version: 66.02
glider: 16
mission: 6
dive: 35
start: 11 18 107 9 50 12
data:
$ID,16
$MISSION,6
$DIVE,35
$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,-2075732
$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,15
$R_STBD_OVSHOOT,20
$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
$GPS1,094201,6129.621,-834.210,37,1.5,37,-9.0
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-55.5
$GPS2,094921,6129.535,-834.078,14,1.7,14,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.241,-0.048
$KALMAN_X,10025.0,-1907.5,-1069.2,20772.4,10933.3
$KALMAN_Y,62471.6,998.0,166.4,-79699.6,-23.6
$MHEAD_RNG_PITCHd_Wd,267.7,6336,-19.6,-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,-1.36,-125.4,0.0,0.0,0,81,0.00,0.00,-62.38,0.000,2,0.000,0.000,71,2409,3251
$GC,83,-1.38,-146.6,4.6,-7.1,3,106,11.48,2.53,-3.45,0.000,4,0.174,0.080,2099,3765,3418
$GC,357,-1.38,-146.6,57.1,-17.2,15,361,0.00,2.50,0.00,0.000,6,0.000,0.049,2099,2400,3418
$GC,684,-1.38,-146.6,109.7,-15.5,31,688,0.00,2.55,0.00,0.000,4,0.000,0.068,2099,3764,3418
$GC,805,-1.38,-146.6,128.0,-16.2,36,812,0.00,2.50,0.00,0.000,6,0.000,0.048,2099,2395,3418
$GC,1121,-1.38,-146.6,176.0,-14.9,52,1125,0.00,2.55,0.00,0.000,4,0.000,0.068,2099,3764,3419
$GC,1197,-1.38,-146.6,188.9,-16.4,55,1204,0.00,2.47,0.00,0.000,6,0.000,0.047,2099,2405,3419
$GC,1513,-1.38,-146.6,237.2,-15.1,71,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2405,3419
$GC,1822,-1.38,-146.6,282.8,-14.8,86,1826,0.00,2.55,0.00,0.000,4,0.000,0.071,2099,3765,3419
$GC,1920,-1.38,-146.6,298.2,-15.5,90,1928,0.00,2.47,0.00,0.000,6,0.000,0.048,2099,2406,3419
$GC,2236,-1.38,-146.6,342.6,-13.9,106,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2406,3419
$GC,2545,-1.38,-146.6,384.0,-12.9,121,2550,0.00,2.55,0.00,0.000,4,0.000,0.071,2099,3766,3419
$GC,2599,-1.38,-146.6,391.7,-13.7,123,2607,0.00,2.47,0.00,0.000,6,0.000,0.048,2099,2408,3419
$GC,2915,-1.38,-146.6,434.0,-13.6,139,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2407,3419
$GC,3225,-1.38,-146.6,476.3,-13.5,154,3229,0.00,2.55,0.00,0.000,4,0.000,0.071,2099,3769,3419
$GC,3346,-1.38,-146.6,493.7,-13.5,159,3353,0.00,2.50,0.00,0.000,6,0.000,0.048,2099,2397,3419
$GC,3661,-1.38,-146.6,535.1,-13.8,175,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2396,3419
$GC,3972,-1.38,-146.6,577.1,-13.3,190,3976,0.00,2.55,0.00,0.000,4,0.000,0.071,2099,3763,3419
$GC,4019,-1.38,-146.6,584.4,-15.0,192,4024,0.00,2.47,0.00,0.000,6,0.000,0.048,2099,2404,3419
$GC,4340,-1.38,-146.6,630.2,-14.8,208,4345,0.00,2.55,0.00,0.000,4,0.000,0.072,2099,3765,3419
$GC,4464,-1.38,-146.6,648.6,-14.3,213,4470,0.00,2.45,0.00,0.000,6,0.000,0.049,2099,2401,3419
$GC,4778,-1.38,-146.6,692.6,-13.6,229,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2401,3419
$GC,5087,-1.38,-146.6,733.6,-12.6,244,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2401,3419
$GC,5396,-1.38,-146.6,770.8,-13.5,259,5401,0.00,2.55,0.00,0.000,4,0.000,0.074,2099,3763,3419
$GC,5490,-1.38,-146.6,782.7,-12.5,263,5495,0.00,2.50,0.00,0.000,6,0.000,0.051,2099,2401,3419
$STATE,5646,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5646,begin apogee
$GC,5650,-0.31,0.0,799.7,10.9,271,5777,1.23,0.00,123.45,1.202,6,0.123,0.000,2338,2196,2817
$STATE,5778,end apogee,CONTROL_FINISHED_OK
$STATE,5778,begin climb
$GC,5779,1.38,146.6,803.1,0.0,277,5904,1.73,0.00,120.45,1.189,6,0.071,0.000,2707,2196,2219
$GC,6208,1.38,146.6,761.2,10.7,298,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2196,2218
$GC,6518,1.38,146.6,728.5,10.4,313,6522,0.00,2.70,0.00,0.000,4,0.000,0.076,2707,784,2216
$GC,6607,1.38,146.6,719.3,10.2,317,6611,0.00,2.60,0.00,0.000,6,0.000,0.054,2707,2196,2214
$GC,6938,1.38,146.6,685.3,10.2,333,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2195,2211
$GC,7247,1.38,146.6,653.0,10.7,348,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2195,2211
$GC,7557,1.38,146.6,619.8,10.4,363,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2195,2209
$GC,7866,1.38,146.6,586.9,10.4,378,7870,0.00,2.65,0.00,0.000,4,0.000,0.071,2707,3615,2209
$GC,7949,1.38,146.6,577.2,12.0,382,7954,0.00,2.58,0.00,0.000,6,0.000,0.054,2707,2200,2209
$GC,8281,1.38,146.6,541.5,10.8,398,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2200,2209
$GC,8590,1.38,146.6,509.2,10.3,413,8595,0.00,2.62,0.00,0.000,4,0.000,0.071,2707,3614,2209
$GC,8652,1.38,146.6,502.2,11.5,416,8656,0.00,2.60,0.00,0.000,6,0.000,0.054,2707,2191,2209
$GC,8976,1.38,146.6,466.6,11.2,432,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2191,2209
$GC,9286,1.38,146.6,431.9,11.1,447,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2191,2210
$GC,9595,1.38,146.6,400.1,10.2,462,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2191,2210
$GC,9904,1.38,146.6,367.8,10.5,477,9908,0.00,2.65,0.00,0.000,4,0.000,0.070,2707,3622,2210
$GC,9971,1.38,146.6,360.2,12.1,480,9975,0.00,2.60,0.00,0.000,6,0.000,0.056,2707,2202,2210
$GC,10297,1.39,152.6,326.8,9.7,496,10304,0.00,0.00,5.30,0.663,6,0.000,0.000,2707,2200,2194
$GC,10606,1.39,154.5,296.7,9.9,511,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2202,2194
$GC,10915,1.39,154.5,264.4,10.3,526,10917,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2202,2194
$GC,11225,1.42,180.6,236.4,8.6,541,11254,0.00,2.70,23.33,0.802,4,0.000,0.068,2707,3604,2080
$GC,11298,1.42,180.6,229.3,10.2,544,11303,0.00,2.62,0.00,0.000,6,0.000,0.055,2707,2201,2079
$GC,11619,1.42,180.6,195.4,11.4,560,11620,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2201,2079
$GC,11928,1.42,180.6,160.8,10.9,575,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2201,2079
$GC,12238,1.42,180.6,129.0,10.2,590,12242,0.00,2.65,0.00,0.000,4,0.000,0.070,2707,3620,2079
$GC,12276,1.42,180.6,124.9,11.7,592,12281,0.00,2.60,0.00,0.000,6,0.000,0.055,2707,2197,2079
$GC,12602,1.42,180.6,93.0,11.0,608,12603,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2197,2079
$GC,12911,1.42,180.6,55.7,11.8,623,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2197,2079
$GC,13220,1.42,180.6,13.2,14.5,638,13222,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2197,2081
$STATE,13343,end climb,SURFACE_DEPTH_REACHED
$STATE,13343,begin surface coast
$FINISH,0.8,1.023473
$STATE,13365,end surface coast,CONTROL_FINISHED_OK
$STATE,13365,begin surface
$SM_CCo,13383,74.53,0.620,4,0,1594,300.00
$SM_GC,2.21,0.00,0.00,74.53,0.000,0.000,0.620,77,2403,1594,-10.73,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2096
$TCM_TEMP,17.60
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,725.7,83.5
$24V_AH,23.5,11.897
$10V_AH,10.2,4.820
$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,25.900,77.625,272.525,74.525,0.000,65.259,107.922,131.313,9.500,0.000,0.000,14.309,1179.749,10470.543,489.936,1411.080,375.373,33.354,1170.157,0.000,1375.521,0.000,45.905
$DEVICE_MAMPS,174.109,79.768,1201.889,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.620,456.363,371.539,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31655,645
$CFSIZE,260165632,256696320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,4,0
$GPS,181107,133622,6129.424,-835.409,40,2.5,59,-9.0