version: 66.02
glider: 16
mission: 6
dive: 45
start: 11 19 107 13 58 12
data:
$ID,16
$MISSION,6
$DIVE,45
$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,-2075985.2
$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,11
$R_STBD_OVSHOOT,17
$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
$GPS1,135002,6126.570,-824.359,38,1.8,38,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-63.2
$GPS2,135721,6126.504,-824.311,16,2.0,16,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.235,-0.119
$KALMAN_X,-5607.7,2034.0,243.7,39672.8,-10536.7
$KALMAN_Y,75583.6,-2011.4,-330.0,-94885.4,8737.6
$MHEAD_RNG_PITCHd_Wd,125.7,5198,-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,17,-1.29,-146.6,0.0,0.0,0,81,0.00,0.00,-62.53,0.000,2,0.000,0.000,69,2411,3003
$GC,83,-1.29,-146.6,3.8,-4.9,3,108,11.60,0.00,-10.38,0.000,6,0.170,0.000,2121,2411,3416
$GC,410,-1.29,-146.6,49.5,-14.2,19,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2410,3418
$GC,718,-1.29,-146.6,95.2,-14.6,34,723,0.00,2.65,0.00,0.000,4,0.000,0.063,2121,980,3417
$GC,772,-1.29,-146.6,103.4,-14.6,36,780,0.00,2.62,0.00,0.000,6,0.000,0.053,2121,2395,3416
$GC,1088,-1.29,-146.6,150.7,-15.4,52,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2395,3418
$GC,1396,-1.29,-146.6,198.4,-15.5,67,1401,0.00,2.60,0.00,0.000,4,0.000,0.074,2121,3772,3417
$GC,1440,-1.29,-146.6,205.5,-16.9,69,1445,0.00,2.53,0.00,0.000,6,0.000,0.051,2121,2401,3417
$GC,1766,-1.29,-146.6,255.0,-15.1,85,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2401,3417
$GC,2076,-1.29,-146.6,300.6,-14.6,100,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2401,3418
$GC,2385,-1.29,-146.6,345.4,-14.1,115,2389,0.00,2.60,0.00,0.000,4,0.000,0.077,2121,3772,3417
$GC,2468,-1.29,-146.6,356.9,-13.5,119,2472,0.00,2.50,0.00,0.000,6,0.000,0.054,2121,2401,3417
$GC,2796,-1.29,-146.6,402.5,-14.6,135,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2401,3418
$GC,3103,-1.29,-146.6,447.3,-14.7,150,3107,0.00,2.60,0.00,0.000,4,0.000,0.077,2121,3773,3417
$GC,3179,-1.29,-146.6,459.6,-15.8,153,3186,0.00,2.53,0.00,0.000,6,0.000,0.052,2121,2400,3418
$GC,3494,-1.29,-146.6,504.6,-15.3,169,3498,0.00,2.62,0.00,0.000,4,0.000,0.071,2121,985,3417
$GC,3539,-1.29,-146.6,510.8,-13.2,171,3544,0.00,2.60,0.00,0.000,6,0.000,0.055,2121,2403,3417
$GC,3864,-1.29,-146.6,553.7,-16.2,187,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2403,3417
$GC,4173,-1.29,-146.6,591.7,-15.3,202,4178,0.00,2.58,0.00,0.000,4,0.000,0.077,2121,3771,3418
$GC,4207,-1.29,-146.6,597.8,-19.4,203,4213,0.00,2.50,0.00,0.000,6,0.000,0.053,2121,2396,3417
$GC,4521,-1.29,-146.6,643.4,-13.7,219,4525,0.00,2.62,0.00,0.000,4,0.000,0.067,2121,982,3418
$GC,4732,-1.29,-146.6,665.1,-10.9,228,4739,0.00,2.60,0.00,0.000,6,0.000,0.058,2121,2392,3419
$GC,5048,-1.29,-146.6,699.8,-8.9,244,5055,0.00,2.65,0.00,0.000,4,0.000,0.073,2121,980,3419
$GC,5088,-1.29,-146.6,703.8,-9.6,245,5096,0.00,2.62,0.00,0.000,6,0.000,0.061,2121,2395,3419
$GC,5403,-1.29,-146.6,736.5,-12.2,261,5408,0.00,2.65,0.00,0.000,4,0.000,0.091,2121,3769,3420
$GC,5521,-1.29,-146.6,752.0,-14.5,266,5526,0.00,2.58,0.00,0.000,6,0.000,0.067,2122,2406,3419
$GC,5843,-1.29,-146.6,788.7,-5.8,282,5847,0.00,2.65,0.00,0.000,4,0.000,0.096,2121,3767,3419
$GC,5981,-1.29,-146.6,810.7,-7.5,288,5985,0.00,2.58,0.00,0.000,6,0.000,0.069,2121,2400,3417
$STATE,6259,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6259,begin apogee
$GC,6263,-0.31,0.0,842.8,14.4,302,6389,1.17,0.00,122.82,1.303,6,0.141,0.000,2342,2189,2817
$STATE,6390,end apogee,CONTROL_FINISHED_OK
$STATE,6390,begin climb
$GC,6392,1.29,146.6,843.2,0.0,308,6522,1.67,2.83,120.62,1.274,4,0.086,0.084,2688,785,2218
$GC,6684,1.29,146.6,816.7,11.9,321,6691,0.00,2.67,0.00,0.000,6,0.000,0.061,2688,2192,2216
$GC,7000,1.32,175.3,780.5,8.7,337,7029,0.00,2.83,24.02,1.195,4,0.000,0.091,2688,3613,2102
$GC,7102,1.32,175.3,769.7,12.6,341,7109,0.00,2.75,0.00,0.000,6,0.000,0.074,2688,2202,2101
$GC,7418,1.33,180.9,735.1,9.7,357,7431,0.00,2.83,6.18,0.961,4,0.000,0.093,2688,3619,2078
$GC,7482,1.33,180.9,728.3,10.1,360,7486,0.00,2.72,0.00,0.000,6,0.000,0.074,2687,2200,2078
$GC,7814,1.33,180.9,694.3,12.8,376,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2200,2077
$GC,8123,1.33,180.9,658.0,10.0,391,8127,0.00,2.75,0.00,0.000,4,0.000,0.089,2688,784,2074
$GC,8229,1.41,252.1,647.2,6.8,396,8294,0.12,2.67,57.25,1.211,6,0.064,0.064,2721,2202,1789
$GC,8619,1.41,252.1,593.9,17.3,415,8624,0.00,2.72,0.00,0.000,4,0.000,0.076,2721,778,1785
$GC,8685,1.41,252.1,584.3,15.9,418,8690,0.00,2.65,0.00,0.000,6,0.000,0.054,2721,2194,1785
$GC,9011,1.41,252.1,538.4,14.9,434,9015,0.00,2.67,0.00,0.000,4,0.000,0.069,2721,778,1783
$GC,9036,1.41,252.1,534.1,16.6,435,9041,0.00,2.62,0.00,0.000,6,0.000,0.050,2721,2194,1783
$GC,9358,1.41,252.1,480.8,16.2,451,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2194,1783
$GC,9667,1.41,252.1,428.9,16.9,466,9668,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2194,1785
$GC,9977,1.41,252.1,379.4,15.2,481,9981,0.00,2.62,0.00,0.000,4,0.000,0.066,2721,779,1786
$GC,10002,1.41,252.1,375.1,16.1,482,10007,0.00,2.60,0.00,0.000,6,0.000,0.047,2721,2196,1786
$GC,10323,1.41,252.1,326.8,14.8,498,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2196,1788
$GC,10632,1.41,252.1,285.2,13.0,513,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2196,1789
$GC,10942,1.41,252.1,243.2,13.6,528,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2196,1789
$GC,11251,1.41,252.1,200.8,14.0,543,11252,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2196,1790
$GC,11560,1.41,252.1,155.8,13.8,558,11561,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2196,1791
$GC,11870,1.41,252.1,106.1,17.0,573,11874,0.00,2.62,0.00,0.000,4,0.000,0.064,2721,779,1792
$GC,11918,1.41,252.1,98.2,15.6,575,11923,0.00,2.58,0.00,0.000,6,0.000,0.044,2721,2196,1792
$GC,12239,1.41,252.1,46.1,15.5,591,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2196,1793
$STATE,12527,end climb,SURFACE_DEPTH_REACHED
$STATE,12527,begin surface coast
$FINISH,0.8,1.003296
$STATE,12549,end surface coast,CONTROL_FINISHED_OK
$STATE,12549,begin surface
$SM_CCo,12567,32.58,0.623,2,0,1594,300.00
$SM_GC,1.58,0.00,0.00,32.58,0.000,0.000,0.623,71,2401,1594,-10.76,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2137
$TCM_TEMP,17.20
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,801.2,51.0
$24V_AH,23.5,13.015
$10V_AH,10.1,5.307
$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,26.050,95.800,330.900,32.575,0.000,65.222,138.368,96.730,18.000,0.000,0.000,16.612,1123.230,9686.923,487.459,1385.813,375.954,33.357,1186.733,0.000,1342.781,0.000,50.693
$DEVICE_MAMPS,169.507,95.875,1303.133,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.692,422.373,342.270,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31743,606
$CFSIZE,260165632,256323584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,191107,172931,6127.566,-823.373,37,1.6,37,-8.9