version: 66.04
glider: 16
mission: 13
dive: 3
start: 6 6 109 1 57 56
data:
$ID,16
$MISSION,13
$DIVE,3
$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,-2107651.2
$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,41
$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
$GPS1,015238,6124.796,-816.925,11,1.4,11,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-61.4
$GPS2,015608,6124.792,-816.976,11,1.9,11,-8.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.160,0.210
$KALMAN_X,197.2,252.6,199.5,-863.9,-108.7
$KALMAN_Y,-302.7,-322.0,-304.1,1365.3,260.3
$MHEAD_RNG_PITCHd_Wd,332.5,11971,-18.1,-10.000
$D_GRID,788
$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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.67,0.000,2,0.000,0.000,73,2319,3313
$GC,82,-1.29,-146.6,4.7,-8.5,3,104,11.43,2.65,-1.67,0.000,4,0.181,0.073,2071,3732,3417
$GC,228,-1.29,-146.6,35.2,-14.0,9,232,0.00,2.40,0.00,0.000,6,0.000,0.031,2071,2344,3417
$GC,549,-1.29,-146.6,78.8,-13.8,25,554,0.00,2.55,0.00,0.000,4,0.000,0.061,2071,3734,3417
$GC,807,-1.29,-146.6,115.0,-13.4,36,814,0.00,2.42,0.00,0.000,6,0.000,0.031,2071,2321,3417
$GC,1123,-1.33,-146.6,155.8,-12.7,52,1127,0.00,2.60,0.00,0.000,4,0.000,0.061,2071,3739,3417
$GC,1324,-1.33,-146.6,182.7,-13.1,61,1328,0.00,2.42,0.00,0.000,6,0.000,0.033,2070,2328,3417
$GC,1651,-1.38,-146.6,224.8,-13.3,77,1656,0.00,2.58,0.00,0.000,4,0.000,0.061,2071,3734,3417
$GC,1802,-1.38,-146.6,245.4,-12.8,83,1808,0.00,2.42,0.00,0.000,6,0.000,0.033,2072,2325,3417
$GC,2118,-1.43,-146.6,284.9,-12.3,99,2122,0.00,2.60,0.00,0.000,4,0.000,0.064,2071,3739,3417
$STATE,2242,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2244,begin apogee
$GC,2253,-0.31,0.0,300.7,12.2,104,2380,1.02,0.00,120.40,0.736,6,0.100,0.000,2285,2423,2816
$STATE,2380,end apogee,CONTROL_FINISHED_OK
$STATE,2380,begin climb
$GC,2383,1.29,146.6,306.8,0.0,111,2510,1.65,0.00,122.93,0.723,6,0.066,0.000,2641,2423,2218
$GC,2811,1.26,185.2,284.3,8.2,132,2853,0.00,2.55,32.55,0.691,4,0.000,0.047,2641,1039,2059
$GC,2937,1.21,185.2,272.3,10.2,137,2943,0.00,2.45,0.00,0.000,6,0.000,0.037,2641,2433,2056
$GC,3253,1.24,205.5,243.2,9.1,153,3273,0.00,0.00,17.70,0.648,6,0.000,0.000,2641,2433,1978
$GC,3582,1.26,223.1,212.4,9.2,169,3604,0.00,2.53,16.23,0.632,4,0.000,0.045,2641,1034,1906
$GC,3677,1.26,223.1,202.9,10.0,173,3681,0.00,2.45,0.00,0.000,6,0.000,0.037,2641,2433,1903
$GC,3999,1.26,225.3,171.4,9.9,189,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2433,1902
$GC,4308,1.26,226.4,140.5,9.9,204,4313,0.00,2.47,0.00,0.000,4,0.000,0.046,2641,1036,1902
$GC,4371,1.26,226.4,133.6,10.9,207,4375,0.00,2.45,0.00,0.000,6,0.000,0.037,2641,2441,1900
$GC,4698,1.26,226.4,97.9,11.0,223,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2441,1901
$GC,5009,1.26,226.4,64.0,11.4,238,5013,0.00,2.50,0.00,0.000,4,0.000,0.046,2641,1029,1901
$GC,5131,1.26,226.4,50.2,10.6,243,5138,0.00,2.42,0.00,0.000,6,0.000,0.036,2641,2434,1900
$GC,5450,1.27,231.8,18.4,9.8,259,5464,0.00,2.53,7.72,0.484,4,0.000,0.045,2641,1036,1870
$GC,5526,1.27,231.8,9.8,12.1,262,5530,0.00,2.45,0.00,0.000,6,0.000,0.036,2641,2440,1868
$STATE,5613,end climb,SURFACE_DEPTH_REACHED
$STATE,5613,begin surface coast
$FINISH,0.4,1.014123
$STATE,5635,end surface coast,CONTROL_FINISHED_OK
$STATE,5635,begin surface
$SM_CCo,5658,8.23,0.477,0,0,1798,250.21
$SM_GC,2.58,0.00,0.00,8.23,0.000,0.000,0.477,76,2321,1798,-10.51,-0.34,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1710
$TCM_TEMP,17.50
$XPDR_PINGS,30
$ALTIM_TOP_PING,18.4,17.6
$ALTIM_BOTTOM_PING,300.7,6.8
$24V_AH,23.9,7.407
$10V_AH,10.1,2.663
$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,26.225,49.900,317.525,8.225,0.000,0.000,0.000,0.000,9.750,0.000,0.000,11.532,559.771,3913.074,418.062,768.210,134.325,31.414,804.292,0.000,752.293,0.000,16.799,0.000
$DEVICE_MAMPS,181.012,72.865,736.320,477.074,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,185.381,188.959,253.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12776,267
$CAP_FILE_SIZE,80141,0
$CFSIZE,260165632,258060288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060609,033334,6125.790,-817.146,12,2.5,31,-8.8