version: 66.04
glider: 16
mission: 13
dive: 39
start: 6 12 109 0 57 58
data:
$ID,16
$MISSION,13
$DIVE,39
$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,440
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,0
$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,-2108277
$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,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$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,0
$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,4
$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
$GPS1,005225,6157.437,-922.789,38,1.8,38,-9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-61.9
$GPS2,005707,6157.514,-922.829,12,1.2,12,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.147,-0.189
$KALMAN_X,-95933.4,3383.7,2229.3,31614.0,-22348.4
$KALMAN_Y,178719.6,-2275.9,-1888.0,-113431.1,44217.7
$MHEAD_RNG_PITCHd_Wd,144.5,72166,-13.9,-7.500
$D_GRID,990
$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,-1.03,-146.6,0.0,0.0,0,98,0.00,0.00,-79.65,0.000,6,0.000,0.000,75,2605,3417
$GC,101,-1.03,-146.6,6.3,-7.8,4,123,11.88,2.58,0.00,0.000,4,0.183,0.040,2130,1180,3418
$GC,229,-1.03,-146.6,31.1,-9.9,9,236,0.00,2.47,0.00,0.000,6,0.000,0.037,2130,2594,3418
$GC,547,-1.03,-146.6,62.6,-10.0,25,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2594,3419
$GC,854,-1.03,-146.6,92.3,-9.3,40,859,0.00,2.50,0.00,0.000,4,0.000,0.040,2130,1181,3419
$GC,921,-1.03,-146.6,98.6,-9.4,43,925,0.00,2.50,0.00,0.000,6,0.000,0.037,2130,2599,3419
$GC,1243,-1.03,-146.6,126.5,-9.4,59,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,1552,-1.03,-146.6,153.1,-8.3,74,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,1861,-1.03,-146.6,180.4,-9.7,89,1865,0.00,2.50,0.00,0.000,4,0.000,0.039,2130,1181,3420
$GC,1916,-1.07,-146.6,185.7,-9.4,91,1922,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2600,3419
$GC,2232,-1.07,-146.6,216.7,-10.0,107,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,2541,-1.07,-146.6,244.3,-8.6,122,2545,0.00,2.50,0.00,0.000,4,0.000,0.040,2130,1184,3419
$GC,2582,-1.13,-146.6,247.7,-8.2,124,2586,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2603,3419
$GC,2909,-1.13,-146.6,275.9,-8.9,140,2913,0.00,2.35,0.00,0.000,4,0.000,0.071,2130,3863,3419
$GC,2941,-1.13,-146.6,279.0,-9.6,141,2948,0.00,2.20,0.00,0.000,6,0.000,0.029,2130,2571,3419
$GC,3257,-1.13,-146.6,308.5,-9.6,157,3261,0.00,2.42,0.00,0.000,4,0.000,0.043,2130,1199,3419
$GC,3296,-1.18,-146.6,312.5,-10.6,159,3301,0.12,2.47,0.00,0.000,6,0.048,0.038,2091,2604,3419
$GC,3628,-1.09,-146.6,350.8,-12.1,175,3632,0.15,2.35,0.00,0.000,4,0.097,0.070,2119,3863,3419
$GC,3689,-1.09,-146.6,359.3,-12.4,178,3693,0.00,2.15,0.00,0.000,6,0.000,0.030,2119,2601,3420
$GC,4022,-1.09,-146.6,398.1,-11.8,194,4026,0.00,2.47,0.00,0.000,4,0.000,0.044,2120,1204,3419
$GC,4077,-1.09,-146.6,404.6,-11.0,196,4083,0.00,2.47,0.00,0.000,6,0.000,0.039,2119,2607,3419
$GC,4392,-1.09,-146.6,436.1,-9.1,212,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2607,3417
$GC,4702,-1.09,-146.6,461.7,-7.5,227,4706,0.00,2.47,0.00,0.000,4,0.000,0.042,2120,1206,3419
$GC,4820,-1.09,-146.6,471.6,-8.9,232,4824,0.00,2.47,0.00,0.000,6,0.000,0.041,2120,2605,3419
$GC,5135,-1.09,-146.6,500.0,-8.2,247,5145,0.00,2.35,0.00,0.000,4,0.000,0.076,2119,3858,3418
$GC,5300,-1.09,-146.6,517.9,-10.2,254,5303,0.00,2.15,0.00,0.000,6,0.000,0.034,2120,2602,3418
$STATE,5630,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5630,begin apogee
$GC,5637,-0.31,0.0,547.2,3.7,270,5766,0.82,0.00,125.70,0.923,6,0.098,0.000,2287,2306,2817
$STATE,5766,end apogee,CONTROL_FINISHED_OK
$STATE,5767,begin climb
$GC,5770,1.03,146.6,549.1,0.0,276,5906,1.38,2.72,126.85,0.909,4,0.074,0.071,2578,3701,2219
$GC,6164,0.86,146.6,524.8,12.9,294,6170,0.15,2.50,0.00,0.000,6,0.105,0.038,2551,2303,2213
$GC,6491,0.82,146.6,487.7,13.3,310,6496,0.00,2.70,0.00,0.000,4,0.000,0.074,2551,3708,2209
$GC,6637,0.69,146.6,468.3,9.4,316,6644,0.20,2.53,0.00,0.000,6,0.106,0.040,2514,2298,2209
$GC,6953,0.70,147.2,444.7,7.5,332,6958,0.00,2.67,0.00,0.000,4,0.000,0.069,2514,3706,2207
$GC,7093,0.89,325.8,443.3,1.4,338,7258,0.17,2.50,154.35,0.871,6,0.051,0.038,2559,2295,1488
$GC,7580,1.18,485.4,425.3,2.0,362,7726,0.22,2.62,138.12,0.848,4,0.051,0.058,2619,902,837
$GC,7780,1.18,485.4,410.7,10.7,371,7784,0.00,2.53,0.00,0.000,6,0.000,0.041,2620,2301,832
$GC,8101,1.30,555.4,388.8,5.1,387,8168,0.12,2.62,60.65,0.815,4,0.056,0.055,2656,902,551
$GC,8286,1.42,658.6,378.6,4.0,395,8302,0.00,2.50,11.00,0.719,6,0.000,0.040,2656,2301,509
$GC,8618,1.57,796.8,369.3,2.8,412,8623,0.20,2.58,0.00,0.000,4,0.047,0.054,2713,898,504
$GC,8750,1.47,797.7,361.6,7.5,418,8755,0.15,2.50,0.00,0.000,6,0.095,0.039,2684,2308,503
$GC,9077,1.43,797.7,335.4,8.9,434,9082,0.00,2.58,0.00,0.000,4,0.000,0.052,2684,898,503
$GC,9207,1.43,797.7,322.1,10.5,440,9211,0.00,2.47,0.00,0.000,6,0.000,0.038,2684,2301,502
$GC,9534,1.39,797.7,283.9,12.2,456,9539,0.12,2.55,0.00,0.000,4,0.097,0.051,2659,896,501
$GC,9657,1.39,797.7,270.7,10.8,461,9663,0.00,2.47,0.00,0.000,6,0.000,0.036,2659,2301,502
$GC,9972,1.39,797.7,236.0,11.2,477,9977,0.00,2.55,0.00,0.000,4,0.000,0.051,2659,896,502
$GC,10095,1.39,797.7,221.6,12.3,482,10102,0.00,2.47,0.00,0.000,6,0.000,0.036,2659,2302,501
$GC,10411,1.39,797.7,183.2,11.9,498,10415,0.00,2.55,0.00,0.000,4,0.000,0.051,2659,892,501
$GC,10545,1.39,797.7,166.1,12.9,504,10549,0.00,2.47,0.00,0.000,6,0.000,0.036,2659,2303,502
$GC,10866,1.39,797.7,122.7,14.1,520,10870,0.00,2.55,0.00,0.000,4,0.000,0.049,2659,891,502
$GC,10988,1.39,797.7,105.3,13.4,525,10995,0.00,2.47,0.00,0.000,6,0.000,0.036,2659,2303,502
$GC,11306,1.39,797.7,62.4,14.5,541,11310,0.00,2.53,0.00,0.000,4,0.000,0.048,2659,899,502
$GC,11446,1.44,797.7,41.2,14.6,547,11450,0.00,2.45,0.00,0.000,6,0.000,0.035,2659,2302,502
$STATE,11723,end climb,SURFACE_DEPTH_REACHED
$STATE,11723,begin surface coast
$FINISH,0.7,1.015886
$STATE,11745,end surface coast,CONTROL_FINISHED_OK
$STATE,11745,begin surface
$SM_CCo,11829,0.00,0.000,0,0,502,567.87
$SM_GC,1.36,12.43,0.00,0.00,0.091,0.000,0.000,60,2606,502,-10.47,0.20,567.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1724
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.6,56.5
$24V_AH,23.6,12.475
$10V_AH,10.1,5.149
$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,28.125,110.525,616.675,0.000,0.000,17.946,27.281,131.596,4.250,0.000,0.000,12.933,1082.075,8435.947,644.345,1576.601,374.789,33.352,1488.304,0.000,1534.670,0.000,31.478,0.000
$DEVICE_MAMPS,183.313,75.933,922.701,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.658,393.086,365.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28644,562
$CAP_FILE_SIZE,96304,0
$CFSIZE,260165632,256024576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120609,041632,6158.886,-923.363,41,1.4,49,-9.6