version: 66.02
glider: 16
mission: 6
dive: 19
start: 11 16 107 4 30 55
data:
$ID,16
$MISSION,6
$DIVE,19
$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,-2075276.9
$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,16
$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
$GPS1,042458,6128.479,-824.340,38,4.6,57,-8.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-59.0
$GPS2,043005,6128.442,-824.218,36,3.4,55,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,-0.214
$KALMAN_X,-5869.8,962.9,143.0,41196.3,-5048.9
$KALMAN_Y,41782.2,-1269.7,-748.6,-57811.8,12654.5
$MHEAD_RNG_PITCHd_Wd,153.2,2966,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.29,-146.6,0.0,0.0,0,80,0.00,0.00,-62.28,0.000,2,0.000,0.000,72,2400,2931
$GC,82,-1.29,-146.6,3.5,-4.6,3,112,11.52,2.60,-12.55,0.000,4,0.171,0.081,2128,3765,3416
$GC,280,-1.29,-146.6,33.1,-15.8,12,285,0.00,2.47,0.00,0.000,6,0.000,0.048,2128,2397,3417
$GC,607,-1.29,-146.6,78.4,-13.9,28,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2396,3417
$GC,916,-1.29,-146.6,120.0,-13.1,43,920,0.00,2.58,0.00,0.000,4,0.000,0.068,2128,3775,3416
$GC,958,-1.29,-146.6,126.0,-13.3,45,963,0.00,2.53,0.00,0.000,6,0.000,0.048,2128,2394,3417
$GC,1285,-1.29,-146.6,169.1,-13.6,61,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2393,3417
$GC,1594,-1.29,-146.6,211.4,-13.6,76,1599,0.00,2.58,0.00,0.000,4,0.000,0.069,2128,3770,3417
$GC,1649,-1.29,-146.6,219.3,-13.9,78,1656,0.00,2.50,0.00,0.000,6,0.000,0.047,2128,2399,3417
$GC,1964,-1.29,-146.6,262.0,-13.7,94,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2399,3417
$GC,2273,-1.29,-146.6,304.9,-13.6,109,2277,0.00,2.55,0.00,0.000,4,0.000,0.071,2128,3768,3417
$GC,2389,-1.29,-146.6,321.1,-13.8,114,2394,0.00,2.50,0.00,0.000,6,0.000,0.048,2128,2396,3417
$GC,2710,-1.29,-146.6,363.6,-13.4,130,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2395,3417
$GC,3020,-1.29,-146.6,404.6,-13.8,145,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2395,3417
$GC,3329,-1.29,-146.6,447.0,-12.9,160,3333,0.00,2.58,0.00,0.000,4,0.000,0.071,2128,3773,3417
$GC,3383,-1.29,-146.6,454.5,-13.7,162,3389,0.00,2.50,0.00,0.000,6,0.000,0.047,2128,2398,3418
$GC,3705,-1.29,-146.6,497.3,-13.6,178,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2398,3418
$GC,4014,-1.29,-146.6,536.5,-12.3,193,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2398,3417
$GC,4323,-1.29,-146.6,571.9,-12.6,208,4327,0.00,2.58,0.00,0.000,4,0.000,0.071,2128,3773,3418
$GC,4407,-1.29,-146.6,582.3,-12.1,212,4411,0.00,2.47,0.00,0.000,6,0.000,0.049,2128,2395,3418
$GC,4738,-1.29,-146.6,619.1,-10.7,228,4742,0.00,2.60,0.00,0.000,4,0.000,0.067,2128,988,3419
$GC,4815,-1.29,-146.6,627.8,-11.1,231,4822,0.00,2.58,0.00,0.000,6,0.000,0.053,2128,2397,3419
$GC,5131,-1.29,-146.6,667.9,-12.6,247,5134,0.00,2.60,0.00,0.000,4,0.000,0.080,2128,3767,3420
$GC,5387,-1.29,-146.6,701.6,-13.8,258,5392,0.00,2.53,0.00,0.000,6,0.000,0.059,2128,2407,3420
$GC,5708,-1.29,-146.6,739.8,-11.2,274,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2407,3419
$GC,6018,-1.29,-146.6,776.9,-9.6,289,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2407,3418
$GC,6327,-1.29,-146.6,816.3,-10.1,304,6331,0.00,2.65,0.00,0.000,4,0.000,0.092,2128,3765,3417
$STATE,6374,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6374,begin apogee
$GC,6381,-0.31,0.0,824.4,18.4,306,6507,1.08,0.00,122.32,1.299,6,0.138,0.000,2333,2205,2817
$STATE,6507,end apogee,CONTROL_FINISHED_OK
$STATE,6508,begin climb
$GC,6509,1.29,146.6,826.7,0.0,312,6640,1.73,2.83,120.50,1.263,4,0.088,0.079,2688,785,2219
$GC,6891,1.29,146.6,774.6,11.4,329,6898,0.00,2.67,0.00,0.000,6,0.000,0.058,2688,2198,2217
$GC,7207,1.29,146.6,725.0,14.7,345,7211,0.00,2.72,0.00,0.000,4,0.000,0.074,2687,776,2216
$GC,7350,1.29,146.6,707.4,12.1,351,7358,0.00,2.67,0.00,0.000,6,0.000,0.057,2688,2201,2215
$GC,7666,1.29,146.6,671.1,11.0,367,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2201,2214
$GC,7975,1.33,180.5,645.1,8.5,382,8005,0.00,0.00,27.58,1.167,6,0.000,0.000,2688,2201,2081
$GC,8304,1.33,180.5,602.5,14.8,398,8308,0.00,2.70,0.00,0.000,4,0.000,0.074,2687,778,2079
$GC,8372,1.33,180.5,595.7,11.8,401,8376,0.00,2.62,0.00,0.000,6,0.000,0.052,2688,2204,2078
$GC,8696,1.33,180.5,558.4,11.3,417,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2204,2076
$GC,9005,1.33,180.5,526.2,11.8,432,9010,0.00,2.65,0.00,0.000,4,0.000,0.065,2688,782,2076
$GC,9044,1.33,180.5,520.9,12.1,434,9049,0.00,2.58,0.00,0.000,6,0.000,0.048,2688,2202,2075
$GC,9370,1.33,180.5,486.9,10.8,450,9374,0.00,2.65,0.00,0.000,4,0.000,0.062,2688,776,2075
$GC,9412,1.33,180.5,481.8,12.8,452,9417,0.00,2.60,0.00,0.000,6,0.000,0.045,2687,2200,2075
$GC,9739,1.33,180.5,447.0,10.3,468,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2200,2075
$GC,10048,1.33,180.5,412.4,11.2,483,10052,0.00,2.62,0.00,0.000,4,0.000,0.067,2686,3614,2077
$GC,10097,1.33,180.5,406.3,12.0,485,10102,0.00,2.62,0.00,0.000,6,0.000,0.051,2688,2192,2077
$GC,10419,1.33,180.5,370.6,10.8,501,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2192,2079
$GC,10728,1.33,180.5,337.6,10.7,516,10732,0.00,2.65,0.00,0.000,4,0.000,0.067,2688,3613,2080
$GC,10770,1.33,180.5,332.4,12.6,518,10776,0.00,2.60,0.00,0.000,6,0.000,0.054,2688,2205,2080
$GC,11097,1.33,180.5,295.3,11.1,534,11101,0.00,2.62,0.00,0.000,4,0.000,0.067,2688,3611,2081
$GC,11136,1.33,180.5,290.7,12.2,536,11140,0.00,2.58,0.00,0.000,6,0.000,0.054,2688,2198,2081
$GC,11461,1.33,180.5,253.5,11.1,552,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2199,2082
$GC,11770,1.33,180.5,220.3,10.5,567,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2199,2083
$GC,12079,1.33,180.5,186.8,10.7,582,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2199,2083
$GC,12389,1.33,180.5,152.9,11.1,597,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2198,2084
$GC,12698,1.33,180.5,119.7,10.9,612,12699,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2199,2085
$GC,13008,1.33,181.8,87.6,9.9,627,13013,0.00,0.00,4.05,0.500,6,0.000,0.000,2687,2199,2075
$GC,13318,1.33,181.8,54.7,10.8,642,13322,0.00,2.62,0.00,0.000,4,0.000,0.065,2686,3614,2074
$GC,13349,1.33,181.8,50.8,10.8,643,13357,0.00,2.60,0.00,0.000,6,0.000,0.051,2688,2200,2074
$GC,13665,1.33,181.8,17.9,10.3,659,13669,0.00,2.62,0.00,0.000,4,0.000,0.065,2688,3618,2075
$GC,13696,1.33,181.8,14.2,11.4,660,13704,0.00,2.60,0.00,0.000,6,0.000,0.051,2688,2200,2075
$STATE,13804,end climb,SURFACE_DEPTH_REACHED
$STATE,13804,begin surface coast
$FINISH,0.8,1.013066
$STATE,13828,end surface coast,CONTROL_FINISHED_OK
$STATE,13828,begin surface
$SM_CCo,13846,66.80,0.665,1,0,1594,300.00
$SM_GC,1.62,0.00,0.00,66.80,0.000,0.000,0.665,74,2405,1594,-10.75,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2095
$TCM_TEMP,17.40
$XPDR_PINGS,34
$ALTIM_BOTTOM_PING,726.5,107.6
$24V_AH,23.4,9.720
$10V_AH,10.1,3.926
$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,25.650,99.575,274.450,66.800,0.000,32.614,40.126,120.153,14.750,0.000,0.000,55.945,1233.565,10702.037,479.448,1554.557,265.225,33.359,1222.797,0.000,1476.957,0.000,43.012
$DEVICE_MAMPS,171.041,92.040,1298.531,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.126,470.989,399.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34740,667
$CFSIZE,260165632,257359872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,161107,082427,6128.299,-823.080,42,3.7,61,-8.9