version: 66.02
glider: 16
mission: 6
dive: 44
start: 11 19 107 10 34 28
data:
$ID,16
$MISSION,6
$DIVE,44
$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,-2075968
$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
$GPS1,102938,6126.104,-825.954,31,2.0,31,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-61.1
$GPS2,103338,6126.050,-825.938,16,2.0,33,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.252,-0.078
$KALMAN_X,-1326.2,1160.0,-133.8,35220.2,-7144.4
$KALMAN_Y,73459.2,-1512.2,-333.8,-94096.4,7354.2
$MHEAD_RNG_PITCHd_Wd,116.0,5543,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-82.22,0.000,2,0.000,0.000,67,2408,3223
$GC,103,-1.29,-146.6,4.2,-4.0,4,126,11.52,2.67,-4.22,0.000,4,0.173,0.078,2123,983,3414
$GC,208,-1.29,-146.6,23.6,-13.3,8,216,0.00,2.62,0.00,0.000,6,0.000,0.053,2122,2398,3416
$GC,524,-1.29,-146.6,69.8,-14.8,24,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2398,3415
$GC,834,-1.29,-146.6,114.4,-14.7,39,838,0.00,2.55,0.00,0.000,4,0.000,0.072,2123,3766,3415
$GC,876,-1.29,-146.6,121.2,-15.5,41,881,0.00,2.50,0.00,0.000,6,0.000,0.051,2122,2401,3415
$GC,1203,-1.29,-146.6,167.7,-13.9,57,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2401,3415
$GC,1512,-1.29,-146.6,210.2,-14.0,72,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2401,3415
$GC,1822,-1.29,-146.6,252.0,-13.3,87,1827,0.00,2.58,0.00,0.000,4,0.000,0.075,2123,3769,3415
$GC,1865,-1.29,-146.6,258.3,-14.6,89,1870,0.00,2.53,0.00,0.000,6,0.000,0.053,2123,2396,3415
$GC,2192,-1.29,-146.6,299.7,-12.8,105,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2396,3415
$GC,2501,-1.29,-146.6,339.8,-13.4,120,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2396,3415
$GC,2811,-1.29,-146.6,379.3,-12.4,135,2815,0.00,2.58,0.00,0.000,4,0.000,0.076,2123,3766,3415
$GC,2866,-1.29,-146.6,386.7,-13.1,137,2872,0.00,2.47,0.00,0.000,6,0.000,0.053,2123,2403,3415
$GC,3181,-1.29,-146.6,427.3,-13.1,153,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2402,3415
$GC,3489,-1.29,-146.6,469.3,-13.5,168,3494,0.00,2.65,0.00,0.000,4,0.000,0.071,2122,976,3415
$GC,3521,-1.29,-146.6,473.5,-13.1,169,3528,0.00,2.62,0.00,0.000,6,0.000,0.054,2123,2397,3415
$GC,3837,-1.29,-146.6,513.5,-12.5,185,3841,0.00,2.58,0.00,0.000,4,0.000,0.076,2123,3770,3415
$GC,3885,-1.29,-146.6,519.7,-12.1,187,3890,0.00,2.53,0.00,0.000,6,0.000,0.054,2123,2400,3415
$GC,4206,-1.29,-146.6,558.5,-12.4,203,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2400,3415
$GC,4515,-1.29,-146.6,596.2,-10.8,218,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2400,3415
$GC,4824,-1.29,-146.6,635.8,-10.7,233,4829,0.00,2.58,0.00,0.000,4,0.000,0.077,2123,3769,3415
$GC,4851,-1.29,-146.6,639.3,-13.2,234,4856,0.00,2.53,0.00,0.000,6,0.000,0.053,2123,2395,3416
$GC,5178,-1.29,-146.6,682.4,-10.7,250,5182,0.00,2.62,0.00,0.000,4,0.000,0.071,2123,984,3415
$GC,5434,-1.29,-146.6,704.8,-8.2,261,5441,0.00,2.62,0.00,0.000,6,0.000,0.058,2123,2397,3415
$GC,5749,-1.29,-146.6,743.0,-13.6,277,5754,0.00,2.67,0.00,0.000,4,0.000,0.078,2123,985,3417
$GC,5834,-1.29,-146.6,753.3,-11.0,281,5838,0.00,2.62,0.00,0.000,6,0.000,0.066,2123,2404,3417
$GC,6158,-1.29,-146.6,788.2,-12.9,297,6163,0.00,2.65,0.00,0.000,4,0.000,0.096,2123,3767,3416
$GC,6191,-1.29,-146.6,794.0,-16.7,298,6198,0.00,2.58,0.00,0.000,6,0.000,0.069,2123,2406,3416
$STATE,6505,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6505,begin apogee
$GC,6509,-0.31,0.0,837.9,13.8,314,6635,1.12,0.00,122.10,1.286,6,0.132,0.000,2338,2197,2817
$STATE,6636,end apogee,CONTROL_FINISHED_OK
$STATE,6636,begin climb
$GC,6637,1.29,146.6,842.9,0.0,320,6768,1.65,2.83,120.35,1.259,4,0.075,0.087,2686,784,2218
$GC,6772,1.29,146.6,835.4,11.4,326,6779,0.00,2.72,0.00,0.000,6,0.000,0.060,2686,2203,2218
$GC,7087,1.29,146.6,792.2,16.5,342,7092,0.00,2.78,0.00,0.000,4,0.000,0.095,2687,3613,2215
$GC,7344,1.29,146.6,756.3,10.2,353,7351,0.00,2.75,0.00,0.000,6,0.000,0.076,2687,2200,2214
$GC,7659,1.29,146.6,722.9,13.3,369,7664,0.00,2.78,0.00,0.000,4,0.000,0.095,2686,3613,2211
$GC,7730,1.29,146.6,714.4,11.2,372,7735,0.00,2.72,0.00,0.000,6,0.000,0.076,2686,2208,2212
$GC,8051,1.29,146.6,679.1,11.8,388,8056,0.00,2.78,0.00,0.000,4,0.000,0.085,2686,776,2211
$GC,8135,1.52,353.1,674.3,0.6,392,8307,0.25,2.67,162.93,1.211,6,0.058,0.063,2745,2202,1377
$GC,8627,1.52,353.1,585.1,19.6,416,8632,0.00,2.70,0.00,0.000,4,0.000,0.072,2745,783,1373
$GC,8715,1.52,353.1,569.0,18.6,420,8720,0.00,2.62,0.00,0.000,6,0.000,0.051,2745,2196,1373
$GC,9042,1.52,353.1,507.2,20.0,436,9047,0.00,2.65,0.00,0.000,4,0.000,0.070,2745,782,1373
$GC,9103,1.52,353.1,494.9,19.1,439,9107,0.00,2.60,0.00,0.000,6,0.000,0.048,2745,2206,1373
$GC,9429,1.52,353.1,425.5,22.0,455,9433,0.00,2.67,0.00,0.000,4,0.000,0.068,2745,782,1375
$GC,9477,1.52,353.1,414.7,21.4,457,9482,0.00,2.60,0.00,0.000,6,0.000,0.047,2745,2199,1375
$GC,9798,1.52,353.1,348.0,20.5,473,9802,0.00,2.67,0.00,0.000,4,0.000,0.068,2745,775,1377
$GC,9847,1.52,353.1,337.3,21.0,475,9852,0.00,2.60,0.00,0.000,6,0.000,0.047,2745,2195,1376
$GC,10169,1.52,353.1,275.2,18.9,491,10173,0.00,2.65,0.00,0.000,4,0.000,0.065,2745,774,1378
$GC,10194,1.52,353.1,270.1,19.9,492,10199,0.00,2.60,0.00,0.000,6,0.000,0.046,2745,2198,1378
$GC,10515,1.52,353.1,210.0,19.6,508,10520,0.00,2.65,0.00,0.000,4,0.000,0.065,2745,774,1379
$GC,10558,1.52,353.1,200.8,20.9,510,10563,0.00,2.60,0.00,0.000,6,0.000,0.045,2745,2198,1379
$GC,10885,1.52,353.1,134.7,20.7,526,10890,0.00,2.62,0.00,0.000,4,0.000,0.062,2745,776,1379
$GC,10933,1.52,353.1,124.3,21.7,528,10938,0.00,2.60,0.00,0.000,6,0.000,0.044,2745,2203,1379
$GC,11255,1.52,353.1,60.5,18.9,544,11259,0.00,2.65,0.00,0.000,4,0.000,0.063,2745,771,1380
$GC,11325,1.52,353.1,46.7,18.5,547,11330,0.00,2.60,0.00,0.000,6,0.000,0.045,2745,2197,1380
$STATE,11563,end climb,SURFACE_DEPTH_REACHED
$STATE,11563,begin surface coast
$FINISH,0.9,1.002456
$STATE,11586,end surface coast,CONTROL_FINISHED_OK
$STATE,11586,begin surface
$SM_CCo,11665,0.00,0.000,0,0,1381,352.25
$SM_GC,1.85,11.68,0.00,0.00,0.041,0.000,0.000,70,2409,1381,-10.70,0.25,352.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2152
$TCM_TEMP,17.40
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,750.1,96.6
$24V_AH,23.5,12.875
$10V_AH,10.1,5.247
$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,26.225,116.675,405.375,0.000,0.000,32.614,28.923,89.987,13.500,0.000,0.000,33.251,1054.851,8739.874,513.865,1383.875,222.268,33.347,1230.705,0.000,1325.276,0.000,44.604
$DEVICE_MAMPS,172.575,95.875,1286.259,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.789,393.359,313.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28494,560
$CFSIZE,260165632,256372736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,191107,135002,6126.570,-824.359,38,1.8,38,-8.9