version: 66.04
glider: 16
mission: 13
dive: 20
start: 6 8 109 10 50 23
data:
$ID,16
$MISSION,13
$DIVE,20
$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,-2107971.8
$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,21
$R_STBD_OVSHOOT,23
$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
$GPS1,104424,6137.470,-835.805,41,1.1,41,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-61.1
$GPS2,104932,6137.457,-835.812,12,1.2,12,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.093,-0.247
$KALMAN_X,-31274.0,-467.0,-130.4,14952.5,-5010.2
$KALMAN_Y,67176.7,-790.3,-783.2,-41674.3,14771.2
$MHEAD_RNG_PITCHd_Wd,154.3,16794,-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,-146.6,0.0,0.0,0,94,0.00,0.00,-76.28,0.000,2,0.000,0.000,74,2602,3375
$GC,97,-1.29,-146.6,5.5,-5.9,4,120,11.48,2.60,-0.65,0.000,4,0.180,0.051,2070,1174,3417
$GC,301,-1.36,-146.6,41.2,-13.2,13,305,0.00,2.53,0.00,0.000,6,0.000,0.038,2070,2600,3416
$GC,628,-1.36,-146.6,88.8,-14.9,29,632,0.00,2.35,0.00,0.000,4,0.000,0.069,2070,3860,3418
$GC,692,-1.36,-146.6,99.4,-16.9,32,696,0.00,2.20,0.00,0.000,6,0.000,0.030,2070,2572,3418
$GC,1018,-1.36,-146.6,145.2,-12.5,48,1023,0.00,2.40,0.00,0.000,4,0.000,0.067,2070,3858,3418
$GC,1113,-1.36,-146.6,157.8,-12.6,52,1117,0.00,2.15,0.00,0.000,6,0.000,0.029,2070,2597,3418
$GC,1435,-1.36,-146.6,196.3,-11.5,68,1439,0.00,2.47,0.00,0.000,4,0.000,0.043,2070,1202,3418
$GC,1475,-1.45,-146.6,200.6,-10.1,70,1480,0.12,2.47,0.00,0.000,6,0.051,0.038,2033,2605,3418
$GC,1802,-1.39,-146.6,246.2,-14.3,86,1807,0.12,2.35,0.00,0.000,4,0.105,0.069,2056,3864,3418
$GC,1886,-1.39,-146.6,258.5,-15.9,90,1890,0.00,2.15,0.00,0.000,6,0.000,0.030,2056,2602,3418
$GC,2219,-1.39,-146.6,303.2,-12.6,106,2223,0.00,2.47,0.00,0.000,4,0.000,0.044,2056,1205,3418
$GC,2269,-1.43,-146.6,308.7,-10.3,108,2273,0.00,2.47,0.00,0.000,6,0.000,0.039,2056,2605,3418
$GC,2584,-1.43,-146.6,346.8,-13.2,123,2588,0.00,2.35,0.00,0.000,4,0.000,0.071,2056,3861,3418
$GC,2628,-1.43,-146.6,353.5,-15.5,125,2632,0.00,2.15,0.00,0.000,6,0.000,0.030,2056,2597,3418
$GC,2955,-1.43,-146.6,398.8,-13.9,141,2959,0.00,2.38,0.00,0.000,4,0.000,0.070,2056,3864,3418
$GC,3000,-1.43,-146.6,405.6,-14.8,143,3004,0.00,2.15,0.00,0.000,6,0.000,0.031,2056,2602,3418
$GC,3326,-1.43,-146.6,446.5,-12.1,159,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2600,3418
$GC,3636,-1.43,-146.6,482.9,-11.2,174,3640,0.00,2.47,0.00,0.000,4,0.000,0.046,2056,1208,3418
$GC,3686,-1.52,-146.6,488.7,-10.6,176,3691,0.12,2.45,0.00,0.000,6,0.051,0.040,2018,2601,3418
$GC,4002,-1.43,-146.6,540.4,-16.7,191,4007,0.15,2.35,0.00,0.000,4,0.112,0.072,2044,3857,3419
$GC,4259,-1.43,-146.6,578.0,-15.9,202,4265,0.00,2.15,0.00,0.000,6,0.000,0.033,2044,2602,3418
$GC,4576,-1.43,-146.6,625.8,-14.2,218,4580,0.00,2.50,0.00,0.000,4,0.000,0.050,2045,1206,3418
$GC,4625,-1.48,-146.6,632.9,-13.6,220,4630,0.00,2.50,0.00,0.000,6,0.000,0.044,2044,2607,3418
$GC,4941,-1.48,-146.6,672.7,-12.9,235,4945,0.00,2.53,0.00,0.000,4,0.000,0.051,2044,1206,3418
$GC,5041,-1.52,-146.6,685.6,-12.8,239,5048,0.00,2.50,0.00,0.000,6,0.000,0.047,2044,2598,3417
$GC,5357,-1.52,-146.6,729.5,-14.0,255,5361,0.00,2.42,0.00,0.000,4,0.000,0.087,2045,3860,3415
$GC,5406,-1.52,-146.6,738.0,-19.3,257,5410,0.00,2.20,0.00,0.000,6,0.000,0.040,2044,2606,3415
$GC,5722,-1.52,-146.6,777.5,-10.9,272,5726,0.00,2.42,0.00,0.000,4,0.000,0.087,2044,3861,3414
$GC,5789,-1.46,-146.6,786.8,-15.6,275,5793,0.00,2.22,0.00,0.000,6,0.000,0.044,2044,2606,3414
$STATE,5963,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5963,begin apogee
$GC,5970,-0.31,0.0,818.2,16.8,284,6106,1.25,0.00,129.18,1.114,6,0.119,0.000,2288,2296,2816
$STATE,6107,end apogee,CONTROL_FINISHED_OK
$STATE,6107,begin climb
$GC,6109,1.29,146.6,827.4,0.0,291,6249,1.62,2.80,131.40,1.105,4,0.068,0.081,2637,3707,2218
$GC,6506,1.09,146.6,781.9,11.1,308,6512,0.22,2.55,0.00,0.000,6,0.117,0.045,2597,2306,2211
$GC,6828,1.23,319.0,762.9,2.2,324,6996,0.15,2.80,154.12,1.075,4,0.063,0.077,2632,3704,1514
$GC,7087,1.23,319.0,739.5,15.9,336,7091,0.00,2.58,0.00,0.000,6,0.000,0.045,2632,2295,1509
$GC,7413,1.23,319.0,699.5,10.9,352,7418,0.00,2.72,0.00,0.000,4,0.000,0.078,2632,3704,1502
$GC,7447,1.27,355.0,697.0,8.4,353,7486,0.00,2.55,32.15,1.009,6,0.000,0.045,2632,2297,1369
$GC,7806,1.35,355.0,653.2,10.0,371,7810,0.00,2.65,0.00,0.000,4,0.000,0.068,2632,892,1362
$GC,7878,1.45,365.8,645.7,9.5,374,7894,0.20,2.58,9.95,0.887,6,0.054,0.049,2681,2305,1325
$GC,8218,1.38,365.8,603.5,13.2,391,8223,0.00,2.70,0.00,0.000,4,0.000,0.078,2681,3711,1322
$GC,8291,1.21,365.8,590.4,19.6,394,8297,0.30,2.55,0.00,0.000,6,0.121,0.041,2626,2295,1322
$GC,8608,1.41,498.2,541.2,4.0,409,8736,0.17,2.70,119.75,0.951,4,0.056,0.060,2675,895,785
$GC,8815,1.52,498.2,506.9,20.0,418,8821,0.00,2.55,0.00,0.000,6,0.000,0.041,2675,2311,779
$GC,9131,1.61,498.2,462.7,12.7,434,9136,0.17,2.60,0.00,0.000,4,0.053,0.054,2720,892,775
$GC,9163,1.61,498.2,456.8,17.6,435,9170,0.00,2.50,0.00,0.000,6,0.000,0.040,2719,2301,774
$GC,9479,1.61,498.2,407.2,15.7,451,9484,0.00,2.60,0.00,0.000,4,0.000,0.054,2720,885,772
$GC,9569,1.61,498.2,393.1,15.0,455,9573,0.00,2.53,0.00,0.000,6,0.000,0.038,2720,2305,772
$GC,9890,1.61,498.2,343.3,16.4,471,9894,0.00,2.58,0.00,0.000,4,0.000,0.051,2720,891,772
$GC,10007,1.65,498.2,323.4,16.5,476,10012,0.00,2.50,0.00,0.000,6,0.000,0.037,2719,2307,772
$GC,10323,1.65,498.2,263.2,20.5,491,10327,0.00,2.58,0.00,0.000,4,0.000,0.051,2720,892,771
$GC,10401,1.70,498.2,247.2,19.7,494,10407,0.00,2.47,0.00,0.000,6,0.000,0.036,2720,2301,772
$GC,10716,1.70,498.2,183.5,20.3,510,10721,0.00,2.58,0.00,0.000,4,0.000,0.052,2719,888,771
$GC,10824,1.70,498.2,161.4,20.4,515,10828,0.00,2.47,0.00,0.000,6,0.000,0.036,2719,2302,771
$GC,11150,1.70,498.2,101.0,17.1,531,11155,0.00,2.55,0.00,0.000,4,0.000,0.050,2719,891,771
$GC,11236,1.76,498.2,86.1,17.3,535,11241,0.12,2.47,0.00,0.000,6,0.058,0.035,2753,2303,771
$GC,11563,1.69,498.2,13.2,24.1,551,11568,0.12,2.55,0.00,0.000,4,0.111,0.048,2730,891,771
$STATE,11610,end climb,SURFACE_DEPTH_REACHED
$STATE,11611,begin surface coast
$FINISH,1.2,1.026799
$STATE,11617,end surface coast,CONTROL_FINISHED_OK
$STATE,11617,begin surface
$SM_CCo,11704,0.00,0.000,0,0,770,502.13
$SM_GC,1.42,12.68,0.00,0.00,0.086,0.000,0.000,71,2600,770,-10.47,-0.03,502.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1727
$TCM_TEMP,19.50
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,750.1,75.6
$24V_AH,23.5,9.682
$10V_AH,10.1,3.716
$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,29.025,134.650,576.550,0.000,0.000,18.004,37.456,123.286,8.250,0.000,0.000,12.825,1102.559,8319.401,621.810,1563.556,407.709,33.350,1469.033,0.000,1511.857,0.000,44.776,0.000
$DEVICE_MAMPS,180.245,87.438,1113.684,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.732,384.354,308.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28482,553
$CAP_FILE_SIZE,103817,0
$CFSIZE,260165632,257183744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080609,140636,6136.699,-838.336,33,2.0,33,-9.1