version: 66.02
glider: 16
mission: 6
dive: 32
start: 11 17 107 23 3 54
data:
$ID,16
$MISSION,6
$DIVE,32
$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,-2075671.4
$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,26
$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
$GPS1,225857,6125.488,-827.988,33,2.8,52,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-62.0
$GPS2,230304,6125.496,-827.938,10,2.5,29,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.206,0.165
$KALMAN_X,2694.5,-74.2,-312.5,30874.8,9637.6
$KALMAN_Y,60395.1,-549.9,-105.3,-83257.9,-608.8
$MHEAD_RNG_PITCHd_Wd,317.6,6542,-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,-62.53,0.000,2,0.000,0.000,68,2408,3247
$GC,83,-1.29,-146.6,4.4,-7.0,3,106,11.60,2.67,-3.47,0.000,4,0.175,0.079,2122,983,3417
$GC,143,-1.29,-146.6,18.2,-13.8,5,151,0.00,2.58,0.00,0.000,6,0.000,0.053,2122,2384,3418
$GC,459,-1.29,-146.6,63.8,-14.8,21,463,0.00,2.58,0.00,0.000,4,0.000,0.071,2122,3766,3418
$GC,524,-1.29,-146.6,73.7,-15.1,24,529,0.00,2.50,0.00,0.000,6,0.000,0.051,2122,2405,3418
$GC,852,-1.29,-146.6,120.1,-13.8,40,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2405,3418
$GC,1160,-1.29,-146.6,163.6,-14.8,55,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2404,3418
$GC,1469,-1.29,-146.6,208.6,-14.3,70,1473,0.00,2.55,0.00,0.000,4,0.000,0.074,2122,3766,3419
$GC,1563,-1.29,-146.6,222.2,-13.7,74,1568,0.00,2.50,0.00,0.000,6,0.000,0.053,2122,2405,3419
$GC,1890,-1.29,-146.6,265.5,-13.2,90,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2405,3418
$GC,2199,-1.29,-146.6,306.8,-13.8,105,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2405,3419
$GC,2508,-1.29,-146.6,349.2,-13.6,120,2512,0.00,2.58,0.00,0.000,4,0.000,0.075,2122,3770,3418
$GC,2546,-1.29,-146.6,354.7,-14.3,122,2550,0.00,2.50,0.00,0.000,6,0.000,0.054,2122,2395,3419
$GC,2872,-1.29,-146.6,397.8,-12.9,138,2876,0.00,2.58,0.00,0.000,4,0.000,0.075,2122,3766,3419
$GC,2910,-1.29,-146.6,403.0,-13.2,140,2914,0.00,2.47,0.00,0.000,6,0.000,0.054,2122,2399,3419
$GC,3242,-1.29,-146.6,444.1,-12.8,156,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2399,3419
$GC,3551,-1.29,-146.6,483.9,-12.6,171,3556,0.00,2.58,0.00,0.000,4,0.000,0.075,2122,3769,3418
$GC,3594,-1.29,-146.6,489.8,-13.9,173,3599,0.00,2.53,0.00,0.000,6,0.000,0.054,2123,2397,3419
$GC,3921,-1.29,-146.6,529.9,-12.1,189,3925,0.00,2.58,0.00,0.000,4,0.000,0.075,2122,3769,3418
$GC,3982,-1.29,-146.6,537.9,-12.8,192,3986,0.00,2.47,0.00,0.000,6,0.000,0.054,2122,2399,3418
$GC,4313,-1.29,-146.6,580.0,-13.2,208,4318,0.00,2.58,0.00,0.000,4,0.000,0.076,2122,3767,3419
$GC,4356,-1.29,-146.6,586.1,-13.9,210,4361,0.00,2.53,0.00,0.000,6,0.000,0.056,2122,2399,3418
$GC,4684,-1.29,-146.6,626.7,-12.0,226,4689,0.00,2.58,0.00,0.000,4,0.000,0.077,2122,3766,3418
$GC,4733,-1.29,-146.6,633.7,-14.1,228,4738,0.00,2.53,0.00,0.000,6,0.000,0.056,2122,2397,3418
$GC,5054,-1.29,-146.6,674.6,-12.3,244,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2398,3418
$GC,5363,-1.29,-146.6,711.5,-11.7,259,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2398,3419
$STATE,5651,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5651,begin apogee
$GC,5655,-0.31,0.0,743.5,12.2,273,5780,1.08,0.00,121.85,1.163,6,0.107,0.000,2339,2197,2817
$STATE,5781,end apogee,CONTROL_FINISHED_OK
$STATE,5781,begin climb
$GC,5782,1.29,146.6,748.0,0.0,279,5906,1.65,0.00,119.00,1.154,6,0.077,0.000,2687,2197,2219
$GC,6213,1.30,151.6,712.0,9.8,300,6223,0.00,2.67,5.72,0.839,4,0.000,0.070,2685,790,2198
$GC,6475,1.30,151.6,683.8,10.9,312,6480,0.00,2.58,0.00,0.000,6,0.000,0.052,2687,2200,2196
$GC,6807,1.30,151.6,650.9,10.0,328,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2200,2195
$GC,7116,1.30,151.6,619.1,10.6,343,7120,0.00,2.65,0.00,0.000,4,0.000,0.066,2687,782,2194
$GC,7183,1.30,151.6,612.2,10.4,346,7187,0.00,2.58,0.00,0.000,6,0.000,0.048,2687,2202,2195
$GC,7503,1.30,156.3,580.6,9.8,362,7510,0.00,0.00,4.82,0.746,6,0.000,0.000,2687,2200,2179
$GC,7812,1.31,160.8,550.0,9.8,377,7819,0.00,0.00,5.32,0.783,6,0.000,0.000,2687,2202,2160
$GC,8121,1.31,160.8,518.6,10.4,392,8125,0.00,2.62,0.00,0.000,4,0.000,0.074,2687,3610,2162
$GC,8170,1.31,160.8,512.9,11.6,394,8175,0.00,2.62,0.00,0.000,6,0.000,0.059,2687,2204,2161
$GC,8497,1.31,163.2,479.7,9.9,410,8503,0.00,0.00,3.97,0.631,6,0.000,0.000,2687,2205,2151
$GC,8806,1.31,163.7,448.3,10.0,425,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2204,2150
$GC,9116,1.31,167.5,417.7,9.8,440,9125,0.00,2.65,4.85,0.683,4,0.000,0.074,2687,3610,2134
$GC,9180,1.31,167.5,410.7,11.2,443,9185,0.00,2.62,0.00,0.000,6,0.000,0.060,2687,2204,2134
$GC,9507,1.32,171.7,377.7,9.8,459,9514,0.00,0.00,5.43,0.693,6,0.000,0.000,2687,2204,2117
$GC,9816,1.32,173.7,346.4,9.9,474,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2204,2117
$GC,10125,1.32,176.7,314.8,9.9,489,10133,0.00,0.00,5.65,0.679,6,0.000,0.000,2687,2204,2096
$GC,10434,1.32,176.7,284.4,10.1,504,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2204,2096
$GC,10744,1.33,178.8,253.7,9.9,519,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2204,2096
$GC,11053,1.33,186.3,223.6,9.7,534,11064,0.00,0.00,9.32,0.725,6,0.000,0.000,2687,2204,2057
$GC,11362,1.33,186.3,192.1,10.3,549,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2204,2056
$GC,11671,1.33,186.3,160.1,10.2,564,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2203,2057
$GC,11982,1.34,191.9,129.5,9.7,579,11989,0.00,0.00,6.20,0.616,6,0.000,0.000,2687,2204,2034
$GC,12292,1.34,191.9,98.9,10.2,594,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2204,2034
$GC,12600,1.35,197.5,68.6,9.7,609,12608,0.00,0.00,6.12,0.586,6,0.000,0.000,2687,2204,2010
$GC,12910,1.35,197.5,36.0,10.8,624,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2203,2010
$STATE,13196,end climb,SURFACE_DEPTH_REACHED
$STATE,13196,begin surface coast
$FINISH,0.6,1.024599
$STATE,13219,end surface coast,CONTROL_FINISHED_OK
$STATE,13219,begin surface
$SM_CCo,13236,58.30,0.637,2,0,1594,300.00
$SM_GC,1.61,0.00,0.00,58.30,0.000,0.000,0.637,72,2407,1594,-10.75,0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2093
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,651.2,101.7
$24V_AH,23.5,11.456
$10V_AH,10.2,4.644
$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,25.750,67.600,298.275,58.300,0.000,32.633,28.274,99.184,5.750,0.000,0.000,29.853,1164.041,10373.642,468.071,1326.230,232.209,33.356,1106.563,0.000,1283.722,0.000,38.130
$DEVICE_MAMPS,174.876,79.001,1162.772,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.957,461.795,385.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31693,639
$CFSIZE,260165632,256839680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,181107,024657,6127.178,-828.657,26,3.1,45,-8.9