version: 66.04
glider: 16
mission: 13
dive: 24
start: 6 9 109 3 45 59
data:
$ID,16
$MISSION,13
$DIVE,24
$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,-2108033
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,034001,6138.245,-843.605,41,1.6,41,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.2
$GPS2,034508,6138.204,-843.737,13,1.1,13,-9.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.149,-0.187
$KALMAN_X,-38744.5,1040.2,1453.0,12274.5,-9928.1
$KALMAN_Y,83945.5,-767.3,-1772.7,-56043.7,18114.1
$MHEAD_RNG_PITCHd_Wd,141.6,22473,-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,-146.6,0.0,0.0,0,100,0.00,0.00,-80.95,0.000,2,0.000,0.000,74,2603,3204
$GC,103,-1.03,-146.6,4.8,-5.4,4,126,11.88,2.53,-3.62,0.000,4,0.183,0.053,2130,1180,3415
$GC,274,-1.03,-146.6,30.4,-10.7,11,278,0.00,2.50,0.00,0.000,6,0.000,0.038,2131,2596,3416
$GC,589,-1.03,-146.6,64.4,-10.4,26,594,0.00,2.38,0.00,0.000,4,0.000,0.069,2131,3868,3416
$GC,630,-0.99,-146.6,68.7,-11.5,28,634,0.00,2.20,0.00,0.000,6,0.000,0.029,2131,2569,3416
$GC,963,-0.99,-146.6,101.0,-8.1,44,967,0.00,2.40,0.00,0.000,4,0.000,0.043,2131,1209,3416
$GC,1013,-1.05,-146.6,105.0,-7.3,46,1017,0.00,2.45,0.00,0.000,6,0.000,0.037,2131,2602,3416
$GC,1329,-1.05,-146.6,132.8,-8.3,61,1333,0.00,2.35,0.00,0.000,4,0.000,0.068,2131,3865,3416
$GC,1362,-1.05,-146.6,135.8,-8.6,62,1368,0.00,2.15,0.00,0.000,6,0.000,0.028,2131,2591,3416
$GC,1677,-1.05,-146.6,161.3,-9.2,78,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2590,3416
$GC,1986,-1.05,-146.6,190.8,-10.3,93,1991,0.00,2.42,0.00,0.000,4,0.000,0.041,2131,1212,3417
$GC,2042,-1.09,-146.6,196.8,-11.2,95,2049,0.00,2.42,0.00,0.000,6,0.000,0.037,2131,2600,3417
$GC,2358,-1.09,-146.6,228.3,-9.0,111,2362,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1213,3417
$GC,2386,-1.09,-146.6,230.7,-8.5,112,2390,0.00,2.45,0.00,0.000,6,0.000,0.037,2131,2605,3417
$GC,2701,-1.09,-146.6,255.5,-8.8,127,2705,0.00,2.33,0.00,0.000,4,0.000,0.070,2131,3858,3417
$GC,2734,-1.09,-146.6,258.6,-8.8,128,2740,0.00,2.15,0.00,0.000,6,0.000,0.029,2131,2592,3417
$GC,3050,-1.09,-146.6,289.4,-10.2,144,3054,0.00,2.42,0.00,0.000,4,0.000,0.043,2131,1208,3417
$GC,3105,-1.15,-146.6,295.1,-10.3,146,3110,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2601,3417
$GC,3422,-1.15,-146.6,326.5,-9.6,161,3426,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1211,3417
$GC,3467,-1.21,-146.6,330.6,-8.9,163,3472,0.15,2.42,0.00,0.000,6,0.043,0.038,2085,2600,3417
$GC,3794,-1.12,-146.6,367.1,-10.9,179,3799,0.15,2.35,0.00,0.000,4,0.097,0.071,2113,3860,3417
$GC,3851,-1.12,-146.6,373.0,-10.2,181,3857,0.00,2.15,0.00,0.000,6,0.000,0.030,2113,2596,3417
$GC,4167,-1.12,-146.6,401.5,-8.4,197,4171,0.00,2.45,0.00,0.000,4,0.000,0.044,2113,1209,3417
$GC,4229,-1.12,-146.6,407.4,-9.2,200,4233,0.00,2.42,0.00,0.000,6,0.000,0.038,2113,2599,3417
$GC,4562,-1.12,-146.6,440.6,-9.5,216,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2599,3416
$GC,4871,-1.12,-146.6,466.1,-7.8,231,4875,0.00,2.47,0.00,0.000,4,0.000,0.043,2113,1201,3416
$GC,4910,-1.12,-146.6,469.5,-9.2,233,4914,0.00,2.47,0.00,0.000,6,0.000,0.039,2112,2607,3416
$GC,5236,-1.12,-146.6,502.3,-10.7,249,5240,0.00,2.47,0.00,0.000,4,0.000,0.043,2113,1202,3416
$GC,5309,-1.12,-146.6,510.8,-12.3,252,5313,0.00,2.47,0.00,0.000,6,0.000,0.038,2113,2605,3416
$GC,5630,-1.12,-146.6,547.8,-11.5,268,5634,0.00,2.47,0.00,0.000,4,0.000,0.044,2113,1206,3416
$GC,5662,-1.12,-146.6,551.4,-10.6,269,5668,0.00,2.45,0.00,0.000,6,0.000,0.040,2113,2599,3416
$GC,5977,-1.12,-146.6,583.7,-10.2,285,5981,0.00,2.38,0.00,0.000,4,0.000,0.075,2113,3861,3415
$GC,6062,-1.12,-146.6,592.7,-10.8,289,6066,0.00,2.15,0.00,0.000,6,0.000,0.031,2113,2601,3415
$GC,6394,-1.12,-146.6,623.5,-10.7,305,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2599,3415
$GC,6704,-1.12,-146.6,659.0,-13.1,320,6708,0.00,2.47,0.00,0.000,4,0.000,0.048,2113,1209,3415
$GC,6761,-1.16,-146.6,666.7,-13.7,322,6767,0.00,2.47,0.00,0.000,6,0.000,0.041,2113,2606,3415
$GC,7077,-1.16,-146.6,706.0,-12.0,338,7081,0.00,2.50,0.00,0.000,4,0.000,0.047,2113,1205,3415
$GC,7155,-1.21,-146.6,714.8,-10.6,341,7161,0.00,2.50,0.00,0.000,6,0.000,0.044,2113,2606,3415
$GC,7470,-1.21,-146.6,744.4,-8.9,357,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2606,3414
$GC,7780,-1.21,-146.6,768.7,-8.1,372,7784,0.00,2.53,0.00,0.000,4,0.000,0.054,2113,1212,3413
$GC,7846,-1.21,-146.6,774.0,-7.6,375,7850,0.00,2.50,0.00,0.000,6,0.000,0.051,2113,2597,3412
$GC,8168,-1.21,-146.6,797.2,-7.2,391,8172,0.00,2.53,0.00,0.000,4,0.000,0.057,2113,1212,3411
$GC,8209,-1.26,-146.6,800.2,-7.6,393,8214,0.15,2.53,0.00,0.000,6,0.052,0.053,2074,2603,3411
$GC,8537,-1.18,-146.6,830.7,-9.9,409,8539,0.15,0.00,0.00,0.000,6,0.110,0.000,2101,2603,3409
$GC,8844,-1.18,-146.6,859.5,-9.5,424,8849,0.00,2.55,0.00,0.000,4,0.000,0.058,2102,1207,3407
$GC,8884,-1.18,-146.6,863.5,-9.2,426,8889,0.00,2.55,0.00,0.000,6,0.000,0.054,2101,2607,3407
$STATE,9002,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9003,begin apogee
$GC,9010,-0.31,0.0,874.3,9.2,432,9145,1.00,0.00,129.48,1.160,6,0.135,0.000,2290,2311,2816
$STATE,9146,end apogee,CONTROL_FINISHED_OK
$STATE,9146,begin climb
$GC,9149,1.03,146.6,880.0,0.0,439,9291,1.45,2.67,132.45,1.144,4,0.098,0.061,2580,898,2218
$GC,9546,0.95,218.8,862.4,5.0,457,9617,0.00,2.58,64.75,1.119,6,0.000,0.050,2580,2307,1924
$GC,9933,0.88,218.8,829.8,8.9,476,9938,0.15,2.62,0.00,0.000,4,0.117,0.063,2553,904,1915
$GC,10006,0.88,218.8,823.5,8.7,479,10010,0.00,2.53,0.00,0.000,6,0.000,0.049,2553,2302,1912
$GC,10321,0.88,218.8,796.8,9.2,494,10326,0.00,2.72,0.00,0.000,4,0.000,0.081,2553,3706,1910
$GC,10366,0.83,218.8,792.3,10.2,496,10371,0.00,2.53,0.00,0.000,6,0.000,0.044,2553,2309,1911
$GC,10687,0.83,218.8,761.1,9.7,512,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2309,1911
$GC,10996,0.83,218.8,733.5,8.7,527,10997,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2309,1910
$GC,11305,0.83,225.8,710.1,7.3,542,11315,0.00,2.70,4.82,0.747,4,0.000,0.079,2553,3708,1897
$GC,11400,0.79,235.6,703.2,7.2,546,11416,0.00,2.55,10.98,0.947,6,0.000,0.044,2553,2296,1856
$GC,11737,0.79,235.6,679.4,8.8,563,11739,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2296,1853
$GC,12047,0.79,235.6,648.4,9.3,578,12051,0.00,2.70,0.00,0.000,4,0.000,0.074,2553,3712,1853
$GC,12074,0.79,235.6,645.4,10.8,579,12078,0.00,2.53,0.00,0.000,6,0.000,0.041,2553,2299,1853
$GC,12389,0.79,235.6,606.6,11.9,594,12394,0.00,2.60,0.00,0.000,4,0.000,0.061,2553,888,1852
$GC,12407,0.79,235.6,604.7,11.5,595,12411,0.00,2.53,0.00,0.000,6,0.000,0.043,2553,2304,1851
$GC,12733,0.79,235.6,570.0,10.5,611,12738,0.00,2.62,0.00,0.000,4,0.000,0.070,2553,3704,1851
$GC,12800,0.79,235.6,562.6,10.0,614,12805,0.00,2.50,0.00,0.000,6,0.000,0.037,2553,2292,1852
$GC,13121,0.79,235.6,534.5,7.9,630,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2292,1852
$GC,13431,0.79,235.6,506.2,9.3,645,13435,0.00,2.55,0.00,0.000,4,0.000,0.054,2553,888,1852
$GC,13488,0.79,235.6,500.9,9.5,647,13494,0.00,2.50,0.00,0.000,6,0.000,0.039,2553,2304,1851
$GC,13803,0.79,235.6,470.0,9.5,663,13807,0.00,2.60,0.00,0.000,4,0.000,0.066,2553,3701,1852
$GC,13836,0.79,235.6,467.2,8.1,664,13842,0.00,2.47,0.00,0.000,6,0.000,0.034,2553,2290,1852
$GC,14151,0.79,235.6,440.2,7.8,680,14156,0.00,2.62,0.00,0.000,4,0.000,0.064,2553,3701,1853
$GC,14190,0.79,235.6,437.2,7.8,682,14195,0.00,2.45,0.00,0.000,6,0.000,0.033,2553,2296,1853
$GC,14518,0.83,235.6,413.0,7.6,698,14519,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2296,1853
$GC,14827,0.89,246.9,389.9,7.1,713,14841,0.00,0.00,11.70,0.745,6,0.000,0.000,2554,2296,1809
$GC,15136,0.94,246.9,366.1,7.8,728,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2295,1808
$GC,15445,1.00,246.9,338.6,9.7,743,15450,0.12,2.60,0.00,0.000,4,0.051,0.061,2589,3700,1808
$GC,15490,0.92,246.9,333.6,11.3,745,15495,0.15,2.45,0.00,0.000,6,0.101,0.031,2561,2293,1808
$GC,15811,0.92,246.9,304.6,8.7,761,15815,0.00,2.60,0.00,0.000,4,0.000,0.061,2561,3701,1809
$GC,15844,0.92,246.9,301.5,9.0,762,15850,0.00,2.45,0.00,0.000,6,0.000,0.031,2561,2291,1809
$GC,16159,0.92,246.9,271.2,9.6,778,16160,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2289,1809
$GC,16469,0.92,252.5,246.9,7.3,793,16477,0.00,0.00,6.78,0.589,6,0.000,0.000,2561,2290,1787
$GC,16778,0.95,279.0,225.4,6.6,808,16808,0.00,2.67,24.48,0.680,4,0.000,0.060,2561,3706,1679
$GC,16825,1.00,279.0,222.4,7.7,810,16829,0.00,2.47,0.00,0.000,6,0.000,0.031,2561,2298,1678
$GC,17141,1.10,316.0,203.0,6.2,825,17184,0.17,2.60,32.95,0.672,4,0.046,0.047,2612,902,1527
$GC,17223,1.10,316.0,196.2,7.9,828,17229,0.00,2.47,0.00,0.000,6,0.000,0.035,2612,2304,1523
$GC,17539,1.05,316.0,159.2,15.5,844,17544,0.12,2.53,0.00,0.000,4,0.094,0.047,2587,894,1521
$GC,17581,1.10,316.0,152.9,14.6,846,17585,0.00,2.47,0.00,0.000,6,0.000,0.035,2586,2306,1520
$GC,17907,1.10,316.0,110.7,12.2,862,17911,0.00,2.53,0.00,0.000,4,0.000,0.046,2587,898,1520
$GC,17963,1.16,316.0,104.4,11.7,864,17970,0.12,2.45,0.00,0.000,6,0.048,0.035,2625,2303,1519
$GC,18280,1.10,316.0,63.8,12.6,880,18285,0.12,2.58,0.00,0.000,4,0.095,0.061,2602,3706,1519
$GC,18307,1.10,316.0,60.0,13.0,881,18311,0.00,2.45,0.00,0.000,6,0.000,0.031,2602,2297,1520
$GC,18623,1.10,316.0,27.8,10.1,896,18627,0.00,2.53,0.00,0.000,4,0.000,0.048,2602,892,1519
$GC,18662,1.10,316.0,23.7,10.2,898,18667,0.00,2.45,0.00,0.000,6,0.000,0.033,2602,2308,1519
$STATE,18863,end climb,SURFACE_DEPTH_REACHED
$STATE,18863,begin surface coast
$FINISH,0.7,1.026797
$STATE,18887,end surface coast,CONTROL_FINISHED_OK
$STATE,18887,begin surface
$SM_CCo,18970,0.00,0.000,0,0,1516,319.14
$SM_GC,1.45,11.85,0.00,0.00,0.077,0.000,0.000,73,2610,1516,-10.47,0.28,319.14
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1696
$TCM_TEMP,17.60
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,826.5,56.7
$24V_AH,23.5,10.270
$10V_AH,10.1,4.026
$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,27.750,189.650,418.375,0.000,0.000,18.024,28.011,141.106,13.750,0.000,0.000,13.568,1703.528,14456.867,578.357,2054.386,481.932,33.346,1636.272,0.000,2000.178,0.000,49.580,0.000
$DEVICE_MAMPS,183.313,81.302,1159.704,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,648.182,641.980,498.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47457,909
$CAP_FILE_SIZE,146033,0
$CFSIZE,260165632,256876544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090609,090325,6138.562,-842.481,40,1.9,40,-9.1