version: 66.02
glider: 16
mission: 6
dive: 38
start: 11 18 107 19 7 57
data:
$ID,16
$MISSION,6
$DIVE,38
$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,-2075840.5
$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,14
$R_STBD_OVSHOOT,19
$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
$GPS1,190258,6127.283,-836.853,29,2.1,48,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-54.6
$GPS2,190707,6127.240,-836.871,33,1.2,38,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.111,-0.133
$KALMAN_X,12980.3,-385.3,-889.1,13637.0,9346.4
$KALMAN_Y,66217.3,-1011.2,-283.5,-85210.0,4082.0
$MHEAD_RNG_PITCHd_Wd,228.8,9316,-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,-56.78,0.000,6,0.000,0.000,73,2401,3071
$GC,82,-1.85,-101.4,4.0,-5.8,3,104,10.80,2.55,-3.80,0.000,4,0.171,0.083,1996,3765,3234
$GC,356,-1.85,-101.4,58.8,-17.4,15,360,0.00,2.53,0.00,0.000,6,0.000,0.053,1997,2400,3234
$GC,682,-1.85,-101.4,129.3,-21.8,31,687,0.00,2.58,0.00,0.000,4,0.000,0.072,1997,3768,3235
$GC,939,-1.85,-101.4,180.8,-20.3,42,946,0.00,2.50,0.00,0.000,6,0.000,0.052,1997,2404,3235
$GC,1254,-1.85,-101.4,242.4,-19.5,58,1258,0.00,2.58,0.00,0.000,4,0.000,0.073,1996,3772,3235
$GC,1511,-1.85,-101.4,293.8,-19.5,69,1518,0.00,2.53,0.00,0.000,6,0.000,0.054,1996,2402,3235
$GC,1827,-1.85,-101.4,352.1,-18.6,85,1831,0.00,2.58,0.00,0.000,4,0.000,0.074,1997,3770,3235
$GC,2060,-1.85,-101.4,399.5,-19.3,95,2072,0.00,2.53,0.00,0.000,6,0.000,0.053,1997,2398,3236
$GC,2376,-1.85,-101.4,455.5,-18.0,111,2381,0.00,2.58,0.00,0.000,4,0.000,0.074,1997,3772,3235
$GC,2442,-1.85,-101.4,468.2,-19.7,114,2446,0.00,2.50,0.00,0.000,6,0.000,0.054,1996,2407,3236
$GC,2768,-1.85,-101.4,526.8,-19.0,130,2772,0.00,2.55,0.00,0.000,4,0.000,0.074,1996,3767,3236
$STATE,2840,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2840,begin apogee
$GC,2846,-0.31,0.0,542.5,22.4,133,2938,1.70,0.00,84.03,1.029,6,0.125,0.000,2336,2202,2817
$STATE,2938,end apogee,CONTROL_FINISHED_OK
$STATE,2938,begin climb
$GC,2940,1.85,101.4,547.1,0.0,138,3031,2.22,2.75,81.85,1.008,4,0.075,0.068,2817,789,2404
$GC,3142,1.85,101.4,527.5,13.4,147,3146,0.00,2.60,0.00,0.000,6,0.000,0.047,2817,2199,2403
$GC,3462,1.85,101.4,489.8,12.5,163,3467,0.00,2.67,0.00,0.000,4,0.000,0.074,2817,3620,2402
$GC,3617,1.85,101.4,469.6,14.6,170,3622,0.00,2.67,0.00,0.000,6,0.000,0.060,2817,2199,2403
$GC,3945,1.85,101.4,430.4,11.7,186,3949,0.00,2.67,0.00,0.000,4,0.000,0.074,2817,3613,2403
$GC,4050,1.85,101.4,416.9,12.6,191,4055,0.00,2.62,0.00,0.000,6,0.000,0.062,2816,2199,2402
$GC,4376,1.85,101.4,379.8,11.4,207,4380,0.00,2.65,0.00,0.000,4,0.000,0.074,2817,3614,2402
$GC,4475,1.85,101.4,367.7,12.1,211,4482,0.00,2.65,0.00,0.000,6,0.000,0.062,2817,2206,2402
$GC,4791,1.85,101.4,332.7,11.4,227,4795,0.00,2.65,0.00,0.000,4,0.000,0.074,2817,3613,2402
$GC,4884,1.85,101.4,320.9,12.6,231,4889,0.00,2.65,0.00,0.000,6,0.000,0.062,2817,2202,2402
$GC,5205,1.85,101.4,283.6,11.4,247,5209,0.00,2.65,0.00,0.000,4,0.000,0.074,2817,3614,2402
$GC,5333,1.85,101.4,268.5,11.9,253,5338,0.00,2.62,0.00,0.000,6,0.000,0.064,2817,2199,2402
$GC,5659,1.85,101.4,233.2,11.1,269,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2199,2402
$GC,5968,1.85,101.4,199.4,11.0,284,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2199,2402
$GC,6278,1.85,101.4,165.1,10.5,299,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2200,2402
$GC,6587,1.85,101.4,129.4,12.1,314,6592,0.00,2.60,0.00,0.000,4,0.000,0.066,2817,782,2403
$GC,6698,1.85,101.4,114.7,14.6,319,6703,0.00,2.58,0.00,0.000,6,0.000,0.046,2817,2201,2402
$GC,7027,1.88,128.8,79.1,7.0,335,7056,0.00,2.67,22.02,0.698,4,0.000,0.071,2817,3616,2290
$GC,7095,1.88,128.8,72.2,11.1,338,7099,0.00,2.65,0.00,0.000,6,0.000,0.060,2817,2205,2290
$GC,7422,1.88,128.8,21.4,15.7,354,7426,0.00,2.65,0.00,0.000,4,0.000,0.071,2817,3620,2290
$GC,7542,1.88,128.8,2.9,15.3,359,7550,0.00,2.60,0.00,0.000,6,0.000,0.051,2817,2199,2290
$STATE,7568,end climb,SURFACE_DEPTH_REACHED
$STATE,7569,begin surface coast
$FINISH,0.8,1.027216
$STATE,7591,end surface coast,CONTROL_FINISHED_OK
$STATE,7591,begin surface
$SM_CCo,7609,106.00,0.625,5,0,1594,300.00
$SM_GC,1.79,0.00,0.00,106.00,0.000,0.000,0.625,69,2400,1594,-10.77,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2067
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,502.9,48.6
$24V_AH,23.6,12.170
$10V_AH,10.2,4.959
$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,26.900,78.875,187.900,106.000,0.000,32.655,27.647,95.788,4.250,0.000,0.000,38.107,757.807,5463.398,437.813,1132.605,209.790,33.359,983.084,0.000,1076.396,0.000,31.663
$DEVICE_MAMPS,171.041,82.836,1028.547,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,249.068,259.563,251.127,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19103,362
$CFSIZE,260165632,256622592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,5,0
$GPS,181107,211807,6126.632,-838.107,37,2.0,37,-9.0