version: 66.04
glider: 16
mission: 13
dive: 18
start: 6 8 109 3 19 36
data:
$ID,16
$MISSION,13
$DIVE,18
$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,-2107940.5
$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,25
$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
$GPS1,031336,6135.646,-832.084,37,1.3,48,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.1
$GPS2,031846,6135.653,-832.198,13,2.4,32,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.066,-0.255
$KALMAN_X,-28698.2,2189.1,883.3,11869.9,-7477.5
$KALMAN_Y,55180.9,-292.0,-1229.5,-33050.8,15147.7
$MHEAD_RNG_PITCHd_Wd,157.7,12251,-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,-56.90,0.000,6,0.000,0.000,70,2608,3416
$GC,81,-1.29,-146.6,6.8,-12.7,3,102,11.70,2.55,0.00,0.000,4,0.188,0.040,2075,1190,3417
$GC,216,-1.35,-146.6,35.0,-11.8,9,221,0.00,2.50,0.00,0.000,6,0.000,0.038,2075,2606,3418
$GC,543,-1.35,-146.6,75.8,-12.2,25,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2606,3418
$GC,853,-1.40,-146.6,113.8,-12.1,40,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2606,3418
$GC,1163,-1.44,-146.6,147.4,-10.5,55,1164,0.15,0.00,0.00,0.000,6,0.044,0.000,2030,2606,3419
$GC,1471,-1.38,-146.6,188.2,-14.1,70,1476,0.15,2.35,0.00,0.000,4,0.110,0.069,2057,3867,3419
$GC,1526,-1.38,-146.6,196.1,-13.1,72,1533,0.00,2.20,0.00,0.000,6,0.000,0.029,2057,2575,3419
$GC,1842,-1.38,-146.6,235.7,-13.3,88,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2574,3419
$GC,2151,-1.38,-146.6,279.5,-14.6,103,2155,0.00,2.40,0.00,0.000,4,0.000,0.067,2057,3861,3419
$GC,2241,-1.38,-146.6,293.3,-14.4,107,2244,0.00,2.15,0.00,0.000,6,0.000,0.030,2057,2602,3419
$GC,2568,-1.38,-146.6,340.5,-14.3,123,2572,0.00,2.35,0.00,0.000,4,0.000,0.068,2057,3860,3419
$GC,2617,-1.38,-146.6,348.2,-15.2,125,2621,0.00,2.15,0.00,0.000,6,0.000,0.031,2057,2602,3419
$GC,2939,-1.38,-146.6,396.0,-15.0,141,2943,0.00,2.35,0.00,0.000,4,0.000,0.069,2057,3863,3419
$GC,2989,-1.38,-146.6,403.3,-14.2,143,2993,0.00,2.17,0.00,0.000,6,0.000,0.030,2057,2592,3419
$GC,3310,-1.38,-146.6,446.6,-13.3,159,3314,0.00,2.47,0.00,0.000,4,0.000,0.047,2057,1200,3419
$GC,3411,-1.42,-146.6,459.1,-12.5,163,3418,0.00,2.47,0.00,0.000,6,0.000,0.038,2057,2608,3419
$GC,3727,-1.42,-146.6,503.9,-13.1,179,3731,0.00,2.35,0.00,0.000,4,0.000,0.072,2057,3864,3419
$GC,3911,-1.42,-146.6,531.6,-14.6,187,3915,0.00,2.17,0.00,0.000,6,0.000,0.032,2057,2599,3419
$GC,4232,-1.42,-146.6,574.6,-13.7,203,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2596,3419
$GC,4541,-1.42,-146.6,613.5,-11.1,218,4546,0.00,2.50,0.00,0.000,4,0.000,0.051,2057,1204,3418
$GC,4609,-1.48,-146.6,620.9,-9.9,221,4613,0.00,2.50,0.00,0.000,6,0.000,0.045,2057,2603,3418
$GC,4930,-1.48,-146.6,654.6,-11.0,237,4934,0.00,2.53,0.00,0.000,4,0.000,0.052,2057,1205,3417
$GC,5019,-1.56,-146.6,663.8,-10.8,241,5024,0.17,2.53,0.00,0.000,6,0.050,0.048,2010,2608,3417
$GC,5343,-1.42,-146.6,703.8,-9.6,257,5348,0.20,2.40,0.00,0.000,4,0.117,0.085,2050,3858,3415
$GC,5428,-1.38,-146.6,713.7,-14.7,261,5432,0.00,2.20,0.00,0.000,6,0.000,0.039,2050,2599,3414
$GC,5754,-1.38,-146.6,757.1,-15.5,277,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2596,3413
$GC,6064,-1.38,-146.6,796.1,-14.5,292,6068,0.00,2.45,0.00,0.000,4,0.000,0.089,2050,3863,3411
$GC,6136,-1.32,-146.6,807.3,-16.3,295,6141,0.10,2.22,0.00,0.000,6,0.127,0.046,2066,2610,3410
$STATE,6305,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6305,begin apogee
$GC,6312,-0.31,0.0,826.5,11.4,303,6448,1.15,0.00,128.70,1.128,6,0.131,0.000,2286,2295,2816
$STATE,6449,end apogee,CONTROL_FINISHED_OK
$STATE,6449,begin climb
$GC,6452,1.29,146.6,828.2,0.0,310,6591,1.67,2.70,131.45,1.117,4,0.077,0.067,2639,892,2217
$GC,6837,1.10,146.6,807.5,10.8,326,6844,0.20,2.58,0.00,0.000,6,0.117,0.051,2603,2305,2208
$GC,7153,1.00,146.6,764.5,12.3,342,7158,0.15,2.62,0.00,0.000,4,0.121,0.061,2577,890,2205
$GC,7180,1.00,146.6,761.4,11.1,343,7185,0.00,2.55,0.00,0.000,6,0.000,0.049,2577,2300,2204
$GC,7496,1.11,252.1,743.9,5.2,358,7601,0.12,2.85,93.72,1.070,4,0.066,0.081,2607,3708,1788
$GC,7674,1.06,252.1,727.0,15.1,366,7678,0.00,2.58,0.00,0.000,6,0.000,0.046,2607,2301,1784
$GC,7995,1.13,262.8,694.4,9.5,382,8010,0.00,2.72,9.45,0.890,4,0.000,0.077,2607,3704,1745
$GC,8056,1.13,262.8,687.0,12.8,384,8061,0.00,2.55,0.00,0.000,6,0.000,0.044,2607,2299,1743
$GC,8383,1.13,262.8,647.7,11.1,400,8388,0.00,2.65,0.00,0.000,4,0.000,0.068,2607,888,1740
$GC,8445,1.13,262.8,640.4,12.0,403,8450,0.00,2.58,0.00,0.000,6,0.000,0.048,2607,2305,1738
$GC,8773,1.18,262.8,600.2,12.5,419,8777,0.00,2.62,0.00,0.000,4,0.000,0.061,2607,891,1738
$GC,8890,1.24,262.8,585.6,11.2,424,8895,0.10,2.55,0.00,0.000,6,0.064,0.046,2633,2304,1737
$GC,9205,1.24,262.8,544.2,13.9,439,9210,0.00,2.67,0.00,0.000,4,0.000,0.074,2633,3708,1737
$GC,9418,1.15,262.8,516.4,12.1,448,9425,0.12,2.53,0.00,0.000,6,0.117,0.040,2612,2295,1736
$GC,9734,1.15,262.8,478.0,12.5,464,9738,0.00,2.58,0.00,0.000,4,0.000,0.059,2611,895,1736
$GC,9774,1.09,262.8,473.9,11.7,466,9779,0.00,2.50,0.00,0.000,6,0.000,0.041,2612,2302,1735
$GC,10101,1.09,262.9,437.6,10.0,482,10106,0.00,2.55,0.00,0.000,4,0.000,0.051,2612,894,1735
$GC,10209,1.15,262.9,426.0,11.3,487,10213,0.00,2.50,0.00,0.000,6,0.000,0.040,2612,2304,1734
$GC,10536,1.21,262.9,391.2,12.2,503,10540,0.00,2.60,0.00,0.000,4,0.000,0.067,2612,3702,1735
$GC,10630,1.21,262.9,378.7,13.5,507,10634,0.00,2.47,0.00,0.000,6,0.000,0.035,2612,2293,1736
$GC,10946,1.28,262.9,341.6,11.9,522,10951,0.12,2.62,0.00,0.000,4,0.052,0.063,2647,3704,1736
$GC,10974,1.23,262.9,337.5,15.0,523,10978,0.00,2.47,0.00,0.000,6,0.000,0.034,2647,2293,1736
$GC,11289,1.23,262.9,288.9,15.2,538,11293,0.00,2.53,0.00,0.000,4,0.000,0.051,2647,891,1736
$GC,11328,1.23,262.9,283.9,11.8,540,11333,0.00,2.50,0.00,0.000,6,0.000,0.037,2647,2309,1737
$GC,11655,1.23,262.9,239.6,13.6,556,11657,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2309,1737
$GC,11965,1.23,262.9,194.8,14.1,571,11969,0.00,2.55,0.00,0.000,4,0.000,0.048,2647,891,1737
$GC,12014,1.23,262.9,187.6,14.1,573,12018,0.00,2.47,0.00,0.000,6,0.000,0.035,2647,2305,1738
$GC,12330,1.23,262.9,148.5,11.7,588,12334,0.00,2.58,0.00,0.000,4,0.000,0.062,2648,3704,1738
$GC,12363,1.17,262.9,144.4,12.3,589,12368,0.17,2.45,0.00,0.000,6,0.102,0.032,2614,2293,1738
$GC,12680,1.31,310.1,117.4,7.9,604,12727,0.15,2.67,40.97,0.627,4,0.047,0.060,2658,3701,1551
$GC,12749,1.31,310.1,110.0,11.4,607,12753,0.00,2.47,0.00,0.000,6,0.000,0.031,2658,2300,1549
$GC,13065,1.31,310.1,74.4,11.3,622,13070,0.00,2.53,0.00,0.000,4,0.000,0.049,2658,895,1547
$GC,13143,1.31,310.1,65.0,11.6,625,13150,0.00,2.45,0.00,0.000,6,0.000,0.035,2658,2302,1545
$GC,13460,1.31,310.1,29.6,11.8,641,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2302,1545
$STATE,13663,end climb,SURFACE_DEPTH_REACHED
$STATE,13663,begin surface coast
$FINISH,0.6,1.014885
$STATE,13685,end surface coast,CONTROL_FINISHED_OK
$STATE,13685,begin surface
$SM_CCo,13769,0.00,0.000,0,0,1542,312.76
$SM_GC,1.56,12.18,0.00,0.00,0.081,0.000,0.000,74,2613,1542,-10.46,0.37,312.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1720
$TCM_TEMP,16.50
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,750.3,85.3
$24V_AH,23.5,9.342
$10V_AH,10.1,3.591
$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,28.625,135.325,404.300,0.000,0.000,18.023,27.689,134.834,10.750,0.000,0.000,33.525,1266.682,10235.364,488.090,1684.179,404.208,33.346,1343.130,0.000,1613.554,0.000,47.762,0.000
$DEVICE_MAMPS,187.915,88.972,1128.257,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.384,456.967,391.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34883,652
$CAP_FILE_SIZE,112485,0
$CFSIZE,260165632,257277952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,080609,071007,6136.895,-833.486,26,1.5,26,-9.0