version: 66.04
glider: 16
mission: 13
dive: 36
start: 6 11 109 13 29 17
data:
$ID,16
$MISSION,13
$DIVE,36
$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,-2108232.2
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,132324,6150.771,-916.421,29,1.2,46,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-59.1
$GPS2,132826,6150.813,-916.527,14,1.5,14,-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,-92645.9,2354.3,1165.6,36075.6,-27796.1
$KALMAN_Y,157896.4,-2500.2,-1705.5,-104982.0,31880.1
$MHEAD_RNG_PITCHd_Wd,139.7,59658,-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,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,89,0.00,0.00,-69.30,0.000,6,0.000,0.000,66,2603,3416
$GC,92,-1.03,-146.6,3.9,-5.9,3,114,11.95,2.55,0.00,0.000,4,0.184,0.038,2130,1186,3417
$GC,228,-1.03,-146.6,30.6,-9.8,9,232,0.00,2.50,0.00,0.000,6,0.000,0.037,2129,2602,3417
$GC,554,-1.03,-146.6,63.1,-9.9,25,558,0.00,2.35,0.00,0.000,4,0.000,0.067,2129,3863,3418
$GC,604,-1.03,-146.6,68.5,-10.4,27,609,0.00,2.20,0.00,0.000,6,0.000,0.029,2130,2573,3418
$GC,920,-1.03,-146.6,100.3,-10.7,42,925,0.00,2.42,0.00,0.000,4,0.000,0.042,2130,1201,3418
$GC,988,-1.07,-146.6,107.6,-10.2,45,992,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2604,3418
$GC,1309,-1.07,-146.6,141.3,-10.5,61,1313,0.00,2.33,0.00,0.000,4,0.000,0.067,2130,3860,3418
$GC,1353,-1.07,-146.6,146.4,-10.8,63,1357,0.00,2.15,0.00,0.000,6,0.000,0.029,2129,2592,3418
$GC,1680,-1.07,-146.6,182.0,-11.0,79,1684,0.00,2.45,0.00,0.000,4,0.000,0.042,2130,1205,3419
$GC,1736,-1.12,-146.6,188.3,-11.0,81,1742,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2609,3419
$GC,2051,-1.12,-146.6,223.7,-11.0,97,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2610,3419
$GC,2360,-1.12,-146.6,254.6,-9.7,112,2365,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1209,3418
$GC,2416,-1.16,-146.6,260.3,-10.3,114,2423,0.12,2.45,0.00,0.000,6,0.046,0.038,2090,2601,3419
$GC,2732,-1.06,-146.6,298.9,-12.1,130,2737,0.17,2.35,0.00,0.000,4,0.097,0.069,2128,3862,3419
$GC,2776,-1.06,-146.6,304.0,-11.0,132,2780,0.00,2.12,0.00,0.000,6,0.000,0.030,2128,2602,3419
$GC,3103,-1.06,-146.6,333.5,-8.6,148,3107,0.00,2.45,0.00,0.000,4,0.000,0.043,2128,1209,3419
$GC,3153,-1.12,-146.6,337.6,-7.7,150,3157,0.00,2.45,0.00,0.000,6,0.000,0.038,2128,2599,3419
$GC,3469,-1.12,-146.6,361.5,-6.9,165,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2598,3419
$GC,3778,-1.12,-146.6,382.1,-6.7,180,3782,0.00,2.45,0.00,0.000,4,0.000,0.042,2128,1209,3419
$GC,3818,-1.17,-146.6,384.5,-6.0,182,3822,0.00,2.45,0.00,0.000,6,0.000,0.039,2128,2600,3419
$GC,4145,-1.17,-146.6,401.4,-4.8,198,4149,0.00,2.47,0.00,0.000,4,0.000,0.042,2128,1201,3419
$GC,4200,-1.21,-146.6,404.4,-6.0,200,4207,0.15,2.47,0.00,0.000,6,0.044,0.039,2083,2609,3419
$GC,4517,-1.10,-146.6,430.5,-9.8,216,4522,0.20,2.35,0.00,0.000,4,0.096,0.072,2124,3864,3418
$GC,4595,-1.10,-146.6,438.0,-9.0,219,4601,0.00,2.15,0.00,0.000,6,0.000,0.031,2124,2599,3418
$GC,4910,-1.10,-146.6,463.0,-8.9,235,4914,0.00,2.47,0.00,0.000,4,0.000,0.045,2123,1204,3418
$GC,4999,-1.14,-146.6,470.3,-8.9,239,5003,0.00,2.47,0.00,0.000,6,0.000,0.040,2124,2605,3418
$GC,5320,-1.14,-146.6,497.1,-8.1,255,5324,0.00,2.35,0.00,0.000,4,0.000,0.075,2124,3857,3418
$GC,5398,-1.14,-146.6,504.4,-9.3,258,5402,0.00,2.15,0.00,0.000,6,0.000,0.033,2124,2603,3417
$GC,5720,-1.14,-146.6,533.1,-8.4,274,5724,0.00,2.50,0.00,0.000,4,0.000,0.048,2125,1204,3417
$GC,5878,-1.21,-146.6,547.4,-9.5,281,5883,0.12,2.50,0.00,0.000,6,0.049,0.044,2087,2603,3417
$GC,6202,-1.12,-146.6,582.3,-11.6,297,6206,0.15,2.40,0.00,0.000,4,0.100,0.081,2115,3862,3416
$GC,6273,-1.12,-146.6,589.8,-10.9,300,6277,0.00,2.17,0.00,0.000,6,0.000,0.038,2115,2606,3415
$GC,6595,-1.12,-146.6,609.6,-6.6,316,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2603,3414
$GC,6905,-1.12,-146.6,627.5,-3.5,331,6909,0.00,2.55,0.00,0.000,4,0.000,0.054,2115,1198,3413
$GC,6922,-1.12,-146.6,628.6,-4.9,332,6926,0.00,2.53,0.00,0.000,6,0.000,0.051,2115,2597,3413
$GC,7249,-1.08,-146.6,647.4,-6.0,348,7253,0.00,2.45,0.00,0.000,4,0.000,0.087,2115,3866,3411
$GC,7270,-1.08,-146.6,649.1,-7.6,349,7274,0.00,2.22,0.00,0.000,6,0.000,0.040,2115,2599,3410
$STATE,7533,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7533,begin apogee
$GC,7540,-0.31,0.0,674.5,10.4,362,7670,0.90,0.00,126.85,1.040,6,0.131,0.000,2285,2301,2817
$STATE,7671,end apogee,CONTROL_FINISHED_OK
$STATE,7671,begin climb
$GC,7674,1.03,146.6,681.3,0.0,368,7812,1.40,2.67,129.55,1.025,4,0.077,0.064,2580,903,2218
$GC,8070,0.98,268.8,667.7,3.3,386,8184,0.00,2.53,107.50,1.016,6,0.000,0.049,2580,2302,1721
$GC,8499,0.98,268.8,621.7,10.2,407,8504,0.00,2.62,0.00,0.000,4,0.000,0.062,2580,901,1710
$GC,8656,0.98,268.8,606.6,10.1,414,8661,0.00,2.55,0.00,0.000,6,0.000,0.048,2580,2301,1707
$GC,8977,0.98,268.8,573.7,10.5,430,8982,0.00,2.70,0.00,0.000,4,0.000,0.077,2580,3702,1707
$GC,9028,0.91,268.8,568.1,10.4,432,9033,0.12,2.50,0.00,0.000,6,0.111,0.041,2558,2304,1707
$GC,9343,0.92,276.2,543.4,7.2,447,9350,0.00,0.00,5.12,0.703,6,0.000,0.000,2558,2303,1691
$GC,9652,0.92,276.2,517.2,8.3,462,9657,0.00,2.60,0.00,0.000,4,0.000,0.064,2558,895,1690
$GC,9731,0.98,286.9,511.0,7.1,465,9747,0.00,2.53,11.38,0.854,6,0.000,0.047,2558,2300,1647
$GC,10064,1.02,286.9,488.3,7.7,482,10069,0.12,2.67,0.00,0.000,4,0.058,0.074,2590,3704,1645
$GC,10114,0.93,286.9,483.3,10.4,484,10119,0.15,2.50,0.00,0.000,6,0.108,0.039,2563,2300,1645
$GC,10429,0.93,286.9,454.9,9.5,499,10434,0.00,2.58,0.00,0.000,4,0.000,0.058,2563,894,1644
$GC,10474,0.98,286.9,450.3,10.8,501,10479,0.00,2.53,0.00,0.000,6,0.000,0.042,2563,2313,1643
$GC,10795,0.98,286.9,420.4,8.8,517,10799,0.00,2.62,0.00,0.000,4,0.000,0.068,2563,3708,1644
$GC,10850,0.98,286.9,415.1,9.9,519,10856,0.00,2.50,0.00,0.000,6,0.000,0.037,2563,2293,1644
$GC,11166,1.03,286.9,387.3,9.4,535,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2293,1644
$GC,11475,1.09,286.9,355.7,11.0,550,11480,0.15,2.53,0.00,0.000,4,0.050,0.051,2606,891,1643
$GC,11502,1.09,286.9,352.0,13.2,551,11507,0.00,2.50,0.00,0.000,6,0.000,0.038,2606,2308,1643
$GC,11819,1.02,286.9,311.3,13.1,566,11824,0.12,2.58,0.00,0.000,4,0.098,0.064,2582,3699,1644
$GC,11846,1.02,286.9,307.9,12.0,567,11851,0.00,2.45,0.00,0.000,6,0.000,0.033,2582,2296,1644
$GC,12161,1.02,286.9,276.1,9.3,582,12165,0.00,2.53,0.00,0.000,4,0.000,0.050,2582,888,1644
$GC,12207,1.02,286.9,272.0,9.0,584,12211,0.00,2.47,0.00,0.000,6,0.000,0.037,2582,2301,1644
$GC,12539,1.02,286.9,241.8,9.2,600,12544,0.00,2.60,0.00,0.000,4,0.000,0.063,2582,3707,1644
$GC,12561,1.02,286.9,239.6,9.1,601,12565,0.00,2.45,0.00,0.000,6,0.000,0.032,2582,2299,1645
$GC,12882,1.02,286.9,210.3,8.7,617,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2298,1645
$GC,13192,1.02,286.9,185.5,7.7,632,13193,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2298,1645
$GC,13501,1.02,289.8,162.0,7.4,647,13507,0.00,0.00,4.35,0.466,6,0.000,0.000,2582,2297,1635
$GC,13811,1.02,289.8,139.3,7.8,662,13815,0.00,2.50,0.00,0.000,4,0.000,0.048,2582,895,1635
$GC,13832,1.02,289.8,137.3,8.6,663,13837,0.00,2.47,0.00,0.000,6,0.000,0.035,2582,2309,1635
$GC,14154,1.02,289.8,109.0,8.5,679,14158,0.00,2.53,0.00,0.000,4,0.000,0.046,2582,895,1635
$GC,14176,1.02,289.8,107.2,7.7,680,14180,0.00,2.45,0.00,0.000,6,0.000,0.035,2582,2299,1635
$GC,14503,1.02,289.8,81.8,7.9,696,14508,0.00,2.58,0.00,0.000,4,0.000,0.061,2582,3708,1636
$GC,14531,1.02,289.8,79.3,8.6,697,14535,0.00,2.45,0.00,0.000,6,0.000,0.031,2582,2297,1636
$GC,14847,1.02,289.8,52.9,8.2,712,14851,0.00,2.50,0.00,0.000,4,0.000,0.048,2582,895,1636
$GC,14913,1.02,289.8,46.7,9.6,715,14918,0.00,2.45,0.00,0.000,6,0.000,0.034,2582,2302,1636
$GC,15234,1.02,289.8,16.7,9.3,731,15238,0.00,2.58,0.00,0.000,4,0.000,0.060,2582,3708,1637
$GC,15261,1.02,289.8,13.9,9.4,732,15265,0.00,2.45,0.00,0.000,6,0.000,0.030,2582,2292,1637
$STATE,15389,end climb,SURFACE_DEPTH_REACHED
$STATE,15389,begin surface coast
$FINISH,0.8,1.020312
$STATE,15412,end surface coast,CONTROL_FINISHED_OK
$STATE,15412,begin surface
$SM_CCo,15496,0.00,0.000,0,0,1635,289.70
$SM_GC,1.84,12.02,0.00,0.00,0.091,0.000,0.000,66,2600,1635,-10.47,0.00,289.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1714
$TCM_TEMP,17.50
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,625.4,59.1
$24V_AH,23.5,12.037
$10V_AH,10.1,4.963
$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,27.875,163.525,384.750,0.000,0.000,17.993,28.867,141.800,7.500,0.000,0.000,14.698,1420.499,11662.551,500.881,1772.034,443.904,33.350,1412.117,0.000,1725.333,0.000,36.640,0.000
$DEVICE_MAMPS,184.080,87.438,1040.052,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.478,519.414,460.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38089,739
$CAP_FILE_SIZE,124172,0
$CFSIZE,260165632,256143360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110609,174837,6151.872,-920.980,28,2.0,28,-9.5