version: 66.02
glider: 16
mission: 6
dive: 36
start: 11 18 107 13 41 44
data:
$ID,16
$MISSION,6
$DIVE,36
$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,-2075767.5
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,133622,6129.424,-835.409,40,2.5,59,-9.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-51.3
$GPS2,134054,6129.384,-835.375,15,2.9,34,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.141,-0.100
$KALMAN_X,11546.7,-1222.2,-563.7,16899.5,9727.2
$KALMAN_Y,64088.7,403.0,-85.2,-80740.1,986.4
$MHEAD_RNG_PITCHd_Wd,243.7,7439,-27.9,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.81,-62.0,0.0,0.0,0,74,0.00,0.00,-55.50,0.000,6,0.000,0.000,76,2404,3071
$GC,76,-1.86,-105.9,2.9,-5.3,2,98,11.00,2.65,-4.47,0.000,4,0.179,0.075,1996,987,3249
$GC,282,-1.86,-105.9,45.9,-24.5,11,287,0.00,2.58,0.00,0.000,6,0.000,0.051,1996,2390,3251
$GC,609,-1.86,-105.9,109.5,-18.3,27,613,0.00,2.58,0.00,0.000,4,0.000,0.069,1996,3769,3251
$GC,848,-1.86,-105.9,159.8,-20.9,38,853,0.00,2.47,0.00,0.000,6,0.000,0.048,1996,2402,3251
$GC,1180,-1.86,-105.9,222.3,-19.1,54,1184,0.00,2.55,0.00,0.000,4,0.000,0.070,1996,3771,3251
$GC,1269,-1.86,-105.9,240.3,-19.8,58,1273,0.00,2.47,0.00,0.000,6,0.000,0.049,1996,2398,3251
$GC,1597,-1.86,-105.9,302.5,-19.2,74,1601,0.00,2.58,0.00,0.000,4,0.000,0.071,1996,3771,3251
$GC,1734,-1.86,-105.9,330.8,-20.4,80,1739,0.00,2.50,0.00,0.000,6,0.000,0.050,1996,2405,3251
$GC,2056,-1.86,-105.9,390.8,-19.0,96,2060,0.00,2.55,0.00,0.000,4,0.000,0.071,1996,3768,3251
$GC,2166,-1.86,-105.9,413.3,-20.5,101,2171,0.00,2.50,0.00,0.000,6,0.000,0.050,1996,2401,3251
$GC,2493,-1.86,-105.9,473.0,-18.0,117,2497,0.00,2.55,0.00,0.000,4,0.000,0.071,1996,3766,3251
$GC,2622,-1.86,-105.9,497.3,-18.8,123,2626,0.00,2.47,0.00,0.000,6,0.000,0.051,1996,2395,3251
$GC,2947,-1.86,-105.9,555.5,-17.4,139,2952,0.00,2.58,0.00,0.000,4,0.000,0.071,1996,3770,3251
$GC,3064,-1.86,-105.9,577.4,-18.9,144,3069,0.00,2.50,0.00,0.000,6,0.000,0.051,1996,2404,3251
$GC,3385,-1.86,-105.9,632.5,-17.1,160,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2404,3252
$GC,3694,-1.86,-105.9,686.8,-17.5,175,3698,0.00,2.55,0.00,0.000,4,0.000,0.072,1996,3766,3251
$GC,3824,-1.86,-105.9,710.3,-18.4,181,3829,0.00,2.47,0.00,0.000,6,0.000,0.051,1996,2398,3251
$STATE,4087,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4087,begin apogee
$GC,4090,-0.31,0.0,754.4,16.0,194,4184,1.77,0.00,89.05,1.160,6,0.125,0.000,2341,2199,2818
$STATE,4184,end apogee,CONTROL_FINISHED_OK
$STATE,4185,begin climb
$GC,4186,1.86,105.9,756.3,0.0,198,4282,2.20,2.72,87.70,1.140,4,0.071,0.074,2816,3610,2384
$GC,4287,1.97,202.5,756.0,-0.4,202,4373,0.00,2.62,78.55,1.133,6,0.000,0.054,2816,2202,1991
$GC,4693,1.97,202.5,686.7,19.8,222,4697,0.00,2.67,0.00,0.000,4,0.000,0.071,2816,785,1989
$GC,4778,1.97,202.5,669.7,20.4,226,4782,0.00,2.60,0.00,0.000,6,0.000,0.048,2815,2207,1989
$GC,5103,1.97,202.5,603.6,20.1,242,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2206,1989
$GC,5412,1.97,202.5,543.1,18.5,257,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2206,1988
$GC,5721,1.97,202.5,486.4,18.2,272,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2205,1988
$GC,6030,1.97,202.5,430.1,18.1,287,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2206,1988
$GC,6340,1.97,202.5,374.6,18.1,302,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2206,1987
$GC,6649,1.97,202.5,319.0,18.1,317,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2206,1988
$GC,6958,1.97,202.5,264.5,17.5,332,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2206,1988
$GC,7268,1.97,202.5,206.8,19.4,347,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2206,1988
$GC,7577,1.97,202.5,146.5,19.4,362,7581,0.00,2.60,0.00,0.000,4,0.000,0.068,2816,3613,1988
$GC,7631,1.97,202.5,135.7,20.1,364,7639,0.00,2.62,0.00,0.000,6,0.000,0.057,2816,2199,1988
$GC,7947,1.97,202.5,78.7,17.3,380,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2199,1988
$GC,8257,1.97,202.5,17.5,20.3,395,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2199,1988
$STATE,8358,end climb,SURFACE_DEPTH_REACHED
$STATE,8359,begin surface coast
$FINISH,0.8,1.027289
$STATE,8380,end surface coast,CONTROL_FINISHED_OK
$STATE,8381,begin surface
$SM_CCo,8399,54.00,0.664,0,0,1594,300.00
$SM_GC,1.54,0.00,0.00,54.00,0.000,0.000,0.664,75,2399,1594,-10.74,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2111
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,650.7,110.4
$24V_AH,23.5,12.000
$10V_AH,10.2,4.863
$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,27.000,57.150,255.300,54.000,0.000,32.589,28.191,117.055,5.750,0.000,0.000,34.861,783.561,6305.755,380.505,1033.129,231.327,33.354,889.389,0.000,983.757,0.000,38.154
$DEVICE_MAMPS,179.478,75.166,1159.704,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.321,285.858,240.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19123,401
$CFSIZE,260165632,256696320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,181107,160355,6128.712,-836.311,30,1.5,45,-9.0