version: 66.02
glider: 16
mission: 6
dive: 11
start: 11 14 107 21 34 30
data:
$ID,16
$MISSION,6
$DIVE,11
$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,-2075009.4
$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
$GPS1,212908,6134.263,-834.213,42,1.2,42,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-65.6
$GPS2,213339,6134.269,-834.200,12,1.5,12,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.077,-0.252
$KALMAN_X,1448.5,-25.6,-317.2,26572.5,-120.1
$KALMAN_Y,17044.5,48.9,123.5,-24489.5,6605.7
$MHEAD_RNG_PITCHd_Wd,206.0,11340,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.29,-146.6,0.0,0.0,0,62,0.00,0.00,-43.17,0.000,2,0.000,0.000,73,2401,2728
$GC,63,-1.29,-146.6,3.1,-6.0,2,106,11.50,2.62,-20.88,0.000,4,0.169,0.082,2127,3765,3416
$GC,357,-1.29,-146.6,41.9,-14.4,15,362,0.00,2.50,0.00,0.000,6,0.000,0.048,2126,2402,3416
$GC,686,-1.29,-146.6,86.0,-13.2,31,690,0.00,2.58,0.00,0.000,4,0.000,0.069,2127,3772,3417
$GC,882,-1.29,-146.6,113.2,-13.4,40,886,0.00,2.47,0.00,0.000,6,0.000,0.050,2126,2400,3417
$GC,1207,-1.29,-146.6,156.0,-13.5,56,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2400,3417
$GC,1516,-1.29,-146.6,199.3,-14.6,71,1521,0.00,2.55,0.00,0.000,4,0.000,0.070,2127,3769,3417
$GC,1587,-1.29,-146.6,210.5,-15.9,74,1592,0.00,2.50,0.00,0.000,6,0.000,0.049,2127,2405,3417
$GC,1913,-1.29,-146.6,257.4,-13.8,90,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2404,3417
$GC,2223,-1.29,-146.6,297.7,-12.8,105,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2404,3417
$GC,2532,-1.29,-146.6,336.3,-12.2,120,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2404,3417
$GC,2841,-1.29,-146.6,371.6,-11.2,135,2845,0.00,2.55,0.00,0.000,4,0.000,0.072,2127,3765,3417
$GC,2957,-1.29,-146.6,386.0,-12.8,140,2962,0.00,2.50,0.00,0.000,6,0.000,0.051,2127,2401,3417
$GC,3279,-1.29,-146.6,425.0,-11.9,156,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2401,3417
$GC,3588,-1.29,-146.6,460.3,-11.4,171,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2401,3418
$GC,3897,-1.29,-146.6,495.0,-11.5,186,3902,0.00,2.55,0.00,0.000,4,0.000,0.072,2127,3769,3418
$GC,3980,-1.29,-146.6,505.5,-12.9,190,3985,0.00,2.47,0.00,0.000,6,0.000,0.051,2127,2400,3418
$GC,4312,-1.29,-146.6,544.9,-12.2,206,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2400,3418
$GC,4621,-1.29,-146.6,580.1,-11.8,221,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2399,3418
$GC,4931,-1.29,-146.6,617.5,-11.7,236,4935,0.00,2.55,0.00,0.000,4,0.000,0.071,2127,3764,3418
$GC,5069,-1.29,-146.6,634.7,-12.4,242,5074,0.00,2.50,0.00,0.000,6,0.000,0.051,2127,2398,3419
$GC,5390,-1.29,-146.6,672.9,-12.4,258,5394,0.00,2.58,0.00,0.000,4,0.000,0.072,2127,3768,3419
$GC,5646,-1.29,-146.6,707.4,-10.8,269,5651,0.00,2.50,0.00,0.000,6,0.000,0.051,2127,2400,3419
$GC,5968,-1.29,-146.6,740.4,-8.2,285,5972,0.00,2.58,0.00,0.000,4,0.000,0.078,2127,3764,3420
$GC,6224,-1.29,-146.6,769.9,-13.5,296,6231,0.00,2.53,0.00,0.000,6,0.000,0.059,2127,2405,3420
$GC,6544,-1.29,-146.6,800.4,-5.9,312,6548,0.00,2.62,0.00,0.000,4,0.000,0.090,2127,3762,3420
$GC,6643,-1.29,-146.6,812.8,-9.8,316,6650,0.00,2.55,0.00,0.000,6,0.000,0.062,2127,2401,3420
$GC,6958,-1.29,-146.6,842.9,-11.7,332,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2401,3419
$STATE,7060,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7060,begin apogee
$GC,7064,-0.31,0.0,855.4,12.3,337,7190,1.08,0.00,123.00,1.305,6,0.118,0.000,2338,2194,2817
$STATE,7191,end apogee,CONTROL_FINISHED_OK
$STATE,7191,begin climb
$GC,7192,1.29,146.6,864.9,0.0,343,7323,1.62,2.80,120.90,1.276,4,0.065,0.074,2689,788,2219
$GC,7575,1.29,146.6,833.5,11.7,360,7583,0.00,2.65,0.00,0.000,6,0.000,0.057,2689,2192,2217
$GC,7890,1.29,146.6,804.0,11.9,376,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2192,2216
$GC,8200,1.33,180.1,775.6,8.5,391,8230,0.00,0.00,28.10,1.218,6,0.000,0.000,2689,2192,2082
$GC,8529,1.33,187.5,737.6,9.7,407,8543,0.00,2.80,7.30,1.003,4,0.000,0.080,2689,3611,2052
$GC,8609,1.33,187.5,729.2,11.5,410,8617,0.00,2.67,0.00,0.000,6,0.000,0.061,2689,2202,2051
$GC,8925,1.33,187.5,695.9,10.6,426,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2202,2050
$GC,9235,1.34,189.6,662.8,9.9,441,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2202,2048
$GC,9544,1.34,189.6,631.6,10.9,456,9548,0.00,2.67,0.00,0.000,4,0.000,0.074,2689,3615,2048
$GC,9609,1.34,189.6,623.7,13.1,459,9613,0.00,2.62,0.00,0.000,6,0.000,0.053,2689,2202,2048
$GC,9935,1.34,189.6,587.8,11.3,475,9939,0.00,2.65,0.00,0.000,4,0.000,0.068,2689,3619,2047
$GC,10096,1.34,189.6,570.3,10.7,482,10101,0.00,2.62,0.00,0.000,6,0.000,0.054,2690,2204,2048
$GC,10423,1.34,189.6,534.7,10.6,498,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2204,2048
$GC,10732,1.34,189.6,503.5,10.1,513,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2204,2048
$GC,11042,1.34,189.6,471.4,10.7,528,11046,0.00,2.65,0.00,0.000,4,0.000,0.068,2689,3619,2049
$GC,11084,1.34,189.6,466.4,12.3,530,11089,0.00,2.62,0.00,0.000,6,0.000,0.053,2689,2199,2049
$GC,11411,1.34,189.6,429.2,11.2,546,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2199,2050
$GC,11721,1.34,189.6,394.7,11.1,561,11725,0.00,2.65,0.00,0.000,4,0.000,0.069,2689,3616,2051
$GC,11758,1.34,189.6,390.2,11.7,563,11762,0.00,2.60,0.00,0.000,6,0.000,0.055,2689,2195,2051
$GC,12090,1.34,189.6,353.9,10.8,579,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2194,2052
$GC,12399,1.34,190.0,322.0,10.0,594,12405,0.00,0.00,4.22,0.607,6,0.000,0.000,2689,2194,2042
$GC,12708,1.34,190.0,291.3,10.1,609,12709,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2194,2042
$GC,13017,1.34,190.0,259.6,10.9,624,13022,0.00,2.65,0.00,0.000,4,0.000,0.067,2689,3619,2042
$GC,13111,1.34,190.0,249.0,11.4,628,13116,0.00,2.62,0.00,0.000,6,0.000,0.054,2689,2199,2043
$GC,13438,1.34,190.0,215.3,10.1,644,13439,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2199,2043
$GC,13747,1.34,192.0,184.5,9.9,659,13753,0.00,0.00,3.80,0.513,6,0.000,0.000,2689,2199,2034
$GC,14057,1.34,194.6,154.0,9.9,674,14062,0.00,0.00,3.90,0.516,6,0.000,0.000,2689,2199,2023
$GC,14366,1.35,200.0,123.5,9.8,689,14374,0.00,0.00,6.07,0.612,6,0.000,0.000,2689,2199,2001
$GC,14677,1.35,200.0,92.0,10.3,704,14678,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2199,2001
$GC,14985,1.35,200.0,60.0,10.2,719,14989,0.00,2.62,0.00,0.000,4,0.000,0.067,2689,782,2001
$GC,15027,1.35,200.0,55.4,10.3,721,15032,0.00,2.58,0.00,0.000,6,0.000,0.043,2689,2206,2001
$GC,15355,1.37,216.5,22.3,9.2,737,15375,0.00,0.00,14.12,0.655,6,0.000,0.000,2689,2206,1934
$STATE,15560,end climb,SURFACE_DEPTH_REACHED
$STATE,15560,begin surface coast
$FINISH,0.9,1.027252
$STATE,15580,end surface coast,CONTROL_FINISHED_OK
$STATE,15580,begin surface
$SM_CCo,15598,48.95,0.636,2,0,1593,300.00
$SM_GC,1.78,0.00,0.00,48.95,0.000,0.000,0.636,71,2408,1593,-10.76,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2078
$TCM_TEMP,17.30
$XPDR_PINGS,34
$ALTIM_BOTTOM_PING,800.4,63.3
$24V_AH,23.4,8.651
$10V_AH,10.1,3.424
$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,25.575,88.975,311.425,48.950,0.000,32.586,35.363,129.917,15.500,0.000,0.000,12.751,1393.526,12015.510,489.708,1765.230,273.170,33.361,1336.916,0.000,1723.711,0.000,47.774
$DEVICE_MAMPS,168.740,89.739,1304.667,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.086,535.437,430.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38042,748
$CFSIZE,260165632,257716224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,151107,015638,6133.789,-836.312,38,1.8,38,-9.0