version: 66.02
glider: 16
mission: 6
dive: 4
start: 11 13 107 17 13 5
data:
$ID,16
$MISSION,6
$DIVE,4
$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,-3
$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,566.1524
$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,-2074827
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,21
$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
$GPS1,165258,6135.881,-859.410,39,5.7,58,-9.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-61.1
$GPS2,171129,6135.740,-859.133,13,3.6,32,-9.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.258,-0.054
$KALMAN_X,35.5,214.6,-128.5,5600.1,-197.4
$KALMAN_Y,-1180.6,-479.4,-358.9,-2534.8,-489.1
$MHEAD_RNG_PITCHd_Wd,111.0,31981,-18.1,-10.000
$D_GRID,749
$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,-62.28,0.000,2,0.000,0.000,69,2208,3204
$GC,83,-1.29,-146.6,4.1,-6.5,3,106,11.27,2.60,-4.40,0.000,4,0.161,0.074,2122,3612,3417
$GC,357,-1.29,-146.6,50.0,-16.0,15,362,0.00,2.58,0.00,0.000,6,0.000,0.046,2122,2197,3416
$GC,684,-1.29,-146.6,95.1,-12.2,31,688,0.00,2.60,0.00,0.000,4,0.000,0.062,2122,3607,3414
$GC,940,-1.29,-146.6,130.0,-13.5,42,947,0.00,2.55,0.00,0.000,6,0.000,0.046,2122,2200,3414
$GC,1255,-1.29,-146.6,171.9,-13.8,58,1259,0.00,2.60,0.00,0.000,4,0.000,0.063,2122,3613,3413
$GC,1472,-1.29,-146.6,203.8,-14.5,67,1480,0.00,2.58,0.00,0.000,6,0.000,0.048,2122,2196,3412
$GC,1788,-1.29,-146.6,245.8,-13.3,83,1792,0.00,2.60,0.00,0.000,4,0.000,0.064,2122,3607,3413
$GC,1944,-1.29,-146.6,268.0,-14.3,90,1948,0.00,2.55,0.00,0.000,6,0.000,0.048,2122,2200,3413
$GC,2271,-1.29,-146.6,313.4,-13.5,106,2275,0.00,2.60,0.00,0.000,4,0.000,0.065,2122,3612,3413
$GC,2414,-1.29,-146.6,334.2,-14.7,112,2421,0.00,2.58,0.00,0.000,6,0.000,0.049,2122,2196,3412
$GC,2729,-1.29,-146.6,374.9,-12.8,128,2735,0.00,2.62,0.00,0.000,4,0.000,0.067,2122,3613,3413
$GC,2879,-1.29,-146.6,395.0,-13.1,134,2886,0.00,2.58,0.00,0.000,6,0.000,0.050,2121,2198,3413
$GC,3194,-1.29,-146.6,434.4,-12.4,150,3199,0.00,2.60,0.00,0.000,4,0.000,0.067,2122,3607,3413
$GC,3311,-1.29,-146.6,449.8,-13.6,155,3319,0.00,2.55,0.00,0.000,6,0.000,0.050,2122,2201,3412
$GC,3634,-1.29,-146.6,490.2,-12.4,171,3638,0.00,2.60,0.00,0.000,4,0.000,0.067,2122,3609,3413
$GC,3784,-1.29,-146.6,510.7,-14.0,178,3788,0.00,2.53,0.00,0.000,6,0.000,0.050,2122,2199,3413
$GC,4115,-1.29,-146.6,554.9,-13.0,194,4120,0.00,2.60,0.00,0.000,4,0.000,0.067,2122,3607,3413
$GC,4232,-1.29,-146.6,571.5,-14.1,199,4236,0.00,2.55,0.00,0.000,6,0.000,0.051,2122,2203,3413
$GC,4553,-1.29,-146.6,610.9,-11.7,215,4557,0.00,2.60,0.00,0.000,4,0.000,0.067,2122,3615,3413
$GC,4749,-1.29,-146.6,635.7,-13.1,223,4755,0.00,2.53,0.00,0.000,6,0.000,0.051,2122,2200,3413
$GC,5067,-1.29,-146.6,676.1,-13.2,239,5072,0.00,2.60,0.00,0.000,4,0.000,0.068,2122,3607,3413
$GC,5173,-1.29,-146.6,691.0,-12.5,244,5177,0.00,2.53,0.00,0.000,6,0.000,0.051,2122,2197,3413
$GC,5504,-1.29,-146.6,729.8,-11.8,260,5508,0.00,2.62,0.00,0.000,4,0.000,0.070,2122,3615,3413
$STATE,5654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5654,begin apogee
$GC,5660,-0.31,0.0,749.1,11.9,267,5784,1.08,0.00,120.07,1.170,6,0.109,0.000,2339,2197,2816
$STATE,5785,end apogee,CONTROL_FINISHED_OK
$STATE,5785,begin climb
$GC,5786,1.29,146.6,753.9,0.0,273,5913,1.65,2.70,118.70,1.159,4,0.079,0.067,2688,789,2219
$GC,6165,1.31,167.8,727.0,9.0,290,6193,0.00,2.60,19.08,1.067,6,0.000,0.050,2687,2194,2131
$GC,6501,1.32,172.6,696.5,9.8,307,6511,0.00,2.70,5.00,0.793,4,0.000,0.072,2687,3612,2113
$GC,6740,1.32,172.6,669.5,11.7,318,6745,0.00,2.60,0.00,0.000,6,0.000,0.053,2687,2192,2112
$GC,7072,1.32,172.6,633.4,10.9,334,7076,0.00,2.60,0.00,0.000,4,0.000,0.065,2688,788,2112
$GC,7154,1.32,172.6,624.4,10.6,337,7161,0.00,2.58,0.00,0.000,6,0.000,0.045,2687,2202,2112
$GC,7469,1.33,178.9,593.0,9.7,353,7478,0.00,0.00,6.78,0.866,6,0.000,0.000,2687,2201,2087
$GC,7779,1.35,204.5,564.4,8.8,368,7807,0.00,2.72,21.62,1.023,4,0.000,0.065,2687,3614,1983
$GC,7859,1.35,204.5,556.5,10.9,371,7865,0.00,2.60,0.00,0.000,6,0.000,0.051,2687,2192,1983
$GC,8173,1.35,204.5,524.4,10.4,387,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2192,1982
$GC,8482,1.35,204.5,489.8,11.6,402,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2192,1983
$GC,8791,1.35,204.5,453.7,11.7,417,8796,0.00,2.62,0.00,0.000,4,0.000,0.064,2687,3611,1983
$GC,8818,1.35,204.5,450.3,12.6,418,8823,0.00,2.58,0.00,0.000,6,0.000,0.051,2687,2203,1983
$GC,9139,1.35,204.5,413.2,11.6,434,9143,0.00,2.60,0.00,0.000,4,0.000,0.064,2687,788,1983
$GC,9171,1.35,204.5,409.3,11.9,435,9178,0.00,2.55,0.00,0.000,6,0.000,0.042,2687,2200,1983
$GC,9487,1.35,204.5,374.0,10.9,451,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2200,1983
$GC,9796,1.35,204.5,340.9,11.0,466,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2200,1983
$GC,10105,1.35,204.5,305.6,11.6,481,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2199,1984
$GC,10414,1.35,204.5,270.1,12.3,496,10419,0.00,2.58,0.00,0.000,4,0.000,0.059,2688,785,1984
$GC,10502,1.35,204.5,258.7,13.3,500,10507,0.00,2.55,0.00,0.000,6,0.000,0.043,2688,2203,1984
$GC,10829,1.35,204.5,218.3,12.4,516,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2203,1985
$GC,11139,1.35,204.5,180.2,12.2,531,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2203,1985
$GC,11448,1.35,204.5,143.1,12.1,546,11449,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2203,1985
$GC,11757,1.35,204.5,108.0,10.5,561,11758,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2203,1985
$GC,12066,1.35,204.5,73.0,11.1,576,12071,0.00,2.58,0.00,0.000,4,0.000,0.064,2688,3613,1985
$GC,12098,1.35,204.5,68.9,12.6,577,12106,0.00,2.55,0.00,0.000,6,0.000,0.049,2687,2206,1985
$GC,12415,1.35,204.5,31.8,11.6,593,12417,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2206,1985
$STATE,12681,end climb,SURFACE_DEPTH_REACHED
$STATE,12681,begin surface coast
$FINISH,0.6,1.011514
$STATE,12703,end surface coast,CONTROL_FINISHED_OK
$STATE,12703,begin surface
$SM_CCo,12720,197.73,0.670,0,0,509,566.15
$SM_GC,1.27,0.00,0.00,197.73,0.000,0.000,0.670,74,2204,509,-10.74,0.11,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2100
$TCM_TEMP,17.40
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,676.1,96.3
$24V_AH,23.5,7.689
$10V_AH,10.2,2.941
$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,25.300,103.625,291.250,197.725,0.000,163.453,274.989,302.334,9.000,0.000,0.000,33.516,1187.817,9716.188,617.946,1677.379,876.263,32.343,1420.707,0.000,1615.316,0.000,39.750
$DEVICE_MAMPS,161.070,74.399,1170.442,669.591,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.672,428.469,364.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31667,607
$CFSIZE,260165632,258048000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131107,204938,6135.742,-852.755,42,1.4,42,-9.2