version: 66.02
glider: 16
mission: 6
dive: 39
start: 11 18 107 21 22 42
data:
$ID,16
$MISSION,6
$DIVE,39
$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,-2075855
$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
$GPS1,211807,6126.632,-838.107,37,2.0,37,-9.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-53.2
$GPS2,212151,6126.593,-838.141,13,1.9,13,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.073,-0.157
$KALMAN_X,12915.3,-487.2,-559.6,12353.0,8998.0
$KALMAN_Y,67190.5,-795.3,-333.2,-87550.7,6100.2
$MHEAD_RNG_PITCHd_Wd,164.0,10812,-27.9,-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,17,-1.81,-62.0,0.0,0.0,0,74,0.00,0.00,-54.90,0.000,6,0.000,0.000,68,2401,3070
$GC,76,-1.85,-97.8,2.7,-6.2,2,98,10.77,2.60,-3.42,0.000,4,0.167,0.084,2001,3782,3217
$GC,349,-1.85,-97.8,65.7,-25.9,14,354,0.00,2.55,0.00,0.000,6,0.000,0.054,2001,2404,3218
$GC,676,-1.85,-97.8,135.7,-19.5,30,680,0.00,2.58,0.00,0.000,4,0.000,0.074,2001,3769,3218
$GC,932,-1.85,-97.8,186.2,-18.6,41,939,0.00,2.53,0.00,0.000,6,0.000,0.055,2001,2404,3218
$GC,1247,-1.85,-97.8,239.6,-18.0,57,1251,0.00,2.58,0.00,0.000,4,0.000,0.073,2001,3773,3218
$GC,1504,-1.85,-97.8,289.9,-18.6,68,1511,0.00,2.53,0.00,0.000,6,0.000,0.056,2000,2405,3218
$GC,1819,-1.85,-97.8,344.0,-17.8,84,1823,0.00,2.55,0.00,0.000,4,0.000,0.075,2001,3768,3218
$GC,2077,-1.85,-97.8,394.3,-19.7,95,2082,0.00,2.53,0.00,0.000,6,0.000,0.055,2001,2402,3218
$STATE,2377,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2377,begin apogee
$GC,2381,-0.31,0.0,449.6,17.5,110,2465,1.77,0.00,80.15,0.963,6,0.133,0.000,2340,2193,2817
$STATE,2466,end apogee,CONTROL_FINISHED_OK
$STATE,2466,begin climb
$GC,2467,1.85,97.8,453.7,0.0,114,2554,2.15,2.67,78.22,0.949,4,0.068,0.067,2811,788,2418
$GC,2805,1.85,97.8,426.2,10.0,129,2812,0.00,2.60,0.00,0.000,6,0.000,0.048,2811,2196,2417
$GC,3120,1.85,97.8,392.9,10.6,145,3125,0.00,2.62,0.00,0.000,4,0.000,0.065,2811,787,2417
$GC,3197,1.85,97.8,383.9,11.2,148,3202,0.00,2.60,0.00,0.000,6,0.000,0.048,2811,2199,2417
$GC,3519,1.85,101.0,351.5,9.6,164,3528,0.00,2.67,4.20,0.591,4,0.000,0.075,2811,3612,2405
$GC,3686,1.85,101.0,333.8,10.5,171,3690,0.00,2.62,0.00,0.000,6,0.000,0.063,2811,2199,2405
$GC,4000,1.85,101.0,302.1,10.1,186,4005,0.00,2.67,0.00,0.000,4,0.000,0.076,2811,3616,2405
$GC,4088,1.85,101.0,292.4,11.0,190,4093,0.00,2.65,0.00,0.000,6,0.000,0.061,2812,2204,2405
$GC,4415,1.85,101.0,259.1,10.4,206,4420,0.00,2.65,0.00,0.000,4,0.000,0.076,2811,3613,2404
$GC,4499,1.85,101.0,249.8,11.6,210,4503,0.00,2.62,0.00,0.000,6,0.000,0.064,2811,2192,2405
$GC,4830,1.85,101.0,212.8,10.8,226,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2192,2404
$GC,5139,1.85,101.0,177.8,11.9,241,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2192,2405
$GC,5448,1.85,101.0,145.6,10.5,256,5453,0.00,2.67,0.00,0.000,4,0.000,0.074,2811,3618,2404
$GC,5587,1.85,101.0,129.8,12.3,262,5592,0.00,2.65,0.00,0.000,6,0.000,0.062,2811,2199,2405
$GC,5910,1.85,101.0,91.4,12.4,278,5914,0.00,2.60,0.00,0.000,4,0.000,0.065,2811,782,2404
$GC,6008,1.85,101.0,77.4,13.5,282,6016,0.00,2.58,0.00,0.000,6,0.000,0.047,2811,2196,2405
$GC,6324,1.85,101.0,35.3,11.5,298,6328,0.00,2.65,0.00,0.000,4,0.000,0.074,2811,3620,2404
$GC,6355,1.86,101.6,32.0,9.9,299,6363,0.00,2.62,0.00,0.000,6,0.000,0.058,2811,2200,2405
$STATE,6649,end climb,SURFACE_DEPTH_REACHED
$STATE,6649,begin surface coast
$FINISH,0.8,1.009460
$STATE,6673,end surface coast,CONTROL_FINISHED_OK
$STATE,6673,begin surface
$SM_CCo,6691,123.32,0.639,5,0,1594,300.00
$SM_GC,1.73,0.00,0.00,123.32,0.000,0.000,0.639,72,2402,1594,-10.75,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2064
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,375.1,84.4
$24V_AH,23.6,12.245
$10V_AH,10.2,4.999
$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,26.725,63.375,162.575,123.325,0.000,32.651,27.916,96.432,3.250,0.000,0.000,13.922,676.378,4796.639,415.336,982.568,207.991,33.349,895.242,0.000,962.038,0.000,21.191
$DEVICE_MAMPS,167.206,83.603,962.585,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,219.919,226.855,237.357,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16044,315
$CFSIZE,260165632,256598016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,5,0
$GPS,181107,231758,6126.172,-838.778,24,5.2,43,-9.0