version: 66.02
glider: 16
mission: 6
dive: 26
start: 11 17 107 4 51 40
data:
$ID,16
$MISSION,6
$DIVE,26
$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,-2075504.4
$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,20
$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
$GPS1,044628,6127.351,-823.251,40,2.8,59,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-60.6
$GPS2,045050,6127.308,-823.129,35,1.3,46,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.009,-0.263
$KALMAN_X,-10909.8,767.7,151.0,47366.1,-2987.1
$KALMAN_Y,66928.0,-2283.4,-879.9,-83886.3,14953.6
$MHEAD_RNG_PITCHd_Wd,190.8,4640,-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,16,-1.29,-146.6,0.0,0.0,0,80,0.00,0.00,-62.00,0.000,2,0.000,0.000,71,2409,3197
$GC,82,-1.29,-146.6,4.4,-6.8,3,105,11.57,2.55,-4.60,0.000,4,0.174,0.083,2124,3765,3416
$GC,294,-1.29,-146.6,43.9,-15.0,12,299,0.00,2.53,0.00,0.000,6,0.000,0.051,2124,2397,3417
$GC,616,-1.29,-146.6,88.1,-12.7,28,620,0.00,2.58,0.00,0.000,4,0.000,0.071,2124,3768,3418
$GC,678,-1.29,-146.6,96.2,-13.3,31,682,0.00,2.47,0.00,0.000,6,0.000,0.051,2124,2401,3418
$GC,1003,-1.29,-146.6,140.0,-13.6,47,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2401,3418
$GC,1312,-1.29,-146.6,184.8,-15.0,62,1316,0.00,2.58,0.00,0.000,4,0.000,0.071,2124,3767,3418
$GC,1405,-1.29,-146.6,199.9,-15.8,66,1414,0.00,2.53,0.00,0.000,6,0.000,0.052,2124,2398,3418
$GC,1728,-1.29,-146.6,247.0,-13.8,82,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2398,3418
$GC,2037,-1.29,-146.6,287.1,-12.7,97,2041,0.00,2.58,0.00,0.000,4,0.000,0.074,2125,3768,3418
$GC,2120,-1.29,-146.6,299.0,-14.3,100,2127,0.00,2.53,0.00,0.000,6,0.000,0.054,2124,2402,3418
$GC,2436,-1.29,-146.6,341.5,-13.3,116,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2402,3418
$GC,2745,-1.29,-146.6,384.3,-13.6,131,2749,0.00,2.58,0.00,0.000,4,0.000,0.075,2124,3766,3418
$GC,2793,-1.29,-146.6,391.2,-13.5,133,2798,0.00,2.53,0.00,0.000,6,0.000,0.056,2124,2402,3418
$GC,3114,-1.29,-146.6,431.0,-11.8,149,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2402,3418
$GC,3423,-1.29,-146.6,466.8,-11.0,164,3427,0.00,2.58,0.00,0.000,4,0.000,0.076,2124,3765,3418
$GC,3500,-1.29,-146.6,476.4,-12.2,167,3507,0.00,2.53,0.00,0.000,6,0.000,0.056,2124,2401,3418
$GC,3815,-1.29,-146.6,515.2,-12.7,183,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2401,3418
$GC,4125,-1.29,-146.6,554.1,-12.2,198,4129,0.00,2.58,0.00,0.000,4,0.000,0.077,2124,3763,3418
$GC,4196,-1.29,-146.6,563.1,-12.3,201,4201,0.00,2.53,0.00,0.000,6,0.000,0.055,2124,2398,3418
$GC,4517,-1.29,-146.6,596.8,-9.6,217,4522,0.00,2.58,0.00,0.000,4,0.000,0.077,2124,3763,3418
$GC,4774,-1.29,-146.6,630.2,-14.0,228,4781,0.00,2.53,0.00,0.000,6,0.000,0.058,2124,2403,3418
$GC,5090,-1.29,-146.6,665.6,-8.9,244,5094,0.00,2.60,0.00,0.000,4,0.000,0.081,2124,3768,3419
$GC,5345,-1.29,-146.6,698.1,-14.5,255,5353,0.00,2.58,0.00,0.000,6,0.000,0.066,2124,2404,3419
$GC,5661,-1.29,-146.6,736.5,-11.7,271,5666,0.00,2.62,0.00,0.000,4,0.000,0.089,2124,3767,3420
$GC,5828,-1.29,-146.6,761.1,-16.6,278,5836,0.00,2.60,0.00,0.000,6,0.000,0.070,2124,2400,3420
$GC,6144,-1.29,-146.6,809.3,-14.0,294,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2398,3419
$GC,6453,-1.29,-146.6,839.7,-11.9,309,6458,0.00,2.75,0.00,0.000,4,0.000,0.093,2124,984,3418
$STATE,6462,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6462,begin apogee
$GC,6468,-0.31,0.0,840.9,11.9,309,6595,1.05,0.00,123.15,1.289,6,0.111,0.000,2336,2198,2817
$STATE,6596,end apogee,CONTROL_FINISHED_OK
$STATE,6596,begin climb
$GC,6597,1.29,146.6,839.8,0.0,316,6728,1.60,2.85,120.30,1.260,4,0.056,0.081,2691,784,2219
$GC,6980,1.29,146.6,795.8,20.4,333,6987,0.00,2.72,0.00,0.000,6,0.000,0.066,2692,2201,2217
$GC,7295,1.47,313.6,770.8,2.4,349,7439,0.17,2.85,134.27,1.246,4,0.060,0.085,2733,765,1537
$GC,7590,1.47,313.6,716.5,22.3,362,7597,0.00,2.75,0.00,0.000,6,0.000,0.064,2733,2203,1536
$GC,7905,1.47,313.6,666.5,13.7,378,7909,0.00,2.75,0.00,0.000,4,0.000,0.088,2734,3620,1535
$GC,7951,1.47,313.6,659.9,17.1,380,7955,0.00,2.75,0.00,0.000,6,0.000,0.076,2733,2193,1534
$GC,8276,1.47,313.6,604.6,18.1,396,8280,0.00,2.70,0.00,0.000,4,0.000,0.078,2733,781,1533
$GC,8301,1.47,313.6,599.9,17.7,397,8306,0.00,2.65,0.00,0.000,6,0.000,0.055,2733,2194,1532
$GC,8622,1.47,313.6,541.4,17.6,413,8626,0.00,2.70,0.00,0.000,4,0.000,0.073,2733,774,1532
$GC,8648,1.47,313.6,536.5,18.3,414,8653,0.00,2.65,0.00,0.000,6,0.000,0.051,2733,2201,1532
$GC,8970,1.47,313.6,481.1,17.3,430,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2201,1532
$GC,9279,1.47,313.6,427.7,17.4,445,9283,0.00,2.67,0.00,0.000,4,0.000,0.069,2734,778,1534
$GC,9322,1.47,313.6,419.9,17.1,447,9327,0.00,2.62,0.00,0.000,6,0.000,0.047,2733,2204,1534
$GC,9649,1.47,313.6,362.8,17.8,463,9653,0.00,2.67,0.00,0.000,4,0.000,0.067,2733,778,1535
$GC,9687,1.47,313.6,355.8,18.1,465,9691,0.00,2.60,0.00,0.000,6,0.000,0.048,2733,2209,1535
$GC,10018,1.47,313.6,297.8,16.8,481,10023,0.00,2.67,0.00,0.000,4,0.000,0.066,2734,775,1536
$GC,10061,1.47,313.6,290.3,17.2,483,10067,0.00,2.60,0.00,0.000,6,0.000,0.048,2733,2195,1536
$GC,10388,1.47,313.6,235.6,17.1,499,10392,0.00,2.65,0.00,0.000,4,0.000,0.066,2733,771,1538
$GC,10437,1.47,313.6,226.5,18.0,501,10442,0.00,2.62,0.00,0.000,6,0.000,0.048,2734,2204,1538
$GC,10758,1.47,313.6,170.4,17.9,517,10762,0.00,2.65,0.00,0.000,4,0.000,0.065,2733,779,1538
$GC,10797,1.47,313.6,163.3,19.4,519,10801,0.00,2.58,0.00,0.000,6,0.000,0.047,2734,2206,1538
$GC,11128,1.47,313.6,107.5,16.2,535,11133,0.00,2.65,0.00,0.000,4,0.000,0.063,2733,772,1539
$GC,11160,1.47,313.6,101.9,16.8,536,11168,0.00,2.60,0.00,0.000,6,0.000,0.046,2733,2198,1539
$GC,11477,1.47,313.6,49.2,16.3,552,11478,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2198,1540
$STATE,11743,end climb,SURFACE_DEPTH_REACHED
$STATE,11743,begin surface coast
$FINISH,0.7,1.014701
$STATE,11765,end surface coast,CONTROL_FINISHED_OK
$STATE,11765,begin surface
$SM_CCo,11843,0.00,0.000,0,0,1540,313.25
$SM_GC,1.59,11.52,0.00,0.00,0.035,0.000,0.000,67,2406,1540,-10.70,0.17,313.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2126
$TCM_TEMP,17.60
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,750.7,99.4
$24V_AH,23.4,10.777
$10V_AH,10.1,4.330
$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,25.925,115.575,377.725,0.000,0.000,32.614,25.275,100.034,13.500,0.000,0.000,46.120,1094.489,8807.905,482.933,1501.466,225.533,33.354,1236.077,0.000,1427.770,0.000,44.617
$DEVICE_MAMPS,174.109,92.807,1288.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.282,396.973,323.418,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28597,566
$CFSIZE,260165632,257060864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,171107,081028,6126.215,-825.065,34,3.7,53,-8.9