version: 66.02
glider: 16
mission: 6
dive: 18
start: 11 16 107 1 12 5
data:
$ID,16
$MISSION,6
$DIVE,18
$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,-2075220.2
$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
$GPS1,010702,6128.710,-824.275,42,1.8,42,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.0
$GPS2,011114,6128.685,-824.190,12,1.5,12,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.100,-0.244
$KALMAN_X,-4024.3,791.2,314.3,39371.8,-3458.4
$KALMAN_Y,37683.8,-1118.6,-569.8,-53598.2,9889.6
$MHEAD_RNG_PITCHd_Wd,166.5,2539,-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,-62.53,0.000,2,0.000,0.000,67,2401,3263
$GC,83,-1.29,-146.6,4.7,-7.1,3,106,11.60,2.53,-3.15,0.000,4,0.173,0.077,2123,3765,3418
$GC,323,-1.29,-146.6,49.9,-15.3,13,331,0.00,2.50,0.00,0.000,6,0.000,0.044,2123,2393,3419
$GC,639,-1.29,-146.6,97.4,-14.8,29,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2393,3419
$GC,948,-1.29,-146.6,143.4,-14.7,44,952,0.00,2.58,0.00,0.000,4,0.000,0.067,2123,3770,3419
$GC,991,-1.29,-146.6,150.0,-14.0,46,997,0.00,2.47,0.00,0.000,6,0.000,0.045,2123,2404,3419
$GC,1317,-1.29,-146.6,196.0,-13.8,62,1321,0.00,2.55,0.00,0.000,4,0.000,0.068,2123,3766,3419
$GC,1366,-1.29,-146.6,203.1,-14.1,64,1371,0.00,2.47,0.00,0.000,6,0.000,0.046,2123,2404,3419
$GC,1687,-1.29,-146.6,246.8,-13.7,80,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2404,3419
$GC,1996,-1.29,-146.6,290.4,-14.3,95,2001,0.00,2.55,0.00,0.000,4,0.000,0.068,2123,3768,3419
$GC,2062,-1.29,-146.6,299.7,-13.6,98,2071,0.00,2.47,0.00,0.000,6,0.000,0.046,2123,2404,3419
$GC,2391,-1.29,-146.6,344.8,-13.9,114,2395,0.00,2.55,0.00,0.000,4,0.000,0.069,2123,3767,3419
$GC,2434,-1.29,-146.6,350.8,-14.4,116,2438,0.00,2.45,0.00,0.000,6,0.000,0.047,2123,2400,3419
$GC,2753,-1.29,-146.6,395.0,-14.3,132,2757,0.00,2.55,0.00,0.000,4,0.000,0.069,2122,3765,3419
$GC,2814,-1.29,-146.6,404.1,-15.3,135,2818,0.00,2.45,0.00,0.000,6,0.000,0.048,2123,2401,3419
$GC,3146,-1.29,-146.6,447.6,-12.9,151,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2401,3419
$GC,3455,-1.29,-146.6,486.8,-11.5,166,3459,0.00,2.55,0.00,0.000,4,0.000,0.070,2123,3766,3419
$GC,3553,-1.29,-146.6,500.0,-15.1,170,3565,0.00,2.47,0.00,0.000,6,0.000,0.048,2123,2404,3420
$GC,3870,-1.29,-146.6,545.2,-9.9,186,3874,0.00,2.55,0.00,0.000,4,0.000,0.071,2123,3768,3419
$GC,3963,-1.29,-146.6,551.1,-4.6,190,3967,0.00,2.47,0.00,0.000,6,0.000,0.048,2123,2407,3419
$GC,4284,-1.29,-146.6,596.5,-16.8,206,4288,0.00,2.60,0.00,0.000,4,0.000,0.061,2123,985,3420
$GC,4382,-1.29,-146.6,615.8,-15.7,210,4390,0.00,2.55,0.00,0.000,6,0.000,0.051,2123,2387,3420
$GC,4698,-1.29,-146.6,660.0,-6.3,226,4702,0.00,2.60,0.00,0.000,4,0.000,0.075,2123,3771,3421
$GC,4954,-1.29,-146.6,675.9,-14.0,237,4962,0.00,2.50,0.00,0.000,6,0.000,0.054,2122,2408,3421
$GC,5270,-1.29,-146.6,740.1,-17.2,253,5274,0.00,2.60,0.00,0.000,4,0.000,0.084,2123,3766,3420
$GC,5405,-1.29,-146.6,763.3,-17.2,259,5410,0.00,2.53,0.00,0.000,6,0.000,0.058,2123,2407,3421
$GC,5732,-1.29,-146.6,789.0,-5.5,275,5736,0.00,2.62,0.00,0.000,4,0.000,0.088,2123,3765,3420
$GC,5888,-1.29,-146.6,810.1,-6.3,282,5892,0.00,2.53,0.00,0.000,6,0.000,0.060,2123,2393,3419
$GC,6214,-1.29,-146.6,824.6,-7.1,298,6219,0.00,2.65,0.00,0.000,4,0.000,0.075,2123,983,3417
$STATE,6234,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6234,begin apogee
$GC,6240,-0.31,0.0,826.5,9.3,299,6366,1.10,0.00,122.68,1.298,6,0.127,0.000,2337,2200,2817
$STATE,6367,end apogee,CONTROL_FINISHED_OK
$STATE,6367,begin climb
$GC,6368,1.29,146.6,826.6,0.0,305,6498,1.62,2.80,120.25,1.265,4,0.054,0.087,2693,3612,2219
$GC,6749,1.29,146.6,777.6,14.8,323,6754,0.00,2.70,0.00,0.000,6,0.000,0.065,2693,2200,2218
$GC,7076,1.29,146.6,740.4,11.2,339,7080,0.00,2.75,0.00,0.000,4,0.000,0.085,2693,3614,2216
$GC,7333,1.29,146.6,697.8,15.8,350,7340,0.00,2.70,0.00,0.000,6,0.000,0.066,2693,2199,2215
$GC,7649,1.29,146.6,651.9,13.9,366,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2199,2213
$GC,7958,1.52,361.6,639.7,0.2,381,8133,0.22,0.00,171.57,1.193,6,0.055,0.000,2747,2199,1342
$GC,8427,1.52,361.6,568.1,16.2,404,8432,0.00,2.67,0.00,0.000,4,0.000,0.077,2747,786,1340
$GC,8481,1.52,361.6,557.5,18.9,406,8489,0.00,2.65,0.00,0.000,6,0.000,0.052,2747,2204,1340
$GC,8797,1.52,361.6,500.5,17.8,422,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2204,1339
$GC,9106,1.52,361.6,442.3,19.4,437,9111,0.00,2.67,0.00,0.000,4,0.000,0.067,2747,783,1340
$GC,9133,1.52,361.6,436.9,19.2,438,9138,0.00,2.60,0.00,0.000,6,0.000,0.047,2747,2196,1339
$GC,9454,1.52,361.6,376.7,19.2,454,9458,0.00,2.65,0.00,0.000,4,0.000,0.064,2747,776,1341
$GC,9519,1.52,361.6,363.7,19.6,457,9524,0.00,2.60,0.00,0.000,6,0.000,0.044,2747,2199,1341
$GC,9846,1.52,361.6,300.0,19.8,473,9850,0.00,2.65,0.00,0.000,4,0.000,0.064,2747,781,1343
$GC,9908,1.52,361.6,288.0,20.2,476,9912,0.00,2.58,0.00,0.000,6,0.000,0.044,2747,2205,1343
$GC,10232,1.52,361.6,224.5,19.4,492,10237,0.00,2.65,0.00,0.000,4,0.000,0.064,2747,781,1343
$GC,10281,1.52,361.6,214.8,19.5,494,10286,0.00,2.58,0.00,0.000,6,0.000,0.042,2747,2200,1343
$GC,10602,1.52,361.6,153.6,19.1,510,10607,0.00,2.62,0.00,0.000,4,0.000,0.064,2747,782,1345
$GC,10668,1.52,361.6,140.7,18.1,513,10673,0.00,2.58,0.00,0.000,6,0.000,0.042,2747,2202,1345
$GC,10995,1.52,361.6,79.0,18.7,529,10999,0.00,2.62,0.00,0.000,4,0.000,0.062,2747,782,1346
$GC,11066,1.52,361.6,65.4,18.0,532,11071,0.00,2.55,0.00,0.000,6,0.000,0.041,2747,2193,1346
$GC,11388,1.52,361.6,3.2,20.0,548,11392,0.00,2.60,0.00,0.000,4,0.000,0.061,2747,785,1347
$STATE,11395,end climb,SURFACE_DEPTH_REACHED
$STATE,11395,begin surface coast
$FINISH,0.8,1.014146
$STATE,11404,end surface coast,CONTROL_FINISHED_OK
$STATE,11404,begin surface
$SM_CCo,11484,0.00,0.000,0,0,1344,361.08
$SM_GC,1.71,11.70,0.00,0.00,0.041,0.000,0.000,71,2398,1344,-10.69,-0.06,361.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2146
$TCM_TEMP,16.30
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,750.4,85.8
$24V_AH,23.4,9.597
$10V_AH,10.1,3.861
$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,26.250,118.825,414.500,0.000,0.000,32.584,36.722,116.283,14.500,0.000,0.000,12.961,1067.894,8438.120,552.609,1439.178,250.205,33.351,1276.465,0.000,1400.032,0.000,44.601
$DEVICE_MAMPS,173.342,88.205,1297.764,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.931,382.348,304.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28462,549
$CFSIZE,260165632,257425408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,161107,042458,6128.479,-824.340,38,4.6,57,-8.9