version: 66.04
glider: 16
mission: 13
dive: 9
start: 6 6 109 17 2 0
data:
$ID,16
$MISSION,13
$DIVE,9
$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,-2107766.8
$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,43
$R_STBD_OVSHOOT,24
$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
$GPS1,164936,6130.616,-832.222,39,1.8,39,-9.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-63.0
$GPS2,170010,6130.542,-832.317,13,2.5,32,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.224,-0.138
$KALMAN_X,-3589.3,-1019.1,321.4,-9506.7,-3857.8
$KALMAN_Y,14532.7,1342.5,-1040.6,-3731.3,5345.3
$MHEAD_RNG_PITCHd_Wd,107.8,6543,-18.1,-10.000
$D_GRID,811
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.29,-146.6,0.0,0.0,0,93,0.00,0.00,-73.62,0.000,6,0.000,0.000,67,2315,3417
$GC,96,-1.29,-146.6,3.5,-5.2,3,118,11.45,2.53,0.00,0.000,4,0.180,0.044,2071,935,3417
$GC,191,-1.38,-146.6,28.6,-12.2,7,195,0.00,2.45,0.00,0.000,6,0.000,0.035,2071,2337,3417
$GC,512,-1.43,-146.6,71.9,-13.8,23,517,0.00,2.58,0.00,0.000,4,0.000,0.064,2071,3736,3417
$GC,680,-1.43,-146.6,99.3,-17.6,30,687,0.00,2.40,0.00,0.000,6,0.000,0.030,2071,2339,3417
$GC,996,-1.43,-146.6,154.7,-18.3,46,1001,0.00,2.58,0.00,0.000,4,0.000,0.061,2071,3735,3417
$GC,1161,-1.47,-146.6,183.3,-15.8,53,1166,0.15,2.42,0.00,0.000,6,0.047,0.030,2025,2327,3417
$GC,1477,-1.40,-146.6,231.0,-13.8,68,1482,0.15,2.60,0.00,0.000,4,0.105,0.062,2053,3735,3418
$GC,1644,-1.40,-146.6,251.8,-12.4,75,1651,0.00,2.40,0.00,0.000,6,0.000,0.031,2053,2335,3417
$GC,1960,-1.40,-146.6,292.9,-13.7,91,1964,0.00,2.58,0.00,0.000,4,0.000,0.064,2053,3735,3417
$GC,2099,-1.40,-146.6,311.3,-12.6,97,2103,0.00,2.42,0.00,0.000,6,0.000,0.031,2053,2324,3417
$GC,2415,-1.40,-146.6,348.1,-11.5,112,2419,0.00,2.60,0.00,0.000,4,0.000,0.064,2053,3734,3417
$GC,2579,-1.40,-146.6,369.4,-13.4,119,2583,0.00,2.42,0.00,0.000,6,0.000,0.031,2053,2324,3417
$GC,2894,-1.40,-146.6,412.7,-15.3,134,2898,0.00,2.60,0.00,0.000,4,0.000,0.064,2054,3734,3417
$GC,3039,-1.40,-146.6,436.0,-16.0,140,3045,0.00,2.40,0.00,0.000,6,0.000,0.031,2053,2334,3417
$GC,3355,-1.40,-146.6,482.2,-13.5,156,3360,0.00,2.58,0.00,0.000,4,0.000,0.065,2053,3735,3417
$GC,3531,-1.40,-146.6,506.1,-12.6,164,3535,0.00,2.40,0.00,0.000,6,0.000,0.032,2053,2334,3417
$GC,3864,-1.40,-146.6,546.2,-11.4,180,3868,0.00,2.58,0.00,0.000,4,0.000,0.064,2053,3734,3417
$GC,4003,-1.40,-146.6,564.9,-13.3,186,4007,0.00,2.40,0.00,0.000,6,0.000,0.033,2053,2334,3417
$GC,4320,-1.40,-146.6,600.5,-12.1,201,4324,0.00,2.58,0.00,0.000,4,0.000,0.066,2053,3735,3417
$GC,4472,-1.40,-146.6,620.4,-16.7,208,4477,0.00,2.42,0.00,0.000,6,0.000,0.032,2053,2324,3416
$GC,4799,-1.40,-146.6,662.7,-13.5,224,4803,0.00,2.47,0.00,0.000,4,0.000,0.048,2053,931,3416
$GC,4933,-1.47,-146.6,678.5,-14.0,230,4937,0.00,2.45,0.00,0.000,6,0.000,0.039,2053,2332,3415
$GC,5255,-1.43,-146.6,714.1,-11.7,246,5259,0.00,2.62,0.00,0.000,4,0.000,0.074,2053,3738,3415
$GC,5509,-1.43,-146.6,750.6,-12.1,257,5513,0.00,2.45,0.00,0.000,6,0.000,0.040,2053,2338,3414
$GC,5825,-1.37,-146.6,804.5,-22.1,272,5829,0.00,2.60,0.00,0.000,4,0.000,0.071,2053,933,3413
$GC,5846,-1.42,-146.6,808.2,-15.6,273,5851,0.00,2.47,0.00,0.000,6,0.000,0.049,2053,2327,3413
$STATE,5876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5876,begin apogee
$GC,5883,-0.31,0.0,813.1,15.6,275,6019,1.20,0.00,128.10,1.111,6,0.120,0.000,2289,2438,2817
$STATE,6020,end apogee,CONTROL_FINISHED_OK
$STATE,6020,begin climb
$GC,6022,1.29,146.6,826.0,0.0,282,6162,1.62,2.78,130.57,1.102,4,0.071,0.083,2638,3838,2218
$GC,6333,1.21,242.4,816.3,5.6,295,6427,0.00,2.53,84.78,1.088,6,0.000,0.044,2638,2422,1826
$GC,6737,1.22,251.7,778.3,9.6,315,6747,0.00,0.00,8.10,0.890,6,0.000,0.000,2638,2422,1790
$GC,7045,1.22,251.7,735.9,10.7,330,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2422,1786
$GC,7354,1.22,251.7,698.2,12.0,345,7359,0.00,2.58,0.00,0.000,4,0.000,0.067,2638,1033,1785
$GC,7399,1.22,251.7,693.5,10.7,347,7403,0.00,2.55,0.00,0.000,6,0.000,0.054,2638,2435,1783
$GC,7720,1.17,251.7,656.0,10.9,363,7725,0.12,2.60,0.00,0.000,4,0.112,0.061,2616,1034,1782
$GC,7804,1.17,251.7,646.5,11.1,367,7808,0.00,2.53,0.00,0.000,6,0.000,0.050,2616,2436,1782
$GC,8130,1.31,380.6,618.0,4.1,383,8255,0.12,2.62,115.82,1.002,4,0.061,0.058,2648,1035,1263
$GC,8328,1.42,380.6,593.6,12.8,392,8333,0.00,2.53,0.00,0.000,6,0.000,0.044,2648,2441,1256
$GC,8650,1.51,380.6,553.3,13.2,408,8655,0.17,2.55,0.00,0.000,4,0.054,0.053,2697,1033,1252
$GC,8746,1.51,380.6,537.3,17.1,412,8750,0.00,2.50,0.00,0.000,6,0.000,0.041,2697,2436,1251
$GC,9062,1.46,380.6,484.2,17.5,427,9066,0.00,2.55,0.00,0.000,4,0.000,0.051,2697,1032,1250
$GC,9123,1.46,380.6,472.5,18.0,430,9128,0.00,2.47,0.00,0.000,6,0.000,0.039,2697,2437,1249
$GC,9450,1.46,380.6,411.0,18.2,446,9455,0.00,2.55,0.00,0.000,4,0.000,0.048,2697,1025,1249
$GC,9618,1.46,380.6,382.5,16.2,453,9625,0.00,2.50,0.00,0.000,6,0.000,0.038,2697,2440,1248
$GC,9934,1.46,380.6,329.3,17.7,469,9938,0.00,2.55,0.00,0.000,4,0.000,0.048,2697,1025,1248
$GC,10086,1.46,380.6,302.1,18.0,476,10090,0.00,2.47,0.00,0.000,6,0.000,0.037,2697,2433,1248
$GC,10412,1.46,380.6,246.1,17.3,492,10416,0.00,2.53,0.00,0.000,4,0.000,0.048,2697,1024,1248
$GC,10530,1.46,380.6,225.5,17.2,497,10534,0.00,2.47,0.00,0.000,6,0.000,0.036,2697,2433,1248
$GC,10845,1.46,380.6,166.3,18.1,512,10849,0.00,2.50,0.00,0.000,4,0.000,0.048,2697,1029,1249
$GC,11003,1.46,380.6,140.4,16.8,519,11007,0.00,2.47,0.00,0.000,6,0.000,0.037,2697,2441,1249
$GC,11330,1.46,380.6,92.5,13.7,535,11334,0.00,2.53,0.00,0.000,4,0.000,0.046,2697,1030,1249
$GC,11482,1.46,380.6,69.1,16.0,542,11486,0.00,2.45,0.00,0.000,6,0.000,0.035,2696,2435,1249
$GC,11809,1.46,380.6,14.5,17.3,558,11812,0.00,2.50,0.00,0.000,4,0.000,0.046,2697,1028,1249
$STATE,11874,end climb,SURFACE_DEPTH_REACHED
$STATE,11874,begin surface coast
$FINISH,1.4,1.026810
$STATE,11881,end surface coast,CONTROL_FINISHED_OK
$STATE,11881,begin surface
$SM_CCo,11966,0.00,0.000,0,0,1247,385.12
$SM_GC,1.36,12.30,0.00,0.00,0.081,0.000,0.000,70,2341,1247,-10.46,0.23,385.12
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1714
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.3,17.1
$ALTIM_BOTTOM_PING,750.6,105.2
$24V_AH,23.6,8.098
$10V_AH,10.1,2.988
$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,27.300,125.775,467.375,0.000,0.000,54.932,86.467,234.913,6.750,0.000,0.000,33.576,1154.084,8593.305,542.372,1734.770,636.695,33.328,1417.224,0.000,1659.118,0.000,47.094,0.000
$DEVICE_MAMPS,180.245,82.836,1110.616,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.333,392.419,317.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28535,561
$CAP_FILE_SIZE,107825,0
$CFSIZE,260165632,257781760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,060609,202236,6130.084,-831.636,34,1.2,34,-9.0