version: 66.02
glider: 16
mission: 6
dive: 41
start: 11 19 107 1 36 11
data:
$ID,16
$MISSION,6
$DIVE,41
$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,-2075904.2
$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
$GPS1,013001,6126.248,-836.480,37,1.8,42,-9.0
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,3
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-54.1
$GPS2,013520,6126.233,-836.503,15,1.9,18,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.252,-0.076
$KALMAN_X,6593.2,-1278.0,-475.0,20807.0,-1675.7
$KALMAN_Y,69320.9,300.4,-262.5,-91510.1,8146.5
$MHEAD_RNG_PITCHd_Wd,115.9,9841,-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,-146.6,0.0,0.0,0,62,0.00,0.00,-42.62,0.000,2,0.000,0.000,71,2400,2737
$GC,64,-1.29,-146.6,3.1,-7.1,2,99,11.57,2.65,-18.33,0.000,4,0.174,0.074,2122,979,3416
$GC,311,-1.29,-146.6,43.9,-16.9,12,316,0.00,2.60,0.00,0.000,6,0.000,0.053,2122,2392,3416
$GC,632,-1.29,-146.6,85.7,-12.5,28,637,0.00,2.58,0.00,0.000,4,0.000,0.074,2123,3768,3417
$GC,703,-1.29,-146.6,95.7,-14.0,31,708,0.00,2.53,0.00,0.000,6,0.000,0.052,2122,2400,3417
$GC,1025,-1.29,-146.6,142.8,-15.0,47,1029,0.00,2.60,0.00,0.000,4,0.000,0.075,2123,3775,3417
$GC,1089,-1.29,-146.6,152.7,-15.0,50,1094,0.00,2.53,0.00,0.000,6,0.000,0.054,2122,2404,3417
$GC,1417,-1.29,-146.6,196.7,-13.0,66,1421,0.00,2.65,0.00,0.000,4,0.000,0.071,2122,980,3416
$GC,1459,-1.29,-146.6,202.3,-12.6,68,1464,0.00,2.62,0.00,0.000,6,0.000,0.054,2123,2395,3416
$GC,1786,-1.29,-146.6,243.4,-12.9,84,1790,0.00,2.58,0.00,0.000,4,0.000,0.075,2123,3767,3416
$GC,1835,-1.29,-146.6,250.3,-14.2,86,1839,0.00,2.50,0.00,0.000,6,0.000,0.054,2123,2400,3415
$GC,2155,-1.29,-146.6,294.6,-14.1,102,2159,0.00,2.60,0.00,0.000,4,0.000,0.077,2123,3770,3417
$GC,2216,-1.29,-146.6,303.4,-14.3,105,2220,0.00,2.50,0.00,0.000,6,0.000,0.055,2122,2398,3417
$GC,2548,-1.29,-146.6,348.4,-13.7,121,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2398,3417
$GC,2857,-1.29,-146.6,390.4,-13.7,136,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2398,3417
$GC,3166,-1.29,-146.6,433.1,-14.1,151,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2398,3417
$GC,3476,-1.29,-146.6,477.9,-14.6,166,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2398,3417
$GC,3785,-1.29,-146.6,521.7,-14.1,181,3789,0.00,2.60,0.00,0.000,4,0.000,0.077,2122,3773,3417
$STATE,3832,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3832,begin apogee
$GC,3839,-0.31,0.0,528.8,13.9,183,3961,1.10,0.00,118.78,1.021,6,0.133,0.000,2336,2202,2817
$STATE,3962,end apogee,CONTROL_FINISHED_OK
$STATE,3962,begin climb
$GC,3964,1.29,146.6,534.9,0.0,189,4085,1.65,0.00,117.07,1.005,6,0.071,0.000,2689,2202,2219
$GC,4379,1.30,159.7,505.6,9.4,210,4401,0.00,2.72,11.93,0.873,4,0.000,0.073,2689,3615,2164
$GC,4427,1.30,159.7,500.4,10.7,212,4432,0.00,2.67,0.00,0.000,6,0.000,0.058,2689,2199,2164
$GC,4754,1.30,159.7,467.0,10.4,228,4758,0.00,2.67,0.00,0.000,4,0.000,0.073,2689,3618,2164
$GC,4786,1.30,159.7,463.4,10.6,229,4791,0.00,2.67,0.00,0.000,6,0.000,0.061,2689,2197,2164
$GC,5107,1.37,217.5,437.5,7.4,245,5156,0.00,0.00,46.12,0.940,6,0.000,0.000,2689,2197,1930
$GC,5456,1.37,217.5,401.1,10.9,262,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1929
$GC,5766,1.37,217.5,368.5,10.3,277,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1929
$GC,6075,1.37,217.5,334.8,11.2,292,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,1929
$GC,6384,1.37,217.5,300.7,11.4,307,6388,0.00,2.65,0.00,0.000,4,0.000,0.072,2689,3614,1929
$GC,6416,1.37,217.5,296.6,12.6,308,6423,0.00,2.65,0.00,0.000,6,0.000,0.061,2689,2200,1929
$GC,6731,1.37,217.5,260.0,12.2,324,6736,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,778,1929
$GC,6757,1.37,217.5,256.4,13.5,325,6762,0.00,2.60,0.00,0.000,6,0.000,0.045,2689,2201,1929
$GC,7079,1.37,217.5,218.7,11.2,341,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1929
$GC,7388,1.37,217.5,185.6,10.2,356,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1929
$GC,7697,1.38,225.3,152.0,9.6,371,7707,0.00,0.00,7.40,0.656,6,0.000,0.000,2689,2201,1898
$GC,8024,1.38,225.3,113.0,13.1,387,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1898
$GC,8332,1.38,225.3,75.6,13.3,402,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1898
$GC,8641,1.38,225.3,34.8,13.7,417,8642,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1898
$STATE,8908,end climb,SURFACE_DEPTH_REACHED
$STATE,8908,begin surface coast
$FINISH,0.8,1.009045
$STATE,8930,end surface coast,CONTROL_FINISHED_OK
$STATE,8930,begin surface
$SM_CCo,8948,40.95,0.649,1,0,1593,300.00
$SM_GC,1.52,0.00,0.00,40.95,0.000,0.000,0.649,74,2405,1593,-10.75,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2110
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,450.7,88.0
$24V_AH,23.6,12.448
$10V_AH,10.2,5.083
$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,25.850,58.125,301.300,40.950,0.000,32.610,35.745,175.552,3.750,0.000,0.000,18.157,804.614,6858.610,433.538,928.784,303.186,33.349,901.285,0.000,905.219,0.000,25.097
$DEVICE_MAMPS,174.109,76.700,1020.877,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.317,308.456,297.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22218,431
$CFSIZE,260165632,256520192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,191107,040708,6126.764,-833.175,30,2.0,30,-9.0