version: 66.04
glider: 16
mission: 13
dive: 19
start: 6 8 109 7 16 35
data:
$ID,16
$MISSION,13
$DIVE,19
$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,-2107958.2
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,071007,6136.895,-833.486,26,1.5,26,-9.0
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.1
$GPS2,071543,6136.956,-833.498,10,1.6,15,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.118,-0.236
$KALMAN_X,-29170.5,1127.0,390.6,12769.6,-6354.0
$KALMAN_Y,60268.4,444.8,-224.5,-37480.3,11529.1
$MHEAD_RNG_PITCHd_Wd,158.8,14911,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.55,0.000,2,0.000,0.000,73,2614,3288
$GC,82,-1.29,-146.6,5.1,-8.9,3,104,11.52,2.58,-2.15,0.000,4,0.182,0.054,2072,1197,3417
$GC,267,-1.38,-146.6,37.8,-13.0,11,272,0.00,2.47,0.00,0.000,6,0.000,0.038,2072,2596,3417
$GC,589,-1.38,-146.6,82.2,-14.2,27,593,0.00,2.35,0.00,0.000,4,0.000,0.068,2073,3860,3418
$GC,689,-1.38,-146.6,96.7,-14.7,31,695,0.00,2.17,0.00,0.000,6,0.000,0.030,2072,2578,3417
$GC,1005,-1.38,-146.6,139.8,-12.8,47,1009,0.00,2.40,0.00,0.000,4,0.000,0.066,2072,3866,3418
$GC,1067,-1.38,-146.6,147.7,-12.5,50,1071,0.00,2.15,0.00,0.000,6,0.000,0.030,2072,2599,3418
$GC,1400,-1.38,-146.6,186.6,-11.8,66,1404,0.00,2.35,0.00,0.000,4,0.000,0.067,2072,3861,3419
$GC,1462,-1.38,-146.6,193.8,-11.8,69,1466,0.00,2.15,0.00,0.000,6,0.000,0.031,2072,2597,3419
$GC,1794,-1.42,-146.6,233.1,-12.3,85,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2595,3419
$GC,2103,-1.42,-146.6,270.9,-11.6,100,2107,0.00,2.47,0.00,0.000,4,0.000,0.044,2073,1200,3419
$GC,2147,-1.52,-146.6,275.6,-10.1,102,2152,0.20,2.47,0.00,0.000,6,0.043,0.038,2017,2602,3418
$GC,2468,-1.42,-146.6,319.7,-13.8,118,2473,0.17,2.35,0.00,0.000,4,0.107,0.069,2049,3864,3419
$GC,2509,-1.42,-146.6,325.4,-14.4,120,2512,0.00,2.17,0.00,0.000,6,0.000,0.031,2049,2592,3418
$GC,2841,-1.42,-146.6,369.8,-14.7,136,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2591,3419
$GC,3151,-1.42,-146.6,413.7,-13.5,151,3154,0.00,2.35,0.00,0.000,4,0.000,0.069,2048,3860,3419
$GC,3247,-1.42,-146.6,426.4,-11.5,155,3251,0.00,2.15,0.00,0.000,6,0.000,0.031,2049,2600,3418
$GC,3574,-1.42,-146.6,466.2,-13.2,171,3578,0.00,2.47,0.00,0.000,4,0.000,0.047,2048,1201,3419
$GC,3734,-1.46,-146.6,484.4,-10.8,178,3738,0.00,2.47,0.00,0.000,6,0.000,0.042,2049,2599,3419
$GC,4060,-1.46,-146.6,517.3,-11.5,194,4064,0.00,2.35,0.00,0.000,4,0.000,0.073,2049,3860,3418
$GC,4256,-1.46,-146.6,544.1,-13.2,202,4262,0.00,2.17,0.00,0.000,6,0.000,0.033,2049,2596,3419
$GC,4571,-1.46,-146.6,581.4,-12.4,218,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2595,3418
$GC,4880,-1.46,-146.6,623.7,-14.1,233,4884,0.00,2.50,0.00,0.000,4,0.000,0.050,2049,1205,3417
$GC,5044,-1.46,-146.6,646.3,-14.8,240,5049,0.00,2.50,0.00,0.000,6,0.000,0.047,2049,2598,3416
$GC,5360,-1.46,-146.6,696.2,-15.8,255,5364,0.00,2.42,0.00,0.000,4,0.000,0.084,2049,3865,3414
$GC,5512,-1.46,-146.6,717.9,-17.5,262,5516,0.00,2.20,0.00,0.000,6,0.000,0.041,2049,2608,3414
$GC,5838,-1.46,-146.6,773.2,-14.1,278,5843,0.00,2.42,0.00,0.000,4,0.000,0.087,2049,3861,3413
$GC,5889,-1.41,-146.6,780.8,-18.4,280,5893,0.00,2.22,0.00,0.000,6,0.000,0.041,2049,2599,3413
$STATE,6078,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6078,begin apogee
$GC,6085,-0.31,0.0,809.0,14.8,289,6221,1.23,0.00,129.02,1.107,6,0.117,0.000,2288,2308,2816
$STATE,6222,end apogee,CONTROL_FINISHED_OK
$STATE,6222,begin climb
$GC,6225,1.29,146.6,811.4,0.0,296,6365,1.70,2.70,131.30,1.095,4,0.087,0.065,2638,897,2218
$GC,6508,1.19,172.8,792.7,8.8,308,6537,0.00,2.58,23.55,1.028,6,0.000,0.052,2638,2298,2111
$GC,6856,1.10,205.9,765.4,8.5,325,6893,0.17,2.80,30.23,1.039,4,0.118,0.080,2603,3710,1977
$GC,6986,0.99,205.9,750.8,16.0,330,6991,0.15,2.55,0.00,0.000,6,0.127,0.042,2578,2298,1974
$GC,7313,0.99,205.9,708.4,12.0,346,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2296,1970
$GC,7622,1.04,205.9,674.1,11.3,361,7627,0.00,2.72,0.00,0.000,4,0.000,0.078,2578,3707,1968
$GC,7672,1.04,205.9,666.9,15.5,363,7676,0.00,2.55,0.00,0.000,6,0.000,0.044,2578,2295,1968
$GC,7988,1.14,226.4,637.3,9.1,378,8013,0.12,2.70,18.83,0.957,4,0.061,0.064,2609,897,1892
$GC,8065,1.14,226.4,628.8,12.8,381,8070,0.00,2.58,0.00,0.000,6,0.000,0.050,2609,2306,1889
$GC,8381,1.22,307.9,602.1,6.3,396,8464,0.00,2.67,75.07,0.995,4,0.000,0.063,2609,894,1561
$GC,8535,1.42,384.5,593.6,6.5,403,8611,0.28,2.55,69.45,0.977,6,0.054,0.048,2674,2301,1248
$GC,8928,1.32,384.5,549.9,16.0,422,8933,0.15,2.70,0.00,0.000,4,0.110,0.074,2647,3712,1236
$GC,8990,1.32,384.5,540.2,16.1,425,8994,0.00,2.53,0.00,0.000,6,0.000,0.039,2647,2300,1234
$GC,9317,1.37,384.5,494.1,12.4,441,9321,0.00,2.60,0.00,0.000,4,0.000,0.060,2647,892,1233
$GC,9350,1.44,384.5,488.5,15.5,442,9357,0.12,2.53,0.00,0.000,6,0.059,0.042,2680,2301,1232
$GC,9665,1.44,384.5,442.9,15.6,458,9670,0.00,2.60,0.00,0.000,4,0.000,0.054,2679,885,1232
$GC,9783,1.44,384.5,422.2,19.4,463,9787,0.00,2.53,0.00,0.000,6,0.000,0.040,2679,2304,1231
$GC,10098,1.44,384.5,369.3,16.1,478,10103,0.00,2.58,0.00,0.000,4,0.000,0.051,2679,889,1231
$GC,10138,1.44,384.5,362.2,18.5,480,10142,0.00,2.50,0.00,0.000,6,0.000,0.038,2679,2301,1231
$GC,10465,1.44,384.5,308.3,15.4,496,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2301,1231
$GC,10774,1.44,384.5,261.1,14.4,511,10779,0.00,2.55,0.00,0.000,4,0.000,0.049,2679,891,1231
$GC,10819,1.49,384.5,254.3,15.1,513,10823,0.00,2.50,0.00,0.000,6,0.000,0.037,2679,2309,1231
$GC,11140,1.53,384.5,206.8,16.0,529,11144,0.00,2.58,0.00,0.000,4,0.000,0.048,2679,885,1231
$GC,11212,1.58,384.5,194.8,16.7,532,11218,0.10,2.50,0.00,0.000,6,0.055,0.036,2711,2309,1231
$GC,11530,1.54,384.5,136.2,18.4,547,11534,0.00,2.58,0.00,0.000,4,0.000,0.049,2711,883,1231
$GC,11574,1.54,384.5,127.1,19.0,549,11579,0.00,2.50,0.00,0.000,6,0.000,0.035,2711,2306,1231
$GC,11897,1.49,384.5,69.3,17.5,565,11902,0.15,2.55,0.00,0.000,4,0.101,0.047,2683,887,1231
$GC,11969,1.53,384.5,56.9,16.3,568,11974,0.00,2.47,0.00,0.000,6,0.000,0.035,2683,2301,1231
$GC,12285,1.53,384.5,5.1,16.9,583,12290,0.00,2.55,0.00,0.000,4,0.000,0.048,2683,885,1231
$STATE,12300,end climb,SURFACE_DEPTH_REACHED
$STATE,12301,begin surface coast
$FINISH,1.4,1.026789
$STATE,12306,end surface coast,CONTROL_FINISHED_OK
$STATE,12306,begin surface
$SM_CCo,12392,0.00,0.000,0,0,1228,389.78
$SM_GC,1.51,12.23,0.00,0.00,0.077,0.000,0.000,75,2601,1228,-10.46,0.03,389.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1727
$TCM_TEMP,19.50
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,750.4,67.6
$24V_AH,23.5,9.499
$10V_AH,10.1,3.654
$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,28.300,129.625,477.450,0.000,0.000,18.014,28.552,179.025,12.750,0.000,0.000,17.076,1158.323,9033.527,533.513,1564.154,440.990,33.352,1356.672,0.000,1514.429,0.000,44.754,0.000
$DEVICE_MAMPS,181.779,87.438,1106.781,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.824,406.248,325.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31709,584
$CAP_FILE_SIZE,105451,0
$CFSIZE,260165632,257232896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,080609,104424,6137.470,-835.805,41,1.1,41,-9.0