version: 66.02
glider: 16
mission: 6
dive: 24
start: 11 16 107 21 25 5
data:
$ID,16
$MISSION,6
$DIVE,24
$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,-2075414.2
$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,10
$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
$GPS1,211754,6127.910,-825.851,39,1.3,55,-8.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-57.0
$GPS2,212415,6127.878,-825.724,14,1.3,32,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.114,-0.238
$KALMAN_X,-11532.6,855.1,397.3,45374.1,-5000.2
$KALMAN_Y,60036.2,-1428.9,-1255.5,-76413.7,15622.7
$MHEAD_RNG_PITCHd_Wd,163.2,3981,-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,-62.70,0.000,2,0.000,0.000,65,2403,3215
$GC,83,-1.29,-146.6,3.9,-4.9,3,106,11.60,2.55,-4.40,0.000,4,0.173,0.079,2123,3765,3415
$GC,295,-1.29,-146.6,45.0,-18.0,12,300,0.00,2.53,0.00,0.000,6,0.000,0.048,2123,2393,3416
$GC,617,-1.29,-146.6,92.9,-15.5,28,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2393,3416
$GC,926,-1.29,-146.6,139.0,-15.1,43,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2393,3416
$GC,1235,-1.29,-146.6,184.2,-14.6,58,1239,0.00,2.58,0.00,0.000,4,0.000,0.070,2123,3766,3417
$GC,1306,-1.29,-146.6,194.9,-14.7,61,1311,0.00,2.50,0.00,0.000,6,0.000,0.048,2123,2401,3418
$GC,1633,-1.29,-146.6,240.5,-13.4,77,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2401,3417
$GC,1942,-1.29,-146.6,282.0,-13.3,92,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2402,3417
$GC,2251,-1.29,-146.6,324.4,-13.6,107,2256,0.00,2.55,0.00,0.000,4,0.000,0.071,2123,3766,3418
$GC,2328,-1.29,-146.6,335.7,-15.0,110,2332,0.00,2.50,0.00,0.000,6,0.000,0.050,2123,2401,3418
$GC,2649,-1.29,-146.6,379.3,-13.2,126,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2401,3418
$GC,2958,-1.29,-146.6,418.3,-12.4,141,2963,0.00,2.58,0.00,0.000,4,0.000,0.072,2123,3770,3418
$GC,3002,-1.29,-146.6,424.2,-13.4,143,3007,0.00,2.50,0.00,0.000,6,0.000,0.051,2123,2393,3418
$GC,3322,-1.29,-146.6,464.0,-12.5,159,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2393,3418
$GC,3632,-1.29,-146.6,503.8,-12.8,174,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2393,3418
$GC,3941,-1.29,-146.6,541.2,-12.0,189,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2393,3417
$GC,4250,-1.29,-146.6,582.4,-13.3,204,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2393,3418
$GC,4559,-1.29,-146.6,614.8,-14.1,219,4564,0.00,2.58,0.00,0.000,4,0.000,0.072,2123,3765,3418
$GC,4715,-1.29,-146.6,638.4,-10.3,226,4720,0.00,2.50,0.00,0.000,6,0.000,0.049,2124,2398,3418
$GC,5042,-1.29,-146.6,683.0,-12.3,242,5046,0.00,2.62,0.00,0.000,4,0.000,0.068,2124,978,3418
$GC,5180,-1.29,-146.6,703.3,-17.4,248,5185,0.00,2.62,0.00,0.000,6,0.000,0.054,2124,2395,3418
$GC,5501,-1.29,-146.6,748.2,-11.0,264,5505,0.00,2.62,0.00,0.000,4,0.000,0.084,2123,3769,3419
$GC,5684,-1.29,-146.6,763.8,-7.8,272,5689,0.00,2.55,0.00,0.000,6,0.000,0.064,2123,2410,3419
$GC,6005,-1.29,-146.6,799.8,-17.1,288,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2410,3419
$GC,6315,-1.29,-146.6,820.9,-3.3,303,6319,0.00,2.72,0.00,0.000,4,0.000,0.084,2124,985,3417
$GC,6335,-1.29,-146.6,822.7,-9.1,304,6340,0.00,2.67,0.00,0.000,6,0.000,0.071,2123,2397,3417
$STATE,6515,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6515,begin apogee
$GC,6519,-0.31,0.0,844.3,14.8,313,6646,1.10,0.00,122.78,1.307,6,0.119,0.000,2338,2198,2817
$STATE,6646,end apogee,CONTROL_FINISHED_OK
$STATE,6646,begin climb
$GC,6648,1.29,146.6,845.4,0.0,319,6778,1.70,2.88,120.45,1.279,4,0.088,0.091,2689,3616,2220
$GC,7030,1.29,146.6,788.4,27.2,336,7037,0.00,2.72,0.00,0.000,6,0.000,0.071,2689,2207,2218
$GC,7345,1.29,146.6,763.1,11.4,352,7349,0.00,2.75,0.00,0.000,4,0.000,0.091,2689,3613,2216
$GC,7602,1.29,146.6,733.2,12.6,363,7609,0.00,2.72,0.00,0.000,6,0.000,0.071,2689,2200,2213
$GC,7917,1.29,150.4,699.8,9.8,379,7923,0.00,0.00,3.85,0.751,6,0.000,0.000,2689,2200,2203
$GC,8227,1.29,150.4,666.4,10.6,394,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2200,2201
$GC,8536,1.36,207.9,638.8,7.4,409,8585,0.00,0.00,46.90,1.187,6,0.000,0.000,2690,2200,1968
$GC,8886,1.40,246.4,607.5,8.2,426,8920,0.12,0.00,31.90,1.144,6,0.061,0.000,2724,2200,1811
$GC,9214,1.40,246.4,561.7,14.5,442,9218,0.00,2.70,0.00,0.000,4,0.000,0.075,2723,3619,1811
$GC,9291,1.40,246.4,549.0,16.7,445,9298,0.00,2.67,0.00,0.000,6,0.000,0.060,2723,2199,1811
$GC,9607,1.40,246.4,496.7,15.7,461,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2198,1811
$GC,9916,1.40,246.4,455.1,13.8,476,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2199,1811
$GC,10225,1.40,246.4,407.8,15.2,491,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2199,1811
$GC,10534,1.40,246.4,362.6,14.8,506,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2199,1812
$GC,10844,1.40,246.4,316.3,14.6,521,10848,0.00,2.62,0.00,0.000,4,0.000,0.068,2723,781,1813
$GC,10875,1.40,246.4,311.7,14.4,522,10882,0.00,2.60,0.00,0.000,6,0.000,0.045,2723,2203,1813
$GC,11190,1.40,246.4,265.7,14.2,538,11191,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2203,1814
$GC,11500,1.40,246.4,224.1,13.0,553,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2203,1816
$GC,11809,1.40,246.4,181.0,14.4,568,11813,0.00,2.62,0.00,0.000,4,0.000,0.063,2723,779,1817
$GC,11846,1.40,246.4,175.4,13.8,569,11853,0.00,2.58,0.00,0.000,6,0.000,0.044,2723,2195,1817
$GC,12162,1.40,246.4,129.6,14.4,585,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2195,1817
$GC,12471,1.40,246.4,86.4,13.8,600,12472,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2195,1818
$GC,12780,1.40,246.4,41.4,15.5,615,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2195,1819
$STATE,13047,end climb,SURFACE_DEPTH_REACHED
$STATE,13047,begin surface coast
$FINISH,0.8,1.027210
$STATE,13069,end surface coast,CONTROL_FINISHED_OK
$STATE,13069,begin surface
$SM_CCo,13087,29.27,0.670,0,0,1594,300.00
$SM_GC,1.58,0.00,0.00,29.27,0.000,0.000,0.670,71,2409,1594,-10.76,0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2108
$TCM_TEMP,17.40
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,750.4,101.6
$24V_AH,23.4,10.498
$10V_AH,10.1,4.211
$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,26.075,68.825,325.875,29.275,0.000,32.586,36.841,218.114,14.750,0.000,0.000,32.345,1148.546,10111.091,462.419,1427.764,357.234,33.355,1146.592,0.000,1376.021,0.000,44.626
$DEVICE_MAMPS,172.575,90.506,1306.968,669.591,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.091,444.908,349.204,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31706,629
$CFSIZE,260165632,257150976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,171107,010438,6127.796,-823.523,24,1.4,24,-8.9