0.17,2.55,0.00,0.000,6,0.051,0.052,2077,2607,3411
$GC,8042,-1.17,-146.6,761.1,-12.3,388,8047,0.15,2.42,0.00,0.000,4,0.114,0.087,2104,3864,3409
$GC,8098,-1.17,-146.6,766.4,-9.2,390,8104,0.00,2.22,0.00,0.000,6,0.000,0.044,2104,2612,3409
$GC,8414,-1.05,-146.6,800.0,-13.4,406,8419,0.12,2.67,0.00,0.000,6,0.126,0.074,2126,1191,3407
$STATE,8420,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8420,begin apogee
$GC,8428,-0.31,0.0,800.9,13.9,406,8564,0.80,0.00,128.00,1.119,6,0.113,0.000,2287,2308,2817
$STATE,8565,end apogee,CONTROL_FINISHED_OK
$STATE,8565,begin climb
$GC,8567,1.03,146.6,808.6,0.0,413,8707,1.42,2.80,131.30,1.102,4,0.095,0.084,2577,3708,2217
$GC,8800,0.76,146.6,798.3,8.4,423,8806,0.28,2.58,0.00,0.000,6,0.100,0.045,2525,2298,2212
$GC,9127,0.76,146.6,767.0,7.6,439,9131,0.00,2.65,0.00,0.000,4,0.000,0.068,2525,892,2207
$GC,9234,0.80,227.7,764.0,4.7,444,9312,0.00,2.55,72.00,1.071,6,0.000,0.051,2525,2301,1888
$GC,9624,0.88,227.7,737.4,7.8,462,9629,0.12,2.72,0.00,0.000,4,0.063,0.080,2556,3705,1878
$GC,9697,0.82,227.7,730.2,11.3,465,9701,0.00,2.55,0.00,0.000,6,0.000,0.044,2556,2296,1877
$GC,10012,0.82,227.7,698.1,10.3,480,10016,0.00,2.72,0.00,0.000,4,0.000,0.077,2556,3704,1875
$GC,10056,0.78,227.7,693.2,11.4,482,10061,0.15,2.53,0.00,0.000,6,0.108,0.043,2529,2298,1875
$GC,10378,0.96,332.6,677.8,3.9,498,10478,0.20,0.00,95.60,1.047,6,0.056,0.000,2575,2298,1461
$GC,10787,0.96,332.6,644.2,8.6,518,10791,0.00,2.72,0.00,0.000,4,0.000,0.077,2575,3711,1450
$GC,10814,0.96,332.6,641.7,9.4,519,10818,0.00,2.58,0.00,0.000,6,0.000,0.044,2575,2293,1450
$GC,11129,0.96,332.6,611.1,10.7,534,11133,0.00,2.65,0.00,0.000,4,0.000,0.068,2575,889,1447
$GC,11162,1.00,332.6,607.2,11.1,535,11169,0.00,2.58,0.00,0.000,6,0.000,0.048,2576,2305,1446
$GC,11478,1.00,332.6,576.0,11.0,551,11482,0.00,2.67,0.00,0.000,4,0.000,0.075,2575,3704,1445
$GC,11505,1.00,332.6,572.8,11.5,552,11509,0.00,2.53,0.00,0.000,6,0.000,0.041,2575,2299,1445
$GC,11820,1.00,332.6,537.9,11.0,567,11825,0.00,2.62,0.00,0.000,4,0.000,0.063,2575,886,1444
$GC,11842,1.00,332.6,535.8,9.2,568,11847,0.00,2.55,0.00,0.000,6,0.000,0.044,2575,2306,1443
$GC,12164,1.05,332.6,508.1,8.7,584,12168,0.00,2.60,0.00,0.000,4,0.000,0.057,2575,892,1443
$GC,12208,1.12,332.6,503.7,9.3,586,12213,0.15,2.50,0.00,0.000,6,0.063,0.041,2611,2301,1443
$GC,12529,1.06,332.6,469.0,11.5,602,12534,0.00,2.65,0.00,0.000,4,0.000,0.067,2611,3711,1443
$GC,12557,0.99,332.6,465.2,12.9,603,12563,0.20,2.50,0.00,0.000,6,0.117,0.036,2576,2296,1443
$GC,12873,1.03,332.6,433.1,10.0,618,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2295,1443
$GC,13183,1.08,332.6,399.9,10.7,633,13187,0.00,2.55,0.00,0.000,4,0.000,0.054,2576,893,1443
$GC,13204,1.14,332.6,397.4,11.5,634,13210,0.15,2.50,0.00,0.000,6,0.064,0.038,2610,2307,1443
$GC,13526,1.10,332.6,359.8,11.4,650,13530,0.00,2.58,0.00,0.000,4,0.000,0.051,2611,891,1443
$GC,13565,1.10,332.6,354.8,12.9,652,13569,0.00,2.50,0.00,0.000,6,0.000,0.038,2611,2309,1444
$GC,13891,1.10,332.6,316.4,11.8,668,13895,0.00,2.58,0.00,0.000,4,0.000,0.049,2611,889,1444
$GC,13919,1.10,332.6,312.6,13.8,669,13923,0.00,2.50,0.00,0.000,6,0.000,0.037,2611,2309,1444
$GC,14240,1.10,332.6,273.1,11.6,685,14244,0.00,2.58,0.00,0.000,4,0.000,0.049,2611,887,1445
$GC,14267,1.10,332.6,269.5,11.9,686,14271,0.00,2.50,0.00,0.000,6,0.000,0.036,2611,2305,1444
$GC,14583,1.10,332.6,232.4,11.9,701,14587,0.00,2.55,0.00,0.000,4,0.000,0.049,2611,894,1446
$GC,14615,1.10,332.6,228.2,11.7,702,14622,0.00,2.47,0.00,0.000,6,0.000,0.036,2611,2304,1445
$GC,14931,1.10,332.6,190.2,12.3,718,14935,0.00,2.55,0.00,0.000,4,0.000,0.048,2611,891,1445
$GC,14986,1.10,332.6,183.3,12.0,720,14992,0.00,2.45,0.00,0.000,6,0.000,0.035,2611,2298,1445
$GC,15302,1.10,332.6,149.8,10.0,736,15306,0.00,2.53,0.00,0.000,4,0.000,0.048,2611,894,1445
$GC,15342,1.10,332.6,145.7,9.5,738,15346,0.00,2.45,0.00,0.000,6,0.000,0.035,2611,2300,1445
$GC,15675,1.10,332.6,110.7,10.3,754,15679,0.00,2.53,0.00,0.000,4,0.000,0.047,2611,892,1446
$GC,15747,1.10,332.6,102.7,10.6,757,15751,0.00,2.47,0.00,0.000,6,0.000,0.035,2611,2306,1446
$GC,16064,1.10,332.6,70.2,10.5,772,16069,0.00,2.55,0.00,0.000,4,0.000,0.048,2611,889,1446
$GC,16082,1.10,332.6,68.2,10.2,773,16086,0.00,2.47,0.00,0.000,6,0.000,0.035,2611,2306,1446
$GC,16409,1.10,332.6,36.8,10.0,789,16413,0.00,2.55,0.00,0.000,4,0.000,0.048,2611,891,1447
$GC,16449,1.10,332.6,32.4,11.4,791,16453,0.00,2.45,0.00,0.000,6,0.000,0.035,2611,2301,1447
$STATE,16711,end climb,SURFACE_DEPTH_REACHED
$STATE,16711,begin surface coast
$FINISH,1.2,1.026784
$STATE,16734,end surface coast,CONTROL_FINISHED_OK
$STATE,16735,begin surface
$SM_CCo,16818,0.00,0.000,0,0,1444,336.80
$SM_GC,1.31,11.95,0.00,0.00,0.082,0.000,0.000,75,2610,1444,-10.45,0.28,336.80
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1716
$TCM_TEMP,17.60
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,727.7,83.1
$24V_AH,23.5,11.166
$10V_AH,10.1,4.511
$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,28.275,188.775,426.900,0.000,0.000,54.469,107.083,215.619,11.000,0.000,0.000,12.528,1523.452,12861.132,558.544,1839.227,657.745,33.344,1519.757,0.000,1789.590,0.000,43.481,0.000
$DEVICE_MAMPS,187.148,86.671,1119.053,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,578.253,567.078,481.095,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41226,805
$CAP_FILE_SIZE,136287,0
$CFSIZE,260165632,256491520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100609,151607,6142.553,-858.988,26,1.6,26,-9.3