version: 66.04
glider: 16
mission: 13
dive: 4
start: 6 6 109 3 44 16
data:
$ID,16
$MISSION,13
$DIVE,4
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,-3
$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,-2107670
$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,2333
$C_ROLL_CLIMB,2433
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,25
$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,20
$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,3
$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
$GPS1,033334,6125.790,-817.146,12,2.5,31,-8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.1
$GPS2,034226,6125.859,-817.246,18,1.2,18,-8.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.198,0.175
$KALMAN_X,1767.5,575.7,452.8,-3259.2,1998.2
$KALMAN_Y,-1448.0,-552.1,-164.8,4588.3,-1527.0
$MHEAD_RNG_PITCHd_Wd,327.0,10284,-18.1,-10.000
$D_GRID,766
$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,-1.29,-146.6,0.0,0.0,0,79,0.00,0.00,-55.40,0.000,6,0.000,0.000,76,2321,3417
$GC,82,-1.29,-146.6,7.2,-14.0,3,104,11.50,2.62,0.00,0.000,4,0.183,0.058,2078,3734,3417
$GC,166,-1.29,-146.6,31.1,-15.1,6,172,0.00,2.40,0.00,0.000,6,0.000,0.031,2079,2338,3417
$GC,483,-1.35,-146.6,70.6,-12.5,22,488,0.00,2.58,0.00,0.000,4,0.000,0.061,2078,3739,3417
$GC,618,-1.40,-146.6,88.1,-12.9,28,623,0.12,2.42,0.00,0.000,6,0.048,0.032,2041,2334,3417
$GC,939,-1.40,-146.6,135.9,-14.7,44,943,0.00,2.58,0.00,0.000,4,0.000,0.061,2041,3739,3417
$GC,1191,-1.35,-146.6,173.0,-14.0,55,1196,0.12,2.42,0.00,0.000,6,0.105,0.032,2063,2332,3417
$GC,1506,-1.35,-146.6,211.4,-12.4,70,1511,0.00,2.55,0.00,0.000,4,0.000,0.061,2063,3734,3417
$GC,1676,-1.35,-146.6,234.1,-12.5,77,1682,0.00,2.42,0.00,0.000,6,0.000,0.033,2063,2325,3417
$GC,1992,-1.35,-146.6,272.4,-11.2,93,1996,0.00,2.58,0.00,0.000,4,0.000,0.062,2063,3731,3417
$GC,2143,-1.35,-146.6,290.7,-11.8,100,2148,0.00,2.40,0.00,0.000,6,0.000,0.034,2063,2333,3417
$GC,2470,-1.35,-146.6,327.8,-11.3,116,2475,0.00,2.58,0.00,0.000,4,0.000,0.064,2063,3738,3417
$GC,2610,-1.35,-146.6,345.1,-12.3,122,2614,0.00,2.42,0.00,0.000,6,0.000,0.034,2063,2332,3417
$GC,2926,-1.35,-146.6,384.8,-12.8,137,2930,0.00,2.58,0.00,0.000,4,0.000,0.064,2063,3737,3416
$STATE,3044,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3044,begin apogee
$GC,3055,-0.31,0.0,400.5,13.5,142,3181,1.10,0.00,121.82,0.806,6,0.117,0.000,2285,2420,2816
$STATE,3181,end apogee,CONTROL_FINISHED_OK
$STATE,3181,begin climb
$GC,3184,1.29,146.6,407.1,0.0,148,3313,1.62,0.00,124.57,0.795,6,0.070,0.000,2637,2420,2218
$GC,3623,1.30,220.0,389.3,6.7,170,3694,0.00,2.53,62.22,0.774,4,0.000,0.050,2637,1037,1918
$GC,3757,1.30,220.0,377.6,10.5,176,3761,0.00,2.47,0.00,0.000,6,0.000,0.037,2636,2442,1913
$GC,4078,1.30,220.0,345.8,10.1,192,4082,0.00,2.53,0.00,0.000,4,0.000,0.046,2636,1031,1912
$GC,4155,1.30,220.0,337.2,11.3,195,4162,0.00,2.45,0.00,0.000,6,0.000,0.036,2637,2432,1910
$GC,4471,1.30,220.0,302.8,11.3,211,4475,0.00,2.50,0.00,0.000,4,0.000,0.047,2637,1032,1910
$GC,4549,1.30,220.0,293.3,11.5,214,4555,0.00,2.45,0.00,0.000,6,0.000,0.037,2637,2433,1910
$GC,4864,1.30,220.0,255.3,12.3,230,4868,0.00,2.50,0.00,0.000,4,0.000,0.046,2637,1029,1910
$GC,4920,1.30,220.0,248.3,13.0,232,4927,0.00,2.45,0.00,0.000,6,0.000,0.036,2636,2434,1909
$GC,5236,1.30,220.0,211.0,11.6,248,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2434,1910
$GC,5545,1.30,220.0,177.3,10.5,263,5549,0.00,2.50,0.00,0.000,4,0.000,0.046,2636,1028,1909
$GC,5634,1.30,220.0,167.8,10.7,267,5638,0.00,2.45,0.00,0.000,6,0.000,0.035,2636,2439,1909
$GC,5955,1.31,227.7,137.1,9.6,283,5963,0.00,0.00,6.25,0.518,6,0.000,0.000,2636,2439,1888
$GC,6266,1.32,240.0,107.0,9.4,298,6287,0.00,2.58,12.02,0.570,4,0.000,0.044,2637,1031,1837
$GC,6356,1.32,240.0,97.9,10.2,302,6360,0.00,2.45,0.00,0.000,6,0.000,0.036,2637,2436,1835
$GC,6683,1.36,240.0,61.7,11.3,318,6687,0.00,2.47,0.00,0.000,4,0.000,0.045,2637,1035,1835
$GC,6823,1.42,240.0,46.3,10.4,324,6828,0.15,2.42,0.00,0.000,6,0.044,0.036,2682,2436,1834
$GC,7139,1.35,240.0,5.9,12.8,339,7144,0.15,2.47,0.00,0.000,4,0.096,0.043,2653,1032,1834
$STATE,7158,end climb,SURFACE_DEPTH_REACHED
$STATE,7158,begin surface coast
$FINISH,0.4,1.026806
$STATE,7182,end surface coast,CONTROL_FINISHED_OK
$STATE,7182,begin surface
$SM_CCo,7207,4.03,0.380,0,0,1797,250.21
$SM_GC,2.19,0.00,0.00,4.03,0.000,0.000,0.380,78,2338,1797,-10.50,0.14,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1711
$TCM_TEMP,19.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.0,18.1
$ALTIM_BOTTOM_PING,400.5,7.2
$24V_AH,23.8,7.500
$10V_AH,10.1,2.709
$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,27.025,74.325,326.900,4.025,0.000,36.466,54.151,255.808,4.250,0.000,0.000,18.337,714.327,5129.762,426.467,985.742,558.906,32.331,919.382,0.000,949.824,0.000,29.385,0.000
$DEVICE_MAMPS,183.313,64.428,806.117,379.665,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.421,239.325,274.434,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15877,341
$CAP_FILE_SIZE,67989,0
$CFSIZE,260165632,258048000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060609,054535,6127.960,-818.121,9,2.9,28,-8.8