version: 66.04
glider: 16
mission: 13
dive: 16
start: 6 7 109 19 28 52
data:
$ID,16
$MISSION,13
$DIVE,16
$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,-2107892.2
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,192300,6133.989,-834.771,38,1.8,38,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-61.4
$GPS2,192801,6133.966,-834.798,11,1.9,16,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,-0.209
$KALMAN_X,-28444.5,1106.4,854.3,10433.4,-9608.2
$KALMAN_Y,47765.2,-3756.0,-686.9,-25862.9,16444.4
$MHEAD_RNG_PITCHd_Wd,139.3,11354,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-59.30,0.000,2,0.000,0.000,69,2607,3143
$GC,82,-1.29,-146.6,4.1,-6.0,3,105,11.57,2.53,-5.00,0.000,4,0.183,0.054,2075,1187,3415
$GC,237,-1.36,-146.6,29.3,-12.1,9,243,0.00,2.47,0.00,0.000,6,0.000,0.037,2075,2594,3415
$GC,552,-1.36,-146.6,69.5,-12.5,25,556,0.00,2.38,0.00,0.000,4,0.000,0.069,2075,3865,3415
$GC,593,-1.36,-146.6,74.8,-13.5,27,597,0.00,2.20,0.00,0.000,6,0.000,0.030,2075,2572,3416
$GC,926,-1.40,-146.6,117.7,-14.2,43,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2569,3416
$GC,1234,-1.40,-146.6,162.0,-14.3,58,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2569,3416
$GC,1544,-1.45,-146.6,203.3,-13.1,73,1549,0.15,2.40,0.00,0.000,4,0.046,0.066,2029,3860,3416
$GC,1594,-1.34,-146.6,211.6,-16.6,75,1599,0.20,2.15,0.00,0.000,6,0.108,0.030,2066,2602,3416
$GC,1909,-1.34,-146.6,254.9,-12.9,90,1913,0.00,2.35,0.00,0.000,4,0.000,0.067,2066,3862,3416
$GC,1942,-1.34,-146.6,259.3,-12.4,91,1949,0.00,2.15,0.00,0.000,6,0.000,0.029,2066,2595,3416
$GC,2258,-1.34,-146.6,296.7,-12.5,107,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2594,3416
$GC,2568,-1.34,-146.6,337.9,-13.1,122,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2594,3417
$GC,2876,-1.34,-146.6,378.8,-13.3,137,2881,0.00,2.38,0.00,0.000,4,0.000,0.069,2066,3864,3417
$GC,2910,-1.34,-146.6,383.5,-13.7,138,2916,0.00,2.15,0.00,0.000,6,0.000,0.030,2066,2603,3417
$GC,3225,-1.34,-146.6,420.5,-10.8,154,3229,0.00,2.47,0.00,0.000,4,0.000,0.045,2065,1207,3417
$GC,3264,-1.42,-146.6,424.5,-10.1,155,3270,0.00,2.45,0.00,0.000,6,0.000,0.039,2066,2601,3417
$GC,3580,-1.42,-146.6,457.7,-10.9,171,3584,0.00,2.35,0.00,0.000,4,0.000,0.071,2066,3860,3417
$GC,3619,-1.42,-146.6,462.6,-11.7,173,3623,0.00,2.15,0.00,0.000,6,0.000,0.031,2066,2601,3417
$GC,3952,-1.42,-146.6,498.6,-10.4,189,3956,0.00,2.47,0.00,0.000,4,0.000,0.046,2066,1204,3416
$GC,3991,-1.51,-146.6,502.7,-10.9,191,3996,0.17,2.45,0.00,0.000,6,0.045,0.039,2016,2600,3416
$GC,4318,-1.41,-146.6,548.5,-14.2,207,4323,0.17,2.35,0.00,0.000,4,0.108,0.071,2048,3858,3416
$GC,4575,-1.33,-146.6,583.5,-13.2,218,4581,0.10,2.15,0.00,0.000,6,0.119,0.031,2065,2599,3416
$GC,4890,-1.33,-146.6,621.1,-14.2,234,4894,0.00,2.38,0.00,0.000,4,0.000,0.073,2065,3864,3416
$GC,4919,-1.33,-146.6,625.4,-14.9,235,4923,0.00,2.17,0.00,0.000,6,0.000,0.032,2065,2595,3416
$GC,5234,-1.38,-146.6,663.7,-11.1,250,5238,0.00,2.47,0.00,0.000,4,0.000,0.051,2065,1206,3416
$GC,5431,-1.43,-146.6,681.1,-9.2,258,5438,0.00,2.47,0.00,0.000,6,0.000,0.044,2065,2598,3416
$GC,5747,-1.43,-146.6,716.7,-10.6,274,5751,0.00,2.50,0.00,0.000,4,0.000,0.051,2065,1206,3416
$GC,5894,-1.53,-146.6,733.1,-10.9,280,5901,0.17,2.50,0.00,0.000,6,0.048,0.048,2017,2601,3415
$GC,6211,-1.39,-146.6,773.9,-14.4,296,6215,0.17,2.42,0.00,0.000,4,0.120,0.084,2051,3865,3413
$GC,6364,-1.39,-146.6,789.3,-14.1,303,6368,0.00,2.20,0.00,0.000,6,0.000,0.044,2051,2615,3412
$GC,6697,-1.39,-146.6,829.3,-9.3,319,6701,0.00,2.40,0.00,0.000,4,0.000,0.084,2051,3864,3411
$STATE,6772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6772,begin apogee
$GC,6782,-0.31,0.0,840.8,9.3,322,6915,1.17,0.00,129.45,1.132,6,0.119,0.000,2285,2306,2817
$STATE,6915,end apogee,CONTROL_FINISHED_OK
$STATE,6916,begin climb
$GC,6918,1.29,146.6,842.0,0.0,329,7063,1.67,2.78,131.62,1.114,4,0.082,0.077,2635,3711,2218
$GC,7144,1.07,146.6,833.0,12.0,339,7149,0.22,2.58,0.00,0.000,6,0.120,0.046,2595,2300,2212
$GC,7460,1.06,250.8,803.1,5.3,354,7564,0.00,2.78,93.30,1.087,4,0.000,0.077,2596,3707,1792
$GC,7603,1.06,250.8,777.7,20.6,360,7609,0.00,2.55,0.00,0.000,6,0.000,0.043,2595,2298,1788
$GC,7919,1.24,329.9,742.8,6.4,376,8002,0.15,2.78,71.88,1.056,4,0.058,0.078,2631,3705,1469
$GC,8051,1.24,329.9,727.4,16.1,382,8056,0.00,2.58,0.00,0.000,6,0.000,0.045,2631,2298,1465
$GC,8378,1.24,329.9,670.7,18.6,398,8382,0.00,2.62,0.00,0.000,4,0.000,0.064,2631,890,1459
$GC,8450,1.31,329.9,655.5,14.7,401,8455,0.00,2.55,0.00,0.000,6,0.000,0.044,2631,2305,1457
$GC,8766,1.31,329.9,608.1,11.7,416,8770,0.00,2.65,0.00,0.000,4,0.000,0.061,2632,883,1457
$GC,8866,1.35,329.9,595.1,16.7,420,8874,0.10,2.55,0.00,0.000,6,0.065,0.047,2658,2298,1455
$GC,9182,1.35,329.9,547.9,15.0,436,9187,0.00,2.65,0.00,0.000,4,0.000,0.071,2658,3702,1455
$GC,9200,1.31,329.9,545.3,14.6,437,9205,0.00,2.53,0.00,0.000,6,0.000,0.038,2658,2287,1455
$GC,9526,1.32,340.8,506.4,9.5,453,9540,0.00,2.62,8.00,0.775,4,0.000,0.058,2658,894,1427
$GC,9581,1.32,340.8,500.1,10.6,455,9585,0.00,2.53,0.00,0.000,6,0.000,0.041,2658,2305,1426
$GC,9896,1.32,340.8,458.1,13.3,470,9901,0.00,2.58,0.00,0.000,4,0.000,0.052,2658,887,1426
$GC,9929,1.32,340.8,452.9,14.9,471,9935,0.00,2.50,0.00,0.000,6,0.000,0.039,2656,2301,1426
$GC,10245,1.32,340.8,403.5,15.8,487,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2301,1426
$GC,10555,1.37,340.8,353.2,16.4,502,10559,0.00,2.55,0.00,0.000,4,0.000,0.050,2658,891,1426
$GC,10594,1.42,340.8,346.5,17.0,504,10599,0.00,2.47,0.00,0.000,6,0.000,0.037,2658,2301,1426
$GC,10921,1.46,340.8,297.6,14.4,520,10926,0.00,2.55,0.00,0.000,4,0.000,0.050,2658,890,1426
$GC,10966,1.51,340.8,291.0,14.6,522,10971,0.12,2.47,0.00,0.000,6,0.050,0.036,2694,2304,1426
$GC,11288,1.46,340.8,238.2,16.4,538,11292,0.00,2.55,0.00,0.000,4,0.000,0.049,2694,888,1426
$GC,11332,1.41,340.8,230.7,16.4,540,11337,0.15,2.47,0.00,0.000,6,0.101,0.036,2666,2299,1426
$GC,11653,1.41,340.8,183.2,15.6,556,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2300,1426
$GC,11962,1.41,340.8,139.8,13.2,571,11967,0.00,2.53,0.00,0.000,4,0.000,0.048,2666,892,1426
$GC,12041,1.45,340.8,127.7,14.8,574,12047,0.00,2.45,0.00,0.000,6,0.000,0.035,2666,2301,1426
$GC,12358,1.45,340.8,82.3,14.0,590,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2301,1426
$GC,12666,1.49,340.8,38.7,13.6,605,12671,0.00,2.53,0.00,0.000,4,0.000,0.048,2666,892,1427
$GC,12752,1.55,340.8,27.0,13.3,609,12757,0.15,2.45,0.00,0.000,6,0.048,0.035,2710,2301,1427
$STATE,12911,end climb,SURFACE_DEPTH_REACHED
$STATE,12911,begin surface coast
$FINISH,0.6,1.020654
$STATE,12933,end surface coast,CONTROL_FINISHED_OK
$STATE,12933,begin surface
$SM_CCo,13017,0.00,0.000,0,0,1426,341.21
$SM_GC,1.39,12.75,0.00,0.00,0.095,0.000,0.000,74,2607,1426,-10.47,0.17,341.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1703
$TCM_TEMP,16.40
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,803.4,47.1
$24V_AH,23.5,9.081
$10V_AH,10.1,3.453
$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,29.225,133.725,434.250,0.000,0.000,17.976,27.715,142.390,10.750,0.000,0.000,16.730,1195.613,9625.532,523.941,1566.450,408.766,33.341,1346.748,0.000,1514.309,0.000,47.938,0.000
$DEVICE_MAMPS,183.313,84.370,1132.092,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.451,432.237,357.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31709,618
$CAP_FILE_SIZE,108141,0
$CFSIZE,260165632,257400832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070609,230706,6134.644,-832.814,41,1.3,41,-9.0