version: 66.04
glider: 16
mission: 13
dive: 13
start: 6 7 109 7 36 46
data:
$ID,16
$MISSION,13
$DIVE,13
$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,330
$T_MISSION,360
$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,-2107846.5
$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,19
$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
$GPS1,073106,6133.289,-832.496,40,1.2,46,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-59.7
$GPS2,073555,6133.293,-832.524,12,1.5,17,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.151,-0.216
$KALMAN_X,-18607.1,1552.8,464.1,2578.8,-11284.1
$KALMAN_Y,30937.7,1273.6,-737.9,-15239.8,11914.5
$MHEAD_RNG_PITCHd_Wd,141.5,9022,-18.1,-10.000
$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,-1.29,-146.6,0.0,0.0,0,99,0.00,0.00,-81.25,0.000,2,0.000,0.000,61,2604,3138
$GC,102,-1.29,-146.6,4.2,-4.7,4,125,11.75,2.53,-5.07,0.000,4,0.189,0.054,2074,1184,3413
$GC,234,-1.37,-146.6,26.2,-12.4,9,241,0.00,2.47,0.00,0.000,6,0.000,0.038,2074,2596,3414
$GC,551,-1.37,-146.6,66.5,-12.4,25,555,0.00,2.38,0.00,0.000,4,0.000,0.070,2074,3865,3414
$GC,618,-1.37,-146.6,75.0,-11.5,28,623,0.00,2.22,0.00,0.000,6,0.000,0.030,2074,2568,3414
$GC,940,-1.37,-146.6,113.3,-13.1,44,944,0.00,2.42,0.00,0.000,4,0.000,0.044,2074,1195,3414
$GC,962,-1.42,-146.6,116.4,-14.2,45,966,0.10,2.47,0.00,0.000,6,0.053,0.038,2042,2599,3414
$GC,1283,-1.37,-146.6,166.4,-15.3,61,1287,0.00,2.35,0.00,0.000,4,0.000,0.067,2042,3865,3414
$GC,1383,-1.31,-146.6,182.5,-15.7,65,1390,0.17,2.15,0.00,0.000,6,0.105,0.030,2074,2596,3414
$GC,1699,-1.35,-146.6,222.9,-12.1,81,1703,0.00,2.35,0.00,0.000,4,0.000,0.067,2074,3858,3414
$GC,1732,-1.35,-146.6,227.4,-12.8,82,1738,0.00,2.15,0.00,0.000,6,0.000,0.030,2074,2595,3414
$GC,2048,-1.39,-146.6,263.5,-11.3,98,2052,0.00,2.45,0.00,0.000,4,0.000,0.044,2074,1208,3414
$GC,2089,-1.48,-146.6,267.7,-10.3,100,2093,0.17,2.45,0.00,0.000,6,0.044,0.038,2023,2600,3414
$GC,2418,-1.40,-146.6,314.0,-15.5,116,2422,0.17,2.35,0.00,0.000,4,0.104,0.069,2059,3863,3414
$GC,2547,-1.40,-146.6,334.0,-15.8,122,2551,0.00,2.15,0.00,0.000,6,0.000,0.031,2059,2600,3414
$GC,2880,-1.40,-146.6,376.2,-12.1,138,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2598,3414
$GC,3188,-1.40,-146.6,415.3,-11.5,153,3192,0.00,2.35,0.00,0.000,4,0.000,0.070,2059,3858,3414
$GC,3221,-1.40,-146.6,419.3,-12.2,154,3227,0.00,2.15,0.00,0.000,6,0.000,0.031,2059,2596,3414
$GC,3537,-1.40,-146.6,456.1,-12.2,170,3541,0.00,2.47,0.00,0.000,4,0.000,0.046,2059,1200,3414
$GC,3570,-1.40,-146.6,460.2,-12.4,171,3576,0.00,2.47,0.00,0.000,6,0.000,0.039,2059,2605,3414
$GC,3885,-1.40,-146.6,496.0,-11.3,187,3889,0.00,2.35,0.00,0.000,4,0.000,0.072,2059,3864,3414
$GC,3963,-1.40,-146.6,506.7,-13.5,190,3969,0.00,2.15,0.00,0.000,6,0.000,0.032,2059,2605,3414
$GC,4279,-1.40,-146.6,545.2,-13.7,206,4283,0.00,2.50,0.00,0.000,4,0.000,0.048,2059,1199,3414
$GC,4334,-1.50,-146.6,553.9,-15.9,208,4341,0.12,2.47,0.00,0.000,6,0.051,0.040,2021,2601,3414
$GC,4651,-1.41,-146.6,600.8,-14.5,224,4656,0.17,2.50,0.00,0.000,4,0.110,0.046,2056,1198,3414
$GC,4828,-1.47,-146.6,621.9,-8.8,232,4832,0.00,2.50,0.00,0.000,6,0.000,0.044,2056,2605,3414
$GC,5154,-1.47,-146.6,661.4,-12.0,248,5158,0.00,2.53,0.00,0.000,4,0.000,0.050,2056,1200,3414
$GC,5226,-1.52,-146.6,668.7,-10.9,251,5231,0.12,2.50,0.00,0.000,6,0.055,0.047,2020,2598,3414
$GC,5546,-1.45,-146.6,700.4,-5.4,266,5550,0.12,2.42,0.00,0.000,4,0.115,0.085,2042,3861,3412
$GC,5666,-1.31,-146.6,710.2,-6.0,271,5670,0.17,2.20,0.00,0.000,6,0.123,0.039,2073,2599,3411
$GC,5983,-1.37,-146.6,752.3,-13.0,286,5987,0.00,2.55,0.00,0.000,4,0.000,0.058,2073,1196,3410
$GC,6141,-1.45,-146.6,773.0,-13.2,293,6146,0.15,2.55,0.00,0.000,6,0.058,0.053,2035,2600,3409
$GC,6465,-1.37,-146.6,815.8,-13.6,309,6469,0.15,2.42,0.00,0.000,4,0.119,0.087,2061,3862,3407
$GC,6509,-1.42,-146.6,816.7,2.9,311,6513,0.00,2.22,0.00,0.000,6,0.000,0.047,2061,2612,3407
$STATE,6792,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6792,begin apogee
$GC,6799,-0.31,0.0,838.9,6.1,325,6935,1.17,0.00,128.35,1.141,6,0.128,0.000,2288,2287,2816
$STATE,6936,end apogee,CONTROL_FINISHED_OK
$STATE,6936,begin climb
$GC,6939,1.29,146.6,843.1,0.0,332,7083,1.67,2.85,131.88,1.125,4,0.079,0.086,2641,3707,2216
$GC,7340,0.99,146.6,811.2,18.6,350,7346,0.32,2.55,0.00,0.000,6,0.123,0.044,2581,2300,2209
$GC,7662,0.99,146.6,789.2,10.6,366,7666,0.00,2.62,0.00,0.000,4,0.000,0.066,2581,895,2204
$GC,7717,0.99,146.6,781.6,14.5,368,7723,0.00,2.58,0.00,0.000,6,0.000,0.051,2581,2305,2203
$GC,8033,1.00,147.0,749.8,10.0,384,8037,0.00,2.70,0.00,0.000,4,0.000,0.080,2581,3705,2202
$GC,8095,0.88,147.0,742.4,12.6,387,8100,0.15,2.53,0.00,0.000,6,0.137,0.044,2556,2299,2202
$GC,8422,0.91,178.3,711.5,8.6,403,8455,0.00,2.80,26.67,1.023,4,0.000,0.078,2555,3704,2089
$GC,8553,0.94,198.2,701.3,9.1,409,8578,0.00,2.53,19.00,0.996,6,0.000,0.043,2556,2298,2008
$GC,8910,1.07,217.7,663.6,9.1,426,8932,0.17,0.00,18.62,0.976,6,0.058,0.000,2603,2295,1929
$GC,9240,1.07,217.7,633.8,11.5,442,9245,0.00,2.62,0.00,0.000,4,0.000,0.067,2603,891,1923
$GC,9290,1.07,217.7,628.3,10.7,444,9295,0.00,2.58,0.00,0.000,6,0.000,0.049,2603,2307,1921
$GC,9606,1.12,262.6,601.6,8.0,459,9653,0.00,2.67,41.45,0.993,4,0.000,0.061,2603,892,1745
$GC,9800,1.18,262.6,582.8,14.0,468,9805,0.00,2.55,0.00,0.000,6,0.000,0.047,2603,2301,1738
$GC,10127,1.18,262.6,537.7,14.8,484,10131,0.00,2.67,0.00,0.000,4,0.000,0.071,2603,3712,1736
$GC,10167,1.18,262.6,531.6,16.6,486,10171,0.00,2.53,0.00,0.000,6,0.000,0.039,2603,2297,1736
$GC,10493,1.27,262.6,485.9,12.9,502,10498,0.15,2.58,0.00,0.000,4,0.054,0.057,2643,891,1735
$GC,10533,1.23,262.6,480.5,13.8,504,10538,0.00,2.50,0.00,0.000,6,0.000,0.041,2643,2304,1734
$GC,10859,1.23,262.6,442.0,11.4,520,10864,0.00,2.58,0.00,0.000,4,0.000,0.051,2643,891,1734
$GC,10893,1.18,262.6,437.8,12.7,521,10900,0.12,2.50,0.00,0.000,6,0.104,0.039,2620,2304,1733
$GC,11208,1.18,262.6,405.1,10.4,537,11212,0.00,2.55,0.00,0.000,4,0.000,0.051,2620,889,1734
$GC,11241,1.18,262.6,401.7,10.6,538,11247,0.00,2.50,0.00,0.000,6,0.000,0.038,2620,2308,1734
$GC,11557,1.24,264.5,370.1,9.9,554,11558,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2308,1734
$GC,11866,1.29,264.5,339.0,10.4,569,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2308,1735
$GC,12175,1.35,264.5,306.0,10.8,584,12177,0.15,0.00,0.00,0.000,6,0.051,0.000,2664,2308,1735
$GC,12484,1.29,264.5,262.9,14.9,599,12489,0.12,2.55,0.00,0.000,4,0.100,0.048,2640,883,1736
$GC,12573,1.29,264.5,249.9,13.5,603,12578,0.00,2.47,0.00,0.000,6,0.000,0.036,2640,2301,1735
$GC,12894,1.29,264.5,205.2,14.0,619,12899,0.00,2.53,0.00,0.000,4,0.000,0.048,2640,890,1736
$GC,12912,1.29,264.5,202.9,14.0,620,12916,0.00,2.47,0.00,0.000,6,0.000,0.035,2640,2306,1736
$GC,13238,1.29,264.5,159.0,12.8,636,13243,0.00,2.58,0.00,0.000,4,0.000,0.064,2640,3701,1737
$GC,13266,1.29,264.5,155.2,13.5,637,13270,0.00,2.45,0.00,0.000,6,0.000,0.031,2640,2292,1737
$GC,13582,1.29,264.5,114.6,13.8,652,13586,0.00,2.50,0.00,0.000,4,0.000,0.049,2640,895,1737
$GC,13626,1.29,264.5,108.4,13.8,654,13630,0.00,2.45,0.00,0.000,6,0.000,0.035,2640,2300,1737
$GC,13947,1.29,264.5,65.9,14.0,670,13951,0.00,2.50,0.00,0.000,4,0.000,0.047,2640,897,1737
$GC,13991,1.29,264.5,59.8,14.0,672,13995,0.00,2.45,0.00,0.000,6,0.000,0.035,2640,2304,1737
$GC,14312,1.29,264.5,19.2,12.9,688,14313,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2304,1738
$STATE,14453,end climb,SURFACE_DEPTH_REACHED
$STATE,14453,begin surface coast
$FINISH,0.7,1.009748
$STATE,14477,end surface coast,CONTROL_FINISHED_OK
$STATE,14477,begin surface
$SM_CCo,14560,0.00,0.000,0,0,1737,264.92
$SM_GC,1.45,12.40,0.00,0.00,0.096,0.000,0.000,72,2601,1737,-10.47,0.03,264.92
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1723
$TCM_TEMP,17.50
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,777.4,70.7
$24V_AH,23.5,8.651
$10V_AH,10.1,3.256
$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,29.850,154.200,365.975,0.000,0.000,18.365,28.323,131.977,11.000,0.000,0.000,17.200,1354.976,10830.376,504.047,1739.054,423.338,33.351,1400.891,0.000,1683.458,0.000,46.382,0.000
$DEVICE_MAMPS,188.682,87.438,1141.296,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.207,489.547,394.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34808,696
$CAP_FILE_SIZE,121577,0
$CFSIZE,260165632,257552384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070609,114057,6134.320,-834.827,35,2.6,54,-9.0