version: 66.02
glider: 16
mission: 6
dive: 43
start: 11 19 107 7 36 43
data:
$ID,16
$MISSION,6
$DIVE,43
$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,-2075934.1
$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,17
$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
$GPS1,073152,6126.336,-828.876,26,1.8,41,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-63.5
$GPS2,073552,6126.318,-828.878,14,1.6,15,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.257,-0.060
$KALMAN_X,2213.4,-799.0,588.0,30330.3,-3972.0
$KALMAN_Y,72249.2,-106.2,-514.6,-93617.2,6273.9
$MHEAD_RNG_PITCHd_Wd,112.2,5237,-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,-62.60,0.000,2,0.000,0.000,67,2409,3304
$GC,83,-1.29,-146.6,4.9,-7.8,3,104,11.62,2.72,-2.20,0.000,4,0.170,0.080,2122,985,3419
$GC,131,-1.29,-146.6,18.5,-18.4,5,136,0.00,2.60,0.00,0.000,6,0.000,0.054,2122,2392,3419
$GC,453,-1.29,-146.6,62.8,-13.6,21,457,0.00,2.58,0.00,0.000,4,0.000,0.074,2122,3769,3419
$GC,513,-1.29,-146.6,72.2,-15.2,24,518,0.00,2.50,0.00,0.000,6,0.000,0.052,2122,2395,3419
$GC,839,-1.29,-146.6,118.7,-14.3,40,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2395,3419
$GC,1148,-1.29,-146.6,161.0,-14.4,55,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2395,3419
$GC,1458,-1.29,-146.6,201.9,-13.4,70,1462,0.00,2.60,0.00,0.000,4,0.000,0.075,2122,3770,3419
$GC,1518,-1.29,-146.6,210.5,-14.0,73,1522,0.00,2.50,0.00,0.000,6,0.000,0.054,2122,2400,3420
$GC,1849,-1.29,-146.6,253.5,-13.0,89,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2400,3419
$GC,2159,-1.29,-146.6,294.2,-13.3,104,2163,0.00,2.60,0.00,0.000,4,0.000,0.077,2122,3775,3419
$GC,2207,-1.29,-146.6,301.2,-13.6,106,2212,0.00,2.55,0.00,0.000,6,0.000,0.055,2122,2399,3420
$GC,2529,-1.29,-146.6,342.1,-12.7,122,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2399,3419
$GC,2838,-1.29,-146.6,380.1,-12.1,137,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2398,3419
$GC,3147,-1.29,-146.6,419.1,-13.1,152,3151,0.00,2.58,0.00,0.000,4,0.000,0.077,2122,3769,3419
$GC,3196,-1.29,-146.6,426.0,-13.5,154,3201,0.00,2.53,0.00,0.000,6,0.000,0.054,2122,2396,3419
$GC,3517,-1.29,-146.6,469.8,-13.1,170,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2396,3419
$GC,3826,-1.29,-146.6,510.9,-13.7,185,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2396,3419
$GC,4135,-1.29,-146.6,548.6,-11.8,200,4140,0.00,2.60,0.00,0.000,4,0.000,0.076,2122,3775,3420
$GC,4180,-1.29,-146.6,554.0,-12.2,202,4184,0.00,2.50,0.00,0.000,6,0.000,0.054,2122,2398,3420
$GC,4511,-1.29,-146.6,596.1,-13.8,218,4515,0.00,2.58,0.00,0.000,4,0.000,0.076,2122,3768,3420
$GC,4543,-1.29,-146.6,600.9,-14.4,219,4550,0.00,2.50,0.00,0.000,6,0.000,0.054,2122,2405,3420
$GC,4858,-1.29,-146.6,644.1,-13.7,235,4863,0.00,2.58,0.00,0.000,4,0.000,0.075,2122,3773,3420
$GC,4946,-1.29,-146.6,656.7,-14.5,239,4951,0.00,2.53,0.00,0.000,6,0.000,0.054,2122,2396,3420
$GC,5273,-1.29,-146.6,698.2,-11.7,255,5277,0.00,2.60,0.00,0.000,4,0.000,0.068,2122,986,3420
$GC,5490,-1.29,-146.6,729.9,-16.4,265,5495,0.00,2.58,0.00,0.000,6,0.000,0.053,2122,2403,3420
$GC,5823,-1.29,-146.6,765.6,-9.6,281,5827,0.00,2.67,0.00,0.000,4,0.000,0.077,2123,986,3421
$STATE,5870,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5870,begin apogee
$GC,5875,-0.31,0.0,769.2,7.9,283,6002,1.02,0.00,122.50,1.195,6,0.100,0.000,2335,2200,2817
$STATE,6002,end apogee,CONTROL_FINISHED_OK
$STATE,6002,begin climb
$GC,6004,1.29,146.6,763.2,0.0,289,6131,1.65,2.80,119.32,1.161,4,0.071,0.085,2689,3615,2218
$GC,6226,1.29,146.6,723.4,19.8,299,6233,0.00,2.70,0.00,0.000,6,0.000,0.069,2689,2211,2218
$GC,6541,1.45,294.7,698.9,3.3,315,6668,0.17,2.88,117.88,1.148,4,0.052,0.083,2734,785,1615
$GC,6846,1.60,429.6,661.1,3.9,329,6960,0.05,2.67,107.38,1.131,6,0.040,0.059,2765,2198,1065
$GC,7268,1.60,429.6,581.5,22.5,349,7272,0.00,2.70,0.00,0.000,4,0.000,0.072,2765,778,1063
$GC,7400,1.60,429.6,550.0,22.8,355,7405,0.00,2.62,0.00,0.000,6,0.000,0.049,2765,2196,1064
$GC,7727,1.60,429.6,481.0,20.8,371,7732,0.00,2.67,0.00,0.000,4,0.000,0.069,2765,777,1064
$GC,7838,1.60,429.6,458.4,21.0,376,7843,0.00,2.60,0.00,0.000,6,0.000,0.048,2765,2195,1064
$GC,8164,1.60,429.6,394.8,18.9,392,8169,0.00,2.67,0.00,0.000,4,0.000,0.069,2765,772,1065
$GC,8225,1.60,429.6,383.2,18.2,395,8230,0.00,2.60,0.00,0.000,6,0.000,0.048,2765,2206,1065
$GC,8552,1.60,429.6,319.6,20.2,411,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2207,1066
$GC,8861,1.60,429.6,259.5,18.9,426,8865,0.00,2.62,0.00,0.000,4,0.000,0.071,2765,3616,1066
$GC,8886,1.60,429.6,254.2,18.8,427,8892,0.00,2.65,0.00,0.000,6,0.000,0.061,2765,2200,1066
$GC,9208,1.60,429.6,193.4,19.3,443,9212,0.00,2.65,0.00,0.000,4,0.000,0.071,2765,784,1067
$GC,9256,1.60,429.6,184.0,19.0,445,9261,0.00,2.58,0.00,0.000,6,0.000,0.046,2765,2195,1067
$GC,9577,1.60,429.6,122.3,19.4,461,9582,0.00,2.65,0.00,0.000,4,0.000,0.071,2765,3620,1067
$GC,9609,1.60,429.6,115.8,19.7,462,9616,0.00,2.65,0.00,0.000,6,0.000,0.061,2765,2207,1067
$GC,9926,1.60,429.6,56.0,19.1,478,9930,0.00,2.65,0.00,0.000,4,0.000,0.070,2765,785,1068
$GC,9980,1.60,429.6,45.0,18.8,480,9988,0.00,2.58,0.00,0.000,6,0.000,0.046,2765,2198,1068
$STATE,10212,end climb,SURFACE_DEPTH_REACHED
$STATE,10212,begin surface coast
$FINISH,1.0,1.009623
$STATE,10235,end surface coast,CONTROL_FINISHED_OK
$STATE,10235,begin surface
$SM_CCo,10313,0.00,0.000,0,0,1067,429.27
$SM_GC,1.59,11.65,0.00,0.00,0.036,0.000,0.000,68,2408,1067,-10.69,0.23,429.27
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2156
$TCM_TEMP,17.30
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,675.0,104.0
$24V_AH,23.5,12.722
$10V_AH,10.1,5.191
$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,26.175,99.500,467.075,0.000,0.000,32.614,28.292,105.394,7.250,0.000,0.000,15.739,941.706,7623.289,518.890,1245.020,233.187,33.353,1183.476,0.000,1205.033,0.000,39.753
$DEVICE_MAMPS,169.507,85.137,1194.986,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.130,342.886,292.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25431,493
$CFSIZE,260165632,256421888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,191107,102938,6126.104,-825.954,31,2.0,31,-8.9