version: 66.02
glider: 16
mission: 6
dive: 10
start: 11 14 107 17 24 27
data:
$ID,16
$MISSION,6
$DIVE,10
$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,-2074996
$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,18
$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
$GPS1,171908,6134.243,-835.377,39,1.8,39,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-65.3
$GPS2,172337,6134.223,-835.388,10,1.4,27,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.098,-0.245
$KALMAN_X,4725.5,-1860.8,-644.5,24412.2,3140.0
$KALMAN_Y,12318.3,822.1,-758.9,-19763.1,7136.9
$MHEAD_RNG_PITCHd_Wd,167.2,12059,-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,15,begin dive
$GC,16,-1.29,-146.6,0.0,0.0,0,80,0.00,0.00,-62.17,0.000,2,0.000,0.000,72,2409,3290
$GC,82,-1.29,-146.6,5.1,-8.3,3,104,11.55,2.67,-2.50,0.000,4,0.171,0.074,2126,988,3418
$GC,293,-1.29,-146.6,41.1,-13.2,12,299,0.00,2.58,0.00,0.000,6,0.000,0.048,2126,2397,3420
$GC,615,-1.29,-146.6,82.9,-13.4,28,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2398,3420
$GC,925,-1.29,-146.6,124.7,-13.6,43,929,0.00,2.58,0.00,0.000,4,0.000,0.070,2125,3775,3420
$GC,1008,-1.29,-146.6,136.4,-14.4,47,1012,0.00,2.47,0.00,0.000,6,0.000,0.047,2125,2400,3419
$GC,1333,-1.29,-146.6,180.4,-13.4,63,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2399,3420
$GC,1642,-1.29,-146.6,222.0,-13.5,78,1646,0.00,2.58,0.00,0.000,4,0.000,0.069,2126,3773,3420
$GC,1713,-1.29,-146.6,232.3,-13.8,81,1718,0.00,2.50,0.00,0.000,6,0.000,0.048,2126,2400,3420
$GC,2037,-1.29,-146.6,275.6,-13.3,97,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2399,3420
$GC,2344,-1.29,-146.6,316.0,-13.5,112,2348,0.00,2.58,0.00,0.000,4,0.000,0.070,2125,3775,3420
$GC,2454,-1.29,-146.6,331.8,-14.4,117,2459,0.00,2.50,0.00,0.000,6,0.000,0.048,2125,2404,3420
$GC,2781,-1.29,-146.6,374.6,-13.3,133,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2404,3420
$GC,3090,-1.29,-146.6,416.1,-13.3,148,3095,0.00,2.55,0.00,0.000,4,0.000,0.071,2126,3768,3420
$GC,3152,-1.29,-146.6,424.7,-14.2,151,3157,0.00,2.47,0.00,0.000,6,0.000,0.050,2125,2398,3420
$GC,3482,-1.29,-146.6,470.6,-13.6,167,3486,0.00,2.60,0.00,0.000,4,0.000,0.066,2126,987,3420
$GC,3527,-1.29,-146.6,476.5,-13.1,169,3531,0.00,2.55,0.00,0.000,6,0.000,0.050,2126,2401,3420
$GC,3858,-1.29,-146.6,519.7,-13.2,185,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2401,3420
$GC,4167,-1.29,-146.6,559.8,-13.0,200,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2401,3420
$GC,4476,-1.29,-146.6,599.3,-12.1,215,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2401,3421
$GC,4786,-1.29,-146.6,637.2,-13.5,230,4790,0.00,2.58,0.00,0.000,4,0.000,0.062,2126,985,3421
$GC,4907,-1.29,-146.6,652.4,-12.1,235,4913,0.00,2.58,0.00,0.000,6,0.000,0.049,2126,2398,3421
$GC,5229,-1.29,-146.6,690.4,-11.8,251,5233,0.00,2.55,0.00,0.000,4,0.000,0.072,2125,3765,3421
$GC,5306,-1.29,-146.6,699.7,-11.6,254,5314,0.00,2.47,0.00,0.000,6,0.000,0.049,2126,2402,3421
$GC,5622,-1.29,-146.6,734.3,-9.7,270,5626,0.00,2.55,0.00,0.000,4,0.000,0.074,2126,3768,3421
$GC,5878,-1.29,-146.6,763.0,-8.8,281,5885,0.00,2.50,0.00,0.000,6,0.000,0.054,2126,2405,3421
$GC,6193,-1.29,-146.6,801.7,-13.8,297,6197,0.00,2.60,0.00,0.000,4,0.000,0.086,2125,3770,3422
$GC,6433,-1.29,-146.6,836.9,-14.4,307,6441,0.00,2.55,0.00,0.000,6,0.000,0.061,2125,2403,3422
$STATE,6562,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6562,begin apogee
$GC,6566,-0.31,0.0,850.9,11.4,314,6693,1.08,0.00,123.25,1.289,6,0.116,0.000,2338,2193,2817
$STATE,6693,end apogee,CONTROL_FINISHED_OK
$STATE,6694,begin climb
$GC,6695,1.29,146.6,851.8,0.0,320,6826,1.73,2.85,120.62,1.262,4,0.095,0.081,2689,3613,2218
$GC,7010,1.33,182.8,828.6,8.4,334,7046,0.00,2.72,30.52,1.206,6,0.000,0.071,2689,2205,2072
$GC,7367,1.33,182.8,795.0,14.0,352,7371,0.00,2.72,0.00,0.000,4,0.000,0.081,2689,3613,2068
$GC,7510,1.33,182.8,779.8,17.7,358,7518,0.00,2.67,0.00,0.000,6,0.000,0.064,2689,2205,2068
$GC,7826,1.33,182.8,738.9,12.1,374,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2205,2067
$GC,8135,1.36,208.6,713.2,8.8,389,8161,0.00,2.78,21.00,1.194,4,0.000,0.077,2689,789,1965
$GC,8239,1.36,208.6,703.6,10.6,394,8244,0.00,2.62,0.00,0.000,6,0.000,0.058,2689,2198,1965
$GC,8571,1.36,208.6,663.9,12.1,410,8575,0.00,2.70,0.00,0.000,4,0.000,0.079,2689,3613,1963
$GC,8619,1.36,208.6,657.8,12.7,412,8624,0.00,2.65,0.00,0.000,6,0.000,0.060,2689,2205,1963
$GC,8940,1.36,208.6,621.6,11.6,428,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2205,1961
$GC,9249,1.36,208.6,585.9,12.7,443,9253,0.00,2.65,0.00,0.000,4,0.000,0.067,2689,781,1961
$GC,9293,1.36,208.6,580.1,13.1,445,9298,0.00,2.58,0.00,0.000,6,0.000,0.048,2689,2203,1960
$GC,9625,1.36,208.6,540.1,11.7,461,9629,0.00,2.65,0.00,0.000,4,0.000,0.064,2689,779,1960
$GC,9662,1.36,208.6,535.4,12.3,463,9667,0.00,2.58,0.00,0.000,6,0.000,0.047,2689,2201,1960
$GC,9988,1.36,208.6,499.1,10.8,479,9992,0.00,2.62,0.00,0.000,4,0.000,0.070,2689,3613,1961
$GC,10020,1.36,208.6,495.3,11.5,480,10028,0.00,2.62,0.00,0.000,6,0.000,0.054,2689,2197,1961
$GC,10336,1.36,208.6,459.6,11.8,496,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1962
$GC,10645,1.36,208.6,423.6,11.4,511,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1963
$GC,10954,1.36,208.6,389.2,11.1,526,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2198,1964
$GC,11264,1.36,208.6,354.1,11.7,541,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1965
$GC,11573,1.36,208.6,319.4,11.0,556,11574,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1965
$GC,11882,1.36,208.6,285.3,11.1,571,11887,0.00,2.65,0.00,0.000,4,0.000,0.067,2689,3618,1966
$GC,11936,1.36,208.6,278.6,12.6,573,11944,0.00,2.62,0.00,0.000,6,0.000,0.054,2689,2197,1966
$GC,12252,1.36,208.6,242.2,11.1,589,12253,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1967
$GC,12561,1.36,208.6,208.5,10.7,604,12562,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1968
$GC,12870,1.36,208.6,175.4,10.7,619,12871,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1969
$GC,13180,1.36,208.6,142.2,10.6,634,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1969
$GC,13489,1.36,208.6,109.8,10.3,649,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1969
$GC,13799,1.36,208.6,77.6,10.3,664,13800,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1970
$GC,14108,1.36,208.6,45.1,10.6,679,14109,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1971
$GC,14417,1.36,208.6,12.4,10.8,694,14421,0.00,2.62,0.00,0.000,4,0.000,0.066,2689,3613,1971
$GC,14449,1.36,208.6,8.8,11.2,695,14457,0.00,2.60,0.00,0.000,6,0.000,0.052,2689,2196,1971
$STATE,14518,end climb,SURFACE_DEPTH_REACHED
$STATE,14518,begin surface coast
$FINISH,0.8,1.007268
$STATE,14538,end surface coast,CONTROL_FINISHED_OK
$STATE,14538,begin surface
$SM_CCo,14556,50.92,0.676,0,0,1593,300.00
$SM_GC,1.71,0.00,0.00,50.92,0.000,0.000,0.676,73,2400,1593,-10.75,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2091
$TCM_TEMP,17.20
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,776.8,83.9
$24V_AH,23.4,8.523
$10V_AH,10.1,3.354
$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,25.750,99.700,295.400,50.925,0.000,32.588,27.230,122.838,15.000,0.000,0.000,27.919,1302.981,11209.924,464.660,1655.923,250.556,33.359,1265.370,0.000,1598.245,0.000,49.177
$DEVICE_MAMPS,171.041,89.739,1289.327,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.927,495.568,409.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34863,700
$CFSIZE,260165632,257777664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,141107,212908,6134.263,-834.213,42,1.2,42,-9.0