version: 66.04
glider: 16
mission: 13
dive: 43
start: 6 12 109 14 47 58
data:
$ID,16
$MISSION,13
$DIVE,43
$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,-2108358.5
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,144230,6205.945,-913.255,41,1.8,41,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-61.7
$GPS2,144707,6205.985,-913.235,10,1.2,15,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.084,-0.224
$KALMAN_X,-88690.1,1163.5,166.1,37242.2,-1799.9
$KALMAN_Y,198315.5,-3668.3,-2938.5,-114837.6,52293.7
$MHEAD_RNG_PITCHd_Wd,157.0,79109,-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,-146.6,0.0,0.0,0,103,0.00,0.00,-85.80,0.000,6,0.000,0.000,78,2607,3417
$GC,106,-1.03,-146.6,5.7,-5.1,5,128,12.10,2.55,0.00,0.000,4,0.192,0.039,2130,1191,3418
$GC,219,-1.03,-146.6,27.7,-8.2,10,224,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2607,3418
$GC,547,-1.03,-146.6,56.8,-8.5,26,551,0.00,2.33,0.00,0.000,4,0.000,0.068,2130,3859,3417
$GC,580,-1.03,-146.6,60.0,-9.3,27,586,0.00,2.17,0.00,0.000,6,0.000,0.029,2131,2580,3418
$GC,897,-1.03,-146.6,86.6,-8.5,43,901,0.00,2.42,0.00,0.000,4,0.000,0.041,2131,1208,3419
$GC,959,-1.03,-146.6,91.9,-8.2,46,963,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2599,3418
$GC,1286,-1.03,-146.6,118.8,-8.4,62,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,1596,-1.03,-146.6,144.3,-8.1,77,1600,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1209,3419
$GC,1618,-1.03,-146.6,146.2,-8.2,78,1622,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3419
$GC,1939,-1.03,-146.6,172.2,-8.3,94,1943,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1209,3419
$GC,1966,-1.03,-146.6,174.7,-8.9,95,1971,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3419
$GC,2287,-1.03,-146.6,202.8,-8.9,111,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,2596,-1.03,-146.6,231.0,-9.4,126,2600,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1208,3419
$GC,2629,-1.03,-146.6,234.2,-9.4,127,2635,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3419
$GC,2945,-1.03,-146.6,264.9,-10.1,143,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3254,-1.03,-146.6,295.4,-9.5,158,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,3563,-1.03,-146.6,324.7,-9.6,173,3568,0.00,2.47,0.00,0.000,4,0.000,0.042,2131,1202,3419
$GC,3613,-1.09,-146.6,329.5,-9.4,175,3618,0.00,2.47,0.00,0.000,6,0.000,0.039,2131,2606,3419
$GC,3935,-1.09,-146.6,360.2,-9.3,191,3939,0.00,2.35,0.00,0.000,4,0.000,0.072,2131,3864,3418
$GC,3974,-1.09,-146.6,364.0,-10.0,193,3978,0.00,2.15,0.00,0.000,6,0.000,0.030,2131,2603,3418
$GC,4306,-1.09,-146.6,393.0,-8.7,209,4310,0.00,2.47,0.00,0.000,4,0.000,0.044,2131,1205,3418
$GC,4384,-1.15,-146.6,399.5,-8.0,212,4390,0.00,2.47,0.00,0.000,6,0.000,0.039,2131,2608,3418
$GC,4700,-1.15,-146.6,425.9,-8.7,228,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3418
$GC,5010,-1.23,-146.6,450.0,-6.8,243,5015,0.17,2.47,0.00,0.000,4,0.043,0.042,2079,1205,3418
$GC,5066,-1.17,-146.6,455.3,-9.4,245,5073,0.12,2.45,0.00,0.000,6,0.106,0.039,2102,2601,3418
$STATE,5131,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5131,begin apogee
$GC,5138,-0.31,0.0,462.3,10.4,249,5266,0.93,0.00,124.30,0.853,6,0.100,0.000,2289,2300,2817
$STATE,5267,end apogee,CONTROL_FINISHED_OK
$STATE,5267,begin climb
$GC,5269,1.03,146.6,465.4,0.0,255,5403,1.35,2.60,125.43,0.842,4,0.068,0.049,2580,902,2218
$GC,5545,0.94,146.6,456.6,8.1,267,5552,0.00,2.50,0.00,0.000,6,0.000,0.040,2580,2300,2212
$GC,5862,0.88,192.5,436.8,5.9,283,5904,0.15,0.00,39.30,0.814,6,0.096,0.000,2552,2300,2032
$GC,6213,0.90,208.0,415.1,7.0,300,6233,0.00,0.00,14.38,0.754,6,0.000,0.000,2552,2299,1966
$GC,6542,0.90,208.0,389.7,8.0,316,6546,0.00,2.53,0.00,0.000,4,0.000,0.050,2551,908,1963
$GC,6588,0.90,208.0,385.9,9.0,318,6592,0.00,2.47,0.00,0.000,6,0.000,0.039,2552,2305,1962
$GC,6914,0.90,208.0,358.9,8.5,334,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2305,1962
$GC,7223,0.90,208.0,333.2,8.3,349,7227,0.00,2.53,0.00,0.000,4,0.000,0.047,2552,904,1961
$GC,7244,0.90,208.0,331.5,7.7,350,7249,0.00,2.47,0.00,0.000,6,0.000,0.037,2552,2308,1960
$GC,7566,0.90,213.7,307.2,7.3,366,7577,0.00,2.53,5.43,0.574,4,0.000,0.046,2552,908,1944
$GC,7606,0.91,220.1,304.2,7.3,368,7620,0.00,2.45,7.45,0.628,6,0.000,0.036,2551,2301,1919
$GC,7937,0.96,223.5,279.2,7.4,384,7947,0.00,2.62,4.55,0.516,4,0.000,0.064,2551,3702,1905
$GC,7992,0.96,223.5,274.3,8.5,386,7998,0.00,2.42,0.00,0.000,6,0.000,0.031,2551,2309,1905
$GC,8307,1.01,223.5,249.1,8.4,402,8312,0.12,2.53,0.00,0.000,4,0.048,0.047,2591,898,1904
$GC,8347,0.95,223.5,245.1,10.8,404,8352,0.12,2.47,0.00,0.000,6,0.097,0.036,2567,2308,1902
$GC,8674,0.95,223.5,215.7,9.1,420,8678,0.00,2.58,0.00,0.000,4,0.000,0.062,2567,3701,1903
$GC,8706,0.95,223.5,212.4,10.1,421,8712,0.00,2.45,0.00,0.000,6,0.000,0.031,2567,2297,1903
$GC,9022,0.95,223.5,185.3,8.7,437,9026,0.00,2.50,0.00,0.000,4,0.000,0.048,2567,892,1903
$GC,9061,0.95,223.5,181.7,8.8,438,9067,0.00,2.47,0.00,0.000,6,0.000,0.036,2567,2305,1903
$GC,9376,0.95,223.5,155.0,8.6,454,9380,0.00,2.58,0.00,0.000,4,0.000,0.062,2567,3703,1903
$GC,9409,0.95,223.5,152.0,9.9,455,9415,0.00,2.42,0.00,0.000,6,0.000,0.031,2567,2295,1903
$GC,9725,0.95,223.5,122.2,9.9,471,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2293,1903
$GC,10034,0.95,223.5,94.6,8.4,486,10038,0.00,2.60,0.00,0.000,4,0.000,0.061,2567,3704,1902
$GC,10066,0.95,223.5,91.6,9.0,487,10073,0.00,2.42,0.00,0.000,6,0.000,0.031,2567,2299,1903
$GC,10384,0.95,223.5,66.1,8.3,503,10388,0.00,2.50,0.00,0.000,4,0.000,0.047,2565,894,1903
$GC,10439,0.95,223.5,61.0,9.1,505,10446,0.00,2.45,0.00,0.000,6,0.000,0.035,2567,2305,1903
$GC,10755,0.95,223.5,35.0,8.4,521,10759,0.00,2.50,0.00,0.000,4,0.000,0.044,2566,898,1903
$GC,10827,0.95,223.5,28.9,8.4,524,10831,0.00,2.45,0.00,0.000,6,0.000,0.035,2567,2304,1903
$GC,11143,0.95,223.5,3.3,8.3,539,11147,0.00,2.22,0.00,0.000,3,0.000,0.058,2567,3531,1903
$STATE,11148,end climb,SURFACE_DEPTH_REACHED
$STATE,11148,begin surface coast
$FINISH,0.6,1.014100
$STATE,11185,end surface coast,CONTROL_FINISHED_OK
$STATE,11185,begin surface
$SM_CCo,11209,15.25,0.532,0,0,1796,250.21
$SM_GC,2.29,0.00,0.00,15.25,0.000,0.000,0.532,74,2576,1796,-10.52,-0.68,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1717
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.6,69.7
$24V_AH,23.7,12.908
$10V_AH,10.1,5.391
$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,27.050,112.850,320.825,15.250,0.000,17.935,32.748,122.786,3.000,0.000,0.000,15.247,1013.935,8429.830,465.407,1234.035,365.964,33.356,1114.021,0.000,1205.792,0.000,22.124,0.000
$DEVICE_MAMPS,191.750,72.098,852.904,531.531,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.151,383.189,413.547,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28544,541
$CAP_FILE_SIZE,86929,0
$CFSIZE,260165632,255844352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120609,175625,6205.953,-908.621,43,1.1,43,-9.5