version: 66.02
glider: 16
mission: 6
dive: 25
start: 11 17 107 1 10 16
data:
$ID,16
$MISSION,6
$DIVE,25
$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,-2075457.6
$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,11
$R_STBD_OVSHOOT,20
$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
$GPS1,010438,6127.796,-823.523,24,1.4,24,-8.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-55.7
$GPS2,010926,6127.791,-823.394,42,1.6,42,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.038,-0.261
$KALMAN_X,-11600.8,1031.1,608.2,47103.6,-5002.7
$KALMAN_Y,63698.6,-2234.4,-815.9,-79877.3,15010.0
$MHEAD_RNG_PITCHd_Wd,180.7,3896,-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,-62.08,0.000,2,0.000,0.000,70,2410,3232
$GC,82,-1.29,-146.6,4.7,-7.5,3,105,11.52,2.53,-3.75,0.000,4,0.171,0.077,2125,3765,3417
$GC,262,-1.29,-146.6,42.2,-18.3,11,266,0.00,2.50,0.00,0.000,6,0.000,0.048,2125,2389,3418
$GC,587,-1.29,-146.6,92.1,-15.5,27,591,0.00,2.58,0.00,0.000,4,0.000,0.068,2125,3764,3418
$GC,670,-1.29,-146.6,106.1,-16.8,31,674,0.00,2.47,0.00,0.000,6,0.000,0.049,2125,2396,3419
$GC,995,-1.29,-146.6,154.8,-14.7,47,999,0.00,2.58,0.00,0.000,4,0.000,0.069,2125,3769,3419
$GC,1048,-1.29,-146.6,163.1,-14.7,49,1056,0.00,2.50,0.00,0.000,6,0.000,0.049,2125,2404,3419
$GC,1364,-1.29,-146.6,207.1,-13.8,65,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2404,3419
$GC,1673,-1.29,-146.6,250.0,-13.5,80,1678,0.00,2.55,0.00,0.000,4,0.000,0.071,2125,3765,3419
$GC,1733,-1.29,-146.6,258.0,-12.8,82,1740,0.00,2.50,0.00,0.000,6,0.000,0.051,2125,2402,3419
$GC,2048,-1.29,-146.6,296.5,-11.8,98,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2402,3419
$GC,2357,-1.29,-146.6,332.9,-11.7,113,2361,0.00,2.58,0.00,0.000,4,0.000,0.072,2125,3770,3419
$GC,2402,-1.29,-146.6,338.6,-13.1,115,2406,0.00,2.47,0.00,0.000,6,0.000,0.052,2125,2398,3419
$GC,2733,-1.29,-146.6,378.0,-12.1,131,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2398,3419
$GC,3043,-1.29,-146.6,415.2,-11.8,146,3047,0.00,2.58,0.00,0.000,4,0.000,0.073,2126,3765,3419
$GC,3107,-1.29,-146.6,424.1,-14.0,149,3112,0.00,2.50,0.00,0.000,6,0.000,0.053,2125,2407,3419
$GC,3434,-1.29,-146.6,466.0,-11.8,165,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2407,3420
$GC,3743,-1.29,-146.6,505.3,-13.5,180,3748,0.00,2.55,0.00,0.000,4,0.000,0.073,2125,3763,3419
$GC,3799,-1.29,-146.6,512.8,-13.7,182,3805,0.00,2.47,0.00,0.000,6,0.000,0.054,2125,2401,3419
$GC,4113,-1.29,-146.6,549.9,-12.3,198,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2401,3420
$GC,4422,-1.29,-146.6,587.9,-13.8,213,4427,0.00,2.58,0.00,0.000,4,0.000,0.074,2125,3765,3419
$GC,4679,-1.29,-146.6,619.7,-13.7,224,4687,0.00,2.53,0.00,0.000,6,0.000,0.056,2125,2400,3420
$GC,4995,-1.29,-146.6,654.4,-9.8,240,4999,0.00,2.60,0.00,0.000,4,0.000,0.080,2125,3763,3421
$GC,5251,-1.29,-146.6,688.3,-15.9,251,5259,0.00,2.55,0.00,0.000,6,0.000,0.061,2125,2401,3421
$GC,5567,-1.29,-146.6,728.6,-12.1,267,5571,0.00,2.62,0.00,0.000,4,0.000,0.089,2125,3762,3421
$GC,5683,-1.29,-146.6,745.8,-13.3,272,5688,0.00,2.58,0.00,0.000,6,0.000,0.067,2125,2403,3421
$GC,6005,-1.29,-146.6,775.0,-8.3,288,6009,0.00,2.65,0.00,0.000,4,0.000,0.092,2125,3762,3420
$GC,6069,-1.29,-146.6,783.3,-12.7,291,6074,0.00,2.58,0.00,0.000,6,0.000,0.067,2125,2403,3420
$STATE,6354,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6354,begin apogee
$GC,6358,-0.31,0.0,824.6,18.7,305,6484,1.10,0.00,122.78,1.295,6,0.127,0.000,2337,2200,2817
$STATE,6485,end apogee,CONTROL_FINISHED_OK
$STATE,6485,begin climb
$GC,6486,1.29,146.6,825.8,0.0,311,6616,1.65,2.88,120.30,1.269,4,0.077,0.091,2685,3605,2219
$GC,6723,1.29,146.6,803.7,21.6,322,6728,0.00,2.72,0.00,0.000,6,0.000,0.079,2685,2202,2218
$GC,7042,1.32,169.3,771.5,9.0,338,7067,0.00,2.83,19.70,1.171,4,0.000,0.091,2685,3611,2126
$GC,7206,1.32,169.3,754.8,12.3,345,7214,0.00,2.75,0.00,0.000,6,0.000,0.074,2685,2199,2124
$GC,7522,1.32,169.3,710.9,12.7,361,7526,0.00,2.75,0.00,0.000,4,0.000,0.092,2685,3609,2123
$GC,7609,1.32,169.3,696.6,18.6,365,7614,0.00,2.72,0.00,0.000,6,0.000,0.076,2685,2205,2123
$GC,7936,1.32,169.3,643.5,19.2,381,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2205,2122
$GC,8246,1.40,247.8,615.4,6.4,396,8311,0.12,0.00,62.42,1.186,6,0.066,0.000,2716,2205,1806
$GC,8631,1.40,247.8,570.5,13.2,415,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2205,1803
$GC,8940,1.40,247.8,527.0,11.4,430,8945,0.00,2.70,0.00,0.000,4,0.000,0.077,2716,3616,1802
$GC,9002,1.41,256.2,520.9,9.6,433,9016,0.00,2.67,8.00,0.933,6,0.000,0.065,2716,2192,1771
$GC,9331,1.41,256.2,475.1,17.1,449,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2192,1771
$GC,9640,1.41,256.2,436.4,11.0,464,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2192,1772
$GC,9950,1.41,256.2,394.1,14.3,479,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2192,1773
$GC,10259,1.41,256.2,354.4,12.5,494,10263,0.00,2.65,0.00,0.000,4,0.000,0.070,2716,775,1774
$GC,10297,1.41,256.2,349.3,13.5,496,10302,0.00,2.60,0.00,0.000,6,0.000,0.048,2716,2204,1774
$GC,10622,1.41,256.2,304.9,13.9,512,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2204,1774
$GC,10932,1.41,256.2,263.3,13.4,527,10936,0.00,2.65,0.00,0.000,4,0.000,0.066,2716,783,1775
$GC,10963,1.41,256.2,258.8,14.1,528,10970,0.00,2.60,0.00,0.000,6,0.000,0.047,2716,2201,1775
$GC,11278,1.41,256.2,214.5,14.4,544,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2201,1776
$GC,11588,1.41,256.2,171.5,14.3,559,11592,0.00,2.62,0.00,0.000,4,0.000,0.064,2716,782,1777
$GC,11626,1.41,256.2,165.9,14.2,561,11631,0.00,2.55,0.00,0.000,6,0.000,0.046,2716,2201,1777
$GC,11952,1.41,256.2,119.7,14.1,577,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2201,1777
$GC,12261,1.41,256.2,77.7,13.3,592,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2201,1778
$GC,12570,1.41,256.2,33.5,14.4,607,12575,0.00,2.62,0.00,0.000,4,0.000,0.062,2716,776,1779
$GC,12591,1.41,256.2,30.1,16.1,608,12596,0.00,2.58,0.00,0.000,6,0.000,0.044,2716,2195,1779
$STATE,12814,end climb,SURFACE_DEPTH_REACHED
$STATE,12814,begin surface coast
$FINISH,0.7,1.027228
$STATE,12836,end surface coast,CONTROL_FINISHED_OK
$STATE,12836,begin surface
$SM_CCo,12854,25.20,0.667,0,0,1594,300.00
$SM_GC,1.19,0.00,0.00,25.20,0.000,0.000,0.667,72,2406,1594,-10.75,0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2116
$TCM_TEMP,17.40
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,751.5,81.7
$24V_AH,23.4,10.632
$10V_AH,10.1,4.271
$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,25.875,99.725,333.200,25.200,0.000,32.589,25.907,125.723,14.500,0.000,0.000,42.805,1164.645,9790.141,476.116,1491.706,254.192,33.356,1204.038,0.000,1427.574,0.000,44.576
$DEVICE_MAMPS,171.041,98.176,1294.696,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.648,437.323,349.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31737,620
$CFSIZE,260165632,257101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,171107,044628,6127.351,-823.251,40,2.8,59,-8.9