version: 66.04
glider: 16
mission: 13
dive: 44
start: 6 12 109 18 1 41
data:
$ID,16
$MISSION,13
$DIVE,44
$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,-2108372.5
$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,45
$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
$GPS1,175625,6205.953,-908.621,43,1.1,43,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.4
$GPS2,180050,6205.970,-908.636,13,1.7,13,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.081,-0.225
$KALMAN_X,-87037.4,1552.8,520.3,38953.3,-1645.0
$KALMAN_Y,197075.5,-3550.9,-2288.7,-114382.5,45486.2
$MHEAD_RNG_PITCHd_Wd,159.4,76972,-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,-146.6,0.0,0.0,0,71,0.00,0.00,-54.12,0.000,6,0.000,0.000,74,2575,3416
$GC,74,-1.03,-146.6,3.7,-8.8,2,96,12.07,2.47,0.00,0.000,4,0.190,0.040,2130,1201,3417
$GC,180,-1.03,-146.6,27.0,-8.0,6,186,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2596,3418
$GC,496,-1.03,-146.6,51.2,-7.9,22,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3418
$GC,805,-1.03,-146.6,78.4,-9.3,37,809,0.00,2.45,0.00,0.000,4,0.000,0.039,2130,1206,3418
$GC,845,-1.07,-146.6,82.0,-9.6,39,849,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2601,3419
$GC,1172,-1.07,-146.6,113.0,-9.5,55,1176,0.00,2.35,0.00,0.000,4,0.000,0.069,2130,3865,3419
$GC,1205,-1.07,-146.6,116.8,-10.9,56,1211,0.00,2.15,0.00,0.000,6,0.000,0.029,2129,2599,3419
$GC,1522,-1.07,-146.6,144.7,-8.6,72,1526,0.00,2.47,0.00,0.000,4,0.000,0.042,2130,1200,3418
$GC,1550,-1.07,-146.6,147.3,-8.2,73,1555,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2604,3419
$GC,1866,-1.07,-146.6,171.2,-7.2,88,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3419
$GC,2176,-1.07,-146.6,194.2,-7.3,103,2180,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1204,3419
$GC,2203,-1.07,-146.6,196.4,-8.2,104,2207,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2602,3419
$GC,2519,-1.07,-146.6,220.2,-7.4,119,2523,0.00,2.35,0.00,0.000,4,0.000,0.070,2130,3866,3419
$GC,2546,-1.07,-146.6,222.4,-8.4,120,2549,0.00,2.15,0.00,0.000,6,0.000,0.030,2130,2600,3419
$GC,2868,-1.07,-146.6,246.1,-7.4,136,2872,0.00,2.45,0.00,0.000,4,0.000,0.043,2130,1206,3419
$GC,2902,-1.12,-146.6,248.9,-7.5,137,2908,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2600,3419
$GC,3217,-1.12,-146.6,274.5,-8.0,153,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,3527,-1.12,-146.6,301.9,-9.3,168,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,3836,-1.12,-146.6,332.8,-10.4,183,3840,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1199,3418
$GC,3871,-1.17,-146.6,336.6,-11.0,184,3877,0.12,2.47,0.00,0.000,6,0.048,0.039,2092,2603,3418
$GC,4187,-1.08,-146.6,378.2,-13.0,200,4192,0.17,2.45,0.00,0.000,4,0.102,0.042,2129,1206,3418
$GC,4227,-1.15,-146.6,382.6,-10.9,202,4231,0.00,2.45,0.00,0.000,6,0.000,0.039,2129,2600,3418
$GC,4554,-1.15,-146.6,412.1,-7.0,218,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,4862,-1.15,-146.6,436.7,-8.8,233,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$STATE,4923,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4923,begin apogee
$GC,4929,-0.31,0.0,442.4,9.1,236,5056,0.80,0.00,123.72,0.841,6,0.104,0.000,2289,2298,2817
$STATE,5057,end apogee,CONTROL_FINISHED_OK
$STATE,5057,begin climb
$GC,5060,1.03,146.6,447.8,0.0,242,5193,1.38,2.58,125.10,0.831,4,0.079,0.047,2578,904,2218
$GC,5218,0.95,171.6,443.6,6.6,249,5250,0.00,2.50,22.27,0.779,6,0.000,0.038,2578,2302,2117
$GC,5560,0.91,171.6,418.5,7.5,266,5565,0.12,2.53,0.00,0.000,4,0.094,0.048,2556,909,2111
$GC,5818,0.96,225.6,402.8,5.7,277,5870,0.00,2.47,46.88,0.796,6,0.000,0.039,2555,2300,1897
$GC,6195,1.02,235.5,378.2,7.2,296,6209,0.12,2.55,8.95,0.681,4,0.051,0.048,2593,911,1857
$GC,6249,0.94,235.5,373.2,9.2,298,6254,0.15,2.47,0.00,0.000,6,0.097,0.038,2565,2309,1855
$GC,6565,0.96,248.4,348.0,7.1,313,6584,0.00,0.00,13.02,0.711,6,0.000,0.000,2565,2309,1803
$GC,6894,1.00,290.5,327.6,6.1,329,6937,0.00,2.62,38.20,0.755,4,0.000,0.046,2564,912,1631
$GC,6988,1.07,303.9,321.4,7.0,333,7008,0.12,2.47,12.50,0.688,6,0.050,0.037,2598,2306,1577
$GC,7337,1.07,303.9,290.5,9.1,350,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2306,1573
$GC,7644,1.07,303.9,259.7,10.4,365,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2306,1572
$GC,7954,1.07,303.9,226.6,10.7,380,7958,0.00,2.50,0.00,0.000,4,0.000,0.047,2598,912,1572
$GC,8015,1.07,303.9,219.7,11.3,383,8020,0.00,2.45,0.00,0.000,6,0.000,0.036,2598,2305,1570
$GC,8342,1.07,303.9,184.8,10.9,399,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2305,1570
$GC,8652,1.07,303.9,154.9,9.1,414,8656,0.00,2.50,0.00,0.000,4,0.000,0.046,2598,909,1570
$GC,8685,1.07,303.9,151.6,10.3,415,8691,0.00,2.45,0.00,0.000,6,0.000,0.036,2598,2309,1569
$GC,9001,1.07,303.9,121.6,9.6,431,9005,0.00,2.53,0.00,0.000,4,0.000,0.046,2598,903,1569
$GC,9040,1.07,303.9,117.5,10.3,433,9045,0.00,2.45,0.00,0.000,6,0.000,0.036,2598,2308,1569
$GC,9368,1.07,303.9,84.2,10.6,449,9372,0.00,2.50,0.00,0.000,4,0.000,0.047,2598,911,1569
$GC,9408,1.07,303.9,79.7,10.8,451,9412,0.00,2.42,0.00,0.000,6,0.000,0.036,2598,2301,1569
$GC,9741,1.07,303.9,47.8,9.3,467,9745,0.00,2.50,0.00,0.000,4,0.000,0.045,2598,905,1569
$GC,9762,1.07,303.9,45.6,9.5,468,9767,0.00,2.45,0.00,0.000,6,0.000,0.036,2598,2304,1569
$GC,10084,1.07,303.9,14.6,10.1,484,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2304,1568
$STATE,10205,end climb,SURFACE_DEPTH_REACHED
$STATE,10205,begin surface coast
$FINISH,0.6,1.016500
$STATE,10227,end surface coast,CONTROL_FINISHED_OK
$STATE,10227,begin surface
$SM_CCo,10310,0.00,0.000,0,0,1567,306.38
$SM_GC,1.42,12.02,0.00,0.00,0.087,0.000,0.000,77,2601,1567,-10.45,0.00,306.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1727
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.8,101.0
$24V_AH,23.7,13.007
$10V_AH,10.1,5.444
$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,27.100,89.375,390.650,0.000,0.000,17.936,27.056,115.407,2.500,0.000,0.000,13.162,921.128,7735.844,453.595,1126.741,342.112,33.357,1052.355,0.000,1100.768,0.000,18.958,0.000
$DEVICE_MAMPS,190.216,69.797,841.399,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.242,345.961,375.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25434,491
$CAP_FILE_SIZE,78990,0
$CFSIZE,260165632,255803392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120609,205437,6205.665,-904.880,30,1.2,30,-9.5