version: 66.02
glider: 16
mission: 6
dive: 23
start: 11 16 107 17 51 40
data:
$ID,16
$MISSION,6
$DIVE,23
$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,-2075381.2
$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,12
$R_STBD_OVSHOOT,17
$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
$GPS1,174608,6128.534,-823.393,40,1.3,40,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-50.2
$GPS2,175050,6128.523,-823.306,19,1.6,35,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.076,-0.252
$KALMAN_X,-10843.3,441.7,140.4,47494.0,-5550.2
$KALMAN_Y,57340.1,-998.9,-1055.4,-73165.7,17810.5
$MHEAD_RNG_PITCHd_Wd,205.7,3118,-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,-146.6,0.0,0.0,0,111,0.00,0.00,-92.55,0.000,2,0.000,0.000,74,2400,3276
$GC,113,-1.29,-146.6,4.9,-4.2,5,136,11.55,2.58,-2.90,0.000,4,0.173,0.081,2125,3768,3418
$GC,158,-1.29,-146.6,17.7,-21.6,7,162,0.00,2.50,0.00,0.000,6,0.000,0.049,2125,2395,3419
$GC,483,-1.29,-146.6,67.3,-15.2,23,487,0.00,2.58,0.00,0.000,4,0.000,0.070,2125,3766,3419
$GC,553,-1.29,-146.6,78.6,-15.5,26,558,0.00,2.50,0.00,0.000,6,0.000,0.049,2125,2405,3419
$GC,876,-1.29,-146.6,124.1,-14.8,42,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2405,3419
$GC,1184,-1.29,-146.6,168.0,-14.1,57,1188,0.00,2.55,0.00,0.000,4,0.000,0.071,2125,3766,3419
$GC,1277,-1.29,-146.6,181.5,-13.6,61,1282,0.00,2.50,0.00,0.000,6,0.000,0.050,2125,2404,3419
$GC,1599,-1.29,-146.6,225.9,-13.8,77,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2404,3419
$GC,1907,-1.29,-146.6,271.4,-14.7,92,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2404,3419
$GC,2216,-1.29,-146.6,314.3,-13.3,107,2220,0.00,2.55,0.00,0.000,4,0.000,0.073,2125,3766,3419
$GC,2271,-1.29,-146.6,322.4,-14.4,109,2276,0.00,2.50,0.00,0.000,6,0.000,0.051,2125,2405,3419
$GC,2592,-1.29,-146.6,365.4,-13.0,125,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2405,3419
$GC,2901,-1.29,-146.6,405.3,-12.7,140,2905,0.00,2.58,0.00,0.000,4,0.000,0.073,2125,3773,3419
$GC,2950,-1.29,-146.6,412.2,-13.8,142,2955,0.00,2.53,0.00,0.000,6,0.000,0.051,2125,2400,3419
$GC,3271,-1.29,-146.6,455.9,-13.9,158,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2400,3419
$GC,3580,-1.29,-146.6,498.2,-13.7,173,3585,0.00,2.58,0.00,0.000,4,0.000,0.074,2125,3767,3419
$GC,3674,-1.29,-146.6,511.1,-13.5,177,3679,0.00,2.53,0.00,0.000,6,0.000,0.053,2125,2397,3419
$GC,3995,-1.29,-146.6,551.8,-13.5,193,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2397,3420
$GC,4304,-1.29,-146.6,593.6,-12.0,208,4308,0.00,2.58,0.00,0.000,4,0.000,0.074,2124,3766,3419
$GC,4561,-1.29,-146.6,624.1,-12.9,219,4568,0.00,2.53,0.00,0.000,6,0.000,0.055,2125,2401,3419
$GC,4877,-1.29,-146.6,654.8,-9.3,235,4881,0.00,2.60,0.00,0.000,4,0.000,0.077,2126,3772,3420
$GC,5132,-1.29,-146.6,689.2,-14.1,246,5139,0.00,2.53,0.00,0.000,6,0.000,0.057,2125,2405,3420
$GC,5449,-1.29,-146.6,725.3,-11.2,262,5453,0.00,2.62,0.00,0.000,4,0.000,0.086,2125,3766,3420
$GC,5554,-1.29,-146.6,739.4,-13.3,267,5558,0.00,2.53,0.00,0.000,6,0.000,0.063,2125,2402,3420
$GC,5885,-1.29,-146.6,785.6,-9.9,283,5890,0.00,2.67,0.00,0.000,4,0.000,0.092,2125,3769,3420
$GC,5940,-1.29,-146.6,791.6,-8.9,285,5947,0.00,2.58,0.00,0.000,6,0.000,0.067,2125,2407,3419
$GC,6256,-1.29,-146.6,809.1,-6.4,301,6260,0.00,2.72,0.00,0.000,4,0.000,0.087,2125,987,3418
$GC,6371,-1.29,-146.6,816.7,-6.4,306,6376,0.00,2.67,0.00,0.000,6,0.000,0.071,2125,2393,3418
$STATE,6547,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6547,begin apogee
$GC,6550,-0.31,0.0,834.8,3.8,315,6677,1.12,0.00,122.65,1.316,6,0.133,0.000,2339,2202,2817
$STATE,6678,end apogee,CONTROL_FINISHED_OK
$STATE,6678,begin climb
$GC,6679,1.29,146.6,842.6,0.0,321,6809,1.67,2.85,120.40,1.280,4,0.081,0.081,2687,788,2219
$GC,7061,1.42,268.5,809.1,4.5,338,7170,0.15,2.67,98.88,1.262,6,0.062,0.062,2722,2208,1722
$GC,7477,1.42,268.5,759.8,17.3,359,7481,0.00,2.75,0.00,0.000,4,0.000,0.079,2722,781,1720
$GC,7627,1.42,268.5,730.7,21.5,365,7635,0.00,2.70,0.00,0.000,6,0.000,0.061,2722,2202,1719
$GC,7943,1.42,268.5,677.5,17.0,381,7948,0.00,2.72,0.00,0.000,4,0.000,0.084,2722,3615,1717
$GC,8020,1.42,268.5,663.1,19.2,384,8027,0.00,2.72,0.00,0.000,6,0.000,0.073,2722,2204,1717
$GC,8335,1.42,268.5,609.2,14.5,400,8340,0.00,2.72,0.00,0.000,4,0.000,0.081,2722,3619,1714
$GC,8378,1.42,268.5,601.9,18.0,402,8383,0.00,2.72,0.00,0.000,6,0.000,0.069,2722,2199,1715
$GC,8705,1.42,268.5,553.5,15.7,418,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2199,1713
$GC,9014,1.42,268.5,503.1,16.2,433,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2199,1712
$GC,9324,1.42,268.5,455.8,15.3,448,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2198,1713
$GC,9633,1.42,268.5,407.0,15.6,463,9637,0.00,2.65,0.00,0.000,4,0.000,0.068,2722,781,1714
$GC,9694,1.42,268.5,397.0,16.3,466,9699,0.00,2.60,0.00,0.000,6,0.000,0.048,2721,2210,1714
$GC,10019,1.42,268.5,345.8,15.1,482,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2210,1716
$GC,10328,1.42,268.5,296.0,16.3,497,10333,0.00,2.67,0.00,0.000,4,0.000,0.064,2723,776,1717
$GC,10371,1.42,268.5,288.7,17.4,499,10377,0.00,2.60,0.00,0.000,6,0.000,0.046,2722,2197,1717
$GC,10698,1.42,268.5,236.0,16.1,515,10703,0.00,2.65,0.00,0.000,4,0.000,0.064,2722,772,1718
$GC,10747,1.42,268.5,227.9,16.5,517,10753,0.00,2.60,0.00,0.000,6,0.000,0.045,2723,2198,1718
$GC,11068,1.42,268.5,178.7,15.5,533,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2198,1719
$GC,11378,1.42,268.5,128.5,16.1,548,11382,0.00,2.62,0.00,0.000,4,0.000,0.062,2722,779,1720
$GC,11420,1.42,268.5,121.2,16.7,550,11425,0.00,2.58,0.00,0.000,6,0.000,0.044,2722,2198,1720
$GC,11747,1.42,268.5,69.3,15.4,566,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2198,1721
$GC,12057,1.42,268.5,24.9,14.3,581,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2198,1721
$STATE,12221,end climb,SURFACE_DEPTH_REACHED
$STATE,12221,begin surface coast
$FINISH,0.9,1.026999
$STATE,12242,end surface coast,CONTROL_FINISHED_OK
$STATE,12243,begin surface
$SM_CCo,12260,20.67,0.621,1,0,1593,300.00
$SM_GC,1.68,0.00,0.00,20.67,0.000,0.000,0.621,66,2402,1593,-10.78,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2127
$TCM_TEMP,17.20
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,751.5,93.2
$24V_AH,23.4,10.359
$10V_AH,10.1,4.150
$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,25.925,100.075,341.925,20.675,0.000,32.655,35.851,121.401,16.000,0.000,0.000,34.956,1121.755,9223.862,493.358,1481.137,259.914,33.358,1231.533,0.000,1421.648,0.000,44.598
$DEVICE_MAMPS,172.575,92.040,1316.172,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.455,413.727,338.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28547,590
$CFSIZE,260165632,257200128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,161107,211754,6127.910,-825.851,39,1.3,55,-8.9