version: 66.04
glider: 16
mission: 13
dive: 12
start: 6 7 109 4 5 26
data:
$ID,16
$MISSION,13
$DIVE,12
$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,-2107828.5
$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,26
$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
$GPS1,035936,6132.359,-830.726,40,1.3,40,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-62.2
$GPS2,040436,6132.389,-830.819,16,1.9,27,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,-0.223
$KALMAN_X,-14169.5,1453.3,151.6,84.3,-7980.5
$KALMAN_Y,28570.5,-1525.2,-865.2,-11644.7,16349.5
$MHEAD_RNG_PITCHd_Wd,139.7,6784,-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,-61.47,0.000,2,0.000,0.000,68,2613,3322
$GC,82,-1.29,-146.6,5.3,-9.2,3,104,11.52,2.58,-1.58,0.000,4,0.183,0.056,2074,1193,3418
$GC,183,-1.38,-146.6,27.7,-12.8,7,188,0.00,2.47,0.00,0.000,6,0.000,0.038,2074,2597,3418
$GC,500,-1.42,-146.6,70.8,-13.7,22,504,0.12,2.35,0.00,0.000,4,0.049,0.067,2036,3862,3419
$GC,607,-1.34,-146.6,89.3,-18.1,27,612,0.15,2.17,0.00,0.000,6,0.105,0.030,2063,2582,3419
$GC,934,-1.34,-146.6,139.3,-15.1,43,938,0.00,2.38,0.00,0.000,4,0.000,0.067,2063,3861,3419
$GC,974,-1.34,-146.6,145.6,-16.3,45,978,0.00,2.15,0.00,0.000,6,0.000,0.030,2063,2594,3419
$GC,1307,-1.34,-146.6,200.7,-16.8,61,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2593,3419
$GC,1616,-1.34,-146.6,252.0,-17.4,76,1621,0.00,2.45,0.00,0.000,4,0.000,0.045,2064,1209,3419
$GC,1661,-1.43,-146.6,260.4,-18.4,78,1665,0.00,2.45,0.00,0.000,6,0.000,0.038,2063,2603,3418
$GC,1982,-1.43,-146.6,318.3,-17.9,94,1986,0.00,2.35,0.00,0.000,4,0.000,0.070,2063,3865,3418
$GC,2037,-1.43,-146.6,328.8,-18.6,96,2043,0.00,2.15,0.00,0.000,6,0.000,0.031,2063,2604,3418
$GC,2353,-1.43,-146.6,380.6,-15.8,112,2357,0.00,2.47,0.00,0.000,4,0.000,0.045,2064,1205,3419
$GC,2397,-1.50,-146.6,387.4,-14.5,114,2402,0.15,2.45,0.00,0.000,6,0.048,0.038,2019,2600,3419
$GC,2718,-1.42,-146.6,440.8,-15.8,130,2723,0.15,2.35,0.00,0.000,4,0.107,0.071,2047,3863,3418
$GC,2757,-1.42,-146.6,446.6,-14.6,132,2761,0.00,2.15,0.00,0.000,6,0.000,0.031,2047,2601,3418
$GC,3090,-1.42,-146.6,491.3,-12.8,148,3094,0.00,2.47,0.00,0.000,4,0.000,0.046,2047,1203,3419
$GC,3191,-1.48,-146.6,505.1,-13.4,152,3197,0.00,2.47,0.00,0.000,6,0.000,0.040,2047,2609,3419
$GC,3506,-1.48,-146.6,546.1,-13.4,168,3510,0.00,2.33,0.00,0.000,4,0.000,0.073,2047,3857,3419
$GC,3658,-1.48,-146.6,567.7,-14.1,175,3661,0.00,2.15,0.00,0.000,6,0.000,0.033,2047,2600,3418
$GC,3990,-1.48,-146.6,603.5,-10.5,191,3995,0.00,2.50,0.00,0.000,4,0.000,0.050,2047,1199,3418
$GC,4114,-1.53,-146.6,617.1,-13.4,196,4120,0.00,2.50,0.00,0.000,6,0.000,0.044,2047,2608,3418
$GC,4430,-1.53,-146.6,650.9,-12.5,212,4434,0.00,2.50,0.00,0.000,4,0.000,0.051,2047,1205,3418
$GC,4533,-1.61,-146.6,663.6,-9.8,216,4538,0.17,2.50,0.00,0.000,6,0.050,0.046,2000,2606,3418
$GC,4849,-1.49,-146.6,708.6,-17.6,231,4854,0.17,2.40,0.00,0.000,4,0.117,0.086,2032,3858,3417
$GC,4944,-1.42,-146.6,726.7,-16.1,235,4948,0.00,2.17,0.00,0.000,6,0.000,0.038,2032,2603,3417
$GC,5260,-1.34,-146.6,767.7,-9.7,250,5265,0.17,2.42,0.00,0.000,4,0.127,0.086,2066,3862,3415
$GC,5310,-1.40,-146.6,774.4,-10.5,252,5315,0.00,2.20,0.00,0.000,6,0.000,0.043,2066,2608,3414
$GC,5632,-1.40,-146.6,817.1,-19.1,268,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2605,3412
$STATE,5794,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5795,begin apogee
$GC,5802,-0.31,0.0,840.7,12.4,276,5937,1.17,0.00,129.05,1.124,6,0.140,0.000,2287,2300,2817
$STATE,5938,end apogee,CONTROL_FINISHED_OK
$STATE,5938,begin climb
$GC,5940,1.29,146.6,848.5,0.0,283,6080,1.65,2.70,131.10,1.106,4,0.078,0.067,2635,894,2218
$GC,6337,1.04,146.6,807.5,15.6,300,6342,0.25,2.55,0.00,0.000,6,0.109,0.051,2589,2298,2208
$GC,6659,1.08,247.3,783.2,5.4,316,6760,0.00,2.85,90.28,1.072,4,0.000,0.080,2589,3721,1807
$GC,6793,1.08,247.3,770.1,11.8,322,6798,0.00,2.58,0.00,0.000,6,0.000,0.044,2589,2306,1804
$GC,7109,1.13,247.3,742.1,11.9,337,7114,0.00,2.70,0.00,0.000,4,0.000,0.079,2589,3705,1797
$GC,7131,1.20,312.3,740.5,7.0,338,7198,0.15,2.55,58.92,1.046,6,0.061,0.047,2625,2298,1542
$GC,7519,1.20,312.3,664.5,22.2,357,7523,0.00,2.72,0.00,0.000,4,0.000,0.079,2625,3705,1532
$GC,7536,1.20,312.3,660.5,23.7,358,7540,0.00,2.55,0.00,0.000,6,0.000,0.044,2625,2297,1532
$GC,7862,1.20,312.3,611.9,13.1,374,7866,0.00,2.65,0.00,0.000,4,0.000,0.069,2625,888,1530
$GC,7912,1.25,312.3,604.2,13.4,376,7916,0.00,2.58,0.00,0.000,6,0.000,0.050,2625,2302,1528
$GC,8228,1.34,351.4,574.0,8.2,391,8271,0.12,2.70,34.30,0.956,4,0.062,0.061,2658,889,1383
$GC,8321,1.34,351.4,562.5,14.9,395,8325,0.00,2.58,0.00,0.000,6,0.000,0.047,2658,2302,1380
$GC,8643,1.45,453.6,541.6,5.3,411,8744,0.00,2.70,92.22,0.953,4,0.000,0.055,2658,891,966
$GC,8773,1.56,453.6,530.7,10.1,417,8778,0.20,2.58,0.00,0.000,6,0.052,0.044,2709,2310,962
$GC,9094,1.56,453.6,490.4,12.6,433,9098,0.00,2.60,0.00,0.000,4,0.000,0.056,2709,890,956
$GC,9210,1.56,453.6,476.1,13.5,438,9215,0.00,2.53,0.00,0.000,6,0.000,0.040,2709,2308,955
$GC,9526,1.56,453.6,431.1,15.7,453,9530,0.00,2.60,0.00,0.000,4,0.000,0.053,2709,884,954
$GC,9598,1.61,453.6,419.7,16.0,456,9602,0.00,2.53,0.00,0.000,6,0.000,0.038,2709,2309,954
$GC,9914,1.61,453.6,372.4,14.6,471,9918,0.00,2.60,0.00,0.000,4,0.000,0.051,2709,883,953
$GC,10008,1.61,453.6,357.6,15.4,475,10013,0.00,2.50,0.00,0.000,6,0.000,0.037,2709,2302,953
$GC,10324,1.61,453.6,306.7,16.6,490,10328,0.00,2.58,0.00,0.000,4,0.000,0.051,2709,883,953
$GC,10396,1.65,453.6,294.1,17.8,493,10400,0.00,2.50,0.00,0.000,6,0.000,0.037,2709,2303,953
$GC,10712,1.65,453.6,240.0,17.2,508,10716,0.00,2.58,0.00,0.000,4,0.000,0.051,2709,881,953
$GC,10806,1.65,453.6,224.9,15.3,512,10810,0.00,2.50,0.00,0.000,6,0.000,0.035,2709,2305,953
$GC,11121,1.65,453.6,176.5,15.3,527,11126,0.00,2.55,0.00,0.000,4,0.000,0.050,2709,888,953
$GC,11199,1.65,453.6,163.9,15.6,530,11206,0.00,2.47,0.00,0.000,6,0.000,0.035,2709,2307,953
$GC,11516,1.65,453.6,115.9,15.4,546,11520,0.00,2.58,0.00,0.000,4,0.000,0.050,2709,884,953
$GC,11604,1.65,453.6,101.5,16.3,550,11609,0.00,2.47,0.00,0.000,6,0.000,0.035,2709,2302,953
$GC,11926,1.65,453.6,46.2,17.6,566,11930,0.00,2.55,0.00,0.000,4,0.000,0.049,2709,888,953
$GC,12034,1.71,453.6,25.5,17.2,571,12039,0.10,2.47,0.00,0.000,6,0.051,0.035,2742,2305,953
$STATE,12152,end climb,SURFACE_DEPTH_REACHED
$STATE,12152,begin surface coast
$FINISH,0.7,1.026528
$STATE,12174,end surface coast,CONTROL_FINISHED_OK
$STATE,12174,begin surface
$SM_CCo,12258,0.00,0.000,0,0,952,457.48
$SM_GC,1.47,12.55,0.00,0.00,0.080,0.000,0.000,62,2604,952,-10.47,0.14,457.48
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1703
$TCM_TEMP,17.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,801.1,47.5
$24V_AH,23.5,8.525
$10V_AH,10.1,3.186
$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,28.825,140.150,535.875,0.000,0.000,17.965,31.038,130.925,12.250,0.000,0.000,26.972,1145.499,8855.020,603.753,1572.432,382.968,33.338,1432.326,0.000,1502.276,0.000,53.797,0.000
$DEVICE_MAMPS,182.546,85.904,1124.422,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.524,400.453,322.576,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28497,578
$CAP_FILE_SIZE,107127,0
$CFSIZE,260165632,257622016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070609,073106,6133.289,-832.496,40,1.2,46,-9.0