version: 66.04
glider: 16
mission: 13
dive: 40
start: 6 12 109 4 25 1
data:
$ID,16
$MISSION,13
$DIVE,40
$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,-2108311
$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,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
$GPS1,041632,6158.886,-923.363,41,1.4,49,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-58.8
$GPS2,042409,6158.976,-923.468,14,1.4,33,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.139,-0.195
$KALMAN_X,-95566.6,2863.9,363.9,33131.5,-18122.9
$KALMAN_Y,182368.3,-2542.4,-2289.3,-113657.8,44477.2
$MHEAD_RNG_PITCHd_Wd,145.7,74494,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-102.15,0.000,2,0.000,0.000,59,2608,3340
$GC,123,-1.03,-146.6,5.2,-4.6,5,145,12.02,2.58,-1.25,0.000,4,0.186,0.054,2128,1191,3418
$GC,246,-1.03,-146.6,28.3,-9.9,10,250,0.00,2.50,0.00,0.000,6,0.000,0.038,2128,2603,3418
$GC,562,-1.03,-146.6,58.7,-9.6,25,566,0.00,2.35,0.00,0.000,4,0.000,0.069,2128,3862,3418
$GC,624,-1.03,-146.6,64.9,-10.4,28,628,0.00,2.17,0.00,0.000,6,0.000,0.029,2128,2584,3418
$GC,951,-1.03,-146.6,95.5,-10.2,44,955,0.00,2.38,0.00,0.000,4,0.000,0.066,2128,3861,3418
$GC,1001,-1.03,-146.6,101.5,-11.2,46,1005,0.00,2.15,0.00,0.000,6,0.000,0.029,2128,2602,3418
$GC,1323,-1.03,-146.6,133.3,-9.3,62,1327,0.00,2.47,0.00,0.000,4,0.000,0.043,2128,1202,3418
$GC,1378,-1.03,-146.6,138.2,-8.6,64,1384,0.00,2.47,0.00,0.000,6,0.000,0.038,2128,2604,3418
$GC,1694,-1.03,-146.6,165.3,-7.6,80,1698,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1205,3418
$GC,1721,-1.03,-146.6,167.2,-6.7,81,1726,0.00,2.47,0.00,0.000,6,0.000,0.038,2128,2608,3418
$GC,2037,-1.03,-146.6,190.8,-7.9,96,2041,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1205,3418
$GC,2070,-1.03,-146.6,193.8,-8.2,97,2076,0.00,2.47,0.00,0.000,6,0.000,0.038,2128,2609,3418
$GC,2386,-1.03,-146.6,221.0,-8.7,113,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3418
$GC,2695,-1.03,-146.6,248.1,-9.1,128,2699,0.00,2.50,0.00,0.000,4,0.000,0.041,2128,1197,3418
$GC,2735,-1.08,-146.6,251.9,-9.5,130,2739,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2602,3418
$GC,3062,-1.08,-146.6,285.8,-10.9,146,3066,0.00,2.35,0.00,0.000,4,0.000,0.071,2130,3862,3418
$GC,3096,-1.08,-146.6,290.0,-11.8,147,3102,0.00,2.15,0.00,0.000,6,0.000,0.030,2129,2597,3418
$GC,3413,-1.08,-146.6,326.1,-11.8,163,3417,0.00,2.45,0.00,0.000,4,0.000,0.043,2129,1208,3418
$GC,3457,-1.13,-146.6,331.8,-12.3,165,3462,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2600,3418
$GC,3779,-1.13,-146.6,371.5,-11.8,181,3783,0.00,2.47,0.00,0.000,4,0.000,0.042,2129,1203,3418
$GC,3834,-1.17,-146.6,377.9,-10.9,183,3841,0.08,2.47,0.00,0.000,6,0.040,0.039,2095,2605,3418
$GC,4150,-1.10,-146.6,415.7,-13.4,199,4155,0.12,2.35,0.00,0.000,4,0.100,0.073,2119,3858,3418
$GC,4286,-1.10,-146.6,433.7,-13.7,205,4290,0.00,2.15,0.00,0.000,6,0.000,0.031,2119,2605,3418
$GC,4613,-1.10,-146.6,470.6,-10.2,221,4617,0.00,2.50,0.00,0.000,4,0.000,0.046,2119,1198,3418
$GC,4743,-1.16,-146.6,482.5,-7.9,227,4747,0.00,2.50,0.00,0.000,6,0.000,0.042,2119,2607,3418
$GC,5069,-1.16,-146.6,503.3,-6.0,243,5073,0.00,2.35,0.00,0.000,4,0.000,0.076,2119,3857,3417
$GC,5182,-1.16,-146.6,510.5,-5.8,248,5185,0.00,2.17,0.00,0.000,6,0.000,0.034,2119,2595,3416
$GC,5509,-1.16,-146.6,528.6,-7.0,264,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2593,3415
$STATE,5733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5733,begin apogee
$GC,5740,-0.31,0.0,546.6,8.1,275,5869,0.82,0.00,125.55,0.923,6,0.096,0.000,2288,2303,2817
$STATE,5869,end apogee,CONTROL_FINISHED_OK
$STATE,5869,begin climb
$GC,5872,1.03,146.6,552.3,0.0,281,6010,1.35,2.80,127.28,0.910,4,0.063,0.074,2579,3703,2218
$GC,6268,0.88,146.6,527.2,12.2,299,6273,0.15,2.50,0.00,0.000,6,0.127,0.041,2554,2309,2211
$GC,6595,0.86,222.8,508.5,4.9,315,6666,0.00,2.70,65.70,0.892,4,0.000,0.073,2554,3701,1907
$GC,6842,0.88,240.9,495.5,6.9,326,6863,0.00,2.53,16.33,0.828,6,0.000,0.040,2554,2295,1834
$GC,7185,0.92,278.6,475.1,6.2,343,7226,0.00,2.75,33.80,0.863,4,0.000,0.073,2554,3714,1680
$GC,7238,0.96,278.6,471.2,7.6,345,7242,0.00,2.55,0.00,0.000,6,0.000,0.039,2554,2300,1680
$GC,7554,1.04,304.3,447.9,6.6,360,7584,0.15,2.67,23.33,0.835,4,0.062,0.058,2593,896,1575
$GC,7689,1.04,304.3,435.4,10.6,366,7694,0.00,2.50,0.00,0.000,6,0.000,0.042,2593,2298,1569
$GC,8015,1.04,304.3,399.4,11.1,382,8020,0.00,2.65,0.00,0.000,4,0.000,0.068,2593,3703,1569
$GC,8054,1.04,304.3,394.8,12.2,384,8059,0.00,2.50,0.00,0.000,6,0.000,0.036,2593,2293,1568
$GC,8381,1.04,304.3,358.2,11.3,400,8385,0.00,2.55,0.00,0.000,4,0.000,0.054,2593,894,1568
$GC,8409,1.04,304.3,354.7,12.1,401,8413,0.00,2.50,0.00,0.000,6,0.000,0.038,2593,2306,1568
$GC,8725,1.04,304.3,321.6,9.8,416,8729,0.00,2.58,0.00,0.000,4,0.000,0.049,2593,888,1568
$GC,8752,1.04,304.3,318.6,10.7,417,8756,0.00,2.50,0.00,0.000,6,0.000,0.038,2593,2302,1567
$GC,9067,1.04,304.3,287.4,10.1,432,9071,0.00,2.55,0.00,0.000,4,0.000,0.048,2593,893,1567
$GC,9094,1.04,304.3,284.5,10.5,433,9098,0.00,2.47,0.00,0.000,6,0.000,0.037,2593,2301,1567
$GC,9410,1.04,304.3,258.4,7.6,448,9414,0.00,2.55,0.00,0.000,4,0.000,0.048,2593,887,1567
$GC,9437,1.04,304.3,256.1,8.7,449,9441,0.00,2.50,0.00,0.000,6,0.000,0.037,2593,2310,1567
$GC,9752,1.04,304.3,231.6,8.3,464,9756,0.00,2.55,0.00,0.000,4,0.000,0.048,2593,892,1567
$GC,9818,1.04,304.3,225.7,8.5,467,9823,0.00,2.47,0.00,0.000,6,0.000,0.036,2593,2302,1567
$GC,10140,1.04,304.3,199.8,8.5,483,10144,0.00,2.60,0.00,0.000,4,0.000,0.063,2593,3703,1567
$GC,10166,1.04,304.3,197.1,9.6,484,10171,0.00,2.45,0.00,0.000,6,0.000,0.032,2593,2297,1567
$GC,10482,1.04,304.3,166.5,9.9,499,10486,0.00,2.53,0.00,0.000,4,0.000,0.048,2593,888,1567
$GC,10539,1.04,304.3,160.9,10.1,501,10545,0.00,2.47,0.00,0.000,6,0.000,0.036,2593,2301,1567
$GC,10854,1.04,304.3,129.8,9.9,517,10856,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2301,1567
$GC,11164,1.04,304.3,98.6,9.5,532,11168,0.00,2.53,0.00,0.000,4,0.000,0.046,2594,894,1567
$GC,11219,1.04,304.3,92.9,10.5,534,11225,0.00,2.45,0.00,0.000,6,0.000,0.035,2593,2302,1568
$GC,11535,1.04,304.3,59.6,11.1,550,11539,0.00,2.53,0.00,0.000,4,0.000,0.045,2592,893,1567
$GC,11567,1.04,304.3,56.1,10.2,551,11574,0.00,2.45,0.00,0.000,6,0.000,0.035,2593,2302,1567
$GC,11885,1.04,304.3,23.9,9.9,567,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2302,1567
$STATE,12109,end climb,SURFACE_DEPTH_REACHED
$STATE,12109,begin surface coast
$FINISH,0.7,1.025429
$STATE,12129,end surface coast,CONTROL_FINISHED_OK
$STATE,12129,begin surface
$SM_CCo,12213,0.00,0.000,0,0,1567,306.62
$SM_GC,1.67,11.98,0.00,0.00,0.087,0.000,0.000,66,2606,1567,-10.45,0.20,306.62
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1704
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.8,54.8
$24V_AH,23.6,12.590
$10V_AH,10.1,5.213
$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,26.675,134.675,391.975,0.000,0.000,35.888,52.484,179.919,4.000,0.000,0.000,33.211,1113.759,9078.530,517.107,1483.115,481.704,33.360,1287.607,0.000,1424.777,0.000,28.842,0.000
$DEVICE_MAMPS,185.614,75.933,922.701,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.707,408.629,396.445,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28563,579
$CAP_FILE_SIZE,101915,0
$CFSIZE,260165632,255971328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120609,074936,6200.840,-922.882,26,1.4,26,-9.6