version: 66.04
glider: 16
mission: 13
dive: 7
start: 6 6 109 10 22 59
data:
$ID,16
$MISSION,13
$DIVE,7
$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,-2107718
$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,44
$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
$GPS1,101706,6131.617,-825.314,35,1.2,35,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-63.3
$GPS2,102108,6131.618,-825.388,13,1.3,13,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.085,-0.250
$KALMAN_X,5318.9,-523.1,-1250.7,-11177.4,3543.8
$KALMAN_Y,7818.7,1489.6,558.3,3229.6,6481.0
$MHEAD_RNG_PITCHd_Wd,182.4,3016,-24.9,-10.000
$D_GRID,772
$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,-1.64,-78.3,0.0,0.0,0,71,0.00,0.00,-53.62,0.000,6,0.000,0.000,80,2318,3137
$GC,74,-1.68,-116.4,2.8,-6.7,2,96,10.88,2.47,-2.88,0.000,4,0.182,0.058,1986,949,3293
$GC,239,-1.76,-116.4,37.9,-18.0,9,243,0.00,2.40,0.00,0.000,6,0.000,0.035,1985,2334,3293
$GC,562,-1.82,-116.4,91.1,-16.4,25,566,0.00,2.58,0.00,0.000,4,0.000,0.062,1985,3741,3294
$GC,765,-1.82,-116.4,127.2,-18.0,34,769,0.00,2.40,0.00,0.000,6,0.000,0.031,1986,2339,3293
$GC,1086,-1.87,-116.4,182.5,-15.9,50,1091,0.15,2.55,0.00,0.000,4,0.051,0.060,1944,3734,3294
$GC,1264,-1.77,-116.4,220.2,-22.3,58,1269,0.15,2.40,0.00,0.000,6,0.120,0.032,1971,2337,3294
$GC,1585,-1.77,-116.4,287.4,-21.5,74,1589,0.00,2.58,0.00,0.000,4,0.000,0.063,1971,3740,3295
$GC,1782,-1.77,-116.4,330.3,-20.9,83,1786,0.00,2.42,0.00,0.000,6,0.000,0.034,1971,2332,3294
$GC,2114,-1.77,-116.4,386.9,-13.9,99,2118,0.00,2.58,0.00,0.000,4,0.000,0.064,1971,3732,3294
$GC,2371,-1.77,-116.4,428.0,-16.6,110,2377,0.00,2.42,0.00,0.000,6,0.000,0.036,1971,2328,3294
$GC,2687,-1.77,-116.4,479.5,-16.0,126,2691,0.00,2.60,0.00,0.000,4,0.000,0.065,1971,3739,3294
$GC,2943,-1.77,-116.4,530.0,-20.0,137,2949,0.00,2.42,0.00,0.000,6,0.000,0.035,1971,2334,3294
$GC,3259,-1.81,-116.4,586.8,-16.8,153,3263,0.00,2.60,0.00,0.000,4,0.000,0.070,1971,3734,3293
$GC,3517,-1.81,-116.4,626.4,-17.0,164,3523,0.00,2.45,0.00,0.000,6,0.000,0.038,1971,2327,3293
$GC,3833,-1.81,-116.4,671.6,-15.3,180,3837,0.00,2.62,0.00,0.000,4,0.000,0.074,1971,3732,3292
$GC,4090,-1.81,-116.4,718.2,-20.9,191,4096,0.00,2.47,0.00,0.000,6,0.000,0.044,1971,2334,3291
$STATE,4361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4361,begin apogee
$GC,4368,-0.31,0.0,772.8,21.7,205,4475,1.62,0.00,101.93,1.079,6,0.128,0.000,2287,2431,2817
$STATE,4475,end apogee,CONTROL_FINISHED_OK
$STATE,4475,begin climb
$GC,4478,1.68,116.4,780.8,0.0,210,4591,2.05,2.78,104.38,1.065,4,0.081,0.081,2727,3836,2342
$GC,4688,1.45,116.4,763.6,14.4,220,4693,0.28,2.53,0.00,0.000,6,0.133,0.045,2679,2427,2336
$GC,5016,1.43,176.6,740.5,4.9,236,5078,0.00,2.78,53.50,1.039,4,0.000,0.079,2679,3831,2096
$GC,5085,1.42,230.9,736.9,5.4,239,5143,0.00,2.53,49.85,1.029,6,0.000,0.042,2679,2431,1874
$GC,5454,1.48,230.9,674.6,17.8,257,5458,0.00,2.70,0.00,0.000,4,0.000,0.082,2679,3833,1864
$GC,5588,1.48,230.9,653.7,15.8,263,5592,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,2436,1864
$GC,5909,1.55,230.9,613.5,11.9,279,5913,0.00,2.62,0.00,0.000,4,0.000,0.066,2679,1026,1861
$GC,5949,1.63,230.9,608.5,12.7,281,5954,0.17,2.53,0.00,0.000,6,0.062,0.050,2720,2429,1859
$GC,6275,1.63,230.9,561.5,14.5,297,6280,0.00,2.58,0.00,0.000,4,0.000,0.061,2720,1032,1859
$GC,6393,1.63,230.9,547.3,13.4,302,6397,0.00,2.50,0.00,0.000,6,0.000,0.048,2721,2433,1858
$GC,6709,1.57,230.9,501.2,20.4,317,6713,0.00,2.65,0.00,0.000,4,0.000,0.073,2721,3841,1858
$GC,6776,1.46,230.9,488.6,17.7,320,6781,0.22,2.50,0.00,0.000,6,0.147,0.040,2682,2427,1858
$GC,7097,1.54,230.9,433.2,16.3,336,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2425,1858
$GC,7407,1.65,230.9,389.2,15.1,351,7412,0.15,2.50,0.00,0.000,4,0.054,0.051,2725,1030,1858
$GC,7529,1.65,230.9,368.9,15.8,356,7535,0.00,2.47,0.00,0.000,6,0.000,0.039,2725,2436,1857
$GC,7845,1.65,230.9,321.2,15.1,372,7849,0.00,2.53,0.00,0.000,4,0.000,0.048,2725,1025,1858
$GC,7900,1.65,230.9,312.7,15.5,374,7906,0.00,2.47,0.00,0.000,6,0.000,0.038,2725,2438,1858
$GC,8215,1.65,230.9,269.2,13.4,390,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2438,1858
$GC,8525,1.65,230.9,225.0,14.4,405,8529,0.00,2.50,0.00,0.000,4,0.000,0.046,2725,1029,1858
$GC,8574,1.65,230.9,217.7,15.0,407,8578,0.00,2.45,0.00,0.000,6,0.000,0.037,2726,2434,1858
$GC,8890,1.65,230.9,168.2,16.3,422,8893,0.00,2.50,0.00,0.000,4,0.000,0.046,2725,1025,1858
$GC,9003,1.65,230.9,150.0,16.4,427,9007,0.00,2.45,0.00,0.000,6,0.000,0.036,2725,2433,1858
$GC,9330,1.65,230.9,97.8,15.5,443,9334,0.00,2.50,0.00,0.000,4,0.000,0.045,2725,1024,1859
$GC,9437,1.65,230.9,81.6,15.4,448,9441,0.00,2.45,0.00,0.000,6,0.000,0.035,2725,2434,1859
$GC,9764,1.65,230.9,35.2,14.7,464,9769,0.00,2.50,0.00,0.000,4,0.000,0.044,2725,1023,1859
$GC,9805,1.65,230.9,29.4,15.4,466,9809,0.00,2.45,0.00,0.000,6,0.000,0.035,2725,2433,1859
$STATE,9985,end climb,SURFACE_DEPTH_REACHED
$STATE,9985,begin surface coast
$FINISH,0.5,1.013528
$STATE,10007,end surface coast,CONTROL_FINISHED_OK
$STATE,10007,begin surface
$SM_CCo,10030,8.25,0.495,0,0,1797,250.21
$SM_GC,2.99,0.00,0.00,8.25,0.000,0.000,0.495,61,2311,1797,-10.58,-0.62,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1760
$TCM_TEMP,17.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,17.5,16.3
$ALTIM_BOTTOM_PING,727.2,103.6
$24V_AH,23.7,7.789
$10V_AH,10.1,2.854
$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,28.150,101.225,309.650,8.250,0.000,18.071,27.611,101.525,7.500,0.000,0.000,15.832,995.391,7145.923,401.317,1434.571,373.802,33.343,1117.428,0.000,1385.811,0.000,44.860,0.000
$DEVICE_MAMPS,181.779,82.069,1079.169,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.499,330.281,286.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25458,476
$CAP_FILE_SIZE,87928,0
$CFSIZE,260165632,257904640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,060609,131136,6131.436,-829.550,39,1.1,39,-9.0