version: 66.02
glider: 16
mission: 6
dive: 7
start: 11 14 107 5 3 59
data:
$ID,16
$MISSION,6
$DIVE,7
$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,-2074918.4
$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,16
$R_STBD_OVSHOOT,22
$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
$GPS1,045808,6133.484,-841.176,40,1.8,40,-9.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.4
$GPS2,050308,6133.453,-841.104,10,1.8,15,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.252,-0.077
$KALMAN_X,5934.3,1361.0,-104.1,14385.2,763.1
$KALMAN_Y,-1177.0,1008.7,-421.4,-8203.8,-1069.5
$MHEAD_RNG_PITCHd_Wd,116.1,15602,-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,-62.80,0.000,2,0.000,0.000,71,2202,2806
$GC,83,-1.29,-146.6,3.1,-3.4,3,118,11.48,2.95,-17.00,0.000,4,0.167,0.077,2121,3754,3416
$GC,124,-1.29,-146.6,7.8,-10.7,5,128,0.00,2.45,0.00,0.000,6,0.000,0.045,2121,2398,3416
$GC,450,-1.29,-146.6,52.7,-14.2,21,454,0.00,2.60,0.00,0.000,4,0.000,0.064,2121,988,3416
$GC,650,-1.29,-146.6,78.6,-12.1,30,655,0.00,2.55,0.00,0.000,6,0.000,0.048,2121,2389,3416
$GC,978,-1.29,-146.6,125.5,-15.1,46,982,0.00,2.58,0.00,0.000,4,0.000,0.069,2121,3772,3416
$GC,1061,-1.29,-146.6,138.3,-15.0,50,1065,0.00,2.47,0.00,0.000,6,0.000,0.048,2121,2396,3416
$GC,1387,-1.29,-146.6,183.5,-13.6,66,1391,0.00,2.55,0.00,0.000,4,0.000,0.068,2121,3766,3416
$GC,1447,-1.29,-146.6,192.1,-13.9,69,1451,0.00,2.45,0.00,0.000,6,0.000,0.047,2121,2402,3416
$GC,1778,-1.29,-146.6,237.0,-14.0,85,1782,0.00,2.55,0.00,0.000,4,0.000,0.069,2121,3768,3416
$GC,1810,-1.29,-146.6,242.0,-15.5,86,1817,0.00,2.50,0.00,0.000,6,0.000,0.048,2121,2397,3416
$GC,2126,-1.29,-146.6,286.5,-13.8,102,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2396,3416
$GC,2435,-1.29,-146.6,328.1,-13.2,117,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2396,3416
$GC,2744,-1.29,-146.6,369.2,-13.6,132,2748,0.00,2.55,0.00,0.000,4,0.000,0.071,2121,3766,3416
$GC,2821,-1.29,-146.6,380.3,-14.4,135,2829,0.00,2.47,0.00,0.000,6,0.000,0.048,2121,2404,3416
$GC,3137,-1.29,-146.6,424.2,-13.5,151,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2403,3416
$GC,3446,-1.29,-146.6,464.5,-13.1,166,3450,0.00,2.55,0.00,0.000,4,0.000,0.071,2121,3769,3416
$GC,3484,-1.29,-146.6,469.7,-13.2,168,3488,0.00,2.45,0.00,0.000,6,0.000,0.048,2121,2399,3416
$GC,3816,-1.29,-146.6,513.1,-13.0,184,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2399,3416
$GC,4126,-1.29,-146.6,550.6,-10.9,199,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2399,3416
$GC,4434,-1.29,-146.6,587.6,-11.4,214,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2399,3416
$GC,4744,-1.29,-146.6,625.1,-12.4,229,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2399,3416
$GC,5053,-1.29,-146.6,664.9,-12.6,244,5057,0.00,2.55,0.00,0.000,4,0.000,0.071,2121,3766,3416
$GC,5096,-1.29,-146.6,670.6,-12.3,246,5101,0.00,2.47,0.00,0.000,6,0.000,0.048,2121,2400,3416
$GC,5423,-1.29,-146.6,708.8,-12.4,262,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2400,3416
$GC,5732,-1.29,-146.6,745.1,-12.1,277,5736,0.00,2.55,0.00,0.000,4,0.000,0.073,2121,3766,3417
$GC,5990,-1.29,-146.6,777.3,-12.4,288,5997,0.00,2.47,0.00,0.000,6,0.000,0.051,2121,2406,3417
$GC,6306,-1.29,-146.6,814.2,-11.1,304,6310,0.00,2.58,0.00,0.000,4,0.000,0.081,2121,3766,3418
$GC,6556,-1.29,-146.6,844.6,-12.0,315,6561,0.00,2.50,0.00,0.000,6,0.000,0.056,2121,2408,3418
$STATE,6650,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6650,begin apogee
$GC,6653,-0.31,0.0,855.5,12.4,320,6779,1.10,0.00,122.28,1.270,6,0.116,0.000,2339,2189,2818
$STATE,6780,end apogee,CONTROL_FINISHED_OK
$STATE,6780,begin climb
$GC,6781,1.29,146.6,861.6,0.0,326,6912,1.67,2.78,120.30,1.254,4,0.088,0.076,2686,788,2219
$GC,7164,1.32,174.7,831.4,8.7,343,7194,0.00,2.62,24.12,1.182,6,0.000,0.058,2686,2198,2104
$GC,7521,1.32,174.7,791.2,11.2,361,7525,0.00,2.70,0.00,0.000,4,0.000,0.074,2686,788,2103
$GC,7739,1.33,179.4,765.6,9.8,371,7749,0.00,2.62,5.05,0.871,6,0.000,0.058,2686,2206,2085
$GC,8063,1.35,197.6,729.5,9.2,387,8085,0.00,2.70,15.50,1.137,4,0.000,0.068,2686,792,2011
$GC,8156,1.35,197.6,719.0,13.9,391,8161,0.00,2.62,0.00,0.000,6,0.000,0.054,2686,2195,2010
$GC,8483,1.35,197.6,683.7,10.8,407,8487,0.00,2.67,0.00,0.000,4,0.000,0.074,2687,3620,2009
$GC,8641,1.35,197.6,664.6,11.6,414,8646,0.00,2.60,0.00,0.000,6,0.000,0.055,2686,2205,2008
$GC,8966,1.35,197.6,627.4,11.6,430,8970,0.00,2.65,0.00,0.000,4,0.000,0.068,2686,786,2008
$GC,9008,1.35,197.6,622.2,12.6,432,9013,0.00,2.60,0.00,0.000,6,0.000,0.048,2686,2203,2008
$GC,9335,1.35,197.6,582.0,12.9,448,9339,0.00,2.62,0.00,0.000,4,0.000,0.068,2686,3616,2008
$GC,9373,1.35,197.6,577.0,13.2,450,9378,0.00,2.58,0.00,0.000,6,0.000,0.053,2686,2199,2008
$GC,9705,1.35,197.6,537.3,11.6,466,9709,0.00,2.60,0.00,0.000,4,0.000,0.066,2686,785,2008
$GC,9748,1.35,197.6,532.1,12.0,468,9753,0.00,2.58,0.00,0.000,6,0.000,0.045,2686,2196,2008
$GC,10075,1.35,197.6,494.1,11.2,484,10079,0.00,2.62,0.00,0.000,4,0.000,0.067,2686,3614,2009
$GC,10123,1.35,197.6,488.1,12.6,486,10129,0.00,2.60,0.00,0.000,6,0.000,0.052,2686,2204,2009
$GC,10445,1.35,197.6,452.1,11.3,502,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2204,2010
$GC,10754,1.35,197.6,418.7,10.8,517,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2204,2010
$GC,11063,1.35,197.6,386.6,10.2,532,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2204,2011
$GC,11372,1.35,197.6,352.0,11.5,547,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2204,2011
$GC,11682,1.35,197.6,316.8,11.4,562,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2204,2012
$GC,11991,1.35,197.6,283.8,10.6,577,11995,0.00,2.60,0.00,0.000,4,0.000,0.066,2687,3612,2012
$GC,12017,1.35,197.6,280.7,11.3,578,12023,0.00,2.58,0.00,0.000,6,0.000,0.051,2686,2204,2013
$GC,12339,1.38,226.7,248.9,8.7,594,12366,0.10,0.00,24.62,0.821,6,0.054,0.000,2719,2204,1891
$GC,12668,1.38,226.7,210.8,11.8,610,12672,0.00,2.62,0.00,0.000,4,0.000,0.067,2719,779,1892
$GC,12727,1.38,226.7,203.2,12.9,612,12735,0.00,2.58,0.00,0.000,6,0.000,0.042,2719,2203,1892
$GC,13043,1.38,226.7,163.7,12.2,628,13047,0.00,2.60,0.00,0.000,4,0.000,0.065,2719,3611,1892
$GC,13074,1.38,226.7,158.9,14.2,629,13081,0.00,2.60,0.00,0.000,6,0.000,0.053,2719,2201,1892
$GC,13390,1.38,226.7,117.4,13.2,645,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2201,1892
$GC,13699,1.38,226.7,74.4,13.5,660,13700,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2202,1892
$GC,14008,1.38,226.7,33.1,13.2,675,14010,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2202,1892
$STATE,14255,end climb,SURFACE_DEPTH_REACHED
$STATE,14255,begin surface coast
$FINISH,0.7,1.014511
$STATE,14277,end surface coast,CONTROL_FINISHED_OK
$STATE,14277,begin surface
$SM_CCo,14295,41.33,0.647,1,0,1594,300.00
$SM_GC,1.55,0.00,0.00,41.33,0.000,0.000,0.647,70,2397,1594,-10.76,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2110
$TCM_TEMP,17.30
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,775.0,88.4
$24V_AH,23.5,8.133
$10V_AH,10.1,3.153
$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,25.750,109.300,311.875,41.325,0.000,32.589,34.300,158.265,12.500,0.000,0.000,15.862,1288.753,10928.591,488.190,1651.976,292.770,33.345,1301.102,0.000,1604.743,0.000,46.218
$DEVICE_MAMPS,167.206,80.535,1270.152,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.055,489.917,387.095,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34916,688
$CFSIZE,260165632,257916928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,141107,090408,6134.060,-836.711,35,1.7,35,-9.0