version: 66.04
glider: 16
mission: 13
dive: 15
start: 6 7 109 15 48 10
data:
$ID,16
$MISSION,13
$DIVE,15
$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,-2107874.8
$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,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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
$GPS1,154237,6133.762,-835.288,27,1.2,27,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.8
$GPS2,154719,6133.723,-835.287,9,1.3,14,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.117,-0.236
$KALMAN_X,-26185.3,287.2,579.7,8844.0,-9758.6
$KALMAN_Y,41237.0,-1965.3,-580.2,-21674.8,10304.7
$MHEAD_RNG_PITCHd_Wd,136.2,11409,-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,-61.25,0.000,2,0.000,0.000,74,2613,3179
$GC,82,-1.29,-146.6,4.7,-7.8,3,105,11.73,2.55,-4.12,0.000,4,0.190,0.054,2072,1180,3415
$GC,214,-1.37,-146.6,28.6,-11.8,8,220,0.00,2.47,0.00,0.000,6,0.000,0.038,2072,2592,3415
$GC,531,-1.37,-146.6,71.2,-13.3,24,535,0.00,2.38,0.00,0.000,4,0.000,0.069,2072,3864,3415
$GC,595,-1.37,-146.6,79.8,-13.0,27,599,0.00,2.20,0.00,0.000,6,0.000,0.030,2072,2575,3415
$GC,922,-1.37,-146.6,122.7,-14.0,43,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2572,3415
$GC,1231,-1.37,-146.6,163.1,-12.4,58,1235,0.00,2.40,0.00,0.000,4,0.000,0.067,2072,3862,3416
$GC,1309,-1.37,-146.6,172.5,-13.4,61,1315,0.00,2.15,0.00,0.000,6,0.000,0.029,2072,2598,3416
$GC,1625,-1.37,-146.6,213.9,-12.2,77,1629,0.00,2.35,0.00,0.000,4,0.000,0.067,2072,3860,3417
$GC,1687,-1.37,-146.6,221.8,-12.3,80,1690,0.00,2.15,0.00,0.000,6,0.000,0.030,2072,2600,3417
$GC,2020,-1.42,-146.6,262.2,-12.2,96,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2597,3417
$GC,2331,-1.46,-146.6,300.4,-12.3,111,2336,0.15,2.35,0.00,0.000,4,0.048,0.067,2026,3860,3417
$GC,2366,-1.35,-146.6,306.2,-16.9,112,2372,0.20,2.15,0.00,0.000,6,0.104,0.031,2063,2602,3417
$GC,2682,-1.35,-146.6,352.2,-15.3,128,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2600,3417
$GC,2991,-1.35,-146.6,400.5,-15.9,143,2995,0.00,2.35,0.00,0.000,4,0.000,0.070,2063,3858,3417
$GC,3058,-1.35,-146.6,411.2,-15.5,146,3062,0.00,2.15,0.00,0.000,6,0.000,0.031,2063,2594,3417
$GC,3385,-1.35,-146.6,457.4,-12.2,162,3389,0.00,2.38,0.00,0.000,4,0.000,0.069,2063,3862,3417
$GC,3424,-1.35,-146.6,462.3,-12.4,164,3428,0.00,2.15,0.00,0.000,6,0.000,0.031,2063,2601,3417
$GC,3756,-1.35,-146.6,506.4,-14.0,180,3761,0.00,2.47,0.00,0.000,4,0.000,0.047,2063,1205,3417
$GC,3784,-1.40,-146.6,510.5,-14.8,181,3789,0.00,2.47,0.00,0.000,6,0.000,0.040,2063,2607,3417
$GC,4100,-1.40,-146.6,554.8,-15.3,196,4104,0.00,2.47,0.00,0.000,4,0.000,0.044,2063,1203,3417
$GC,4179,-1.48,-146.6,566.5,-14.3,199,4184,0.12,2.47,0.00,0.000,6,0.051,0.039,2025,2608,3416
$GC,4495,-1.38,-146.6,618.2,-16.8,214,4499,0.17,2.35,0.00,0.000,4,0.106,0.074,2060,3861,3416
$GC,4601,-1.38,-146.6,634.0,-14.6,219,4605,0.00,2.15,0.00,0.000,6,0.000,0.033,2060,2599,3415
$GC,4934,-1.38,-146.6,674.1,-14.5,235,4938,0.00,2.38,0.00,0.000,4,0.000,0.074,2060,3861,3415
$GC,5006,-1.38,-146.6,685.1,-16.3,238,5010,0.00,2.17,0.00,0.000,6,0.000,0.033,2060,2597,3415
$GC,5327,-1.38,-146.6,729.1,-12.9,254,5332,0.00,2.50,0.00,0.000,4,0.000,0.051,2060,1204,3415
$GC,5559,-1.44,-146.6,758.6,-14.3,264,5563,0.00,2.50,0.00,0.000,6,0.000,0.044,2060,2605,3415
$GC,5874,-1.44,-146.6,796.9,-12.5,279,5878,0.00,2.40,0.00,0.000,4,0.000,0.084,2060,3864,3415
$GC,5902,-1.44,-146.6,801.5,-15.8,280,5906,0.00,2.20,0.00,0.000,6,0.000,0.041,2060,2611,3414
$GC,6230,-1.50,-146.6,831.0,-4.6,296,6235,0.12,2.40,0.00,0.000,4,0.061,0.084,2028,3860,3413
$GC,6286,-1.42,-146.6,838.1,-16.2,298,6292,0.12,2.22,0.00,0.000,6,0.109,0.044,2050,2603,3412
$STATE,6434,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6434,begin apogee
$GC,6441,-0.31,0.0,854.5,11.2,306,6577,1.23,0.00,129.43,1.128,6,0.117,0.000,2290,2288,2817
$STATE,6577,end apogee,CONTROL_FINISHED_OK
$STATE,6577,begin climb
$GC,6580,1.29,146.6,858.8,0.0,313,6727,1.60,2.80,132.10,1.119,4,0.066,0.077,2636,3708,2218
$GC,6980,1.20,255.4,826.9,5.0,331,7083,0.00,2.53,97.00,1.099,6,0.000,0.043,2636,2308,1775
$GC,7404,1.20,255.4,771.6,13.6,352,7409,0.00,2.70,0.00,0.000,4,0.000,0.077,2636,3701,1764
$GC,7483,1.16,255.4,761.8,10.2,355,7490,0.12,2.53,0.00,0.000,6,0.114,0.044,2615,2303,1763
$GC,7799,1.16,255.4,723.5,13.2,371,7803,0.00,2.65,0.00,0.000,4,0.000,0.067,2615,892,1761
$GC,7985,1.16,255.4,694.4,16.3,379,7989,0.00,2.55,0.00,0.000,6,0.000,0.048,2615,2299,1759
$GC,8300,1.16,255.4,646.4,20.7,394,8305,0.00,2.65,0.00,0.000,4,0.000,0.070,2615,3704,1758
$GC,8440,1.07,255.4,621.8,15.9,400,8446,0.12,2.53,0.00,0.000,6,0.116,0.039,2593,2288,1759
$GC,8756,1.07,255.4,579.2,18.2,415,8760,0.00,2.58,0.00,0.000,4,0.000,0.060,2593,889,1758
$GC,8841,1.19,317.6,573.8,7.2,419,8904,0.12,2.53,54.85,0.960,6,0.058,0.042,2626,2305,1521
$GC,9215,1.26,317.6,540.8,13.9,437,9219,0.00,2.58,0.00,0.000,4,0.000,0.054,2626,895,1514
$GC,9236,1.33,317.6,536.4,19.0,438,9241,0.10,2.50,0.00,0.000,6,0.055,0.040,2656,2301,1513
$GC,9557,1.33,317.6,485.0,14.4,454,9561,0.00,2.62,0.00,0.000,4,0.000,0.064,2657,3704,1513
$GC,9597,1.33,317.6,479.2,14.5,456,9601,0.00,2.47,0.00,0.000,6,0.000,0.034,2657,2298,1514
$GC,9923,1.33,317.6,436.2,13.3,472,9927,0.00,2.55,0.00,0.000,4,0.000,0.053,2657,888,1513
$GC,9944,1.33,317.6,433.0,14.6,473,9948,0.00,2.50,0.00,0.000,6,0.000,0.038,2657,2304,1512
$GC,10265,1.33,317.6,388.8,13.8,489,10269,0.00,2.55,0.00,0.000,4,0.000,0.050,2656,888,1512
$GC,10286,1.33,317.6,385.5,15.4,490,10290,0.00,2.50,0.00,0.000,6,0.000,0.037,2656,2309,1512
$GC,10607,1.33,317.6,335.8,15.8,506,10612,0.00,2.55,0.00,0.000,4,0.000,0.048,2657,895,1512
$GC,10629,1.33,317.6,332.0,17.2,507,10634,0.00,2.47,0.00,0.000,6,0.000,0.036,2657,2302,1512
$GC,10950,1.33,317.6,280.4,15.5,523,10954,0.00,2.55,0.00,0.000,4,0.000,0.048,2657,888,1512
$GC,11016,1.33,317.6,269.6,16.4,526,11020,0.00,2.47,0.00,0.000,6,0.000,0.035,2657,2299,1512
$GC,11337,1.33,317.6,221.0,14.7,542,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2299,1512
$GC,11646,1.33,317.6,172.0,16.1,557,11650,0.00,2.53,0.00,0.000,4,0.000,0.048,2656,895,1512
$GC,11689,1.33,317.6,164.7,16.2,559,11694,0.00,2.45,0.00,0.000,6,0.000,0.035,2657,2300,1512
$GC,12011,1.33,317.6,111.4,16.5,575,12015,0.00,2.53,0.00,0.000,4,0.000,0.048,2657,895,1513
$GC,12066,1.33,317.6,102.3,16.0,577,12073,0.00,2.45,0.00,0.000,6,0.000,0.035,2657,2300,1512
$GC,12382,1.33,317.6,50.7,15.5,593,12386,0.00,2.53,0.00,0.000,4,0.000,0.048,2657,895,1513
$GC,12490,1.38,317.6,34.2,14.7,598,12494,0.00,2.45,0.00,0.000,6,0.000,0.035,2657,2302,1513
$STATE,12711,end climb,SURFACE_DEPTH_REACHED
$STATE,12711,begin surface coast
$FINISH,0.7,1.026871
$STATE,12733,end surface coast,CONTROL_FINISHED_OK
$STATE,12733,begin surface
$SM_CCo,12816,0.00,0.000,0,0,1511,320.12
$SM_GC,1.43,11.98,0.00,0.00,0.074,0.000,0.000,69,2606,1511,-10.46,0.17,320.12
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1705
$TCM_TEMP,17.40
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,775.1,87.8
$24V_AH,23.5,8.934
$10V_AH,10.1,3.388
$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,27.900,137.650,413.375,0.000,0.000,18.014,27.805,127.134,13.500,0.000,0.000,14.399,1203.348,9422.128,497.576,1586.070,390.026,33.346,1326.099,0.000,1536.143,0.000,46.430,0.000
$DEVICE_MAMPS,190.216,84.370,1128.257,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.683,428.882,346.514,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31751,610
$CAP_FILE_SIZE,107185,0
$CFSIZE,260165632,257449984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070609,192300,6133.989,-834.771,38,1.8,38,-9.0