version: 66.04
glider: 16
mission: 13
dive: 38
start: 6 11 109 21 24 59
data:
$ID,16
$MISSION,13
$DIVE,38
$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,-2108263.2
$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,22
$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
$GPS1,211906,6153.997,-923.723,30,1.9,30,-9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.1
$GPS2,212408,6154.092,-923.765,12,1.3,12,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.044,-0.236
$KALMAN_X,-101442.8,2833.6,1967.7,37126.7,-31419.1
$KALMAN_Y,168400.7,-2654.1,-935.1,-110027.5,34114.9
$MHEAD_RNG_PITCHd_Wd,140.3,68466,-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,-146.6,0.0,0.0,0,91,0.00,0.00,-74.12,0.000,6,0.000,0.000,73,2607,3417
$GC,94,-1.03,-146.6,3.6,-4.8,3,116,12.12,2.58,0.00,0.000,4,0.191,0.041,2131,1184,3418
$GC,230,-1.03,-146.6,30.6,-9.2,9,234,0.00,2.50,0.00,0.000,6,0.000,0.038,2131,2597,3418
$GC,556,-1.03,-146.6,61.1,-8.8,25,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3418
$GC,865,-1.03,-146.6,88.6,-8.9,40,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,1175,-1.03,-146.6,115.4,-7.3,55,1179,0.00,2.50,0.00,0.000,4,0.000,0.040,2131,1184,3419
$GC,1208,-1.03,-146.6,118.1,-7.6,56,1215,0.00,2.50,0.00,0.000,6,0.000,0.037,2131,2609,3419
$GC,1526,-1.03,-146.6,146.1,-8.9,72,1530,0.00,2.33,0.00,0.000,4,0.000,0.069,2131,3860,3419
$GC,1559,-1.03,-146.6,149.6,-10.1,73,1566,0.00,2.20,0.00,0.000,6,0.000,0.029,2131,2566,3419
$GC,1874,-1.03,-146.6,177.7,-9.1,89,1879,0.00,2.40,0.00,0.000,4,0.000,0.043,2131,1208,3419
$GC,1925,-1.08,-146.6,182.4,-9.2,91,1929,0.00,2.45,0.00,0.000,6,0.000,0.037,2131,2600,3419
$GC,2241,-1.08,-146.6,211.9,-9.4,106,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,2550,-1.08,-146.6,237.1,-7.8,121,2554,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1208,3419
$GC,2601,-1.13,-146.6,241.0,-7.7,123,2605,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3419
$GC,2916,-1.13,-146.6,266.4,-8.0,138,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,3225,-1.13,-146.6,291.8,-8.5,153,3229,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1201,3419
$GC,3259,-1.18,-146.6,294.7,-9.1,154,3265,0.12,2.47,0.00,0.000,6,0.047,0.038,2092,2608,3419
$GC,3576,-1.09,-146.6,326.8,-9.8,170,3577,0.15,0.00,0.00,0.000,6,0.098,0.000,2120,2608,3419
$GC,3884,-1.09,-146.6,353.0,-8.0,185,3888,0.00,2.47,0.00,0.000,4,0.000,0.041,2120,1203,3419
$GC,3939,-1.09,-146.6,357.5,-7.5,187,3944,0.00,2.45,0.00,0.000,6,0.000,0.038,2120,2598,3419
$GC,4255,-1.09,-146.6,380.9,-7.1,202,4260,0.00,2.45,0.00,0.000,4,0.000,0.041,2120,1209,3419
$GC,4296,-1.09,-146.6,383.5,-6.5,204,4300,0.00,2.45,0.00,0.000,6,0.000,0.038,2120,2600,3419
$GC,4623,-1.09,-146.6,403.0,-6.5,220,4627,0.00,2.47,0.00,0.000,4,0.000,0.041,2120,1202,3419
$GC,4656,-1.09,-146.6,405.2,-6.5,221,4662,0.00,2.47,0.00,0.000,6,0.000,0.039,2120,2603,3419
$GC,4971,-1.09,-146.6,428.0,-7.6,237,4975,0.00,2.45,0.00,0.000,4,0.000,0.043,2120,1209,3419
$GC,5004,-1.09,-146.6,430.1,-5.7,238,5008,0.00,2.45,0.00,0.000,6,0.000,0.039,2120,2601,3419
$GC,5320,-1.09,-146.6,453.6,-6.0,253,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2602,3419
$GC,5629,-1.09,-146.6,471.9,-9.1,268,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2602,3418
$GC,5938,-1.09,-146.6,501.5,-7.7,283,5942,0.00,2.38,0.00,0.000,4,0.000,0.076,2120,3862,3418
$GC,5993,-1.09,-146.6,506.6,-8.0,285,5999,0.00,2.15,0.00,0.000,6,0.000,0.033,2120,2603,3418
$GC,6309,-1.09,-146.6,535.1,-10.6,301,6313,0.00,2.50,0.00,0.000,4,0.000,0.049,2120,1207,3418
$GC,6365,-1.13,-146.6,540.6,-9.0,303,6371,0.00,2.50,0.00,0.000,6,0.000,0.045,2121,2605,3417
$GC,6680,-1.13,-146.6,562.2,-11.4,319,6684,0.00,2.40,0.00,0.000,4,0.000,0.086,2120,3858,3416
$GC,6786,-1.08,-146.6,575.4,-19.7,323,6792,0.00,2.17,0.00,0.000,6,0.000,0.036,2120,2602,3416
$STATE,6810,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6810,begin apogee
$GC,6817,-0.31,0.0,579.0,15.4,325,6947,0.90,0.00,125.82,0.953,6,0.137,0.000,2288,2300,2817
$STATE,6947,end apogee,CONTROL_FINISHED_OK
$STATE,6948,begin climb
$GC,6950,1.03,146.6,581.9,0.0,331,7087,1.40,2.75,127.22,0.936,4,0.088,0.074,2577,3702,2218
$GC,7343,1.08,343.1,552.4,0.8,349,7524,0.00,2.53,170.65,0.918,6,0.000,0.044,2576,2302,1417
$GC,7846,1.14,343.1,499.1,10.7,374,7851,0.15,2.70,0.00,0.000,4,0.064,0.076,2615,3702,1407
$GC,7957,1.14,343.1,479.7,18.7,379,7962,0.00,2.53,0.00,0.000,6,0.000,0.042,2615,2293,1406
$GC,8279,1.06,343.1,428.1,16.4,395,8284,0.12,2.67,0.00,0.000,4,0.110,0.069,2593,3702,1404
$GC,8319,1.06,343.1,422.4,14.8,397,8323,0.00,2.53,0.00,0.000,6,0.000,0.039,2593,2293,1404
$GC,8645,1.06,343.1,385.4,10.2,413,8649,0.00,2.58,0.00,0.000,4,0.000,0.060,2593,894,1403
$GC,8729,1.07,346.8,379.4,7.4,417,8734,0.00,2.53,0.00,0.000,6,0.000,0.041,2593,2311,1402
$GC,9056,1.10,378.7,358.8,6.4,433,9092,0.00,2.65,30.33,0.798,4,0.000,0.051,2593,887,1272
$GC,9120,1.16,378.7,354.3,7.8,435,9125,0.00,2.53,0.00,0.000,6,0.000,0.038,2593,2301,1269
$GC,9443,1.26,408.5,331.9,6.5,451,9478,0.20,2.65,27.42,0.769,4,0.047,0.049,2652,894,1151
$GC,9523,1.21,408.5,323.9,10.5,454,9530,0.15,2.53,0.00,0.000,6,0.094,0.038,2622,2310,1147
$GC,9839,1.21,408.5,294.8,9.7,470,9843,0.00,2.58,0.00,0.000,4,0.000,0.049,2622,884,1145
$GC,9880,1.21,408.5,290.8,10.9,472,9884,0.00,2.50,0.00,0.000,6,0.000,0.037,2622,2301,1144
$GC,10206,1.21,408.5,254.7,12.2,488,10211,0.00,2.55,0.00,0.000,4,0.000,0.049,2622,891,1144
$GC,10246,1.21,408.5,249.8,12.8,490,10251,0.00,2.50,0.00,0.000,6,0.000,0.037,2622,2309,1144
$GC,10573,1.21,408.5,207.7,13.0,506,10578,0.00,2.58,0.00,0.000,4,0.000,0.049,2622,887,1144
$GC,10623,1.21,408.5,201.1,12.3,508,10628,0.00,2.50,0.00,0.000,6,0.000,0.036,2622,2306,1144
$GC,10939,1.21,408.5,162.9,12.0,523,10943,0.00,2.55,0.00,0.000,4,0.000,0.048,2622,891,1144
$GC,11011,1.21,408.5,154.2,12.1,526,11015,0.00,2.47,0.00,0.000,6,0.000,0.035,2622,2302,1144
$GC,11327,1.21,408.5,117.5,11.9,541,11331,0.00,2.55,0.00,0.000,4,0.000,0.048,2622,887,1144
$GC,11376,1.21,408.5,111.4,11.6,543,11381,0.00,2.47,0.00,0.000,6,0.000,0.035,2622,2302,1144
$GC,11693,1.21,408.5,74.9,11.8,558,11697,0.00,2.55,0.00,0.000,4,0.000,0.048,2622,883,1143
$GC,11787,1.21,408.5,62.7,12.3,562,11791,0.00,2.47,0.00,0.000,6,0.000,0.035,2622,2301,1144
$GC,12104,1.21,408.5,23.0,12.6,577,12109,0.00,2.53,0.00,0.000,4,0.000,0.045,2622,889,1144
$GC,12190,1.28,408.5,12.7,10.8,581,12194,0.00,2.47,0.00,0.000,6,0.000,0.035,2622,2307,1144
$STATE,12266,end climb,SURFACE_DEPTH_REACHED
$STATE,12266,begin surface coast
$FINISH,1.0,1.026781
$STATE,12288,end surface coast,CONTROL_FINISHED_OK
$STATE,12288,begin surface
$SM_CCo,12372,0.00,0.000,0,0,1142,410.88
$SM_GC,1.53,11.85,0.00,0.00,0.074,0.000,0.000,75,2604,1142,-10.46,0.11,410.88
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1700
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.2,112.1
$24V_AH,23.6,12.312
$10V_AH,10.1,5.085
$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,27.175,130.525,481.450,0.000,0.000,17.965,27.769,149.340,3.750,0.000,0.000,12.458,1118.556,9138.354,560.323,1454.602,405.170,33.349,1341.011,0.000,1419.018,0.000,27.088,0.000
$DEVICE_MAMPS,190.983,85.904,953.381,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.466,413.844,384.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28515,586
$CAP_FILE_SIZE,100040,0
$CFSIZE,260165632,256073728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120609,005225,6157.437,-922.789,38,1.8,38,-9.6