version: 66.04
glider: 16
mission: 13
dive: 35
start: 6 11 109 9 34 29
data:
$ID,16
$MISSION,13
$DIVE,35
$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,-2108216.8
$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,25
$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
$GPS1,092826,6148.726,-913.993,42,1.1,43,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-55.7
$GPS2,093340,6148.780,-914.101,12,2.7,31,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.173,-0.166
$KALMAN_X,-85241.0,816.7,539.3,33006.6,-20827.0
$KALMAN_Y,150972.0,-2248.7,-1180.5,-102591.5,26685.5
$MHEAD_RNG_PITCHd_Wd,138.2,55609,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-70.20,0.000,6,0.000,0.000,66,2605,3415
$GC,93,-1.03,-146.6,3.6,-4.9,3,115,12.05,2.58,0.00,0.000,4,0.188,0.041,2133,1183,3417
$GC,280,-1.03,-146.6,37.0,-10.0,11,284,0.00,2.50,0.00,0.000,6,0.000,0.038,2132,2597,3417
$GC,600,-1.03,-146.6,65.9,-8.6,27,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2597,3417
$GC,910,-1.03,-146.6,91.8,-8.7,42,914,0.00,2.50,0.00,0.000,4,0.000,0.040,2132,1186,3417
$GC,960,-1.09,-146.6,96.2,-8.7,44,964,0.00,2.50,0.00,0.000,6,0.000,0.038,2133,2607,3417
$GC,1275,-1.09,-146.6,126.7,-9.9,59,1280,0.00,2.35,0.00,0.000,4,0.000,0.070,2132,3867,3417
$GC,1309,-1.09,-146.6,130.2,-10.0,60,1315,0.00,2.20,0.00,0.000,6,0.000,0.030,2132,2569,3417
$GC,1625,-1.09,-146.6,161.0,-9.5,76,1629,0.00,2.40,0.00,0.000,4,0.000,0.042,2132,1208,3418
$GC,1698,-1.14,-146.6,167.7,-9.7,79,1702,0.00,2.45,0.00,0.000,6,0.000,0.037,2132,2601,3418
$GC,2013,-1.14,-146.6,195.1,-7.9,94,2017,0.00,2.35,0.00,0.000,4,0.000,0.068,2132,3865,3417
$GC,2046,-1.14,-146.6,198.0,-8.7,95,2052,0.00,2.15,0.00,0.000,6,0.000,0.030,2132,2596,3417
$GC,2362,-1.14,-146.6,221.7,-7.0,111,2366,0.00,2.45,0.00,0.000,4,0.000,0.042,2132,1208,3418
$GC,2407,-1.20,-146.6,225.5,-8.0,113,2412,0.17,2.45,0.00,0.000,6,0.041,0.038,2081,2600,3418
$GC,2728,-1.09,-146.6,257.6,-9.1,129,2733,0.17,2.35,0.00,0.000,4,0.097,0.068,2117,3864,3418
$GC,2768,-1.09,-146.6,260.8,-7.7,131,2772,0.00,2.15,0.00,0.000,6,0.000,0.030,2117,2601,3417
$GC,3100,-1.09,-146.6,287.0,-8.3,147,3105,0.00,2.47,0.00,0.000,4,0.000,0.044,2117,1201,3418
$GC,3140,-1.09,-146.6,290.2,-8.1,149,3145,0.00,2.47,0.00,0.000,6,0.000,0.038,2118,2608,3418
$GC,3466,-1.09,-146.6,319.1,-9.3,165,3470,0.00,2.47,0.00,0.000,4,0.000,0.042,2116,1207,3418
$GC,3499,-1.09,-146.6,322.4,-9.0,166,3505,0.00,2.45,0.00,0.000,6,0.000,0.038,2117,2599,3418
$GC,3815,-1.09,-146.6,353.5,-10.6,182,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2599,3418
$GC,4124,-1.09,-146.6,387.8,-11.2,197,4128,0.00,2.47,0.00,0.000,4,0.000,0.042,2117,1202,3418
$GC,4168,-1.09,-146.6,392.5,-10.2,199,4172,0.00,2.47,0.00,0.000,6,0.000,0.039,2117,2606,3418
$GC,4489,-1.09,-146.6,428.7,-11.6,215,4493,0.00,2.35,0.00,0.000,4,0.000,0.072,2117,3861,3418
$GC,4528,-1.09,-146.6,433.3,-11.7,217,4532,0.00,2.15,0.00,0.000,6,0.000,0.031,2117,2600,3418
$GC,4861,-1.09,-146.6,473.8,-12.9,233,4865,0.00,2.47,0.00,0.000,4,0.000,0.044,2117,1201,3418
$GC,4910,-1.09,-146.6,479.8,-12.2,235,4914,0.00,2.47,0.00,0.000,6,0.000,0.040,2117,2605,3418
$GC,5226,-1.09,-146.6,516.3,-12.0,250,5230,0.00,2.35,0.00,0.000,4,0.000,0.075,2117,3857,3418
$GC,5276,-1.09,-146.6,521.9,-11.0,252,5280,0.00,2.15,0.00,0.000,6,0.000,0.032,2117,2600,3418
$GC,5597,-1.09,-146.6,541.6,-4.4,268,5601,0.00,2.47,0.00,0.000,4,0.000,0.048,2117,1208,3417
$GC,5693,-1.14,-146.6,545.5,-3.5,272,5697,0.00,2.47,0.00,0.000,6,0.000,0.044,2117,2599,3416
$GC,6009,-1.14,-146.6,567.6,-7.2,287,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2599,3416
$GC,6318,-1.14,-146.6,604.2,-11.7,302,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2599,3415
$GC,6627,-1.14,-146.6,630.3,-9.7,317,6631,0.00,2.42,0.00,0.000,4,0.000,0.087,2117,3858,3413
$GC,6649,-1.14,-146.6,632.5,-9.6,318,6653,0.00,2.20,0.00,0.000,6,0.000,0.040,2118,2601,3413
$GC,6976,-1.18,-146.6,658.0,-7.6,334,6980,0.00,2.40,0.00,0.000,4,0.000,0.085,2117,3858,3411
$GC,7022,-1.18,-146.6,661.2,-8.5,336,7027,0.00,2.22,0.00,0.000,6,0.000,0.044,2117,2602,3410
$STATE,7182,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7182,begin apogee
$GC,7189,-0.31,0.0,681.2,13.5,344,7319,0.88,0.00,127.00,1.042,6,0.121,0.000,2287,2293,2817
$STATE,7320,end apogee,CONTROL_FINISHED_OK
$STATE,7320,begin climb
$GC,7323,1.03,146.6,683.9,0.0,350,7461,1.42,2.70,129.40,1.029,4,0.088,0.063,2579,899,2218
$GC,7475,1.11,330.2,686.9,1.2,357,7643,0.00,2.55,161.15,1.017,6,0.000,0.045,2579,2301,1470
$GC,7968,1.16,330.2,632.3,11.7,381,7973,0.15,2.72,0.00,0.000,4,0.061,0.081,2617,3702,1459
$GC,8142,1.03,330.2,611.3,9.6,389,8148,0.17,2.53,0.00,0.000,6,0.113,0.044,2587,2309,1459
$GC,8469,1.05,340.5,583.6,7.1,405,8479,0.00,0.00,7.97,0.818,6,0.000,0.000,2587,2307,1429
$GC,8778,1.05,340.5,551.8,9.9,420,8783,0.00,2.67,0.00,0.000,4,0.000,0.078,2587,3702,1428
$GC,8800,1.05,340.5,549.8,8.2,421,8805,0.00,2.53,0.00,0.000,6,0.000,0.044,2587,2292,1428
$GC,9121,1.05,340.5,515.6,11.7,437,9126,0.00,2.60,0.00,0.000,4,0.000,0.066,2587,894,1427
$GC,9171,1.05,340.5,508.7,14.2,439,9176,0.00,2.55,0.00,0.000,6,0.000,0.047,2587,2307,1426
$GC,9487,1.05,340.5,466.7,13.8,454,9491,0.00,2.65,0.00,0.000,4,0.000,0.073,2587,3705,1426
$GC,9559,1.05,340.5,456.0,16.1,457,9563,0.00,2.53,0.00,0.000,6,0.000,0.040,2587,2292,1425
$GC,9874,1.05,340.5,410.6,14.7,472,9879,0.00,2.55,0.00,0.000,4,0.000,0.058,2587,891,1426
$GC,9941,1.05,340.5,400.9,15.2,475,9946,0.00,2.50,0.00,0.000,6,0.000,0.040,2587,2304,1425
$GC,10263,1.05,340.5,354.8,13.8,491,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2304,1425
$GC,10573,1.09,340.5,313.5,12.9,506,10577,0.00,2.55,0.00,0.000,4,0.000,0.050,2587,890,1425
$GC,10612,1.14,340.5,308.7,12.3,507,10618,0.00,2.50,0.00,0.000,6,0.000,0.038,2586,2307,1425
$GC,10928,1.19,340.5,273.6,10.5,523,10930,0.15,0.00,0.00,0.000,6,0.050,0.000,2629,2306,1425
$GC,11237,1.11,340.5,235.3,12.9,538,11242,0.15,2.55,0.00,0.000,4,0.095,0.048,2600,883,1426
$GC,11292,1.11,340.5,229.0,10.6,540,11299,0.00,2.50,0.00,0.000,6,0.000,0.037,2600,2309,1424
$GC,11608,1.11,340.5,198.3,9.5,556,11613,0.00,2.55,0.00,0.000,4,0.000,0.048,2599,888,1426
$GC,11658,1.11,340.5,193.3,10.0,558,11663,0.00,2.47,0.00,0.000,6,0.000,0.036,2600,2302,1426
$GC,11974,1.11,340.5,163.3,9.4,573,11978,0.00,2.53,0.00,0.000,4,0.000,0.047,2599,888,1426
$GC,12035,1.11,340.5,157.4,9.5,575,12041,0.00,2.47,0.00,0.000,6,0.000,0.036,2600,2305,1426
$GC,12351,1.11,340.5,126.2,10.7,591,12355,0.00,2.55,0.00,0.000,4,0.000,0.046,2600,881,1427
$GC,12391,1.16,340.5,121.9,10.1,593,12395,0.00,2.50,0.00,0.000,6,0.000,0.036,2600,2308,1427
$GC,12718,1.16,340.5,89.2,10.2,609,12722,0.00,2.55,0.00,0.000,4,0.000,0.047,2600,886,1428
$GC,12758,1.16,340.5,85.1,10.7,611,12762,0.00,2.47,0.00,0.000,6,0.000,0.035,2600,2302,1428
$GC,13085,1.16,340.5,49.5,11.0,627,13089,0.00,2.58,0.00,0.000,4,0.000,0.062,2600,3700,1428
$GC,13107,1.16,340.5,46.8,11.5,628,13112,0.00,2.45,0.00,0.000,6,0.000,0.031,2600,2289,1428
$GC,13429,1.20,340.5,14.0,10.4,644,13433,0.00,2.50,0.00,0.000,4,0.000,0.048,2600,889,1430
$GC,13492,1.20,340.5,7.2,10.4,647,13496,0.00,2.47,0.00,0.000,6,0.000,0.035,2599,2308,1429
$STATE,13549,end climb,SURFACE_DEPTH_REACHED
$STATE,13549,begin surface coast
$FINISH,0.6,1.014549
$STATE,13570,end surface coast,CONTROL_FINISHED_OK
$STATE,13570,begin surface
$SM_CCo,13653,0.00,0.000,0,0,1426,340.97
$SM_GC,1.57,11.68,0.00,0.00,0.071,0.000,0.000,67,2603,1426,-10.47,0.08,340.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.020709
$HUMID,1719
$TCM_TEMP,17.70
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,675.3,13.5
$24V_AH,23.5,11.915
$10V_AH,10.1,4.888
$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,27.000,148.675,425.525,0.000,0.000,18.275,30.217,135.650,10.000,0.000,0.000,32.139,1240.597,10218.463,517.791,1571.781,416.046,33.343,1341.995,0.000,1511.744,0.000,39.758,0.000
$DEVICE_MAMPS,187.915,87.438,1041.586,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.874,457.364,418.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34843,651
$CAP_FILE_SIZE,109884,0
$CFSIZE,260165632,256212992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,110609,132324,6150.771,-916.421,29,1.2,46,-9.5