version: 66.04
glider: 16
mission: 13
dive: 5
start: 6 6 109 5 53 23
data:
$ID,16
$MISSION,13
$DIVE,5
$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,-2107684.2
$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,2333
$C_ROLL_CLIMB,2433
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,30
$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
$GPS1,054535,6127.960,-818.121,9,2.9,28,-8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-63.0
$GPS2,055132,6128.033,-818.137,13,1.1,13,-8.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.225,-0.138
$KALMAN_X,4433.5,320.3,294.0,-6291.2,3899.6
$KALMAN_Y,144.7,-810.3,-92.1,7192.8,1454.4
$MHEAD_RNG_PITCHd_Wd,309.8,7075,-18.1,-10.000
$D_GRID,696
$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,-1.29,-146.6,0.0,0.0,0,73,0.00,0.00,-55.75,0.000,6,0.000,0.000,78,2339,3416
$GC,77,-1.29,-146.6,5.6,-8.7,3,99,11.32,2.55,0.00,0.000,4,0.179,0.060,2072,3728,3417
$GC,295,-1.29,-146.6,47.8,-13.9,12,302,0.00,2.38,0.00,0.000,6,0.000,0.031,2072,2338,3417
$GC,613,-1.29,-146.6,92.9,-15.0,28,617,0.00,2.55,0.00,0.000,4,0.000,0.060,2072,3731,3417
$GC,730,-1.33,-146.6,111.3,-14.8,33,735,0.00,2.40,0.00,0.000,6,0.000,0.031,2072,2333,3417
$GC,1047,-1.39,-146.6,151.5,-12.1,48,1052,0.00,2.55,0.00,0.000,4,0.000,0.061,2072,3735,3417
$GC,1202,-1.43,-146.6,170.6,-11.9,55,1207,0.12,2.40,0.00,0.000,6,0.049,0.031,2032,2331,3417
$GC,1531,-1.38,-146.6,212.6,-12.5,71,1536,0.15,2.55,0.00,0.000,4,0.104,0.061,2060,3728,3417
$GC,1705,-1.38,-146.6,232.5,-11.2,79,1709,0.00,2.40,0.00,0.000,6,0.000,0.032,2060,2328,3417
$GC,2031,-1.38,-146.6,271.6,-12.0,95,2035,0.00,2.58,0.00,0.000,4,0.000,0.063,2060,3732,3418
$GC,2165,-1.38,-146.6,289.5,-13.3,101,2169,0.00,2.40,0.00,0.000,6,0.000,0.033,2060,2332,3417
$GC,2486,-1.38,-146.6,330.9,-13.0,117,2490,0.00,2.55,0.00,0.000,4,0.000,0.064,2060,3728,3417
$GC,2648,-1.38,-146.6,352.7,-13.3,124,2652,0.00,2.40,0.00,0.000,6,0.000,0.033,2060,2328,3417
$STATE,2672,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2672,begin apogee
$GC,2679,-0.31,0.0,355.9,12.4,125,2804,1.12,0.00,120.97,0.778,6,0.097,0.000,2292,2435,2817
$STATE,2805,end apogee,CONTROL_FINISHED_OK
$STATE,2805,begin climb
$GC,2807,1.29,146.6,359.3,0.0,131,2936,1.58,0.00,123.50,0.763,6,0.062,0.000,2638,2434,2219
$GC,3241,1.20,146.6,320.3,12.9,152,3245,0.00,2.53,0.00,0.000,4,0.000,0.048,2638,1026,2213
$GC,3319,1.11,146.6,309.4,14.0,155,3326,0.17,2.45,0.00,0.000,6,0.097,0.036,2605,2431,2210
$GC,3635,1.07,148.2,274.2,9.9,171,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2431,2211
$GC,3944,1.14,209.0,250.1,7.2,186,4006,0.00,2.60,52.12,0.697,4,0.000,0.045,2605,1031,1962
$GC,4103,1.16,232.2,236.8,8.9,193,4129,0.00,2.47,20.30,0.658,6,0.000,0.036,2605,2441,1870
$GC,4447,1.28,267.7,207.2,8.4,210,4484,0.15,0.00,31.35,0.658,6,0.047,0.000,2650,2441,1723
$GC,4794,1.28,267.7,167.2,12.2,227,4798,0.00,2.50,0.00,0.000,4,0.000,0.046,2650,1031,1718
$GC,4967,1.28,267.7,143.8,13.6,234,4974,0.00,2.45,0.00,0.000,6,0.000,0.037,2650,2433,1715
$GC,5285,1.28,267.7,98.4,14.4,250,5289,0.00,2.50,0.00,0.000,4,0.000,0.046,2651,1029,1716
$GC,5419,1.28,267.7,78.6,14.9,256,5423,0.00,2.45,0.00,0.000,6,0.000,0.035,2650,2435,1714
$GC,5740,1.28,267.7,35.3,13.3,272,5744,0.00,2.50,0.00,0.000,4,0.000,0.045,2650,1029,1714
$GC,5834,1.28,267.7,22.5,13.4,276,5838,0.00,2.42,0.00,0.000,6,0.000,0.035,2650,2433,1713
$STATE,5988,end climb,SURFACE_DEPTH_REACHED
$STATE,5988,begin surface coast
$FINISH,0.5,1.026784
$STATE,6010,end surface coast,CONTROL_FINISHED_OK
$STATE,6010,begin surface
$SM_CCo,6094,0.00,0.000,0,0,1711,271.30
$SM_GC,1.49,12.18,0.00,0.00,0.086,0.000,0.000,67,2312,1711,-10.47,-0.59,271.30
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1707
$TCM_TEMP,17.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,18.5,17.4
$ALTIM_BOTTOM_PING,350.4,13.9
$24V_AH,23.9,7.584
$10V_AH,10.1,2.748
$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,26.800,54.875,348.250,0.000,0.000,51.435,55.349,97.822,4.250,0.000,0.000,13.569,610.095,4254.667,410.250,862.457,382.216,33.333,858.325,0.000,839.037,0.000,20.351,0.000
$DEVICE_MAMPS,178.711,63.661,777.738,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,201.257,200.570,236.407,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12801,285
$CAP_FILE_SIZE,55313,0
$CFSIZE,260165632,258023424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060609,073604,6130.027,-819.821,11,2.2,30,-8.9