version: 66.04
glider: 16
mission: 13
dive: 11
start: 6 7 109 0 25 35
data:
$ID,16
$MISSION,13
$DIVE,11
$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,-2107800.8
$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,46
$R_STBD_OVSHOOT,24
$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
$GPS1,001954,6130.809,-829.872,36,1.7,36,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-66.2
$GPS2,002444,6130.803,-829.851,17,1.7,17,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.115,-0.237
$KALMAN_X,-8970.4,-225.6,-194.9,-2239.6,-2696.4
$KALMAN_Y,23762.2,-4416.2,-297.1,-7468.4,12915.4
$MHEAD_RNG_PITCHd_Wd,118.1,4538,-21.1,-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,-1.44,-108.5,0.0,0.0,0,77,0.00,0.00,-57.42,0.000,6,0.000,0.000,71,2310,3259
$GC,80,-1.44,-108.5,5.7,-10.0,3,97,11.38,1.92,0.00,0.000,4,0.183,0.040,2040,1205,3260
$GC,226,-1.51,-108.5,36.3,-13.0,8,232,0.00,2.45,0.00,0.000,6,0.000,0.038,2040,2602,3260
$GC,542,-1.51,-108.5,80.1,-13.5,24,546,0.00,2.35,0.00,0.000,4,0.000,0.069,2040,3864,3260
$GC,614,-1.51,-108.5,90.4,-14.5,27,617,0.00,2.15,0.00,0.000,6,0.000,0.029,2040,2596,3260
$GC,935,-1.51,-108.5,137.6,-16.3,43,939,0.00,2.35,0.00,0.000,4,0.000,0.067,2040,3860,3261
$GC,1013,-1.51,-108.5,151.0,-16.5,46,1020,0.00,2.12,0.00,0.000,6,0.000,0.029,2040,2601,3261
$GC,1330,-1.51,-108.5,200.0,-15.7,62,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2601,3261
$GC,1638,-1.51,-108.5,246.2,-15.3,77,1642,0.00,2.35,0.00,0.000,4,0.000,0.067,2040,3865,3261
$GC,1716,-1.51,-108.5,259.0,-15.3,80,1722,0.00,2.15,0.00,0.000,6,0.000,0.031,2040,2600,3261
$GC,2033,-1.51,-108.5,301.1,-11.9,96,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2599,3261
$GC,2341,-1.51,-108.5,336.0,-10.7,111,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2599,3261
$GC,2650,-1.51,-108.5,372.1,-13.3,126,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2599,3261
$GC,2959,-1.51,-108.5,409.2,-11.9,141,2964,0.00,2.45,0.00,0.000,4,0.000,0.044,2040,1209,3261
$GC,2982,-1.56,-108.5,412.1,-12.2,142,2986,0.00,2.42,0.00,0.000,6,0.000,0.038,2040,2600,3261
$GC,3308,-1.56,-108.5,455.9,-14.5,158,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2600,3261
$GC,3619,-1.61,-108.5,502.5,-14.4,173,3624,0.15,2.35,0.00,0.000,4,0.048,0.071,1996,3863,3261
$GC,3751,-1.49,-108.5,526.1,-18.3,179,3755,0.20,2.15,0.00,0.000,6,0.116,0.031,2032,2604,3261
$GC,4077,-1.49,-108.5,571.5,-13.5,195,4081,0.00,2.47,0.00,0.000,4,0.000,0.046,2032,1201,3261
$GC,4145,-1.55,-108.5,580.7,-13.1,198,4149,0.00,2.47,0.00,0.000,6,0.000,0.041,2032,2603,3261
$GC,4471,-1.55,-108.5,624.7,-13.7,214,4476,0.00,2.50,0.00,0.000,4,0.000,0.047,2032,1198,3260
$GC,4729,-1.69,-135.7,655.2,-8.3,225,4734,0.17,2.50,0.00,0.000,6,0.048,0.044,1985,2607,3260
$GC,5045,-1.61,-135.7,705.3,-17.4,240,5050,0.12,2.53,0.00,0.000,4,0.118,0.051,2008,1202,3259
$GC,5089,-1.61,-135.7,712.7,-16.2,242,5093,0.00,2.50,0.00,0.000,6,0.000,0.048,2007,2606,3259
$GC,5416,-1.57,-135.7,762.8,-14.7,258,5420,0.00,2.40,0.00,0.000,4,0.000,0.087,2007,3859,3258
$GC,5534,-1.53,-135.7,791.6,-24.4,263,5538,0.00,2.20,0.00,0.000,6,0.000,0.043,2007,2611,3257
$STATE,5832,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5832,begin apogee
$GC,5839,-0.31,0.0,834.3,13.0,278,5938,1.45,0.00,94.95,1.115,6,0.128,0.000,2287,2297,2818
$STATE,5939,end apogee,CONTROL_FINISHED_OK
$STATE,5939,begin climb
$GC,5942,1.47,135.7,836.1,0.0,283,6075,1.88,2.83,122.40,1.109,4,0.085,0.078,2677,3709,2262
$GC,6332,1.14,135.7,819.4,10.4,300,6339,0.35,2.53,0.00,0.000,6,0.120,0.047,2613,2312,2253
$GC,6648,1.18,166.8,780.0,8.1,316,6682,0.00,2.75,27.12,1.039,4,0.000,0.078,2612,3707,2136
$GC,6938,1.13,166.8,739.8,12.5,329,6942,0.00,2.55,0.00,0.000,6,0.000,0.044,2612,2295,2132
$GC,7264,1.13,166.8,712.1,10.5,345,7269,0.00,2.70,0.00,0.000,4,0.000,0.076,2612,3704,2128
$GC,7365,1.13,166.8,700.6,11.8,349,7371,0.00,2.55,0.00,0.000,6,0.000,0.044,2612,2289,2128
$GC,7681,1.18,166.8,660.9,13.4,365,7685,0.00,2.62,0.00,0.000,4,0.000,0.071,2612,892,2127
$GC,7702,1.18,166.8,657.6,14.3,366,7706,0.00,2.53,0.00,0.000,6,0.000,0.049,2612,2301,2126
$GC,8023,1.23,166.8,618.2,11.4,382,8027,0.00,2.62,0.00,0.000,4,0.000,0.066,2612,895,2125
$GC,8140,1.27,166.8,606.8,10.6,387,8145,0.12,2.55,0.00,0.000,6,0.067,0.051,2642,2301,2124
$GC,8456,1.23,202.8,581.6,7.8,402,8497,0.00,2.67,31.48,0.963,4,0.000,0.061,2643,888,1988
$GC,8694,1.33,299.1,566.5,4.1,412,8787,0.00,2.55,87.47,0.970,6,0.000,0.048,2642,2300,1597
$GC,9109,1.41,299.1,530.1,14.1,433,9114,0.10,2.65,0.00,0.000,4,0.065,0.071,2669,3705,1584
$GC,9148,1.41,299.1,523.3,18.0,435,9153,0.00,2.50,0.00,0.000,6,0.000,0.038,2668,2298,1583
$GC,9476,1.47,299.1,470.0,15.9,451,9480,0.00,2.58,0.00,0.000,4,0.000,0.058,2669,895,1582
$GC,9560,1.55,299.1,455.1,17.3,455,9565,0.12,2.50,0.00,0.000,6,0.058,0.041,2703,2303,1580
$GC,9887,1.55,299.1,394.7,18.0,471,9892,0.00,2.58,0.00,0.000,4,0.000,0.052,2701,887,1580
$GC,9965,1.55,299.1,380.1,17.6,474,9971,0.00,2.50,0.00,0.000,6,0.000,0.038,2701,2304,1579
$GC,10281,1.55,299.1,329.0,15.3,490,10285,0.00,2.55,0.00,0.000,4,0.000,0.050,2701,894,1578
$GC,10330,1.55,299.1,321.4,14.2,492,10335,0.00,2.47,0.00,0.000,6,0.000,0.037,2701,2302,1579
$GC,10646,1.55,299.1,279.3,12.6,507,10650,0.00,2.55,0.00,0.000,4,0.000,0.049,2701,891,1579
$GC,10689,1.55,299.1,273.3,12.8,509,10693,0.00,2.47,0.00,0.000,6,0.000,0.036,2701,2305,1579
$GC,11016,1.55,299.1,229.9,13.3,525,11021,0.00,2.55,0.00,0.000,4,0.000,0.048,2701,892,1580
$GC,11066,1.55,299.1,222.9,13.9,527,11070,0.00,2.45,0.00,0.000,6,0.000,0.035,2701,2301,1580
$GC,11387,1.55,299.1,180.0,13.1,543,11391,0.00,2.55,0.00,0.000,4,0.000,0.048,2701,886,1580
$GC,11426,1.55,299.1,174.6,14.3,545,11431,0.00,2.47,0.00,0.000,6,0.000,0.035,2702,2302,1580
$GC,11753,1.55,299.1,135.1,11.0,561,11758,0.00,2.53,0.00,0.000,4,0.000,0.048,2702,892,1580
$GC,11794,1.55,299.1,130.7,10.0,563,11798,0.00,2.45,0.00,0.000,6,0.000,0.035,2702,2303,1580
$GC,12120,1.55,299.1,87.2,14.6,579,12125,0.00,2.55,0.00,0.000,4,0.000,0.048,2702,884,1580
$GC,12148,1.55,299.1,82.7,16.3,580,12152,0.00,2.47,0.00,0.000,6,0.000,0.035,2702,2304,1580
$GC,12464,1.55,299.1,34.0,15.5,595,12468,0.00,2.58,0.00,0.000,4,0.000,0.061,2701,3700,1581
$GC,12490,1.55,299.1,29.4,16.4,596,12495,0.00,2.45,0.00,0.000,6,0.000,0.031,2701,2290,1581
$STATE,12659,end climb,SURFACE_DEPTH_REACHED
$STATE,12660,begin surface coast
$FINISH,0.6,1.026721
$STATE,12681,end surface coast,CONTROL_FINISHED_OK
$STATE,12681,begin surface
$SM_CCo,12765,0.00,0.000,0,0,1580,303.44
$SM_GC,1.65,12.38,0.00,0.00,0.082,0.000,0.000,69,2613,1580,-10.47,0.37,303.44
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1702
$TCM_TEMP,17.50
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,750.7,92.7
$24V_AH,23.6,8.353
$10V_AH,10.1,3.123
$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,28.425,129.725,363.425,0.000,0.000,17.947,27.702,131.769,10.250,0.000,0.000,17.372,1188.743,9414.523,444.208,1622.958,385.434,33.335,1276.343,0.000,1566.961,0.000,44.832,0.000
$DEVICE_MAMPS,183.313,87.438,1115.218,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.946,424.376,341.453,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31726,605
$CAP_FILE_SIZE,105095,0
$CFSIZE,260165632,257675264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,070609,035936,6132.359,-830.726,40,1.3,40,-9.0