version: 66.04
glider: 16
mission: 13
dive: 42
start: 6 12 109 11 25 5
data:
$ID,16
$MISSION,13
$DIVE,42
$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,-2108342.5
$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,30
$R_STBD_OVSHOOT,32
$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
$GPS1,111936,6204.260,-919.341,37,1.7,48,-9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.0
$GPS2,112414,6204.354,-919.305,16,1.6,16,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.109,-0.213
$KALMAN_X,-93161.8,181.4,1327.4,36142.2,-10564.7
$KALMAN_Y,195145.1,-4468.0,-1871.7,-114983.2,51084.6
$MHEAD_RNG_PITCHd_Wd,152.6,79693,-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,-146.6,0.0,0.0,0,71,0.00,0.00,-53.90,0.000,6,0.000,0.000,76,2609,3415
$GC,74,-1.03,-146.6,3.7,-8.9,2,95,11.90,2.55,0.00,0.000,4,0.184,0.040,2131,1191,3416
$GC,202,-1.03,-146.6,30.4,-10.1,7,209,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2591,3418
$GC,519,-1.03,-146.6,62.2,-9.8,23,523,0.00,2.38,0.00,0.000,4,0.000,0.068,2131,3866,3417
$GC,583,-1.03,-146.6,68.7,-10.4,26,588,0.00,2.17,0.00,0.000,6,0.000,0.028,2131,2585,3417
$GC,911,-1.03,-146.6,99.2,-9.5,42,915,0.00,2.42,0.00,0.000,4,0.000,0.041,2131,1206,3418
$GC,955,-1.08,-146.6,103.5,-9.1,44,959,0.00,2.45,0.00,0.000,6,0.000,0.037,2131,2600,3417
$GC,1276,-1.08,-146.6,134.5,-9.2,60,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,1585,-1.08,-146.6,160.8,-8.3,75,1589,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1206,3418
$GC,1651,-1.08,-146.6,166.5,-8.6,78,1655,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2600,3418
$GC,1972,-1.08,-146.6,194.3,-9.2,94,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,2282,-1.08,-146.6,220.5,-8.3,109,2286,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1206,3418
$GC,2348,-1.08,-146.6,226.3,-8.4,112,2352,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3418
$GC,2669,-1.08,-146.6,255.2,-9.0,128,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,2978,-1.08,-146.6,284.7,-9.4,143,2982,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1205,3418
$GC,3022,-1.13,-146.6,288.9,-9.3,145,3026,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3418
$GC,3343,-1.13,-146.6,316.4,-8.1,161,3347,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1198,3418
$GC,3371,-1.13,-146.6,318.7,-8.2,162,3375,0.00,2.45,0.00,0.000,6,0.000,0.039,2131,2600,3418
$GC,3687,-1.13,-146.6,342.6,-7.3,177,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,3995,-1.13,-146.6,366.7,-7.7,192,4000,0.00,2.47,0.00,0.000,4,0.000,0.042,2132,1200,3418
$GC,4041,-1.20,-146.6,369.6,-6.0,194,4046,0.15,2.47,0.00,0.000,6,0.044,0.039,2087,2606,3417
$GC,4362,-1.10,-146.6,399.2,-9.4,210,4364,0.17,0.00,0.00,0.000,6,0.098,0.000,2121,2605,3418
$GC,4671,-1.10,-146.6,419.1,-5.7,225,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2605,3417
$GC,4980,-1.10,-146.6,438.0,-5.3,240,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2605,3417
$GC,5292,-1.10,-146.6,451.2,-4.5,255,5297,0.00,2.47,0.00,0.000,4,0.000,0.044,2121,1207,3417
$GC,5383,-1.16,-146.6,457.2,-6.7,259,5387,0.00,2.47,0.00,0.000,6,0.000,0.041,2120,2606,3417
$GC,5703,-1.16,-146.6,476.6,-7.7,275,5707,0.00,2.38,0.00,0.000,4,0.000,0.079,2121,3864,3416
$GC,5879,-1.16,-146.6,491.8,-9.7,283,5883,0.00,2.17,0.00,0.000,6,0.000,0.036,2120,2605,3416
$STATE,5982,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5982,begin apogee
$GC,5989,-0.31,0.0,503.5,10.3,288,6117,0.85,0.00,124.30,0.887,6,0.107,0.000,2289,2296,2817
$STATE,6118,end apogee,CONTROL_FINISHED_OK
$STATE,6118,begin climb
$GC,6121,1.03,146.6,506.3,0.0,294,6255,1.38,2.62,126.22,0.873,4,0.077,0.057,2580,903,2218
$GC,6356,0.93,146.6,492.5,7.6,305,6361,0.00,2.50,0.00,0.000,6,0.000,0.042,2580,2301,2212
$GC,6679,0.89,187.5,470.9,6.1,321,6721,0.15,2.72,35.22,0.839,4,0.102,0.072,2552,3704,2051
$GC,6886,0.82,187.5,456.0,8.3,330,6890,0.00,2.47,0.00,0.000,6,0.000,0.036,2552,2306,2047
$GC,7207,0.90,255.3,438.7,5.2,346,7273,0.00,2.67,59.58,0.844,4,0.000,0.056,2552,902,1775
$GC,7302,0.96,263.1,432.8,7.2,350,7315,0.00,2.53,7.90,0.696,6,0.000,0.041,2552,2308,1745
$GC,7624,1.10,339.8,413.1,4.9,366,7695,0.22,0.00,68.75,0.831,6,0.047,0.000,2611,2308,1431
$GC,7992,1.19,425.2,394.6,4.6,384,8073,0.00,0.00,74.68,0.819,6,0.000,0.000,2611,2308,1083
$GC,8383,1.26,448.1,368.8,6.7,403,8409,0.10,2.62,19.88,0.761,4,0.058,0.051,2643,900,989
$GC,8482,1.26,448.1,360.9,8.8,407,8488,0.00,2.50,0.00,0.000,6,0.000,0.038,2643,2301,985
$GC,8797,1.26,448.1,335.1,8.7,423,8802,0.00,2.58,0.00,0.000,4,0.000,0.051,2643,890,983
$GC,8864,1.26,448.1,328.9,9.0,426,8869,0.00,2.50,0.00,0.000,6,0.000,0.037,2643,2302,982
$GC,9185,1.26,448.1,299.7,9.5,442,9190,0.00,2.55,0.00,0.000,4,0.000,0.050,2643,898,982
$GC,9252,1.26,448.1,293.2,9.5,445,9257,0.00,2.47,0.00,0.000,6,0.000,0.037,2643,2302,982
$GC,9574,1.26,448.1,259.2,11.4,461,9578,0.00,2.55,0.00,0.000,4,0.000,0.049,2643,895,981
$GC,9641,1.26,448.1,251.0,11.8,464,9645,0.00,2.47,0.00,0.000,6,0.000,0.037,2643,2300,982
$GC,9962,1.26,448.1,214.9,10.9,480,9966,0.00,2.53,0.00,0.000,4,0.000,0.049,2643,898,981
$GC,10028,1.26,448.1,207.0,12.1,483,10033,0.00,2.47,0.00,0.000,6,0.000,0.037,2643,2305,982
$GC,10349,1.26,448.1,170.1,11.6,499,10354,0.00,2.55,0.00,0.000,4,0.000,0.048,2643,894,982
$GC,10439,1.26,448.1,159.5,11.9,503,10443,0.00,2.47,0.00,0.000,6,0.000,0.036,2643,2301,981
$GC,10760,1.26,448.1,121.6,11.9,519,10764,0.00,2.53,0.00,0.000,4,0.000,0.048,2643,898,981
$GC,10867,1.26,448.1,107.8,12.4,524,10871,0.00,2.45,0.00,0.000,6,0.000,0.036,2643,2300,981
$GC,11194,1.26,448.1,65.6,13.0,540,11198,0.00,2.53,0.00,0.000,4,0.000,0.048,2643,896,981
$GC,11301,1.26,448.1,51.2,13.4,545,11305,0.00,2.45,0.00,0.000,6,0.000,0.035,2643,2301,982
$GC,11628,1.26,448.1,7.3,13.4,561,11632,0.00,2.53,0.00,0.000,4,0.000,0.047,2643,896,981
$STATE,11658,end climb,SURFACE_DEPTH_REACHED
$STATE,11658,begin surface coast
$FINISH,0.7,1.026751
$STATE,11682,end surface coast,CONTROL_FINISHED_OK
$STATE,11682,begin surface
$SM_CCo,11768,0.00,0.000,0,0,980,450.62
$SM_GC,1.44,12.20,0.00,0.00,0.085,0.000,0.000,79,2606,980,-10.45,0.17,450.62
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1699
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,451.2,62.3
$24V_AH,23.7,12.820
$10V_AH,10.1,5.334
$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,27.125,110.325,516.525,0.000,0.000,18.033,27.763,125.463,3.750,0.000,0.000,16.430,1076.155,8635.361,579.316,1398.025,360.163,33.360,1302.027,0.000,1359.170,0.000,28.241,0.000
$DEVICE_MAMPS,184.080,79.001,887.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.427,394.556,365.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28592,563
$CAP_FILE_SIZE,92744,0
$CFSIZE,260165632,255881216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120609,144230,6205.945,-913.255,41,1.8,41,-9.6