version: 66.04
glider: 16
mission: 13
dive: 23
start: 6 8 109 23 1 59
data:
$ID,16
$MISSION,13
$DIVE,23
$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,440
$T_MISSION,480
$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,-2108018.8
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,225607,6138.813,-839.757,27,1.7,27,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-61.9
$GPS2,230108,6138.847,-839.817,13,1.8,13,-9.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.152,-0.185
$KALMAN_X,-39114.2,1333.1,-96.5,17420.1,-9567.0
$KALMAN_Y,81899.0,-1429.4,-766.1,-53185.3,21886.8
$MHEAD_RNG_PITCHd_Wd,150.5,20974,-13.9,-7.500
$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,-1.03,-146.6,0.0,0.0,0,92,0.00,0.00,-72.40,0.000,6,0.000,0.000,73,2598,3416
$GC,95,-1.03,-146.6,3.7,-5.2,3,117,11.93,2.58,0.00,0.000,4,0.185,0.041,2131,1177,3417
$GC,256,-1.08,-146.6,33.2,-9.0,10,260,0.00,2.53,0.00,0.000,6,0.000,0.038,2131,2606,3417
$GC,584,-1.08,-146.6,65.8,-10.2,26,588,0.00,2.35,0.00,0.000,4,0.000,0.067,2131,3868,3418
$GC,662,-1.08,-146.6,74.6,-11.3,29,668,0.00,2.20,0.00,0.000,6,0.000,0.029,2131,2568,3418
$GC,978,-1.08,-146.6,107.4,-9.8,45,982,0.00,2.40,0.00,0.000,4,0.000,0.043,2131,1209,3418
$GC,1005,-1.08,-146.6,110.0,-9.1,46,1009,0.00,2.45,0.00,0.000,6,0.000,0.037,2131,2602,3418
$GC,1323,-1.08,-146.6,134.6,-6.7,61,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3418
$GC,1631,-1.08,-146.6,154.1,-5.6,76,1635,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1209,3418
$GC,1671,-1.14,-146.6,156.4,-5.9,78,1675,0.00,2.45,0.00,0.000,6,0.000,0.037,2132,2600,3418
$GC,1998,-1.14,-146.6,174.9,-6.2,94,2005,0.00,2.35,0.00,0.000,4,0.000,0.068,2131,3864,3418
$GC,2046,-1.14,-146.6,178.0,-6.4,96,2050,0.00,2.15,0.00,0.000,6,0.000,0.029,2131,2595,3418
$GC,2379,-1.14,-146.6,198.2,-6.6,112,2383,0.00,2.45,0.00,0.000,4,0.000,0.043,2131,1204,3419
$GC,2413,-1.18,-146.6,200.4,-6.7,113,2419,0.12,2.45,0.00,0.000,6,0.046,0.038,2090,2600,3419
$GC,2728,-1.07,-146.6,231.2,-10.8,129,2733,0.17,2.35,0.00,0.000,4,0.097,0.068,2127,3863,3418
$GC,2778,-1.07,-146.6,236.3,-9.2,131,2782,0.00,2.15,0.00,0.000,6,0.000,0.029,2127,2599,3418
$GC,3099,-1.07,-146.6,264.3,-8.8,147,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2596,3418
$GC,3408,-1.07,-146.6,291.6,-9.2,162,3412,0.00,2.45,0.00,0.000,4,0.000,0.043,2127,1208,3419
$GC,3453,-1.13,-146.6,296.1,-9.4,164,3457,0.00,2.45,0.00,0.000,6,0.000,0.038,2127,2600,3418
$GC,3774,-1.13,-146.6,324.8,-8.1,180,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3419
$GC,4084,-1.13,-146.6,351.8,-9.0,195,4088,0.00,2.45,0.00,0.000,4,0.000,0.042,2127,1209,3419
$GC,4134,-1.18,-146.6,356.6,-9.5,197,4139,0.12,2.45,0.00,0.000,6,0.047,0.038,2088,2609,3418
$GC,4450,-1.07,-146.6,394.2,-12.3,212,4452,0.20,0.00,0.00,0.000,6,0.097,0.000,2127,2610,3418
$GC,4759,-1.07,-146.6,424.6,-10.0,227,4766,0.00,2.47,0.00,0.000,4,0.000,0.042,2127,1209,3418
$GC,4800,-1.16,-146.6,428.7,-9.3,228,4806,0.00,2.47,0.00,0.000,6,0.000,0.042,2126,2605,3418
$GC,5116,-1.16,-146.6,455.2,-6.5,244,5120,0.00,2.35,0.00,0.000,4,0.000,0.074,2126,3858,3418
$GC,5193,-1.16,-146.6,461.7,-8.2,247,5199,0.00,2.15,0.00,0.000,6,0.000,0.031,2127,2593,3418
$GC,5510,-1.16,-146.6,483.4,-6.5,263,5514,0.00,2.45,0.00,0.000,4,0.000,0.045,2126,1204,3417
$GC,5579,-1.22,-146.6,487.7,-6.0,266,5584,0.15,2.47,0.00,0.000,6,0.045,0.039,2080,2607,3417
$GC,5905,-1.11,-146.6,514.3,-7.6,282,5910,0.17,2.47,0.00,0.000,4,0.100,0.044,2114,1211,3418
$GC,5991,-1.11,-146.6,518.9,-5.6,286,5995,0.00,2.45,0.00,0.000,6,0.000,0.040,2114,2600,3417
$GC,6317,-1.11,-146.6,541.8,-9.6,302,6321,0.00,2.45,0.00,0.000,4,0.000,0.043,2114,1211,3417
$GC,6362,-1.16,-146.6,547.0,-11.8,304,6366,0.00,2.45,0.00,0.000,6,0.000,0.041,2114,2599,3417
$GC,6683,-1.16,-146.6,586.4,-12.9,320,6687,0.00,2.38,0.00,0.000,4,0.000,0.077,2114,3860,3417
$GC,6800,-1.16,-146.6,602.1,-13.9,325,6803,0.00,2.15,0.00,0.000,6,0.000,0.032,2114,2603,3417
$GC,7121,-1.16,-146.6,644.3,-13.5,341,7126,0.00,2.50,0.00,0.000,4,0.000,0.049,2114,1204,3416
$GC,7162,-1.21,-146.6,649.7,-14.0,343,7167,0.00,2.47,0.00,0.000,6,0.000,0.043,2114,2598,3416
$GC,7494,-1.21,-146.6,685.5,-8.8,359,7498,0.00,2.50,0.00,0.000,4,0.000,0.048,2114,1200,3415
$GC,7566,-1.29,-146.6,693.2,-11.2,362,7571,0.17,2.50,0.00,0.000,6,0.046,0.045,2066,2606,3415
$GC,7882,-1.17,-146.6,733.2,-13.0,377,7887,0.17,2.40,0.00,0.000,4,0.104,0.084,2102,3859,3414
$GC,7960,-1.17,-146.6,743.1,-14.2,380,7967,0.00,2.17,0.00,0.000,6,0.000,0.038,2103,2608,3414
$GC,8276,-1.17,-146.6,780.2,-10.5,396,8280,0.00,2.58,0.00,0.000,4,0.000,0.058,2103,1191,3412
$GC,8342,-1.17,-146.6,789.2,-13.2,399,8347,0.00,2.58,0.00,0.000,6,0.000,0.059,2102,2593,3412
$STATE,8619,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8619,begin apogee
$GC,8626,-0.31,0.0,814.7,12.6,413,8762,0.98,0.00,129.00,1.118,6,0.130,0.000,2289,2296,2816
$STATE,8763,end apogee,CONTROL_FINISHED_OK
$STATE,8763,begin climb
$GC,8766,1.03,146.6,822.1,0.0,420,8905,1.40,2.83,131.35,1.106,4,0.087,0.081,2579,3715,2218
$GC,9158,0.85,146.6,787.8,9.8,437,9163,0.17,2.53,0.00,0.000,6,0.106,0.044,2547,2309,2212
$GC,9480,0.83,182.5,762.2,6.3,453,9521,0.00,2.80,31.75,1.046,4,0.000,0.079,2547,3708,2071
$GC,9594,0.75,182.5,753.8,8.2,458,9599,0.12,2.55,0.00,0.000,6,0.114,0.044,2525,2296,2069
$GC,9915,0.79,212.9,732.4,6.5,474,9950,0.00,2.80,27.70,1.029,4,0.000,0.078,2525,3703,1949
$GC,9995,0.79,212.9,726.1,9.2,477,10002,0.00,2.53,0.00,0.000,6,0.000,0.043,2525,2301,1947
$GC,10311,0.85,212.9,699.1,9.0,493,10316,0.00,2.72,0.00,0.000,4,0.000,0.079,2525,3711,1943
$GC,10344,0.85,212.9,695.6,10.0,494,10351,0.00,2.55,0.00,0.000,6,0.000,0.043,2525,2298,1943
$GC,10661,0.97,259.3,670.8,5.9,510,10707,0.20,0.00,43.40,1.024,6,0.054,0.000,2574,2298,1759
$GC,11010,1.06,343.9,649.7,4.6,527,11094,0.00,2.75,77.55,1.022,4,0.000,0.064,2574,889,1414
$GC,11135,1.22,427.7,644.3,4.6,532,11218,0.25,2.60,75.75,1.005,6,0.053,0.046,2634,2314,1073
$GC,11534,1.24,446.3,618.8,6.9,552,11556,0.00,2.70,16.17,0.920,4,0.000,0.059,2634,888,996
$GC,11579,1.24,446.3,615.3,8.3,554,11584,0.00,2.58,0.00,0.000,6,0.000,0.043,2635,2309,995
$GC,11905,1.24,446.3,585.0,10.0,570,11910,0.00,2.60,0.00,0.000,4,0.000,0.058,2634,895,992
$GC,11961,1.24,446.3,578.9,10.7,572,11967,0.00,2.53,0.00,0.000,6,0.000,0.042,2634,2301,992
$GC,12276,1.24,446.3,536.0,15.0,588,12281,0.00,2.60,0.00,0.000,4,0.000,0.056,2634,889,991
$GC,12340,1.24,446.3,526.8,14.5,591,12344,0.00,2.53,0.00,0.000,6,0.000,0.041,2634,2304,991
$GC,12666,1.24,446.3,477.8,16.2,607,12671,0.00,2.58,0.00,0.000,4,0.000,0.054,2634,894,990
$GC,12784,1.24,446.3,459.2,14.9,612,12788,0.00,2.50,0.00,0.000,6,0.000,0.040,2634,2301,990
$GC,13099,1.24,446.3,416.5,12.8,627,13104,0.00,2.58,0.00,0.000,4,0.000,0.052,2634,888,990
$GC,13149,1.24,446.3,409.8,12.4,629,13154,0.00,2.50,0.00,0.000,6,0.000,0.038,2634,2302,990
$GC,13465,1.24,446.3,368.0,13.5,644,13469,0.00,2.55,0.00,0.000,4,0.000,0.051,2634,888,989
$GC,13527,1.24,446.3,359.3,13.9,647,13531,0.00,2.50,0.00,0.000,6,0.000,0.037,2635,2306,990
$GC,13853,1.24,446.3,311.9,13.8,663,13857,0.00,2.55,0.00,0.000,4,0.000,0.050,2634,885,990
$GC,13915,1.24,446.3,303.6,12.8,666,13919,0.00,2.50,0.00,0.000,6,0.000,0.036,2634,2308,990
$GC,14241,1.24,446.3,261.9,13.3,682,14245,0.00,2.55,0.00,0.000,4,0.000,0.050,2634,888,990
$GC,14303,1.24,446.3,253.6,12.6,685,14307,0.00,2.47,0.00,0.000,6,0.000,0.036,2634,2301,990
$GC,14629,1.24,446.3,215.5,12.0,701,14634,0.00,2.53,0.00,0.000,4,0.000,0.049,2634,892,990
$GC,14702,1.24,446.3,206.3,11.8,704,14706,0.00,2.47,0.00,0.000,6,0.000,0.035,2634,2304,990
$GC,15018,1.24,446.3,170.8,11.2,719,15022,0.00,2.55,0.00,0.000,4,0.000,0.048,2634,888,990
$GC,15112,1.24,446.3,160.3,10.8,723,15116,0.00,2.47,0.00,0.000,6,0.000,0.034,2634,2305,991
$GC,15428,1.24,446.3,125.9,10.7,738,15432,0.00,2.55,0.00,0.000,4,0.000,0.048,2634,887,990
$GC,15500,1.24,446.3,118.2,11.1,741,15504,0.00,2.47,0.00,0.000,6,0.000,0.035,2634,2302,991
$GC,15816,1.24,446.3,86.6,11.3,756,15820,0.00,2.55,0.00,0.000,4,0.000,0.049,2634,887,990
$GC,15878,1.28,446.3,79.8,8.2,759,15883,0.00,2.47,0.00,0.000,6,0.000,0.035,2634,2305,991
$GC,16205,1.28,446.3,40.8,13.3,775,16210,0.00,2.55,0.00,0.000,4,0.000,0.049,2634,888,990
$GC,16329,1.33,446.3,24.5,11.1,780,16335,0.00,2.45,0.00,0.000,6,0.000,0.034,2635,2302,991
$STATE,16498,end climb,SURFACE_DEPTH_REACHED
$STATE,16498,begin surface coast
$FINISH,0.6,1.026810
$STATE,16521,end surface coast,CONTROL_FINISHED_OK
$STATE,16521,begin surface
$SM_CCo,16605,0.00,0.000,0,0,990,448.16
$SM_GC,1.39,12.25,0.00,0.00,0.091,0.000,0.000,75,2602,990,-10.45,0.06,448.16
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1718
$TCM_TEMP,17.50
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,801.9,22.6
$24V_AH,23.5,10.133
$10V_AH,10.1,3.941
$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,28.600,185.075,532.675,0.000,0.000,18.375,26.349,140.930,11.750,0.000,0.000,13.282,1518.409,12302.272,653.336,1979.762,450.852,33.348,1688.275,0.000,1919.887,0.000,53.676,0.000
$DEVICE_MAMPS,184.847,83.603,1118.286,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,566.581,558.163,458.836,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41033,790
$CAP_FILE_SIZE,136602,0
$CFSIZE,260165632,256954368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,090609,034001,6138.245,-843.605,41,1.6,41,-9.1