version: 66.04
glider: 16
mission: 13
dive: 37
start: 6 11 109 17 54 22
data:
$ID,16
$MISSION,13
$DIVE,37
$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,-2108250
$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,32
$R_STBD_OVSHOOT,27
$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
$GPS1,174837,6151.872,-920.980,28,2.0,28,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-63.1
$GPS2,175331,6151.904,-921.102,11,1.8,17,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.073,-0.228
$KALMAN_X,-99518.0,2889.5,1179.1,38324.8,-29194.1
$KALMAN_Y,161446.5,-2577.6,-1831.5,-106282.0,28305.9
$MHEAD_RNG_PITCHd_Wd,138.8,64058,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-59.85,0.000,2,0.000,0.000,66,2601,3383
$GC,82,-1.03,-146.6,5.5,-9.6,3,104,12.07,2.53,-0.55,0.000,4,0.189,0.051,2130,1199,3418
$GC,242,-1.03,-146.6,31.4,-9.8,10,247,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2602,3418
$GC,571,-1.03,-146.6,64.1,-9.9,26,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,879,-1.03,-146.6,95.9,-10.5,41,883,0.00,2.50,0.00,0.000,4,0.000,0.040,2129,1190,3419
$GC,945,-1.03,-146.6,103.3,-11.2,44,949,0.00,2.50,0.00,0.000,6,0.000,0.037,2130,2609,3419
$GC,1266,-1.03,-146.6,140.5,-11.3,60,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3419
$GC,1576,-1.03,-146.6,176.5,-11.3,75,1580,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1194,3419
$GC,1609,-1.03,-146.6,180.3,-10.1,76,1615,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2599,3419
$GC,1924,-1.03,-146.6,210.6,-9.3,92,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,2233,-1.03,-146.6,240.6,-9.6,107,2238,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1188,3419
$GC,2267,-1.07,-146.6,243.5,-8.6,108,2273,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2610,3419
$GC,2582,-1.07,-146.6,272.2,-9.0,124,2586,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1191,3419
$GC,2629,-1.13,-146.6,276.0,-7.9,126,2633,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2598,3419
$GC,2955,-1.13,-146.6,304.2,-9.0,142,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2598,3420
$GC,3264,-1.13,-146.6,335.6,-10.0,157,3269,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1195,3419
$GC,3292,-1.13,-146.6,338.5,-10.8,158,3296,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2609,3419
$GC,3613,-1.13,-146.6,373.5,-11.0,174,3617,0.00,2.50,0.00,0.000,4,0.000,0.042,2130,1194,3419
$GC,3653,-1.19,-146.6,377.7,-10.5,176,3658,0.15,2.47,0.00,0.000,6,0.044,0.039,2084,2598,3419
$GC,3980,-1.09,-146.6,421.8,-13.4,192,3985,0.20,2.38,0.00,0.000,4,0.094,0.073,2126,3867,3419
$GC,4008,-1.09,-146.6,425.6,-12.1,193,4012,0.00,2.17,0.00,0.000,6,0.000,0.030,2126,2589,3419
$GC,4323,-1.09,-146.6,454.3,-8.1,208,4327,0.00,2.45,0.00,0.000,4,0.000,0.045,2126,1205,3419
$GC,4379,-1.14,-146.6,458.8,-8.3,210,4386,0.00,2.45,0.00,0.000,6,0.000,0.039,2126,2601,3418
$GC,4695,-1.14,-146.6,485.0,-9.3,226,4699,0.00,2.47,0.00,0.000,4,0.000,0.044,2126,1206,3419
$GC,4713,-1.18,-146.6,486.7,-9.8,227,4718,0.12,2.47,0.00,0.000,6,0.048,0.041,2086,2607,3419
$GC,5040,-1.11,-146.6,522.8,-10.9,243,5045,0.15,2.35,0.00,0.000,4,0.097,0.077,2115,3860,3418
$GC,5095,-1.11,-146.6,528.7,-10.8,245,5102,0.00,2.15,0.00,0.000,6,0.000,0.034,2115,2602,3419
$GC,5411,-1.11,-146.6,559.9,-9.8,261,5416,0.00,2.53,0.00,0.000,4,0.000,0.051,2115,1197,3418
$GC,5529,-1.11,-146.6,571.7,-11.9,266,5533,0.00,2.53,0.00,0.000,6,0.000,0.047,2115,2605,3418
$GC,5845,-1.11,-146.6,607.3,-10.6,281,5849,0.00,2.40,0.00,0.000,4,0.000,0.084,2115,3860,3416
$GC,5917,-1.11,-146.6,616.8,-13.4,284,5921,0.00,2.20,0.00,0.000,6,0.000,0.038,2115,2599,3416
$STATE,6209,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6210,begin apogee
$GC,6216,-0.31,0.0,648.4,11.5,298,6347,0.90,0.00,126.57,1.006,6,0.118,0.000,2290,2298,2818
$STATE,6347,end apogee,CONTROL_FINISHED_OK
$STATE,6347,begin climb
$GC,6350,1.03,146.6,657.9,0.0,304,6488,1.38,2.80,128.55,0.989,4,0.076,0.079,2580,3700,2219
$GC,6524,1.09,371.6,653.1,-0.2,312,6731,0.00,2.53,196.15,0.979,6,0.000,0.041,2580,2307,1302
$GC,7058,1.18,371.6,585.4,13.9,338,7063,0.17,2.65,0.00,0.000,4,0.061,0.065,2629,895,1291
$GC,7159,1.18,371.6,567.9,19.0,342,7165,0.00,2.55,0.00,0.000,6,0.000,0.047,2629,2301,1289
$GC,7475,1.13,371.6,517.2,15.6,358,7480,0.12,2.62,0.00,0.000,4,0.105,0.061,2607,888,1289
$GC,7547,1.13,371.6,506.5,13.9,361,7552,0.00,2.58,0.00,0.000,6,0.000,0.047,2607,2309,1288
$GC,7863,1.13,371.6,463.9,12.6,376,7868,0.00,2.67,0.00,0.000,4,0.000,0.076,2606,3707,1288
$GC,7904,1.08,371.6,458.5,14.4,378,7908,0.00,2.50,0.00,0.000,6,0.000,0.041,2607,2300,1288
$GC,8230,1.08,371.6,422.3,10.4,394,8235,0.00,2.60,0.00,0.000,4,0.000,0.058,2607,885,1287
$GC,8252,1.08,371.6,420.0,10.2,395,8257,0.00,2.55,0.00,0.000,6,0.000,0.041,2607,2309,1286
$GC,8574,1.08,371.6,391.6,9.3,411,8578,0.00,2.58,0.00,0.000,4,0.000,0.053,2607,891,1287
$GC,8618,1.08,371.6,387.2,10.5,413,8622,0.00,2.50,0.00,0.000,6,0.000,0.040,2608,2302,1286
$GC,8944,1.08,371.6,358.6,7.7,429,8949,0.00,2.58,0.00,0.000,4,0.000,0.051,2607,887,1286
$GC,8994,1.08,371.6,354.4,8.0,431,8999,0.00,2.50,0.00,0.000,6,0.000,0.038,2607,2305,1286
$GC,9316,1.08,371.6,328.7,8.8,447,9320,0.00,2.58,0.00,0.000,4,0.000,0.050,2607,883,1286
$GC,9343,1.08,371.6,326.0,9.7,448,9347,0.00,2.50,0.00,0.000,6,0.000,0.038,2607,2301,1286
$GC,9658,1.08,371.6,292.1,11.4,463,9662,0.00,2.55,0.00,0.000,4,0.000,0.048,2607,888,1287
$GC,9698,1.12,371.6,287.4,11.8,465,9703,0.00,2.47,0.00,0.000,6,0.000,0.038,2607,2301,1286
$GC,10026,1.12,371.6,250.7,11.2,481,10030,0.00,2.55,0.00,0.000,4,0.000,0.048,2607,890,1287
$GC,10070,1.12,371.6,244.9,12.3,483,10074,0.00,2.47,0.00,0.000,6,0.000,0.036,2607,2301,1287
$GC,10390,1.12,371.6,208.7,11.9,499,10394,0.00,2.55,0.00,0.000,4,0.000,0.048,2607,885,1287
$GC,10412,1.12,371.6,205.8,12.5,500,10416,0.00,2.50,0.00,0.000,6,0.000,0.036,2607,2308,1287
$GC,10733,1.12,371.6,168.9,11.4,516,10737,0.00,2.55,0.00,0.000,4,0.000,0.048,2607,891,1287
$GC,10789,1.17,371.6,162.1,12.5,518,10794,0.00,2.47,0.00,0.000,6,0.000,0.035,2607,2305,1287
$GC,11105,1.17,371.6,124.6,12.0,533,11110,0.00,2.55,0.00,0.000,4,0.000,0.047,2606,888,1287
$GC,11139,1.17,371.6,120.3,12.3,534,11145,0.00,2.47,0.00,0.000,6,0.000,0.035,2607,2304,1287
$GC,11456,1.17,371.6,83.8,11.3,550,11460,0.00,2.55,0.00,0.000,4,0.000,0.047,2607,886,1287
$GC,11489,1.21,371.6,79.6,11.6,551,11496,0.00,2.47,0.00,0.000,6,0.000,0.035,2607,2305,1287
$GC,11805,1.21,371.6,42.8,11.7,567,11809,0.00,2.55,0.00,0.000,4,0.000,0.046,2607,884,1288
$GC,11861,1.28,371.6,36.1,11.7,569,11868,0.15,2.47,0.00,0.000,6,0.049,0.035,2644,2307,1288
$STATE,12112,end climb,SURFACE_DEPTH_REACHED
$STATE,12113,begin surface coast
$FINISH,0.6,1.026833
$STATE,12135,end surface coast,CONTROL_FINISHED_OK
$STATE,12135,begin surface
$SM_CCo,12218,0.00,0.000,0,0,1287,375.31
$SM_GC,1.53,12.32,0.00,0.00,0.090,0.000,0.000,74,2605,1287,-10.47,0.14,375.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1724
$TCM_TEMP,16.50
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,600.8,57.1
$24V_AH,23.6,12.175
$10V_AH,10.1,5.023
$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,27.750,140.900,451.275,0.000,0.000,17.994,27.843,132.593,10.000,0.000,0.000,17.018,1107.451,9089.401,521.550,1400.858,392.302,33.348,1281.951,0.000,1358.536,0.000,35.019,0.000
$DEVICE_MAMPS,188.682,84.370,1005.537,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.938,407.367,372.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28615,583
$CAP_FILE_SIZE,99522,0
$CFSIZE,260165632,256118784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110609,211906,6153.997,-923.723,30,1.9,30,-9.6