version: 66.02
glider: 16
mission: 6
dive: 8
start: 11 14 107 9 10 43
data:
$ID,16
$MISSION,6
$DIVE,8
$D_SURF,2
$D_FLARE,3
$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,120
$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,1
$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
$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,-2074956.6
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,19
$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,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,3
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,090408,6134.060,-836.711,35,1.7,35,-9.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.6
$GPS2,090953,6134.075,-836.653,17,2.6,36,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.163,-0.207
$KALMAN_X,6558.0,-258.7,-347.1,19554.7,1448.0
$KALMAN_Y,1677.2,189.8,569.1,-10095.6,664.8
$MHEAD_RNG_PITCHd_Wd,150.8,12767,-18.1,-10.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.29,-146.6,0.0,0.0,0,80,0.00,0.00,-62.33,0.000,2,0.000,0.000,70,2397,3263
$GC,82,-1.29,-146.6,4.5,-6.7,3,105,11.50,2.55,-3.17,0.000,4,0.170,0.078,2122,3766,3418
$GC,356,-1.29,-146.6,50.6,-15.1,15,360,0.00,2.47,0.00,0.000,6,0.000,0.045,2122,2405,3418
$GC,683,-1.29,-146.6,96.2,-13.6,31,687,0.00,2.55,0.00,0.000,4,0.000,0.067,2122,3771,3418
$GC,938,-1.29,-146.6,131.2,-14.1,42,946,0.00,2.47,0.00,0.000,6,0.000,0.046,2122,2408,3418
$GC,1254,-1.29,-146.6,170.3,-12.3,58,1258,0.00,2.53,0.00,0.000,4,0.000,0.069,2122,3766,3418
$GC,1314,-1.29,-146.6,178.8,-14.3,60,1322,0.00,2.47,0.00,0.000,6,0.000,0.048,2122,2407,3418
$GC,1630,-1.29,-146.6,221.1,-13.2,76,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2407,3418
$GC,1939,-1.29,-146.6,263.1,-14.3,91,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2406,3418
$GC,2248,-1.29,-146.6,306.5,-14.1,106,2253,0.00,2.53,0.00,0.000,4,0.000,0.070,2122,3764,3417
$GC,2331,-1.29,-146.6,318.6,-15.0,110,2336,0.00,2.45,0.00,0.000,6,0.000,0.048,2122,2401,3417
$GC,2663,-1.29,-146.6,362.5,-12.5,126,2667,0.00,2.55,0.00,0.000,4,0.000,0.071,2122,3764,3417
$GC,2706,-1.29,-146.6,368.2,-12.8,128,2711,0.00,2.47,0.00,0.000,6,0.000,0.048,2122,2405,3417
$GC,3033,-1.29,-146.6,407.7,-11.7,144,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2405,3417
$GC,3342,-1.29,-146.6,444.6,-11.9,159,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2405,3417
$GC,3651,-1.29,-146.6,483.5,-12.7,174,3655,0.00,2.53,0.00,0.000,4,0.000,0.071,2122,3763,3417
$GC,3756,-1.29,-146.6,497.2,-13.4,178,3763,0.00,2.47,0.00,0.000,6,0.000,0.048,2122,2401,3417
$GC,4072,-1.29,-146.6,537.8,-13.5,194,4076,0.00,2.55,0.00,0.000,4,0.000,0.071,2122,3763,3417
$GC,4165,-1.29,-146.6,551.0,-14.1,198,4170,0.00,2.47,0.00,0.000,6,0.000,0.049,2122,2402,3417
$GC,4486,-1.29,-146.6,590.3,-11.7,214,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2402,3417
$GC,4796,-1.29,-146.6,625.2,-11.6,229,4800,0.00,2.55,0.00,0.000,4,0.000,0.073,2122,3766,3417
$GC,4928,-1.29,-146.6,643.7,-15.4,235,4933,0.00,2.47,0.00,0.000,6,0.000,0.048,2122,2401,3417
$GC,5255,-1.29,-146.6,688.0,-14.2,251,5260,0.00,2.60,0.00,0.000,4,0.000,0.067,2122,985,3417
$GC,5309,-1.29,-146.6,696.5,-14.0,253,5317,0.00,2.58,0.00,0.000,6,0.000,0.052,2122,2398,3417
$GC,5625,-1.29,-146.6,737.9,-12.1,269,5629,0.00,2.62,0.00,0.000,4,0.000,0.067,2122,982,3418
$GC,5883,-1.29,-146.6,768.8,-11.4,280,5891,0.00,2.62,0.00,0.000,6,0.000,0.054,2122,2402,3418
$GC,6199,-1.29,-146.6,795.9,-4.7,296,6204,0.00,2.60,0.00,0.000,4,0.000,0.087,2122,3763,3418
$GC,6278,-1.29,-146.6,802.4,-8.4,299,6283,0.00,2.50,0.00,0.000,6,0.000,0.060,2122,2400,3418
$GC,6592,-1.29,-146.6,834.4,-9.1,315,6596,0.00,2.62,0.00,0.000,4,0.000,0.088,2122,3763,3417
$GC,6724,-1.29,-146.6,848.1,-8.3,321,6729,0.00,2.55,0.00,0.000,6,0.000,0.065,2122,2405,3417
$STATE,6864,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6864,begin apogee
$GC,6868,-0.31,0.0,855.3,3.8,328,6994,1.12,0.00,122.22,1.308,6,0.133,0.000,2337,2189,2817
$STATE,6995,end apogee,CONTROL_FINISHED_OK
$STATE,6995,begin climb
$GC,6996,1.29,146.6,861.1,0.0,334,7127,1.70,2.78,120.62,1.280,4,0.091,0.077,2686,792,2219
$GC,7379,1.29,146.6,839.7,21.9,351,7386,0.00,2.67,0.00,0.000,6,0.000,0.060,2685,2200,2217
$GC,7694,1.29,146.6,785.3,14.9,367,7698,0.00,2.72,0.00,0.000,4,0.000,0.086,2686,3614,2215
$GC,7715,1.29,146.6,782.5,12.5,368,7720,0.00,2.65,0.00,0.000,6,0.000,0.064,2686,2203,2215
$GC,8047,1.29,146.6,745.2,11.9,384,8051,0.00,2.72,0.00,0.000,4,0.000,0.084,2686,3613,2214
$GC,8108,1.29,146.6,737.9,13.1,387,8112,0.00,2.65,0.00,0.000,6,0.000,0.064,2685,2200,2213
$GC,8434,1.34,189.8,708.1,8.0,403,8476,0.00,2.78,34.78,1.210,4,0.000,0.077,2685,787,2042
$GC,8603,1.34,189.8,689.5,12.1,410,8611,0.00,2.65,0.00,0.000,6,0.000,0.057,2686,2198,2041
$GC,8919,1.35,197.8,657.0,9.6,426,8929,0.00,0.00,7.57,0.989,6,0.000,0.000,2685,2198,2010
$GC,9244,1.35,197.8,624.6,10.1,442,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2198,2009
$GC,9553,1.36,208.5,594.7,9.5,457,9569,0.00,2.70,10.25,1.009,4,0.000,0.071,2685,3614,1966
$GC,9600,1.36,208.5,589.3,11.8,458,9605,0.00,2.65,0.00,0.000,6,0.000,0.055,2685,2199,1965
$GC,9922,1.36,208.5,551.8,12.2,474,9926,0.00,2.65,0.00,0.000,4,0.000,0.069,2685,3617,1966
$GC,9970,1.36,208.5,545.4,12.6,476,9975,0.00,2.62,0.00,0.000,6,0.000,0.053,2685,2200,1965
$GC,10297,1.36,208.5,507.4,11.2,492,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2200,1966
$GC,10606,1.36,208.5,472.6,11.3,507,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2200,1967
$GC,10916,1.36,208.5,434.7,13.1,522,10920,0.00,2.65,0.00,0.000,4,0.000,0.067,2686,3620,1968
$GC,10969,1.36,208.5,427.5,14.1,524,10977,0.00,2.62,0.00,0.000,6,0.000,0.052,2686,2199,1968
$GC,11285,1.36,208.5,387.1,13.0,540,11286,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2199,1969
$GC,11594,1.36,208.5,347.4,12.6,555,11598,0.00,2.62,0.00,0.000,4,0.000,0.065,2685,781,1969
$GC,11620,1.36,208.5,343.8,13.3,556,11626,0.00,2.58,0.00,0.000,6,0.000,0.044,2685,2199,1970
$GC,11947,1.36,208.5,302.9,12.2,572,11948,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2199,1970
$GC,12257,1.36,208.5,266.2,11.7,587,12261,0.00,2.60,0.00,0.000,4,0.000,0.067,2686,3609,1971
$GC,12310,1.36,208.5,259.3,12.4,589,12318,0.00,2.60,0.00,0.000,6,0.000,0.053,2686,2199,1971
$GC,12626,1.36,208.5,222.8,11.5,605,12627,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2198,1972
$GC,12935,1.36,208.5,187.4,10.9,620,12940,0.00,2.62,0.00,0.000,4,0.000,0.066,2686,3614,1972
$GC,12967,1.36,208.5,183.3,12.0,621,12974,0.00,2.60,0.00,0.000,6,0.000,0.053,2686,2200,1972
$GC,13283,1.36,208.5,146.1,12.2,637,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2200,1973
$GC,13593,1.36,208.5,109.6,11.8,652,13594,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2200,1973
$GC,13902,1.36,208.5,74.0,11.5,667,13903,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2200,1974
$GC,14211,1.36,208.5,36.3,12.3,682,14212,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2200,1974
$STATE,14519,end climb,SURFACE_DEPTH_REACHED
$STATE,14519,begin surface coast
$FINISH,0.7,1.022184
$STATE,14541,end surface coast,CONTROL_FINISHED_OK
$STATE,14541,begin surface
$SM_CCo,14559,52.72,0.676,0,0,1593,300.00
$SM_GC,1.70,0.00,0.00,52.72,0.000,0.000,0.676,70,2408,1593,-10.76,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2104
$TCM_TEMP,17.20
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,750.0,112.7
$24V_AH,23.4,8.265
$10V_AH,10.1,3.221
$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
$DEVICE_SECS,25.675,114.725,295.450,52.725,0.000,32.588,39.777,172.275,14.500,0.000,0.000,37.660,1311.585,11117.971,486.019,1731.325,318.043,33.348,1324.017,0.000,1666.193,0.000,44.665
$DEVICE_MAMPS,169.507,88.205,1307.735,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.960,492.318,395.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34863,698
$CFSIZE,260165632,257867776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,141107,131531,6134.834,-834.877,39,1.8,44,-9.0