version: 66.02
glider: 16
mission: 6
dive: 28
start: 11 17 107 12 1 31
data:
$ID,16
$MISSION,6
$DIVE,28
$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,566.1524
$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,-2075574.5
$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,11
$R_STBD_OVSHOOT,18
$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
$GPS1,114521,6124.033,-824.042,41,2.1,60,-8.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-59.7
$GPS2,120041,6124.044,-823.838,15,3.2,34,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.142,-0.100
$KALMAN_X,-9803.5,-19.9,570.4,46004.9,-992.5
$KALMAN_Y,67686.5,-1284.7,-1186.4,-91368.0,10354.5
$MHEAD_RNG_PITCHd_Wd,243.8,9595,-27.9,-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,-1.81,-62.0,0.0,0.0,0,80,0.00,0.00,-57.05,0.000,6,0.000,0.000,73,2405,3070
$GC,82,-1.87,-113.2,3.6,-4.5,3,104,10.85,2.55,-0.60,0.000,4,0.173,0.078,1997,3767,3096
$GC,226,-1.87,-113.2,31.7,-20.5,9,233,0.00,2.53,-2.10,0.000,6,0.000,0.053,1997,2402,3283
$GC,543,-1.87,-113.2,100.2,-21.4,24,547,0.00,2.58,0.00,0.000,4,0.000,0.073,1997,3767,3284
$GC,740,-1.87,-113.2,145.2,-22.2,33,744,0.00,2.50,0.00,0.000,6,0.000,0.055,1997,2399,3284
$GC,1064,-1.87,-113.2,213.8,-21.5,49,1069,0.00,2.58,0.00,0.000,4,0.000,0.074,1997,3766,3284
$GC,1238,-1.87,-113.2,252.2,-21.1,57,1242,0.00,2.50,0.00,0.000,6,0.000,0.055,1997,2399,3284
$GC,1569,-1.87,-113.2,317.2,-19.5,73,1573,0.00,2.58,0.00,0.000,4,0.000,0.074,1998,3766,3284
$GC,1732,-1.87,-113.2,350.5,-20.9,80,1736,0.00,2.50,0.00,0.000,6,0.000,0.056,1997,2398,3284
$GC,2046,-1.87,-113.2,408.7,-18.1,95,2050,0.00,2.58,0.00,0.000,4,0.000,0.075,1997,3766,3284
$GC,2167,-1.87,-113.2,432.7,-20.6,100,2172,0.00,2.53,0.00,0.000,6,0.000,0.056,1998,2401,3284
$GC,2489,-1.87,-113.2,492.1,-18.5,116,2493,0.00,2.58,0.00,0.000,4,0.000,0.075,1997,3769,3284
$GC,2626,-1.87,-113.2,519.8,-19.3,122,2631,0.00,2.53,0.00,0.000,6,0.000,0.056,1997,2405,3284
$GC,2948,-1.87,-113.2,578.3,-18.3,138,2952,0.00,2.58,0.00,0.000,4,0.000,0.076,1997,3770,3284
$GC,3031,-1.87,-113.2,594.9,-20.3,142,3035,0.00,2.53,0.00,0.000,6,0.000,0.058,1997,2393,3284
$STATE,3196,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3196,begin apogee
$GC,3200,-0.31,0.0,626.7,19.6,150,3299,1.80,0.00,94.25,1.079,6,0.135,0.000,2339,2199,2817
$STATE,3300,end apogee,CONTROL_FINISHED_OK
$STATE,3300,begin climb
$GC,3301,1.87,113.2,631.5,0.0,155,3404,2.20,2.75,91.78,1.063,4,0.071,0.070,2814,791,2355
$GC,3427,1.87,113.2,622.8,10.3,161,3431,0.00,2.60,0.00,0.000,6,0.000,0.048,2814,2201,2355
$GC,3751,1.87,113.2,580.0,13.3,177,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2201,2355
$GC,4060,1.87,113.2,537.9,13.4,192,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2201,2354
$GC,4370,1.87,113.2,496.8,13.0,207,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2201,2354
$GC,4679,1.87,113.2,458.6,12.4,222,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2201,2354
$GC,4988,1.87,113.2,420.0,12.2,237,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2201,2353
$GC,5297,1.87,113.2,382.1,12.1,252,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2201,2353
$GC,5607,1.87,113.2,344.1,12.6,267,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2201,2353
$GC,5916,1.87,113.2,306.8,11.6,282,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2201,2353
$GC,6225,1.87,113.2,272.0,11.0,297,6230,0.00,2.65,0.00,0.000,4,0.000,0.072,2814,3621,2353
$GC,6336,1.87,113.2,258.8,11.7,302,6341,0.00,2.65,0.00,0.000,6,0.000,0.061,2814,2202,2353
$GC,6663,1.87,113.2,222.9,11.1,318,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2203,2353
$GC,6972,1.87,113.2,189.3,10.7,333,6976,0.00,2.65,0.00,0.000,4,0.000,0.074,2814,3619,2353
$GC,7195,1.87,113.2,162.9,11.8,343,7200,0.00,2.65,0.00,0.000,6,0.000,0.061,2814,2202,2353
$GC,7522,1.87,113.2,129.5,10.3,359,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2203,2353
$GC,7831,1.87,113.2,96.7,10.9,374,7835,0.00,2.65,0.00,0.000,4,0.000,0.072,2814,3619,2353
$GC,7874,1.87,113.2,91.5,11.7,376,7879,0.00,2.65,0.00,0.000,6,0.000,0.061,2814,2199,2353
$GC,8201,1.87,113.2,54.0,12.2,392,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2199,2353
$GC,8511,1.87,116.6,18.6,9.6,407,8520,0.00,2.65,4.18,0.480,4,0.000,0.071,2814,3618,2339
$GC,8626,1.87,116.6,3.0,14.1,412,8631,0.00,2.65,0.00,0.000,6,0.000,0.060,2814,2197,2341
$STATE,8636,end climb,SURFACE_DEPTH_REACHED
$STATE,8636,begin surface coast
$FINISH,0.8,1.027204
$STATE,8644,end surface coast,CONTROL_FINISHED_OK
$STATE,8644,begin surface
$SM_CCo,8662,259.50,0.649,4,0,508,566.15
$SM_GC,1.35,0.00,0.00,259.50,0.000,0.000,0.649,74,2402,508,-10.74,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2036
$TCM_TEMP,17.60
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,552.6,84.1
$24V_AH,23.6,11.030
$10V_AH,10.2,4.441
$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,26.800,62.900,190.200,259.500,0.000,163.500,299.438,110.893,6.000,0.000,0.000,35.411,820.461,6749.994,569.602,1089.482,642.470,33.373,1092.009,0.000,1042.439,0.000,31.998
$DEVICE_MAMPS,172.575,78.234,1079.169,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,285.414,298.121,276.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19098,413
$CFSIZE,260165632,256991232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,4,0
$GPS,171107,143138,6123.391,-824.616,32,1.8,32,-8.9