version: 66.04
glider: 16
mission: 13
dive: 25
start: 6 9 109 9 9 49
data:
$ID,16
$MISSION,13
$DIVE,25
$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,-2108046.8
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,090325,6138.562,-842.481,40,1.9,40,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-62.2
$GPS2,090856,6138.620,-842.452,12,1.3,12,-9.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.128,-0.203
$KALMAN_X,-38539.7,792.0,-495.2,15417.7,-3476.5
$KALMAN_Y,88142.4,-2244.8,-184.2,-59607.2,14028.8
$MHEAD_RNG_PITCHd_Wd,145.1,22197,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-61.03,0.000,2,0.000,0.000,72,2609,3218
$GC,81,-1.03,-146.6,4.6,-8.1,3,103,11.88,2.53,-3.47,0.000,4,0.183,0.054,2130,1190,3416
$GC,266,-1.03,-146.6,30.1,-8.9,11,270,0.00,2.47,0.00,0.000,6,0.000,0.037,2130,2592,3416
$GC,587,-1.03,-146.6,61.0,-9.7,27,591,0.00,2.38,0.00,0.000,4,0.000,0.069,2130,3864,3416
$GC,649,-1.03,-146.6,67.5,-10.2,30,654,0.00,2.17,0.00,0.000,6,0.000,0.028,2130,2582,3417
$GC,976,-1.03,-146.6,98.2,-8.4,46,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2580,3417
$GC,1287,-1.03,-146.6,127.8,-10.5,61,1291,0.00,2.42,0.00,0.000,4,0.000,0.041,2130,1205,3417
$GC,1316,-1.03,-146.6,130.6,-9.6,62,1320,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2608,3417
$GC,1632,-1.03,-146.6,162.1,-10.3,77,1636,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1205,3417
$GC,1659,-1.03,-146.6,165.2,-11.1,78,1663,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2600,3418
$GC,1980,-1.03,-146.6,195.4,-9.5,94,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,2290,-1.03,-146.6,217.9,-6.5,109,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,2599,-1.03,-146.6,235.6,-5.9,124,2603,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1209,3418
$GC,2640,-1.09,-146.6,238.1,-5.8,126,2644,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2601,3419
$GC,2966,-1.09,-146.6,263.7,-8.2,142,2970,0.00,2.35,0.00,0.000,4,0.000,0.070,2130,3865,3418
$GC,3006,-1.09,-146.6,267.3,-9.9,144,3010,0.00,2.15,0.00,0.000,6,0.000,0.029,2130,2594,3418
$GC,3338,-1.09,-146.6,299.7,-10.2,160,3343,0.00,2.42,0.00,0.000,4,0.000,0.043,2130,1209,3418
$GC,3394,-1.14,-146.6,305.4,-9.3,162,3398,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2605,3418
$GC,3709,-1.14,-146.6,336.0,-9.4,177,3713,0.00,2.47,0.00,0.000,4,0.000,0.042,2130,1202,3418
$GC,3742,-1.19,-146.6,338.8,-8.3,178,3747,0.15,2.45,0.00,0.000,6,0.044,0.038,2083,2601,3418
$GC,4058,-1.09,-146.6,368.9,-9.4,193,4060,0.17,0.00,0.00,0.000,6,0.097,0.000,2118,2601,3417
$GC,4367,-1.09,-146.6,390.7,-6.9,208,4371,0.00,2.45,0.00,0.000,4,0.000,0.041,2118,1210,3418
$GC,4408,-1.09,-146.6,393.5,-6.6,210,4412,0.00,2.45,0.00,0.000,6,0.000,0.038,2118,2603,3417
$GC,4735,-1.09,-146.6,416.2,-7.5,226,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2604,3417
$GC,5044,-1.09,-146.6,439.9,-7.5,241,5048,0.00,2.45,0.00,0.000,4,0.000,0.042,2118,1212,3416
$GC,5071,-1.09,-146.6,442.0,-7.8,242,5075,0.00,2.45,0.00,0.000,6,0.000,0.039,2118,2600,3416
$GC,5386,-1.09,-146.6,478.5,-13.5,257,5390,0.00,2.45,0.00,0.000,4,0.000,0.042,2118,1204,3417
$GC,5420,-1.14,-146.6,483.1,-13.2,258,5424,0.00,2.45,0.00,0.000,6,0.000,0.039,2118,2599,3416
$GC,5736,-1.14,-146.6,519.4,-10.7,273,5740,0.00,2.35,0.00,0.000,4,0.000,0.074,2118,3858,3416
$GC,5785,-1.14,-146.6,524.6,-9.9,275,5790,0.00,2.15,0.00,0.000,6,0.000,0.031,2118,2597,3417
$GC,6107,-1.14,-146.6,552.4,-8.3,291,6111,0.00,2.47,0.00,0.000,4,0.000,0.046,2118,1201,3416
$GC,6196,-1.20,-146.6,560.3,-8.7,295,6200,0.00,2.47,0.00,0.000,6,0.000,0.041,2118,2602,3416
$GC,6517,-1.20,-146.6,588.7,-9.0,311,6521,0.00,2.35,0.00,0.000,4,0.000,0.076,2118,3859,3416
$GC,6562,-1.20,-146.6,593.2,-9.5,313,6566,0.00,2.15,0.00,0.000,6,0.000,0.033,2118,2599,3416
$GC,6895,-1.20,-146.6,621.3,-7.1,329,6899,0.00,2.38,0.00,0.000,4,0.000,0.076,2118,3857,3416
$GC,6927,-1.20,-146.6,623.9,-7.7,330,6934,0.00,2.15,0.00,0.000,6,0.000,0.034,2118,2602,3416
$GC,7244,-1.20,-146.6,647.7,-8.5,346,7248,0.00,2.50,0.00,0.000,4,0.000,0.051,2118,1206,3416
$GC,7316,-1.26,-146.6,653.3,-7.9,349,7321,0.15,2.50,0.00,0.000,6,0.048,0.044,2076,2607,3415
$GC,7632,-1.17,-146.6,682.5,-10.6,364,7637,0.15,2.53,0.00,0.000,4,0.103,0.049,2104,1201,3414
$GC,7721,-1.17,-146.6,692.2,-11.4,368,7725,0.00,2.53,0.00,0.000,6,0.000,0.048,2104,2607,3414
$GC,8042,-1.17,-146.6,727.9,-11.9,384,8046,0.00,2.42,0.00,0.000,4,0.000,0.088,2103,3864,3413
$GC,8075,-1.13,-146.6,732.8,-15.3,385,8082,0.00,2.20,0.00,0.000,6,0.000,0.040,2104,2604,3412
$GC,8392,-1.09,-146.6,768.6,-10.7,401,8396,0.00,2.58,0.00,0.000,4,0.000,0.061,2104,1195,3411
$GC,8408,-1.09,-146.6,771.1,-11.9,402,8413,0.00,2.53,0.00,0.000,6,0.000,0.050,2104,2596,3411
$STATE,8692,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8692,begin apogee
$GC,8699,-0.31,0.0,805.2,13.6,416,8834,0.95,0.00,128.95,1.104,6,0.117,0.000,2290,2297,2816
$STATE,8835,end apogee,CONTROL_FINISHED_OK
$STATE,8835,begin climb
$GC,8838,1.03,146.6,811.6,0.0,423,8977,1.30,2.67,131.90,1.095,4,0.051,0.063,2579,898,2216
$GC,9235,0.87,162.5,785.5,7.0,440,9255,0.17,2.58,13.65,0.978,6,0.112,0.049,2548,2309,2153
$GC,9585,0.87,217.1,762.3,5.6,457,9641,0.00,2.67,50.25,1.061,4,0.000,0.064,2548,905,1930
$GC,9787,0.98,319.2,750.3,4.0,465,9889,0.12,2.55,93.50,1.065,6,0.064,0.048,2579,2305,1514
$GC,10211,0.98,319.2,707.6,10.4,486,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2305,1504
$GC,10520,0.98,319.2,680.5,8.9,501,10524,0.00,2.62,0.00,0.000,4,0.000,0.064,2580,905,1501
$GC,10541,0.98,319.2,678.6,8.0,502,10546,0.00,2.53,0.00,0.000,6,0.000,0.048,2579,2302,1500
$GC,10862,0.98,319.2,647.9,11.3,518,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2302,1499
$GC,11172,0.98,319.2,606.6,12.7,533,11176,0.00,2.60,0.00,0.000,4,0.000,0.063,2580,904,1498
$GC,11204,0.98,319.2,602.3,13.0,534,11211,0.00,2.53,0.00,0.000,6,0.000,0.047,2579,2308,1497
$GC,11520,0.98,319.2,558.0,14.9,550,11524,0.00,2.65,0.00,0.000,4,0.000,0.075,2579,3703,1497
$GC,11537,0.98,319.2,555.7,14.0,551,11541,0.00,2.50,0.00,0.000,6,0.000,0.041,2579,2306,1497
$GC,11863,0.98,319.2,516.1,11.4,567,11867,0.00,2.62,0.00,0.000,4,0.000,0.062,2579,888,1497
$GC,11970,0.98,319.2,502.4,13.6,572,11974,0.00,2.53,0.00,0.000,6,0.000,0.041,2580,2303,1496
$GC,12296,0.98,319.2,465.4,10.5,588,12300,0.00,2.65,0.00,0.000,4,0.000,0.069,2579,3709,1496
$GC,12335,0.98,319.2,461.1,12.0,590,12339,0.00,2.50,0.00,0.000,6,0.000,0.037,2579,2298,1496
$GC,12662,0.98,319.2,426.8,9.5,606,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2297,1496
$GC,12971,0.98,319.2,399.8,8.7,621,12975,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,886,1495
$GC,12998,0.98,319.2,397.2,9.1,622,13002,0.00,2.50,0.00,0.000,6,0.000,0.038,2580,2302,1496
$GC,13318,0.98,319.2,368.9,9.6,638,13323,0.00,2.55,0.00,0.000,4,0.000,0.050,2580,891,1496
$GC,13346,0.98,319.2,366.2,9.7,639,13350,0.00,2.47,0.00,0.000,6,0.000,0.037,2580,2305,1496
$GC,13667,1.03,319.2,332.6,11.9,655,13672,0.00,2.55,0.00,0.000,4,0.000,0.048,2580,892,1497
$GC,13708,1.09,319.2,328.0,11.0,657,13712,0.00,2.47,0.00,0.000,6,0.000,0.037,2580,2302,1497
$GC,14034,1.13,319.2,293.1,10.5,673,14039,0.12,2.55,0.00,0.000,4,0.057,0.048,2616,884,1497
$GC,14056,1.13,319.2,290.0,12.9,674,14060,0.00,2.47,0.00,0.000,6,0.000,0.037,2616,2301,1497
$GC,14383,1.08,319.2,242.5,15.8,690,14387,0.00,2.55,0.00,0.000,4,0.000,0.048,2616,888,1498
$GC,14422,1.08,319.2,236.4,15.3,692,14426,0.00,2.47,0.00,0.000,6,0.000,0.036,2617,2301,1498
$GC,14749,1.04,319.2,183.6,16.3,708,14754,0.15,2.53,0.00,0.000,4,0.091,0.047,2587,891,1499
$GC,14804,1.10,319.2,175.6,14.8,710,14811,0.00,2.47,0.00,0.000,6,0.000,0.036,2587,2308,1498
$GC,15121,1.10,319.2,137.5,10.6,726,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2308,1499
$GC,15430,1.10,319.2,107.1,9.4,741,15434,0.00,2.55,0.00,0.000,4,0.000,0.047,2587,889,1500
$GC,15447,1.10,319.2,105.4,9.3,742,15451,0.00,2.47,0.00,0.000,6,0.000,0.035,2587,2305,1499
$GC,15774,1.14,319.2,74.6,9.8,758,15778,0.00,2.55,0.00,0.000,4,0.000,0.047,2588,884,1500
$GC,15807,1.19,319.2,71.5,9.3,759,15814,0.15,2.47,0.00,0.000,6,0.047,0.035,2625,2306,1500
$GC,16123,1.14,319.2,38.2,10.4,775,16124,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2307,1500
$GC,16434,1.10,319.2,4.9,11.1,790,16439,0.15,2.53,0.00,0.000,4,0.093,0.045,2595,891,1501
$STATE,16449,end climb,SURFACE_DEPTH_REACHED
$STATE,16449,begin surface coast
$FINISH,0.9,1.026771
$STATE,16473,end surface coast,CONTROL_FINISHED_OK
$STATE,16473,begin surface
$SM_CCo,16558,0.00,0.000,0,0,1496,323.80
$SM_GC,1.51,11.68,0.00,0.00,0.073,0.000,0.000,78,2598,1496,-10.45,-0.08,323.80
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1710
$TCM_TEMP,17.60
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,725.4,88.7
$24V_AH,23.5,10.412
$10V_AH,10.1,4.103
$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,27.300,174.000,418.250,0.000,0.000,18.270,29.006,164.628,9.000,0.000,0.000,12.917,1493.226,12543.926,519.537,1849.107,481.270,33.376,1483.850,0.000,1798.919,0.000,43.215,0.000
$DEVICE_MAMPS,182.546,88.205,1103.713,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,566.675,558.060,470.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41092,792
$CAP_FILE_SIZE,130096,0
$CFSIZE,260165632,256831488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,090609,134706,6140.939,-843.661,38,1.4,43,-9.1