version: 66.02
glider: 16
mission: 6
dive: 29
start: 11 17 107 14 42 54
data:
$ID,16
$MISSION,6
$DIVE,29
$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,-2075591.4
$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,13
$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
$GPS1,143138,6123.391,-824.616,32,1.8,32,-8.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-54.0
$GPS2,144203,6123.374,-824.473,16,1.8,16,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.198,0.066
$KALMAN_X,-7303.5,332.4,306.2,42863.9,1714.1
$KALMAN_Y,67011.4,-1398.2,-684.5,-92342.7,9065.5
$MHEAD_RNG_PITCHd_Wd,297.3,10657,-23.3,-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,-1.55,-89.4,0.0,0.0,0,121,0.00,0.00,-101.75,0.000,6,0.000,0.000,72,2402,3183
$GC,123,-1.61,-146.6,4.1,-3.3,5,146,11.25,2.67,-4.97,0.000,4,0.175,0.079,2053,982,3417
$GC,194,-1.61,-146.6,19.8,-15.9,8,199,0.00,2.62,0.00,0.000,6,0.000,0.054,2053,2397,3417
$GC,523,-1.61,-146.6,81.2,-19.3,24,527,0.00,2.58,0.00,0.000,4,0.000,0.074,2053,3769,3417
$GC,610,-1.61,-146.6,99.3,-19.6,28,615,0.00,2.55,0.00,0.000,6,0.000,0.056,2053,2398,3417
$GC,937,-1.61,-146.6,158.1,-18.3,44,941,0.00,2.60,0.00,0.000,4,0.000,0.074,2053,3773,3417
$GC,1075,-1.61,-146.6,183.5,-17.8,50,1080,0.00,2.55,0.00,0.000,6,0.000,0.057,2053,2403,3417
$GC,1396,-1.61,-146.6,239.9,-18.0,66,1401,0.00,2.58,0.00,0.000,4,0.000,0.075,2053,3769,3417
$GC,1479,-1.61,-146.6,255.5,-18.0,70,1483,0.00,2.53,0.00,0.000,6,0.000,0.058,2053,2396,3417
$GC,1811,-1.61,-146.6,315.3,-18.3,86,1815,0.00,2.60,0.00,0.000,4,0.000,0.077,2053,3773,3417
$GC,1871,-1.61,-146.6,326.6,-18.4,89,1875,0.00,2.53,0.00,0.000,6,0.000,0.059,2053,2399,3417
$GC,2196,-1.61,-146.6,384.9,-17.4,105,2201,0.00,2.60,0.00,0.000,4,0.000,0.077,2053,3773,3417
$GC,2251,-1.61,-146.6,395.2,-18.0,107,2258,0.00,2.55,0.00,0.000,6,0.000,0.058,2053,2398,3417
$GC,2566,-1.61,-146.6,449.4,-17.4,123,2571,0.00,2.60,0.00,0.000,4,0.000,0.077,2053,3773,3417
$GC,2610,-1.61,-146.6,457.4,-18.3,125,2614,0.00,2.53,0.00,0.000,6,0.000,0.059,2053,2395,3417
$GC,2942,-1.61,-146.6,514.2,-17.1,141,2946,0.00,2.60,0.00,0.000,4,0.000,0.077,2053,3770,3417
$GC,3012,-1.61,-146.6,527.1,-17.5,144,3016,0.00,2.55,0.00,0.000,6,0.000,0.058,2053,2398,3417
$GC,3333,-1.61,-146.6,581.9,-16.8,160,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2398,3417
$STATE,3373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3373,begin apogee
$GC,3377,-0.31,0.0,588.8,16.8,162,3500,1.45,0.00,119.32,1.070,6,0.120,0.000,2337,2201,2817
$STATE,3501,end apogee,CONTROL_FINISHED_OK
$STATE,3501,begin climb
$GC,3502,1.61,146.6,593.2,0.0,168,3625,1.98,0.00,117.22,1.049,6,0.081,0.000,2762,2200,2219
$GC,3932,1.61,146.6,548.1,13.0,189,3936,0.00,2.67,0.00,0.000,4,0.000,0.071,2762,782,2218
$GC,3987,1.61,146.6,540.7,14.2,191,3991,0.00,2.62,0.00,0.000,6,0.000,0.049,2760,2201,2218
$GC,4308,1.61,146.6,498.4,13.7,207,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2202,2218
$GC,4617,1.61,146.6,457.4,12.6,222,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2202,2217
$GC,4926,1.61,146.6,418.2,12.5,237,4931,0.00,2.65,0.00,0.000,4,0.000,0.074,2762,3614,2217
$GC,4975,1.61,146.6,411.2,14.1,239,4980,0.00,2.65,0.00,0.000,6,0.000,0.064,2762,2209,2217
$GC,5296,1.61,146.6,369.1,12.7,255,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2209,2217
$GC,5605,1.61,146.6,329.2,12.7,270,5610,0.00,2.65,0.00,0.000,4,0.000,0.076,2762,3614,2217
$GC,5666,1.61,146.6,320.7,13.6,273,5671,0.00,2.65,0.00,0.000,6,0.000,0.065,2762,2195,2217
$GC,5992,1.61,146.6,279.6,12.3,289,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2195,2217
$GC,6301,1.61,146.6,240.3,12.9,304,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2195,2216
$GC,6611,1.61,146.6,200.8,12.9,319,6615,0.00,2.67,0.00,0.000,4,0.000,0.074,2762,3620,2216
$GC,6762,1.61,146.6,180.7,12.9,326,6766,0.00,2.65,0.00,0.000,6,0.000,0.064,2762,2190,2216
$GC,7087,1.61,146.6,141.5,11.9,342,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2190,2216
$GC,7396,1.61,146.6,105.5,11.3,357,7400,0.00,2.67,0.00,0.000,4,0.000,0.073,2762,3619,2216
$GC,7466,1.61,146.6,96.7,12.9,360,7471,0.00,2.65,0.00,0.000,6,0.000,0.064,2762,2207,2216
$GC,7789,1.61,146.6,57.5,12.5,376,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2207,2216
$GC,8097,1.61,146.6,15.9,12.0,391,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2207,2216
$STATE,8220,end climb,SURFACE_DEPTH_REACHED
$STATE,8220,begin surface coast
$FINISH,0.5,1.013492
$STATE,8241,end surface coast,CONTROL_FINISHED_OK
$STATE,8242,begin surface
$SM_CCo,8260,80.90,0.672,0,0,1593,300.00
$SM_GC,1.28,0.00,0.00,80.90,0.000,0.000,0.672,76,2408,1593,-10.73,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2077
$TCM_TEMP,17.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,550.2,47.4
$24V_AH,23.6,11.140
$10V_AH,10.2,4.487
$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,26.425,68.525,236.550,80.900,0.000,97.867,83.553,245.565,7.000,0.000,0.000,16.276,772.147,6325.577,457.570,937.445,487.267,33.349,930.217,0.000,911.558,0.000,31.497
$DEVICE_MAMPS,174.876,79.001,1069.965,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,275.113,285.415,274.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19092,398
$CFSIZE,260165632,256966656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,171107,170327,6123.766,-825.603,40,3.4,59,-8.9