version: 66.04
glider: 16
mission: 13
dive: 2
start: 6 5 109 23 35 13
data:
$ID,16
$MISSION,13
$DIVE,2
$D_SURF,3
$D_FLARE,4
$D_TGT,300
$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,100
$T_MISSION,120
$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,300
$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,-2107372.2
$T_RSLEEP,2
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,232932,6124.271,-816.470,14,1.7,14,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-53.4
$GPS2,233326,6124.239,-816.457,14,1.7,14,-8.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.137,0.225
$KALMAN_X,94.0,94.0,94.0,-45.4,330.4
$KALMAN_Y,-188.9,-188.9,-188.9,3.1,-663.9
$MHEAD_RNG_PITCHd_Wd,333.5,13070,-18.1,-10.000
$D_GRID,807
$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,-146.6,0.0,0.0,0,127,0.00,0.00,-107.45,0.000,6,0.000,0.000,71,2337,3415
$GC,130,-1.29,-146.6,5.5,-5.2,6,146,11.12,2.58,0.00,0.000,4,0.170,0.060,2072,3738,3415
$GC,288,-1.29,-146.6,39.2,-14.6,12,293,0.00,2.45,0.00,0.000,6,0.000,0.032,2071,2324,3416
$GC,612,-1.29,-146.6,84.0,-14.4,28,616,0.00,2.60,0.00,0.000,4,0.000,0.062,2071,3736,3416
$GC,764,-1.29,-146.6,107.4,-14.7,35,768,0.00,2.42,0.00,0.000,6,0.000,0.032,2071,2328,3416
$GC,1091,-1.29,-146.6,150.3,-12.7,51,1096,0.00,2.58,0.00,0.000,4,0.000,0.062,2072,3731,3416
$GC,1244,-1.29,-146.6,170.1,-12.4,58,1248,0.00,2.40,0.00,0.000,6,0.000,0.032,2071,2334,3416
$GC,1571,-1.34,-146.6,209.7,-12.5,74,1575,0.00,2.58,0.00,0.000,4,0.000,0.063,2072,3737,3415
$GC,1716,-1.34,-146.6,229.4,-13.4,80,1722,0.00,2.42,0.00,0.000,6,0.000,0.033,2071,2329,3415
$GC,2032,-1.38,-146.6,269.5,-12.5,96,2036,0.00,2.58,0.00,0.000,4,0.000,0.064,2071,3731,3415
$GC,2149,-1.38,-146.6,285.1,-13.1,101,2153,0.00,2.40,0.00,0.000,6,0.000,0.034,2071,2334,3415
$STATE,2277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2277,begin apogee
$GC,2284,-0.31,0.0,301.5,12.6,107,2408,1.10,0.00,120.12,0.742,6,0.120,0.000,2287,2438,2817
$STATE,2408,end apogee,CONTROL_FINISHED_OK
$STATE,2408,begin climb
$GC,2411,1.29,146.6,307.4,0.0,113,2544,1.62,2.62,122.43,0.732,4,0.069,0.047,2640,1029,2216
$GC,2612,1.25,191.3,304.4,8.0,122,2657,0.00,2.47,37.55,0.708,6,0.000,0.037,2640,2431,2035
$GC,2976,1.26,204.3,271.0,9.4,140,2993,0.00,0.00,11.40,0.633,6,0.000,0.000,2640,2431,1983
$GC,3303,1.28,218.3,239.6,9.4,156,3325,0.00,2.58,13.40,0.634,4,0.000,0.047,2640,1030,1925
$GC,3431,1.28,218.3,226.6,10.2,161,3437,0.00,2.47,0.00,0.000,6,0.000,0.037,2641,2438,1923
$GC,3747,1.28,220.7,196.0,9.9,177,3751,0.00,2.53,0.00,0.000,4,0.000,0.047,2640,1025,1923
$GC,3802,1.28,220.7,190.1,10.8,179,3808,0.00,2.47,0.00,0.000,6,0.000,0.036,2640,2440,1921
$GC,4118,1.30,232.1,159.0,9.5,195,4140,0.00,2.60,12.38,0.596,4,0.000,0.046,2640,1029,1869
$GC,4224,1.30,240.3,148.9,9.6,199,4239,0.00,2.47,8.57,0.555,6,0.000,0.037,2641,2442,1836
$GC,4562,1.38,270.2,119.8,8.6,216,4594,0.00,2.58,26.17,0.607,4,0.000,0.047,2640,1024,1714
$GC,4716,1.46,271.6,105.5,9.9,223,4721,0.17,2.47,0.00,0.000,6,0.042,0.037,2686,2438,1709
$GC,5044,1.42,271.6,67.4,11.9,239,5049,0.00,2.50,0.00,0.000,4,0.000,0.046,2687,1029,1708
$GC,5089,1.37,271.6,61.3,13.1,241,5094,0.15,2.45,0.00,0.000,6,0.094,0.037,2657,2432,1707
$GC,5410,1.37,271.6,21.5,12.7,257,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2433,1707
$STATE,5553,end climb,SURFACE_DEPTH_REACHED
$STATE,5553,begin surface coast
$FINISH,0.5,1.014113
$STATE,5574,end surface coast,CONTROL_FINISHED_OK
$STATE,5574,begin surface
$SM_CCo,5597,14.85,0.518,0,0,1593,300.00
$SM_GC,1.54,0.00,0.00,14.85,0.000,0.000,0.518,75,2318,1593,-10.51,-0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1721
$TCM_TEMP,17.50
$XPDR_PINGS,32
$ALTIM_TOP_PING,18.8,18.0
$24V_AH,23.6,7.284
$10V_AH,10.1,2.606
$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,26.425,55.525,352.025,14.850,0.000,0.000,0.000,0.000,10.000,0.000,0.000,14.079,554.737,3784.783,463.046,805.274,133.799,30.176,893.988,0.000,783.825,0.000,13.963,0.000
$DEVICE_MAMPS,169.507,63.661,742.456,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,183.289,187.463,258.396,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12854,265
$CAP_FILE_SIZE,74725,0
$CFSIZE,260165632,258105344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060609,010952,6124.862,-816.255,7,3.6,26,-8.8