version: 66.02
glider: 16
mission: 6
dive: 14
start: 11 15 107 10 35 30
data:
$ID,16
$MISSION,6
$DIVE,14
$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,-2075090.2
$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,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
$GPS1,103008,6131.438,-832.185,38,1.3,38,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.4
$GPS2,103439,6131.405,-832.133,13,1.7,13,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.159,-0.210
$KALMAN_X,729.8,269.9,223.2,28236.1,-1918.3
$KALMAN_Y,26691.9,-1515.3,-316.9,-37399.4,8178.1
$MHEAD_RNG_PITCHd_Wd,151.8,6820,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-61.97,0.000,2,0.000,0.000,73,2401,3254
$GC,82,-1.29,-146.6,4.4,-5.8,3,105,11.57,2.55,-3.42,0.000,4,0.173,0.078,2125,3766,3417
$GC,356,-1.29,-146.6,50.2,-13.8,15,361,0.00,2.50,0.00,0.000,6,0.000,0.045,2125,2397,3418
$GC,683,-1.29,-146.6,93.6,-12.7,31,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2397,3418
$GC,992,-1.29,-146.6,134.2,-13.3,46,996,0.00,2.55,0.00,0.000,4,0.000,0.066,2125,3765,3419
$GC,1041,-1.29,-146.6,141.2,-14.8,48,1046,0.00,2.47,0.00,0.000,6,0.000,0.045,2125,2403,3419
$GC,1362,-1.29,-146.6,183.1,-13.4,64,1366,0.00,2.53,0.00,0.000,4,0.000,0.067,2125,3765,3419
$GC,1410,-1.29,-146.6,189.9,-13.3,66,1415,0.00,2.47,0.00,0.000,6,0.000,0.046,2125,2400,3419
$GC,1731,-1.29,-146.6,231.9,-13.2,82,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2401,3419
$GC,2040,-1.29,-146.6,271.9,-12.7,97,2045,0.00,2.55,0.00,0.000,4,0.000,0.068,2125,3767,3419
$GC,2083,-1.29,-146.6,277.9,-14.0,99,2088,0.00,2.47,0.00,0.000,6,0.000,0.046,2125,2404,3419
$GC,2410,-1.29,-146.6,320.6,-13.1,115,2414,0.00,2.55,0.00,0.000,4,0.000,0.069,2125,3769,3419
$GC,2453,-1.29,-146.6,326.9,-13.8,117,2458,0.00,2.47,0.00,0.000,6,0.000,0.048,2125,2407,3419
$GC,2780,-1.29,-146.6,370.4,-13.5,133,2784,0.00,2.53,0.00,0.000,4,0.000,0.070,2125,3763,3419
$GC,2823,-1.29,-146.6,376.8,-15.2,135,2828,0.00,2.47,0.00,0.000,6,0.000,0.048,2125,2404,3419
$GC,3150,-1.29,-146.6,420.8,-13.4,151,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2404,3419
$GC,3460,-1.29,-146.6,463.7,-13.6,166,3464,0.00,2.55,0.00,0.000,4,0.000,0.070,2125,3770,3419
$GC,3530,-1.29,-146.6,474.1,-14.1,169,3535,0.00,2.47,0.00,0.000,6,0.000,0.048,2125,2405,3419
$GC,3851,-1.29,-146.6,518.1,-14.2,185,3855,0.00,2.55,0.00,0.000,4,0.000,0.071,2125,3768,3419
$GC,3918,-1.29,-146.6,527.9,-14.0,188,3922,0.00,2.45,0.00,0.000,6,0.000,0.048,2125,2400,3419
$GC,4238,-1.29,-146.6,571.1,-13.2,204,4242,0.00,2.55,0.00,0.000,4,0.000,0.071,2125,3765,3419
$GC,4292,-1.29,-146.6,578.8,-14.1,206,4300,0.00,2.47,0.00,0.000,6,0.000,0.048,2125,2401,3419
$GC,4608,-1.29,-146.6,622.1,-13.2,222,4612,0.00,2.55,0.00,0.000,4,0.000,0.071,2125,3767,3419
$GC,4765,-1.29,-146.6,644.0,-15.5,229,4769,0.00,2.45,0.00,0.000,6,0.000,0.049,2125,2400,3419
$GC,5084,-1.29,-146.6,681.8,-10.9,245,5088,0.00,2.62,0.00,0.000,4,0.000,0.067,2125,979,3420
$GC,5341,-1.29,-146.6,708.2,-8.8,256,5348,0.00,2.60,0.00,0.000,6,0.000,0.051,2125,2395,3421
$GC,5656,-1.29,-146.6,742.3,-13.9,272,5661,0.00,2.62,0.00,0.000,4,0.000,0.068,2125,986,3422
$GC,5892,-1.29,-146.6,769.2,-12.1,282,5899,0.00,2.60,0.00,0.000,6,0.000,0.060,2125,2390,3422
$GC,6207,-1.29,-146.6,812.0,-12.6,298,6212,0.00,2.67,0.00,0.000,4,0.000,0.091,2125,3770,3421
$GC,6397,-1.29,-146.6,840.8,-20.5,306,6402,0.00,2.55,0.00,0.000,6,0.000,0.060,2125,2401,3420
$STATE,6428,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6428,begin apogee
$GC,6432,-0.31,0.0,843.4,9.6,308,6559,1.12,0.00,123.25,1.293,6,0.139,0.000,2336,2185,2817
$STATE,6560,end apogee,CONTROL_FINISHED_OK
$STATE,6560,begin climb
$GC,6561,1.29,146.6,847.2,0.0,314,6694,1.75,2.75,120.32,1.264,4,0.090,0.077,2692,795,2219
$GC,6704,1.42,262.9,837.3,4.7,321,6806,0.12,2.62,94.60,1.246,6,0.058,0.056,2724,2203,1745
$GC,7125,1.42,262.9,776.6,15.0,342,7130,0.00,2.72,0.00,0.000,4,0.000,0.078,2724,791,1744
$GC,7382,1.42,262.9,732.4,19.0,353,7389,0.00,2.62,0.00,0.000,6,0.000,0.058,2724,2195,1743
$GC,7698,1.42,262.9,683.7,14.6,369,7702,0.00,2.67,0.00,0.000,4,0.000,0.074,2724,795,1741
$GC,7791,1.42,262.9,669.8,15.0,373,7796,0.00,2.60,0.00,0.000,6,0.000,0.054,2724,2197,1740
$GC,8112,1.42,262.9,622.6,15.7,389,8116,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,795,1739
$GC,8177,1.42,262.9,612.0,16.9,392,8183,0.00,2.60,0.00,0.000,6,0.000,0.049,2724,2202,1738
$GC,8504,1.42,262.9,565.2,14.4,408,8509,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3616,1738
$GC,8543,1.42,262.9,559.3,15.4,410,8547,0.00,2.60,0.00,0.000,6,0.000,0.055,2724,2205,1737
$GC,8875,1.42,262.9,506.3,15.5,426,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2205,1737
$GC,9184,1.42,262.9,459.3,15.3,441,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2205,1738
$GC,9493,1.42,262.9,412.1,14.9,456,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2205,1739
$GC,9802,1.42,262.9,366.2,14.8,471,9807,0.00,2.62,0.00,0.000,4,0.000,0.065,2724,785,1740
$GC,9829,1.42,262.9,361.9,16.0,472,9834,0.00,2.58,0.00,0.000,6,0.000,0.045,2724,2199,1740
$GC,10150,1.42,262.9,314.1,14.6,488,10154,0.00,2.62,0.00,0.000,4,0.000,0.064,2725,785,1741
$GC,10181,1.42,262.9,309.3,14.5,489,10188,0.00,2.58,0.00,0.000,6,0.000,0.045,2725,2199,1741
$GC,10497,1.42,262.9,261.7,15.2,505,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2199,1742
$GC,10806,1.42,262.9,214.4,15.2,520,10810,0.00,2.62,0.00,0.000,4,0.000,0.062,2724,779,1742
$GC,10838,1.42,262.9,209.3,16.0,521,10845,0.00,2.58,0.00,0.000,6,0.000,0.044,2724,2198,1742
$GC,11153,1.42,262.9,163.1,14.5,537,11158,0.00,2.62,0.00,0.000,4,0.000,0.061,2724,778,1743
$GC,11185,1.42,262.9,158.3,15.1,538,11193,0.00,2.58,0.00,0.000,6,0.000,0.043,2724,2200,1743
$GC,11501,1.42,262.9,111.5,15.5,554,11505,0.00,2.60,0.00,0.000,4,0.000,0.060,2724,783,1744
$GC,11543,1.42,262.9,104.5,15.7,556,11548,0.00,2.55,0.00,0.000,6,0.000,0.043,2724,2192,1743
$GC,11871,1.42,262.9,55.9,15.2,572,11875,0.00,2.60,0.00,0.000,4,0.000,0.059,2724,776,1744
$GC,11918,1.42,262.9,48.2,15.7,574,11923,0.00,2.58,0.00,0.000,6,0.000,0.041,2724,2203,1745
$STATE,12239,end climb,SURFACE_DEPTH_REACHED
$STATE,12239,begin surface coast
$FINISH,0.8,1.010437
$STATE,12261,end surface coast,CONTROL_FINISHED_OK
$STATE,12261,begin surface
$SM_CCo,12279,21.25,0.670,0,0,1594,300.00
$SM_GC,1.41,0.00,0.00,21.25,0.000,0.000,0.670,73,2411,1594,-10.75,0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2114
$TCM_TEMP,17.40
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,750.3,102.2
$24V_AH,23.4,9.067
$10V_AH,10.1,3.625
$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,26.075,124.250,338.175,21.250,0.000,32.624,32.919,129.115,14.500,0.000,0.000,13.730,1149.265,9153.340,482.791,1525.815,269.398,33.350,1254.937,0.000,1484.992,0.000,44.632
$DEVICE_MAMPS,172.575,91.273,1293.162,669.591,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.127,414.659,342.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28566,591
$CFSIZE,260165632,257589248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,151107,140138,6131.120,-830.254,35,1.8,35,-9.0