version: 66.02
glider: 16
mission: 6
dive: 42
start: 11 19 107 4 14 53
data:
$ID,16
$MISSION,6
$DIVE,42
$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,-2075917.8
$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,13
$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
$GPS1,040708,6126.764,-833.175,30,2.0,30,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-57.3
$GPS2,041402,6126.752,-833.174,12,2.0,12,-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,-0.107
$KALMAN_X,4272.1,-1618.5,54.9,25852.2,-3325.9
$KALMAN_Y,71039.3,577.4,-480.4,-92327.1,8052.4
$MHEAD_RNG_PITCHd_Wd,123.0,6865,-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,-62.45,0.000,2,0.000,0.000,73,2405,3257
$GC,83,-1.29,-146.6,4.6,-7.4,3,106,11.52,2.65,-3.20,0.000,4,0.173,0.074,2122,976,3418
$GC,267,-1.29,-146.6,38.9,-11.4,11,272,0.00,2.60,0.00,0.000,6,0.000,0.052,2122,2390,3418
$GC,594,-1.29,-146.6,90.8,-13.5,27,598,0.00,2.58,0.00,0.000,4,0.000,0.072,2122,3768,3419
$GC,681,-1.29,-146.6,103.9,-14.4,31,686,0.00,2.50,0.00,0.000,6,0.000,0.051,2122,2404,3418
$GC,1008,-1.29,-146.6,154.3,-16.0,47,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2405,3418
$GC,1317,-1.29,-146.6,203.3,-14.5,62,1321,0.00,2.58,0.00,0.000,4,0.000,0.073,2122,3772,3418
$GC,1371,-1.29,-146.6,211.1,-14.2,64,1379,0.00,2.53,0.00,0.000,6,0.000,0.051,2122,2397,3419
$GC,1687,-1.29,-146.6,255.2,-14.2,80,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2396,3419
$GC,1996,-1.29,-146.6,297.1,-13.4,95,2000,0.00,2.58,0.00,0.000,4,0.000,0.073,2122,3769,3419
$GC,2090,-1.29,-146.6,310.3,-13.8,99,2095,0.00,2.50,0.00,0.000,6,0.000,0.052,2122,2403,3418
$GC,2412,-1.29,-146.6,351.4,-12.7,115,2416,0.00,2.58,0.00,0.000,4,0.000,0.074,2122,3772,3419
$GC,2449,-1.29,-146.6,356.6,-13.4,117,2453,0.00,2.50,0.00,0.000,6,0.000,0.054,2122,2395,3418
$GC,2781,-1.29,-146.6,398.9,-12.8,133,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2395,3418
$GC,3090,-1.29,-146.6,439.7,-12.5,148,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2395,3418
$GC,3400,-1.29,-146.6,476.8,-11.8,163,3404,0.00,2.55,0.00,0.000,4,0.000,0.074,2122,3768,3419
$GC,3438,-1.29,-146.6,481.8,-13.1,165,3442,0.00,2.50,0.00,0.000,6,0.000,0.054,2122,2392,3419
$GC,3769,-1.29,-146.6,521.3,-11.8,181,3774,0.00,2.60,0.00,0.000,4,0.000,0.075,2122,3776,3419
$GC,3835,-1.29,-146.6,529.8,-12.5,184,3840,0.00,2.53,0.00,0.000,6,0.000,0.053,2122,2400,3419
$GC,4162,-1.29,-146.6,571.5,-13.6,200,4165,0.00,2.55,0.00,0.000,4,0.000,0.075,2122,3768,3418
$GC,4222,-1.29,-146.6,580.0,-13.5,202,4229,0.00,2.50,0.00,0.000,6,0.000,0.053,2122,2405,3418
$GC,4538,-1.29,-146.6,620.8,-12.2,218,4542,0.00,2.55,0.00,0.000,4,0.000,0.075,2122,3769,3418
$GC,4598,-1.29,-146.6,629.2,-13.6,220,4605,0.00,2.50,0.00,0.000,6,0.000,0.052,2122,2401,3418
$GC,4913,-1.29,-146.6,667.7,-11.4,236,4918,0.00,2.62,0.00,0.000,4,0.000,0.071,2122,985,3418
$GC,4956,-1.29,-146.6,673.0,-12.2,238,4961,0.00,2.60,0.00,0.000,6,0.000,0.054,2122,2397,3418
$STATE,4966,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4966,begin apogee
$GC,4970,-0.31,0.0,674.1,11.5,238,5096,1.10,0.00,120.75,1.118,6,0.136,0.000,2335,2192,2817
$STATE,5097,end apogee,CONTROL_FINISHED_OK
$STATE,5097,begin climb
$GC,5098,1.29,146.6,677.7,0.0,245,5225,1.65,2.70,118.25,1.098,4,0.071,0.064,2689,782,2219
$GC,5274,1.29,146.6,666.6,10.7,253,5279,0.00,2.62,0.00,0.000,6,0.000,0.046,2689,2200,2219
$GC,5595,1.31,168.4,634.7,9.0,269,5620,0.00,2.70,18.90,1.001,4,0.000,0.063,2689,790,2129
$GC,5671,1.31,168.4,627.4,10.7,272,5675,0.00,2.58,0.00,0.000,6,0.000,0.045,2689,2204,2128
$GC,5985,1.31,168.4,593.5,10.8,287,5989,0.00,2.65,0.00,0.000,4,0.000,0.073,2689,3613,2128
$GC,6023,1.31,168.4,589.1,12.2,289,6027,0.00,2.60,0.00,0.000,6,0.000,0.057,2689,2204,2128
$GC,6348,1.31,168.4,554.9,10.4,305,6353,0.00,2.67,0.00,0.000,4,0.000,0.074,2689,3618,2127
$GC,6380,1.31,168.4,551.2,11.3,306,6388,0.00,2.65,0.00,0.000,6,0.000,0.058,2689,2199,2128
$GC,6696,1.31,168.4,518.0,10.5,322,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2199,2127
$GC,7005,1.31,168.4,484.4,11.1,337,7009,0.00,2.65,0.00,0.000,4,0.000,0.073,2689,3613,2127
$GC,7065,1.31,168.4,476.9,12.6,339,7072,0.00,2.62,0.00,0.000,6,0.000,0.059,2689,2205,2127
$GC,7381,1.31,168.4,440.1,11.7,355,7385,0.00,2.65,0.00,0.000,4,0.000,0.074,2689,3613,2127
$GC,7436,1.31,168.4,433.5,11.8,357,7442,0.00,2.62,0.00,0.000,6,0.000,0.060,2689,2194,2127
$GC,7750,1.31,168.4,399.2,10.7,373,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2194,2127
$GC,8059,1.31,168.4,367.5,10.2,388,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2194,2127
$GC,8368,1.31,168.4,336.7,10.2,403,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2194,2127
$GC,8678,1.31,168.4,304.1,10.8,418,8682,0.00,2.65,0.00,0.000,4,0.000,0.072,2689,3613,2127
$GC,8749,1.31,168.4,296.1,11.9,421,8753,0.00,2.62,0.00,0.000,6,0.000,0.060,2689,2201,2127
$GC,9069,1.31,168.4,262.9,10.1,437,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2200,2127
$GC,9379,1.31,168.4,231.8,10.1,452,9383,0.00,2.65,0.00,0.000,4,0.000,0.073,2689,3619,2127
$GC,9427,1.31,168.4,226.7,10.5,454,9432,0.00,2.65,0.00,0.000,6,0.000,0.060,2689,2197,2127
$GC,9748,1.33,182.8,196.1,9.3,470,9762,0.00,0.00,12.40,0.742,6,0.000,0.000,2689,2197,2071
$GC,10057,1.33,182.8,163.8,11.2,485,10061,0.00,2.65,0.00,0.000,4,0.000,0.071,2689,3613,2070
$GC,10106,1.33,182.8,157.3,13.2,487,10111,0.00,2.62,0.00,0.000,6,0.000,0.059,2689,2203,2070
$GC,10433,1.33,182.8,120.5,10.1,503,10434,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2203,2070
$GC,10743,1.35,201.9,92.8,9.1,518,10764,0.00,0.00,16.02,0.701,6,0.000,0.000,2689,2203,1993
$GC,11073,1.35,201.9,55.6,10.9,534,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2203,1992
$GC,11382,1.35,202.1,26.7,10.0,549,11386,0.00,2.65,0.00,0.000,4,0.000,0.068,2689,775,1992
$GC,11436,1.36,209.9,20.9,9.6,551,11448,0.00,2.60,7.57,0.586,6,0.000,0.046,2689,2200,1960
$STATE,11643,end climb,SURFACE_DEPTH_REACHED
$STATE,11644,begin surface coast
$FINISH,0.9,1.001932
$STATE,11665,end surface coast,CONTROL_FINISHED_OK
$STATE,11666,begin surface
$SM_CCo,11684,51.85,0.635,2,0,1594,300.00
$SM_GC,1.64,0.00,0.00,51.85,0.000,0.000,0.635,67,2409,1594,-10.77,0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2090
$TCM_TEMP,17.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,575.3,108.7
$24V_AH,23.6,12.560
$10V_AH,10.2,5.140
$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,25.600,104.675,293.900,51.850,0.000,65.235,114.850,103.535,5.750,0.000,0.000,12.915,1059.312,8999.596,477.641,1280.699,357.221,33.348,1128.469,0.000,1251.124,0.000,33.281
$DEVICE_MAMPS,172.575,75.166,1118.286,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.458,398.176,356.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28646,563
$CFSIZE,260165632,256462848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,191107,073152,6126.336,-828.876,26,1.8,41,-8.9