version: 66.04
glider: 16
mission: 13
dive: 6
start: 6 6 109 7 41 48
data:
$ID,16
$MISSION,13
$DIVE,6
$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,-2107701.5
$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,2333
$C_ROLL_CLIMB,2433
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$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
$GPS1,073604,6130.027,-819.821,11,2.2,30,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-62.2
$GPS2,073956,6130.063,-819.836,16,1.0,16,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.210,-0.159
$KALMAN_X,6673.3,25.4,-135.4,-9303.2,5828.1
$KALMAN_Y,4872.5,21.9,234.2,5058.2,7767.1
$MHEAD_RNG_PITCHd_Wd,277.4,4565,-18.1,-10.000
$D_GRID,683
$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,-146.6,0.0,0.0,0,78,0.00,0.00,-58.95,0.000,6,0.000,0.000,67,2313,3418
$GC,81,-1.29,-146.6,6.2,-11.3,3,102,11.45,2.67,0.00,0.000,4,0.183,0.058,2069,3743,3418
$GC,293,-1.29,-146.6,45.7,-13.1,12,297,0.00,2.42,0.00,0.000,6,0.000,0.031,2069,2337,3418
$GC,609,-1.29,-146.6,81.0,-10.9,27,613,0.00,2.55,0.00,0.000,4,0.000,0.060,2069,3735,3418
$GC,739,-1.29,-146.6,96.3,-11.3,33,743,0.00,2.42,0.00,0.000,6,0.000,0.032,2069,2324,3418
$GC,1066,-1.33,-146.6,132.0,-11.4,49,1070,0.00,2.58,0.00,0.000,4,0.000,0.061,2069,3734,3418
$GC,1206,-1.33,-146.6,150.2,-13.5,55,1210,0.00,2.40,0.00,0.000,6,0.000,0.032,2069,2332,3418
$GC,1522,-1.38,-146.6,191.3,-12.9,70,1526,0.00,2.58,0.00,0.000,4,0.000,0.061,2069,3739,3418
$GC,1661,-1.38,-146.6,209.8,-13.6,76,1665,0.00,2.42,0.00,0.000,6,0.000,0.032,2069,2328,3418
$GC,1977,-1.43,-146.6,246.0,-11.1,91,1982,0.00,2.58,0.00,0.000,4,0.000,0.062,2069,3735,3418
$GC,2143,-1.43,-146.6,265.8,-12.4,98,2147,0.00,2.42,0.00,0.000,6,0.000,0.033,2069,2324,3418
$GC,2458,-1.43,-146.6,307.5,-13.9,113,2463,0.00,2.60,0.00,0.000,4,0.000,0.064,2069,3739,3418
$GC,2606,-1.48,-146.6,331.2,-16.4,119,2613,0.15,2.42,0.00,0.000,6,0.046,0.034,2024,2330,3418
$GC,2922,-1.41,-146.6,388.2,-17.3,135,2924,0.15,0.00,0.00,0.000,6,0.107,0.000,2053,2330,3418
$GC,3231,-1.41,-146.6,428.4,-11.7,150,3235,0.00,2.60,0.00,0.000,4,0.000,0.067,2053,3741,3418
$GC,3431,-1.41,-146.6,454.8,-13.2,159,3436,0.00,2.45,0.00,0.000,6,0.000,0.036,2053,2326,3417
$GC,3759,-1.41,-146.6,501.3,-14.9,175,3763,0.00,2.60,0.00,0.000,4,0.000,0.068,2053,3734,3417
$GC,3978,-1.41,-146.6,533.1,-14.9,185,3982,0.00,2.42,0.00,0.000,6,0.000,0.037,2053,2331,3417
$STATE,4137,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4137,begin apogee
$GC,4144,-0.31,0.0,556.4,14.0,193,4272,1.20,0.00,124.68,0.918,6,0.118,0.000,2290,2445,2817
$STATE,4273,end apogee,CONTROL_FINISHED_OK
$STATE,4273,begin climb
$GC,4276,1.29,146.6,562.3,0.0,199,4408,1.60,0.00,126.80,0.906,6,0.067,0.000,2638,2445,2219
$GC,4709,1.19,146.6,531.4,11.2,220,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2446,2210
$GC,5019,1.10,146.6,497.4,10.7,235,5021,0.20,0.00,0.00,0.000,6,0.100,0.000,2600,2446,2208
$GC,5328,1.08,172.9,467.3,8.8,250,5358,0.00,2.70,22.38,0.826,4,0.000,0.068,2600,3834,2111
$GC,5416,1.02,196.8,459.4,8.9,254,5445,0.00,2.45,21.95,0.815,6,0.000,0.035,2600,2424,2014
$GC,5768,1.09,264.4,434.0,6.9,271,5833,0.00,2.58,59.75,0.838,4,0.000,0.054,2600,1034,1738
$GC,5885,1.20,278.6,425.1,9.4,276,5905,0.00,2.47,13.25,0.755,6,0.000,0.040,2600,2426,1680
$GC,6222,1.32,278.6,388.3,10.1,293,6227,0.17,2.53,0.00,0.000,4,0.049,0.050,2652,1032,1673
$GC,6357,1.32,278.6,372.1,12.0,299,6361,0.00,2.47,0.00,0.000,6,0.000,0.039,2652,2433,1672
$GC,6678,1.32,278.6,328.7,12.4,315,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2433,1672
$GC,6987,1.32,278.6,289.0,13.1,330,6991,0.00,2.50,0.00,0.000,4,0.000,0.048,2652,1039,1671
$GC,7116,1.32,278.6,270.8,13.9,336,7121,0.00,2.45,0.00,0.000,6,0.000,0.037,2652,2439,1670
$GC,7443,1.32,278.6,223.4,14.6,352,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2440,1670
$GC,7752,1.32,278.6,180.4,13.7,367,7756,0.00,2.50,0.00,0.000,4,0.000,0.046,2652,1037,1670
$GC,7875,1.32,278.6,162.5,14.5,372,7880,0.00,2.42,0.00,0.000,6,0.000,0.037,2652,2440,1670
$GC,8192,1.32,278.6,119.0,12.6,387,8196,0.00,2.50,0.00,0.000,4,0.000,0.046,2652,1036,1670
$GC,8270,1.32,278.6,108.5,12.6,390,8276,0.00,2.42,0.00,0.000,6,0.000,0.037,2652,2432,1670
$GC,8586,1.32,278.6,71.9,12.9,406,8590,0.00,2.47,0.00,0.000,4,0.000,0.046,2652,1038,1670
$GC,8636,1.32,278.6,65.2,12.5,408,8640,0.00,2.42,0.00,0.000,6,0.000,0.035,2652,2433,1670
$GC,8951,1.32,278.6,27.3,11.9,423,8956,0.00,2.47,0.00,0.000,4,0.000,0.044,2652,1032,1670
$GC,9097,1.32,278.6,8.3,14.0,429,9103,0.00,2.42,0.00,0.000,6,0.000,0.035,2652,2438,1670
$STATE,9142,end climb,SURFACE_DEPTH_REACHED
$STATE,9142,begin surface coast
$FINISH,0.5,1.016695
$STATE,9164,end surface coast,CONTROL_FINISHED_OK
$STATE,9164,begin surface
$SM_CCo,9247,0.00,0.000,0,0,1668,281.85
$SM_GC,1.54,12.10,0.00,0.00,0.084,0.000,0.000,80,2319,1668,-10.45,-0.40,281.85
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1724
$TCM_TEMP,17.50
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.3,18.1
$ALTIM_BOTTOM_PING,550.7,14.1
$24V_AH,23.8,7.685
$10V_AH,10.1,2.799
$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,27.025,80.275,368.800,0.000,0.000,18.273,29.344,92.079,8.500,0.000,0.000,16.398,885.655,6630.417,431.760,1259.406,343.578,33.358,1065.124,0.000,1217.480,0.000,33.297,0.000
$DEVICE_MAMPS,182.546,68.263,918.099,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,303.912,301.967,305.036,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22223,433
$CAP_FILE_SIZE,76643,0
$CFSIZE,260165632,257957888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060609,101706,6131.617,-825.314,35,1.2,35,-8.9