version: 66.04
glider: 16
mission: 13
dive: 10
start: 6 6 109 20 32 13
data:
$ID,16
$MISSION,13
$DIVE,10
$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,-3
$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,-2107782.8
$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,2333
$C_ROLL_CLIMB,2433
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,26
$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,20
$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,3
$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
$GPS1,202236,6130.084,-831.636,34,1.2,34,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-59.7
$GPS2,203020,6130.076,-831.582,15,1.3,15,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.232,-0.126
$KALMAN_X,-6035.7,-1388.9,219.6,-5957.7,-3271.5
$KALMAN_Y,17854.4,-2516.9,453.5,-5547.7,4781.7
$MHEAD_RNG_PITCHd_Wd,100.4,5818,-18.1,-10.000
$D_GRID,826
$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,-146.6,0.0,0.0,0,94,0.00,0.00,-76.50,0.000,2,0.000,0.000,70,2339,3397
$GC,97,-1.29,-146.6,5.7,-6.2,4,120,11.60,2.58,-0.32,0.000,4,0.186,0.057,2075,930,3418
$GC,159,-1.40,-146.6,24.0,-12.2,6,166,0.00,2.45,0.00,0.000,6,0.000,0.035,2075,2333,3418
$GC,475,-1.45,-146.6,58.4,-10.3,22,480,0.15,2.60,0.00,0.000,4,0.045,0.063,2027,3741,3418
$GC,711,-1.35,-146.6,98.2,-17.5,32,718,0.20,2.42,0.00,0.000,6,0.103,0.030,2065,2328,3418
$GC,1027,-1.35,-146.6,143.8,-13.9,48,1031,0.00,2.60,0.00,0.000,4,0.000,0.062,2065,3737,3418
$GC,1171,-1.35,-146.6,163.6,-12.9,54,1177,0.00,2.42,0.00,0.000,6,0.000,0.030,2065,2329,3419
$GC,1488,-1.35,-146.6,202.4,-12.3,70,1492,0.00,2.60,0.00,0.000,4,0.000,0.063,2065,3737,3419
$GC,1634,-1.35,-146.6,220.0,-11.8,76,1640,0.00,2.42,0.00,0.000,6,0.000,0.031,2065,2330,3419
$GC,1950,-1.35,-146.6,257.9,-12.1,92,1954,0.00,2.60,0.00,0.000,4,0.000,0.064,2065,3737,3419
$GC,2133,-1.35,-146.6,281.6,-13.3,100,2138,0.00,2.42,0.00,0.000,6,0.000,0.031,2065,2328,3419
$GC,2449,-1.35,-146.6,319.1,-11.7,115,2453,0.00,2.60,0.00,0.000,4,0.000,0.064,2065,3739,3419
$GC,2634,-1.35,-146.6,341.4,-12.3,123,2638,0.00,2.42,0.00,0.000,6,0.000,0.031,2065,2331,3419
$GC,2950,-1.35,-146.6,378.5,-12.2,138,2954,0.00,2.58,0.00,0.000,4,0.000,0.064,2065,3736,3419
$GC,3133,-1.35,-146.6,404.3,-14.4,146,3138,0.00,2.42,0.00,0.000,6,0.000,0.031,2067,2327,3419
$GC,3451,-1.40,-146.6,451.2,-14.3,161,3455,0.00,2.60,0.00,0.000,4,0.000,0.064,2065,3736,3419
$GC,3636,-1.40,-146.6,476.2,-12.3,169,3640,0.00,2.42,0.00,0.000,6,0.000,0.031,2065,2330,3419
$GC,3952,-1.45,-146.6,511.4,-10.4,184,3956,0.00,2.60,0.00,0.000,4,0.000,0.065,2065,3737,3419
$GC,4097,-1.45,-146.6,527.9,-12.3,190,4103,0.00,2.42,0.00,0.000,6,0.000,0.032,2065,2323,3419
$GC,4413,-1.50,-146.6,570.5,-16.8,206,4418,0.15,2.62,0.00,0.000,4,0.048,0.066,2022,3739,3419
$GC,4581,-1.42,-146.6,600.6,-15.5,213,4588,0.15,2.42,0.00,0.000,6,0.105,0.033,2050,2334,3418
$GC,4897,-1.42,-146.6,636.9,-11.1,229,4901,0.00,2.50,0.00,0.000,4,0.000,0.052,2049,929,3418
$GC,5080,-1.46,-146.6,653.4,-9.7,237,5084,0.00,2.45,0.00,0.000,6,0.000,0.038,2050,2341,3418
$GC,5406,-1.46,-146.6,690.3,-10.4,253,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2341,3418
$GC,5715,-1.46,-146.6,729.5,-13.1,268,5720,0.00,2.62,0.00,0.000,4,0.000,0.077,2050,3735,3417
$GC,5811,-1.39,-146.6,749.3,-19.3,272,5816,0.00,2.47,0.00,0.000,6,0.000,0.041,2050,2328,3416
$GC,6131,-1.39,-146.6,796.5,-16.9,288,6136,0.00,2.67,0.00,0.000,4,0.000,0.081,2050,3735,3414
$GC,6279,-1.34,-146.6,819.8,-17.7,294,6285,0.00,2.47,0.00,0.000,6,0.000,0.041,2050,2331,3413
$STATE,6346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6346,begin apogee
$GC,6353,-0.31,0.0,827.4,10.8,298,6488,1.20,0.00,128.45,1.114,6,0.109,0.000,2291,2436,2817
$STATE,6488,end apogee,CONTROL_FINISHED_OK
$STATE,6489,begin climb
$GC,6491,1.29,146.6,828.4,0.0,305,6630,1.62,2.67,130.40,1.097,4,0.071,0.064,2640,1029,2217
$GC,6701,1.12,146.6,813.8,12.0,314,6706,0.17,2.55,0.00,0.000,6,0.104,0.050,2607,2432,2211
$GC,7028,1.07,146.6,793.4,14.7,330,7032,0.00,2.72,0.00,0.000,4,0.000,0.084,2607,3837,2207
$GC,7286,0.83,146.6,753.7,19.6,341,7293,0.35,2.53,0.00,0.000,6,0.110,0.044,2540,2427,2205
$GC,7602,1.00,218.2,715.9,6.7,357,7671,0.17,2.65,63.15,1.036,4,0.058,0.065,2583,1036,1926
$GC,7694,1.04,218.2,707.5,10.6,361,7700,0.00,2.55,0.00,0.000,6,0.000,0.051,2583,2433,1921
$GC,8009,1.11,218.2,674.7,13.6,377,8014,0.00,2.60,0.00,0.000,4,0.000,0.061,2583,1032,1917
$GC,8072,1.11,218.2,667.0,12.7,380,8076,0.00,2.55,0.00,0.000,6,0.000,0.051,2583,2439,1915
$GC,8399,1.13,234.5,637.0,9.3,396,8421,0.10,2.65,13.80,0.919,4,0.068,0.060,2609,1033,1860
$GC,8584,1.13,234.5,617.0,11.3,404,8588,0.00,2.55,0.00,0.000,6,0.000,0.050,2609,2433,1857
$GC,8905,1.18,284.8,590.3,7.7,420,8957,0.00,2.65,46.95,0.972,4,0.000,0.057,2609,1027,1654
$GC,9189,1.27,284.8,564.1,11.3,433,9194,0.12,2.55,0.00,0.000,6,0.058,0.046,2644,2436,1645
$GC,9516,1.18,284.8,520.4,14.7,449,9521,0.15,2.58,0.00,0.000,4,0.109,0.056,2615,1029,1643
$GC,9582,1.18,284.8,512.5,10.7,452,9587,0.00,2.53,0.00,0.000,6,0.000,0.044,2615,2436,1642
$GC,9904,1.25,284.8,478.5,11.2,468,9908,0.00,2.55,0.00,0.000,4,0.000,0.050,2615,1029,1642
$GC,9989,1.34,284.8,467.1,13.3,472,9994,0.15,2.50,0.00,0.000,6,0.053,0.040,2656,2438,1641
$GC,10315,1.34,284.8,419.0,14.6,488,10319,0.00,2.53,0.00,0.000,4,0.000,0.048,2656,1030,1642
$GC,10354,1.34,284.8,413.5,13.8,490,10359,0.00,2.47,0.00,0.000,6,0.000,0.039,2656,2433,1642
$GC,10681,1.34,284.8,369.8,13.3,506,10686,0.00,2.53,0.00,0.000,4,0.000,0.048,2656,1030,1642
$GC,10759,1.34,284.8,359.5,12.7,509,10766,0.00,2.47,0.00,0.000,6,0.000,0.038,2656,2433,1642
$GC,11075,1.34,284.8,319.6,13.0,525,11079,0.00,2.53,0.00,0.000,4,0.000,0.047,2656,1026,1642
$GC,11186,1.34,284.8,304.4,13.6,530,11190,0.00,2.47,0.00,0.000,6,0.000,0.037,2656,2433,1642
$GC,11508,1.34,284.8,258.1,14.4,546,11512,0.00,2.50,0.00,0.000,4,0.000,0.046,2656,1030,1642
$GC,11569,1.34,284.8,249.3,13.6,549,11574,0.00,2.45,0.00,0.000,6,0.000,0.037,2656,2436,1642
$GC,11896,1.34,284.8,204.6,13.4,565,11900,0.00,2.53,0.00,0.000,4,0.000,0.047,2656,1027,1643
$GC,12013,1.34,284.8,188.9,13.1,570,12018,0.00,2.47,0.00,0.000,6,0.000,0.036,2656,2441,1643
$GC,12329,1.34,284.8,151.2,10.4,585,12333,0.00,2.50,0.00,0.000,4,0.000,0.045,2656,1030,1643
$GC,12408,1.34,284.8,142.3,10.6,588,12412,0.00,2.45,0.00,0.000,6,0.000,0.036,2656,2433,1643
$GC,12724,1.34,284.8,100.1,14.8,603,12728,0.00,2.50,0.00,0.000,4,0.000,0.045,2656,1029,1644
$GC,12809,1.34,284.8,88.6,12.5,607,12813,0.00,2.45,0.00,0.000,6,0.000,0.035,2656,2432,1644
$GC,13135,1.34,284.8,49.7,12.6,623,13140,0.00,2.50,0.00,0.000,4,0.000,0.045,2656,1030,1644
$GC,13253,1.34,284.8,34.3,13.8,628,13257,0.00,2.45,0.00,0.000,6,0.000,0.035,2656,2432,1644
$STATE,13484,end climb,SURFACE_DEPTH_REACHED
$STATE,13484,begin surface coast
$FINISH,0.6,1.012231
$STATE,13506,end surface coast,CONTROL_FINISHED_OK
$STATE,13506,begin surface
$SM_CCo,13589,0.00,0.000,0,0,1643,287.98
$SM_GC,1.60,12.18,0.00,0.00,0.085,0.000,0.000,71,2311,1643,-10.45,-0.62,287.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1717
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,800.1,52.2
$24V_AH,23.6,8.232
$10V_AH,10.1,3.060
$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,28.475,146.950,382.750,0.000,0.000,36.377,60.351,198.777,7.750,0.000,0.000,15.184,1315.786,9800.468,510.802,1917.880,572.862,33.333,1460.876,0.000,1854.034,0.000,52.813,0.000
$DEVICE_MAMPS,185.614,84.370,1113.684,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.155,445.825,365.536,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31749,640
$CAP_FILE_SIZE,120853,0
$CFSIZE,260165632,257716224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,070609,001954,6130.809,-829.872,36,1.7,36,-9.0