version: 66.02
glider: 16
mission: 6
dive: 21
start: 11 16 107 11 43 36
data:
$ID,16
$MISSION,6
$DIVE,21
$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,-2075327.4
$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,14
$R_STBD_OVSHOOT,16
$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
$GPS1,113825,6128.207,-823.972,26,1.2,43,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-54.8
$GPS2,114245,6128.227,-823.862,14,1.3,14,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,-0.223
$KALMAN_X,-8665.2,-83.5,392.2,45098.2,-5442.3
$KALMAN_Y,48639.9,-881.2,-604.4,-65600.6,13131.2
$MHEAD_RNG_PITCHd_Wd,156.6,3434,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-71.93,0.000,2,0.000,0.000,67,2404,3098
$GC,92,-1.29,-146.6,4.2,-3.8,4,117,11.60,2.58,-7.28,0.000,4,0.173,0.080,2125,3767,3417
$GC,262,-1.29,-146.6,32.9,-15.1,11,270,0.00,2.50,0.00,0.000,6,0.000,0.045,2125,2396,3418
$GC,579,-1.29,-146.6,79.8,-14.5,27,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2396,3418
$GC,887,-1.29,-146.6,124.4,-14.5,42,892,0.00,2.58,0.00,0.000,4,0.000,0.067,2125,3773,3418
$GC,964,-1.29,-146.6,136.3,-15.1,45,971,0.00,2.50,0.00,0.000,6,0.000,0.046,2125,2401,3418
$GC,1280,-1.29,-146.6,182.4,-14.5,61,1284,0.00,2.55,0.00,0.000,4,0.000,0.068,2125,3768,3418
$GC,1350,-1.29,-146.6,193.1,-14.3,64,1355,0.00,2.47,0.00,0.000,6,0.000,0.046,2125,2407,3418
$GC,1671,-1.29,-146.6,237.3,-13.9,80,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2407,3418
$GC,1980,-1.29,-146.6,279.6,-13.6,95,1985,0.00,2.55,0.00,0.000,4,0.000,0.069,2125,3769,3419
$GC,2041,-1.29,-146.6,288.1,-14.3,98,2045,0.00,2.45,0.00,0.000,6,0.000,0.046,2125,2400,3418
$GC,2373,-1.29,-146.6,333.9,-14.5,114,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2400,3418
$GC,2683,-1.29,-146.6,377.6,-13.6,129,2687,0.00,2.58,0.00,0.000,4,0.000,0.070,2125,3773,3419
$GC,2747,-1.29,-146.6,387.0,-14.4,132,2752,0.00,2.47,0.00,0.000,6,0.000,0.046,2125,2408,3419
$GC,3074,-1.29,-146.6,430.0,-13.2,148,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2406,3419
$GC,3383,-1.29,-146.6,469.9,-12.8,163,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2407,3419
$GC,3693,-1.29,-146.6,509.2,-12.2,178,3697,0.00,2.55,0.00,0.000,4,0.000,0.070,2125,3772,3419
$GC,3763,-1.29,-146.6,518.1,-12.3,181,3768,0.00,2.47,0.00,0.000,6,0.000,0.046,2125,2405,3419
$GC,4090,-1.29,-146.6,560.4,-14.4,197,4094,0.00,2.55,0.00,0.000,4,0.000,0.071,2125,3767,3419
$GC,4184,-1.29,-146.6,572.9,-13.0,201,4189,0.00,2.47,0.00,0.000,6,0.000,0.048,2125,2408,3419
$GC,4505,-1.29,-146.6,613.0,-14.3,217,4509,0.00,2.62,0.00,0.000,4,0.000,0.064,2125,982,3419
$GC,4762,-1.29,-146.6,648.2,-14.2,228,4769,0.00,2.58,0.00,0.000,6,0.000,0.052,2125,2390,3420
$GC,5077,-1.29,-146.6,681.8,-10.6,244,5081,0.00,2.62,0.00,0.000,4,0.000,0.067,2125,985,3421
$GC,5183,-1.29,-146.6,696.5,-15.9,249,5188,0.00,2.60,0.00,0.000,6,0.000,0.058,2125,2404,3421
$GC,5509,-1.29,-146.6,754.9,-18.0,265,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2404,3420
$STATE,5817,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5818,begin apogee
$GC,5821,-0.31,0.0,793.6,9.2,280,5948,1.10,0.00,122.68,1.258,6,0.120,0.000,2341,2202,2817
$STATE,5948,end apogee,CONTROL_FINISHED_OK
$STATE,5948,begin climb
$GC,5950,1.29,146.6,796.4,0.0,286,6080,1.65,2.83,119.97,1.227,4,0.074,0.085,2691,3617,2218
$GC,6332,1.29,148.6,751.2,9.9,303,6339,0.00,2.67,0.00,0.000,6,0.000,0.065,2691,2203,2217
$GC,6647,1.37,216.2,731.5,6.9,319,6710,0.00,2.83,56.28,1.210,4,0.000,0.084,2691,3617,1935
$GC,6872,1.37,216.2,685.5,24.7,329,6877,0.00,2.70,0.00,0.000,6,0.000,0.069,2691,2200,1933
$GC,7192,1.37,216.2,623.9,13.0,345,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2200,1931
$GC,7502,1.37,216.2,562.8,18.7,360,7506,0.00,2.70,0.00,0.000,4,0.000,0.078,2691,785,1931
$GC,7533,1.47,314.6,559.5,5.5,361,7622,0.15,2.65,77.93,1.151,6,0.052,0.057,2734,2198,1534
$GC,7929,1.47,314.6,509.6,16.9,381,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2198,1530
$GC,8238,1.47,314.6,455.3,15.1,396,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2198,1530
$GC,8547,1.47,314.6,398.7,18.7,411,8552,0.00,2.65,0.00,0.000,4,0.000,0.065,2734,782,1530
$GC,8608,1.47,314.6,387.1,19.6,414,8612,0.00,2.58,0.00,0.000,6,0.000,0.046,2734,2201,1530
$GC,8940,1.47,314.6,326.2,18.6,430,8944,0.00,2.65,0.00,0.000,4,0.000,0.064,2734,780,1531
$GC,8982,1.47,314.6,318.1,18.1,432,8987,0.00,2.60,0.00,0.000,6,0.000,0.044,2734,2201,1530
$GC,9309,1.47,314.6,260.3,17.4,448,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2201,1533
$GC,9618,1.47,314.6,202.9,19.4,463,9623,0.00,2.65,0.00,0.000,4,0.000,0.062,2734,773,1533
$GC,9673,1.47,314.6,192.1,18.6,465,9680,0.00,2.60,0.00,0.000,6,0.000,0.043,2734,2202,1534
$GC,9988,1.47,314.6,132.7,18.7,481,9993,0.00,2.62,0.00,0.000,4,0.000,0.061,2734,781,1535
$GC,10008,1.47,314.6,128.8,18.9,482,10013,0.00,2.58,0.00,0.000,6,0.000,0.041,2735,2203,1535
$GC,10337,1.47,314.6,70.7,17.2,498,10341,0.00,2.62,0.00,0.000,4,0.000,0.061,2734,781,1536
$GC,10375,1.47,314.6,63.6,18.9,500,10379,0.00,2.55,0.00,0.000,6,0.000,0.041,2734,2205,1536
$GC,10700,1.47,314.6,7.7,18.3,516,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2205,1537
$STATE,10740,end climb,SURFACE_DEPTH_REACHED
$STATE,10740,begin surface coast
$FINISH,0.9,1.027217
$STATE,10762,end surface coast,CONTROL_FINISHED_OK
$STATE,10763,begin surface
$SM_CCo,10840,0.00,0.000,0,0,1536,313.98
$SM_GC,1.50,11.62,0.00,0.00,0.040,0.000,0.000,74,2402,1536,-10.68,0.06,313.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2143
$TCM_TEMP,16.20
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,728.3,73.4
$24V_AH,23.5,10.029
$10V_AH,10.1,4.035
$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,26.125,88.925,376.850,0.000,0.000,32.589,41.083,115.139,14.250,0.000,0.000,14.440,985.469,8104.380,464.615,1304.069,251.515,33.354,1135.089,0.000,1262.992,0.000,45.872
$DEVICE_MAMPS,173.342,85.137,1257.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.128,360.883,306.165,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25438,519
$CFSIZE,260165632,257290240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,161107,144526,6128.671,-821.683,39,1.8,39,-8.9