version: 66.04
glider: 16
mission: 13
dive: 41
start: 6 12 109 7 55 5
data:
$ID,16
$MISSION,13
$DIVE,41
$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,-2108325.2
$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,28
$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
$GPS1,074936,6200.840,-922.882,26,1.4,26,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-65.4
$GPS2,075414,6200.912,-922.881,13,1.8,13,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.133,-0.199
$KALMAN_X,-96003.9,1120.1,1343.8,34865.2,-17150.0
$KALMAN_Y,187301.5,-4117.4,-1537.8,-114190.5,45188.9
$MHEAD_RNG_PITCHd_Wd,147.8,76770,-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,-60.88,0.000,2,0.000,0.000,65,2607,3314
$GC,81,-1.03,-146.6,5.2,-9.0,3,103,12.07,2.55,-1.70,0.000,4,0.189,0.054,2131,1195,3417
$GC,228,-1.03,-146.6,28.9,-9.1,9,233,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2595,3418
$GC,544,-1.03,-146.6,60.1,-9.9,24,548,0.00,2.35,0.00,0.000,4,0.000,0.068,2130,3858,3419
$GC,588,-1.03,-146.6,64.8,-10.7,26,592,0.00,2.17,0.00,0.000,6,0.000,0.029,2130,2582,3418
$GC,915,-1.03,-146.6,96.0,-9.8,42,919,0.00,2.42,0.00,0.000,4,0.000,0.041,2130,1206,3418
$GC,970,-1.03,-146.6,101.4,-9.0,44,976,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2600,3418
$GC,1286,-1.03,-146.6,130.6,-9.0,60,1290,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1207,3419
$GC,1320,-1.07,-146.6,133.9,-9.1,61,1326,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2602,3418
$GC,1635,-1.07,-146.6,160.1,-7.9,77,1639,0.00,2.33,0.00,0.000,4,0.000,0.067,2131,3858,3419
$GC,1685,-1.07,-146.6,164.4,-8.3,79,1689,0.00,2.15,0.00,0.000,6,0.000,0.029,2131,2596,3419
$GC,2006,-1.07,-146.6,190.2,-7.6,95,2010,0.00,2.42,0.00,0.000,4,0.000,0.042,2131,1208,3419
$GC,2040,-1.07,-146.6,192.7,-6.5,96,2044,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2606,3419
$GC,2356,-1.07,-146.6,213.0,-6.5,111,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3419
$GC,2666,-1.07,-146.6,230.8,-5.8,126,2670,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1204,3419
$GC,2710,-1.13,-146.6,233.3,-4.8,128,2714,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3419
$GC,3032,-1.13,-146.6,253.2,-7.1,144,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,3341,-1.13,-146.6,283.3,-11.5,159,3345,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1200,3419
$GC,3368,-1.13,-146.6,286.7,-12.2,160,3372,0.00,2.47,0.00,0.000,6,0.000,0.039,2131,2603,3419
$GC,3684,-1.13,-146.6,326.6,-12.8,175,3688,0.00,2.45,0.00,0.000,4,0.000,0.042,2130,1207,3419
$GC,3707,-1.13,-146.6,329.6,-12.6,176,3711,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3419
$GC,4034,-1.13,-146.6,367.0,-10.4,192,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,4344,-1.13,-146.6,388.3,-4.1,207,4348,0.00,2.45,0.00,0.000,4,0.000,0.042,2131,1207,3419
$GC,4384,-1.20,-146.6,389.6,-2.9,209,4389,0.15,2.45,0.00,0.000,6,0.044,0.039,2087,2599,3418
$GC,4713,-1.10,-146.6,405.9,-6.6,225,4718,0.17,2.35,0.00,0.000,4,0.098,0.073,2119,3858,3418
$GC,4825,-1.10,-146.6,414.2,-6.4,230,4829,0.00,2.15,0.00,0.000,6,0.000,0.031,2119,2601,3418
$GC,5153,-1.10,-146.6,436.8,-7.0,246,5157,0.00,2.50,0.00,0.000,4,0.000,0.047,2119,1197,3418
$GC,5283,-1.15,-146.6,449.7,-12.4,252,5289,0.00,2.47,0.00,0.000,6,0.000,0.041,2120,2599,3418
$GC,5616,-1.15,-146.6,493.4,-14.0,268,5621,0.00,2.38,0.00,0.000,4,0.000,0.081,2119,3857,3417
$GC,5773,-1.15,-146.6,513.4,-14.2,275,5777,0.00,2.17,0.00,0.000,6,0.000,0.035,2119,2601,3416
$STATE,5892,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5892,begin apogee
$GC,5899,-0.31,0.0,525.5,8.1,281,6028,0.88,0.00,125.43,0.900,6,0.124,0.000,2287,2294,2818
$STATE,6028,end apogee,CONTROL_FINISHED_OK
$STATE,6028,begin climb
$GC,6031,1.03,146.6,523.6,0.0,287,6168,1.40,2.75,126.78,0.890,4,0.087,0.071,2577,3706,2218
$GC,6215,0.85,146.6,523.0,9.8,295,6223,0.17,2.50,0.00,0.000,6,0.108,0.038,2546,2309,2214
$GC,6532,0.88,221.7,510.3,4.9,311,6602,0.00,2.70,64.88,0.881,4,0.000,0.072,2546,3699,1913
$GC,6728,0.85,240.1,496.3,6.9,320,6750,0.00,2.50,16.55,0.816,6,0.000,0.040,2546,2304,1838
$GC,7059,0.85,240.1,462.7,11.8,336,7063,0.00,2.60,0.00,0.000,4,0.000,0.058,2546,891,1831
$GC,7171,0.91,240.1,450.0,11.9,341,7175,0.00,2.53,0.00,0.000,6,0.000,0.043,2546,2298,1829
$GC,7492,0.97,240.1,415.9,10.2,357,7497,0.12,2.67,0.00,0.000,4,0.058,0.071,2577,3709,1828
$GC,7559,0.90,240.1,408.3,11.8,360,7564,0.12,2.50,0.00,0.000,6,0.116,0.037,2556,2299,1829
$GC,7880,0.94,240.1,377.0,8.8,376,7885,0.00,2.58,0.00,0.000,4,0.000,0.054,2556,887,1829
$GC,7914,0.94,240.1,373.9,9.0,377,7920,0.00,2.53,0.00,0.000,6,0.000,0.039,2556,2307,1828
$GC,8230,0.98,240.1,347.5,8.8,393,8234,0.00,2.58,0.00,0.000,4,0.000,0.049,2557,885,1828
$GC,8269,1.03,240.1,343.8,10.0,395,8274,0.12,2.50,0.00,0.000,6,0.067,0.038,2583,2301,1828
$GC,8596,1.03,240.1,312.9,8.6,411,8600,0.00,2.62,0.00,0.000,4,0.000,0.064,2583,3706,1828
$GC,8636,0.96,240.1,309.3,9.4,413,8640,0.00,2.47,0.00,0.000,6,0.000,0.033,2583,2294,1828
$GC,8962,0.96,240.1,283.3,8.0,429,8966,0.00,2.53,0.00,0.000,4,0.000,0.049,2583,891,1828
$GC,9023,0.92,240.1,277.9,9.0,431,9030,0.12,2.47,0.00,0.000,6,0.100,0.037,2560,2302,1828
$GC,9339,0.92,240.1,253.3,8.1,447,9343,0.00,2.60,0.00,0.000,4,0.000,0.063,2560,3701,1828
$GC,9371,0.92,240.1,250.5,8.7,448,9378,0.00,2.45,0.00,0.000,6,0.000,0.032,2560,2297,1828
$GC,9687,0.92,240.1,223.7,8.5,464,9691,0.00,2.53,0.00,0.000,4,0.000,0.048,2560,891,1828
$GC,9731,0.92,240.1,219.7,9.6,466,9735,0.00,2.47,0.00,0.000,6,0.000,0.036,2560,2306,1829
$GC,10052,0.96,240.1,190.1,9.7,482,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2306,1828
$GC,10361,1.01,240.1,159.9,9.9,497,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2306,1828
$GC,10671,1.01,240.1,129.4,9.7,512,10675,0.00,2.53,0.00,0.000,4,0.000,0.046,2560,891,1829
$GC,10749,1.01,240.1,122.0,8.8,515,10755,0.00,2.45,0.00,0.000,6,0.000,0.035,2560,2300,1829
$GC,11065,1.01,240.1,97.3,7.7,531,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2299,1829
$GC,11374,1.06,240.1,71.6,8.3,546,11376,0.15,0.00,0.00,0.000,6,0.044,0.000,2606,2300,1829
$GC,11684,0.99,240.1,40.3,10.1,561,11685,0.15,0.00,0.00,0.000,6,0.089,0.000,2577,2299,1829
$GC,11993,0.99,240.1,14.5,8.3,576,11994,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2300,1830
$STATE,12134,end climb,SURFACE_DEPTH_REACHED
$STATE,12134,begin surface coast
$FINISH,0.6,1.026783
$STATE,12156,end surface coast,CONTROL_FINISHED_OK
$STATE,12156,begin surface
$SM_CCo,12179,4.53,0.410,0,0,1797,250.21
$SM_GC,2.98,0.00,0.00,4.53,0.000,0.000,0.410,76,2607,1797,-10.51,0.20,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,1704
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.2,59.1
$24V_AH,23.7,12.686
$10V_AH,10.1,5.274
$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,27.450,119.425,333.625,4.525,0.000,17.947,35.838,119.231,4.000,0.000,0.000,13.390,1117.635,9132.480,434.435,1404.132,378.780,33.356,1158.240,0.000,1367.880,0.000,29.870,0.000
$DEVICE_MAMPS,188.682,80.535,900.458,409.578,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.515,412.267,411.658,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28543,584
$CAP_FILE_SIZE,97453,0
$CFSIZE,260165632,255926272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120609,111936,6204.260,-919.341,37,1.7,48,-9.6