version: 66.04
glider: 16
mission: 13
dive: 14
start: 6 7 109 11 46 41
data:
$ID,16
$MISSION,13
$DIVE,14
$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,-2107859.5
$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,29
$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
$GPS1,114057,6134.320,-834.827,35,2.6,54,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.1
$GPS2,114550,6134.293,-834.874,12,1.6,12,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.212,-0.156
$KALMAN_X,-22612.2,743.7,665.2,5096.5,-10993.3
$KALMAN_Y,36491.5,1222.7,-560.8,-19087.2,9269.7
$MHEAD_RNG_PITCHd_Wd,141.3,11805,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.29,-146.6,0.0,0.0,0,78,0.00,0.00,-57.15,0.000,6,0.000,0.000,71,2602,3417
$GC,81,-1.29,-146.6,6.8,-12.6,3,102,11.75,2.55,0.00,0.000,4,0.190,0.042,2073,1191,3417
$GC,176,-1.38,-146.6,31.4,-13.9,7,180,0.00,2.50,0.00,0.000,6,0.000,0.038,2073,2603,3417
$GC,497,-1.38,-146.6,75.6,-13.9,23,501,0.00,2.35,0.00,0.000,4,0.000,0.069,2073,3864,3417
$GC,563,-1.38,-146.6,85.8,-14.3,26,567,0.00,2.20,0.00,0.000,6,0.000,0.029,2073,2577,3417
$GC,892,-1.42,-146.6,127.0,-12.3,42,897,0.00,2.40,0.00,0.000,4,0.000,0.067,2073,3864,3418
$GC,942,-1.42,-146.6,134.4,-13.5,44,946,0.00,2.15,0.00,0.000,6,0.000,0.030,2073,2597,3418
$GC,1264,-1.46,-146.6,173.9,-12.0,60,1269,0.15,2.35,0.00,0.000,4,0.048,0.066,2028,3861,3418
$GC,1331,-1.37,-146.6,183.7,-14.3,63,1335,0.17,2.15,0.00,0.000,6,0.107,0.030,2060,2599,3418
$GC,1657,-1.37,-146.6,220.8,-10.8,79,1661,0.00,2.35,0.00,0.000,4,0.000,0.067,2060,3861,3418
$GC,1697,-1.37,-146.6,225.2,-11.3,81,1701,0.00,2.15,0.00,0.000,6,0.000,0.031,2060,2593,3418
$GC,2030,-1.37,-146.6,262.1,-11.0,97,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2591,3419
$GC,2339,-1.37,-146.6,296.8,-11.4,112,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2591,3419
$GC,2648,-1.37,-146.6,330.1,-10.9,127,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2591,3419
$GC,2957,-1.37,-146.6,365.1,-12.4,142,2962,0.00,2.38,0.00,0.000,4,0.000,0.069,2060,3864,3419
$GC,2990,-1.37,-146.6,369.7,-13.4,143,2997,0.00,2.17,0.00,0.000,6,0.000,0.031,2060,2592,3419
$GC,3306,-1.37,-146.6,405.9,-11.0,159,3310,0.00,2.47,0.00,0.000,4,0.000,0.046,2060,1197,3419
$GC,3356,-1.43,-146.6,411.5,-11.4,161,3360,0.00,2.47,0.00,0.000,6,0.000,0.039,2060,2601,3419
$GC,3672,-1.43,-146.6,447.7,-11.8,176,3676,0.00,2.35,0.00,0.000,4,0.000,0.071,2060,3862,3419
$GC,3717,-1.43,-146.6,453.8,-14.0,178,3721,0.00,2.15,0.00,0.000,6,0.000,0.031,2060,2602,3419
$GC,4050,-1.43,-146.6,499.1,-15.0,194,4053,0.00,2.47,0.00,0.000,4,0.000,0.047,2059,1201,3418
$GC,4140,-1.43,-146.6,510.9,-13.9,198,4144,0.00,2.47,0.00,0.000,6,0.000,0.043,2060,2603,3419
$GC,4466,-1.43,-146.6,555.7,-14.7,214,4470,0.00,2.35,0.00,0.000,4,0.000,0.074,2060,3865,3418
$GC,4691,-1.43,-146.6,591.0,-14.1,224,4694,0.00,2.17,0.00,0.000,6,0.000,0.032,2060,2598,3418
$GC,5023,-1.43,-146.6,633.8,-13.2,240,5027,0.00,2.50,0.00,0.000,4,0.000,0.050,2060,1198,3418
$GC,5073,-1.49,-146.6,640.5,-13.2,242,5078,0.12,2.47,0.00,0.000,6,0.053,0.043,2022,2601,3419
$GC,5389,-1.42,-146.6,680.7,-13.2,257,5394,0.15,2.50,0.00,0.000,4,0.107,0.048,2049,1202,3418
$GC,5543,-1.42,-146.6,698.9,-12.4,264,5547,0.00,2.50,0.00,0.000,6,0.000,0.046,2049,2603,3417
$GC,5869,-1.42,-146.6,741.5,-12.6,280,5873,0.00,2.40,0.00,0.000,4,0.000,0.084,2049,3863,3416
$GC,5925,-1.42,-146.6,748.7,-12.7,282,5931,0.00,2.20,0.00,0.000,6,0.000,0.038,2049,2603,3416
$GC,6241,-1.33,-146.6,788.2,-9.5,298,6246,0.00,2.58,0.00,0.000,4,0.000,0.061,2049,1195,3414
$GC,6281,-1.33,-146.6,794.2,-16.6,300,6286,0.00,2.55,0.00,0.000,6,0.000,0.053,2049,2603,3414
$GC,6611,-1.26,-146.6,817.5,-4.9,316,6616,0.17,2.42,0.00,0.000,4,0.128,0.090,2080,3865,3413
$GC,6719,-1.37,-146.6,830.2,-10.7,321,6723,0.00,2.22,0.00,0.000,6,0.000,0.045,2080,2608,3412
$STATE,6960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6960,begin apogee
$GC,6967,-0.31,0.0,853.5,11.7,333,7103,1.05,0.00,129.43,1.140,6,0.117,0.000,2286,2297,2816
$STATE,7104,end apogee,CONTROL_FINISHED_OK
$STATE,7104,begin climb
$GC,7106,1.29,146.6,857.8,0.0,340,7247,1.67,2.85,132.00,1.125,4,0.066,0.082,2645,3709,2217
$GC,7500,1.03,146.6,811.5,13.2,358,7505,0.32,2.55,0.00,0.000,6,0.122,0.044,2585,2303,2210
$GC,7822,1.02,180.5,784.8,8.5,374,7857,0.00,2.78,29.70,1.054,4,0.000,0.079,2585,3714,2080
$GC,8067,0.97,180.5,755.5,11.9,384,8071,0.00,2.58,0.00,0.000,6,0.000,0.044,2585,2294,2076
$GC,8388,0.97,180.5,732.7,10.1,400,8392,0.00,2.72,0.00,0.000,4,0.000,0.078,2585,3709,2073
$GC,8454,0.97,180.5,724.8,11.6,403,8458,0.00,2.55,0.00,0.000,6,0.000,0.044,2585,2300,2073
$GC,8775,1.01,213.7,695.0,8.5,419,8810,0.00,2.70,30.12,1.019,4,0.000,0.067,2585,892,1944
$GC,8850,1.04,242.0,689.2,8.7,421,8884,0.00,2.60,27.55,1.013,6,0.000,0.049,2585,2311,1830
$GC,9209,1.18,288.3,659.1,7.9,439,9260,0.15,2.75,42.97,1.010,4,0.059,0.061,2622,887,1640
$GC,9310,1.18,288.3,649.3,10.4,443,9317,0.00,2.58,0.00,0.000,6,0.000,0.047,2622,2308,1635
$GC,9626,1.18,288.3,609.1,13.2,459,9630,0.00,2.67,0.00,0.000,4,0.000,0.074,2622,3709,1631
$GC,9688,1.11,288.3,600.7,14.5,462,9693,0.00,2.53,0.00,0.000,6,0.000,0.041,2622,2298,1630
$GC,10014,1.11,288.3,553.6,15.6,478,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2295,1629
$GC,10324,1.18,288.3,513.3,13.7,493,10328,0.00,2.58,0.00,0.000,4,0.000,0.058,2622,895,1628
$GC,10387,1.22,327.0,507.0,8.2,496,10429,0.00,2.50,34.28,0.904,6,0.000,0.041,2622,2304,1483
$GC,10740,1.32,327.0,468.3,12.5,513,10745,0.12,2.58,0.00,0.000,4,0.054,0.052,2658,887,1477
$GC,10803,1.32,327.0,459.5,13.7,516,10807,0.00,2.50,0.00,0.000,6,0.000,0.038,2658,2302,1476
$GC,11129,1.32,327.0,414.2,14.2,532,11133,0.00,2.55,0.00,0.000,4,0.000,0.051,2658,892,1476
$GC,11195,1.32,327.0,404.2,15.1,535,11199,0.00,2.50,0.00,0.000,6,0.000,0.037,2657,2308,1475
$GC,11516,1.32,327.0,358.0,14.1,551,11520,0.00,2.58,0.00,0.000,4,0.000,0.050,2658,888,1475
$GC,11538,1.32,327.0,354.7,14.6,552,11543,0.00,2.50,0.00,0.000,6,0.000,0.037,2658,2306,1475
$GC,11860,1.32,327.0,311.2,12.9,568,11864,0.00,2.55,0.00,0.000,4,0.000,0.048,2658,892,1475
$GC,11892,1.32,327.0,306.7,14.3,569,11898,0.00,2.47,0.00,0.000,6,0.000,0.036,2658,2301,1475
$GC,12208,1.32,327.0,258.3,15.7,585,12212,0.00,2.55,0.00,0.000,4,0.000,0.049,2658,891,1475
$GC,12263,1.32,327.0,248.9,16.1,587,12269,0.00,2.47,0.00,0.000,6,0.000,0.035,2658,2303,1475
$GC,12579,1.37,327.0,202.2,13.5,603,12583,0.00,2.55,0.00,0.000,4,0.000,0.048,2658,884,1475
$GC,12628,1.37,327.0,196.1,11.7,605,12633,0.00,2.50,0.00,0.000,6,0.000,0.035,2658,2306,1475
$GC,12944,1.37,327.0,157.6,12.0,620,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2307,1476
$GC,13253,1.37,327.0,115.5,14.4,635,13258,0.00,2.55,0.00,0.000,4,0.000,0.048,2658,887,1476
$GC,13294,1.41,327.0,109.2,16.0,637,13299,0.00,2.47,0.00,0.000,6,0.000,0.035,2658,2305,1476
$GC,13621,1.41,327.0,59.1,16.1,653,13625,0.00,2.53,0.00,0.000,4,0.000,0.047,2658,892,1476
$GC,13684,1.45,327.0,48.7,16.1,656,13688,0.00,2.45,0.00,0.000,6,0.000,0.034,2658,2299,1476
$STATE,13987,end climb,SURFACE_DEPTH_REACHED
$STATE,13987,begin surface coast
$FINISH,0.6,1.015994
$STATE,14009,end surface coast,CONTROL_FINISHED_OK
$STATE,14009,begin surface
$SM_CCo,14093,0.00,0.000,0,0,1475,329.19
$SM_GC,1.43,12.32,0.00,0.00,0.088,0.000,0.000,75,2612,1475,-10.46,0.34,329.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1689
$TCM_TEMP,17.40
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,800.0,63.3
$24V_AH,23.5,8.794
$10V_AH,10.1,3.325
$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,28.175,149.250,426.050,0.000,0.000,18.275,31.454,135.372,11.750,0.000,0.000,12.285,1307.928,10431.711,520.748,1709.882,415.926,33.345,1400.802,0.000,1655.628,0.000,50.925,0.000
$DEVICE_MAMPS,190.216,89.739,1139.762,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.340,467.923,369.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34892,672
$CAP_FILE_SIZE,115352,0
$CFSIZE,260165632,257495040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,070609,154237,6133.762,-835.288,27,1.2,27,-9.0