version: 66.02
glider: 16
mission: 6
dive: 27
start: 11 17 107 8 16 25
data:
$ID,16
$MISSION,6
$DIVE,27
$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,-2075538.5
$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,22
$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
$GPS1,081028,6126.215,-825.065,34,3.7,53,-8.9
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-54.4
$GPS2,081535,6126.191,-824.973,13,3.8,32,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.026,-0.262
$KALMAN_X,-11559.4,212.6,97.5,47016.4,-2856.9
$KALMAN_Y,68644.6,-1691.4,-1365.8,-87769.4,14928.8
$MHEAD_RNG_PITCHd_Wd,194.5,5502,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-62.92,0.000,2,0.000,0.000,66,2406,3143
$GC,83,-1.29,-146.6,3.7,-5.1,3,108,11.60,2.60,-6.40,0.000,4,0.174,0.084,2122,3763,3417
$GC,253,-1.29,-146.6,31.1,-15.8,10,261,0.00,2.53,0.00,0.000,6,0.000,0.052,2122,2397,3417
$GC,570,-1.29,-146.6,76.3,-15.0,26,574,0.00,2.58,0.00,0.000,4,0.000,0.072,2122,3763,3417
$GC,635,-1.29,-146.6,86.4,-15.3,29,640,0.00,2.53,0.00,0.000,6,0.000,0.052,2122,2399,3417
$GC,962,-1.29,-146.6,134.8,-15.1,45,966,0.00,2.58,0.00,0.000,4,0.000,0.072,2122,3764,3417
$GC,1068,-1.29,-146.6,150.1,-13.5,50,1072,0.00,2.47,0.00,0.000,6,0.000,0.053,2122,2400,3417
$GC,1394,-1.29,-146.6,195.2,-14.1,66,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2400,3417
$GC,1703,-1.29,-146.6,236.1,-13.4,81,1707,0.00,2.58,0.00,0.000,4,0.000,0.074,2122,3767,3417
$GC,1773,-1.29,-146.6,246.3,-14.3,84,1778,0.00,2.53,0.00,0.000,6,0.000,0.054,2122,2397,3417
$GC,2095,-1.29,-146.6,291.6,-14.3,100,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2396,3417
$GC,2404,-1.29,-146.6,337.4,-15.1,115,2408,0.00,2.58,0.00,0.000,4,0.000,0.074,2122,3763,3418
$GC,2452,-1.29,-146.6,345.0,-15.4,117,2457,0.00,2.53,0.00,0.000,6,0.000,0.054,2122,2398,3417
$GC,2773,-1.29,-146.6,390.0,-13.3,133,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2398,3417
$GC,3082,-1.29,-146.6,429.5,-12.6,148,3086,0.00,2.58,0.00,0.000,4,0.000,0.075,2122,3769,3417
$GC,3172,-1.29,-146.6,442.3,-14.8,152,3176,0.00,2.50,0.00,0.000,6,0.000,0.056,2122,2393,3415
$GC,3503,-1.29,-146.6,489.6,-14.0,168,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2393,3417
$GC,3812,-1.29,-146.6,532.4,-13.7,183,3816,0.00,2.58,0.00,0.000,4,0.000,0.075,2122,3762,3417
$GC,3900,-1.29,-146.6,545.1,-14.4,187,3905,0.00,2.50,0.00,0.000,6,0.000,0.054,2122,2406,3417
$GC,4227,-1.29,-146.6,587.4,-12.8,203,4231,0.00,2.65,0.00,0.000,4,0.000,0.072,2122,985,3417
$GC,4270,-1.29,-146.6,593.1,-13.1,205,4275,0.00,2.60,0.00,0.000,6,0.000,0.054,2122,2387,3418
$GC,4597,-1.29,-146.6,634.2,-12.6,221,4602,0.00,2.60,0.00,0.000,4,0.000,0.078,2122,3766,3418
$GC,4646,-1.29,-146.6,640.9,-13.5,223,4651,0.00,2.53,0.00,0.000,6,0.000,0.057,2122,2402,3418
$GC,4967,-1.29,-146.6,681.2,-12.6,239,4971,0.00,2.60,0.00,0.000,4,0.000,0.078,2122,3770,3417
$GC,5140,-1.29,-146.6,705.8,-13.2,247,5144,0.00,2.53,0.00,0.000,6,0.000,0.058,2122,2396,3417
$GC,5471,-1.29,-146.6,741.6,-12.5,263,5475,0.00,2.62,0.00,0.000,4,0.000,0.080,2122,3772,3418
$STATE,5564,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5564,begin apogee
$GC,5571,-0.31,0.0,751.1,10.0,267,5696,1.08,0.00,121.97,1.180,6,0.116,0.000,2337,2200,2817
$STATE,5697,end apogee,CONTROL_FINISHED_OK
$STATE,5697,begin climb
$GC,5698,1.29,146.6,753.3,0.0,273,5825,1.65,2.80,118.38,1.196,4,0.070,0.085,2690,3610,2219
$GC,5932,1.29,146.6,732.8,12.1,284,5936,0.00,2.70,0.00,0.000,6,0.000,0.073,2688,2201,2219
$GC,6251,1.35,205.3,705.2,7.3,300,6306,0.00,2.85,47.50,1.148,4,0.000,0.085,2689,3610,1978
$GC,6396,1.35,205.3,689.7,13.1,306,6403,0.00,2.70,0.00,0.000,6,0.000,0.069,2689,2193,1977
$GC,6711,1.35,205.3,654.0,11.4,322,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2192,1976
$GC,7020,1.35,205.3,616.3,12.2,337,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2193,1974
$GC,7330,1.35,205.3,581.2,11.2,352,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2192,1974
$GC,7639,1.35,205.3,546.8,11.1,367,7643,0.00,2.65,0.00,0.000,4,0.000,0.071,2689,775,1974
$GC,7688,1.35,205.3,541.0,11.4,369,7693,0.00,2.62,0.00,0.000,6,0.000,0.049,2690,2199,1974
$GC,8014,1.35,205.3,504.1,11.3,385,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2199,1973
$GC,8324,1.35,205.3,469.3,11.2,400,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2199,1974
$GC,8633,1.35,205.3,434.2,11.2,415,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2199,1974
$GC,8942,1.35,205.3,398.7,11.4,430,8947,0.00,2.65,0.00,0.000,4,0.000,0.067,2690,780,1974
$GC,8985,1.35,205.3,393.4,11.3,432,8990,0.00,2.60,0.00,0.000,6,0.000,0.048,2690,2196,1974
$GC,9312,1.35,205.3,355.1,12.0,448,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2196,1974
$GC,9621,1.35,205.3,318.7,12.1,463,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2196,1974
$GC,9931,1.38,224.6,286.3,9.1,478,9952,0.00,0.00,15.77,0.818,6,0.000,0.000,2690,2196,1900
$GC,10260,1.38,224.6,254.3,10.4,494,10264,0.00,2.62,0.00,0.000,4,0.000,0.066,2690,780,1900
$GC,10292,1.38,224.6,250.5,11.3,495,10297,0.00,2.60,0.00,0.000,6,0.000,0.048,2689,2198,1900
$GC,10613,1.38,224.6,215.2,10.9,511,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2198,1901
$GC,10923,1.38,224.6,180.7,10.9,526,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2198,1900
$GC,11232,1.38,224.6,147.3,10.5,541,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2198,1900
$GC,11541,1.40,250.2,115.9,8.8,556,11570,0.12,2.67,21.40,0.732,4,0.050,0.062,2728,779,1795
$GC,11619,1.40,250.2,106.1,11.2,559,11627,0.00,2.60,0.00,0.000,6,0.000,0.045,2728,2193,1794
$GC,11935,1.40,250.2,61.5,14.3,575,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2193,1794
$GC,12244,1.40,250.2,15.7,14.9,590,12246,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2193,1794
$STATE,12367,end climb,SURFACE_DEPTH_REACHED
$STATE,12367,begin surface coast
$FINISH,0.7,1.027204
$STATE,12389,end surface coast,CONTROL_FINISHED_OK
$STATE,12389,begin surface
$SM_CCo,12407,29.73,0.628,1,0,1592,300.00
$SM_GC,1.46,0.00,0.00,29.73,0.000,0.000,0.628,75,2404,1592,-10.73,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2084
$TCM_TEMP,16.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,726.6,34.2
$24V_AH,23.5,10.900
$10V_AH,10.1,4.388
$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,26.025,89.200,325.025,29.725,0.000,32.604,26.245,153.683,9.000,0.000,0.000,33.540,1110.182,9523.909,459.402,1382.843,282.991,33.352,1145.610,0.000,1326.830,0.000,45.729
$DEVICE_MAMPS,174.109,85.137,1195.753,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.809,431.229,352.647,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28588,597
$CFSIZE,260165632,257024000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,171107,114521,6124.033,-824.042,41,2.1,60,-8.9