version: 66.02
glider: 16
mission: 6
dive: 34
start: 11 18 107 5 44 6
data:
$ID,16
$MISSION,6
$DIVE,34
$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,-2075717.1
$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,15
$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
$GPS1,053931,6129.494,-830.480,35,1.7,39,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-51.0
$GPS2,054315,6129.440,-830.409,12,1.8,12,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.254,-0.071
$KALMAN_X,9887.8,-2083.3,-723.0,23947.7,14545.0
$KALMAN_Y,60472.8,826.7,358.8,-77901.6,-1166.2
$MHEAD_RNG_PITCHd_Wd,263.4,3122,-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,-146.6,0.0,0.0,0,122,0.00,0.00,-102.55,0.000,2,0.000,0.000,71,2406,3331
$GC,124,-1.29,-146.6,4.8,-3.9,5,146,11.60,2.60,-1.70,0.000,4,0.175,0.081,2122,3767,3417
$GC,296,-1.29,-146.6,44.2,-15.6,12,304,0.00,2.50,0.00,0.000,6,0.000,0.047,2124,2400,3416
$GC,613,-1.29,-146.6,88.3,-14.2,28,617,0.00,2.55,0.00,0.000,4,0.000,0.070,2124,3765,3416
$GC,720,-1.29,-146.6,102.5,-11.9,33,724,0.00,2.47,0.00,0.000,6,0.000,0.049,2124,2397,3416
$GC,1045,-1.29,-146.6,147.6,-14.1,49,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2398,3416
$GC,1353,-1.29,-146.6,190.9,-14.1,64,1358,0.00,2.58,0.00,0.000,4,0.000,0.072,2124,3769,3416
$GC,1447,-1.29,-146.6,204.6,-14.8,68,1452,0.00,2.50,0.00,0.000,6,0.000,0.049,2124,2401,3416
$GC,1768,-1.29,-146.6,248.1,-13.0,84,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2402,3417
$GC,2077,-1.29,-146.6,287.4,-12.8,99,2082,0.00,2.58,0.00,0.000,4,0.000,0.072,2124,3769,3417
$GC,2172,-1.29,-146.6,300.5,-13.7,103,2176,0.00,2.47,0.00,0.000,6,0.000,0.050,2124,2401,3417
$GC,2492,-1.29,-146.6,341.9,-12.7,119,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2401,3417
$GC,2802,-1.29,-146.6,380.8,-12.4,134,2806,0.00,2.58,0.00,0.000,4,0.000,0.073,2124,3772,3418
$GC,2867,-1.29,-146.6,389.6,-13.1,137,2872,0.00,2.50,0.00,0.000,6,0.000,0.050,2124,2405,3417
$GC,3194,-1.29,-146.6,431.3,-12.9,153,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2405,3417
$GC,3503,-1.29,-146.6,472.5,-13.3,168,3507,0.00,2.58,0.00,0.000,4,0.000,0.072,2124,3772,3417
$GC,3552,-1.29,-146.6,479.3,-13.6,170,3557,0.00,2.50,0.00,0.000,6,0.000,0.050,2124,2404,3417
$GC,3874,-1.29,-146.6,520.1,-12.1,186,3878,0.00,2.55,0.00,0.000,4,0.000,0.073,2124,3765,3417
$GC,3957,-1.29,-146.6,530.5,-11.7,190,3961,0.00,2.47,0.00,0.000,6,0.000,0.050,2124,2396,3417
$GC,4289,-1.29,-146.6,569.6,-12.0,206,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2394,3417
$GC,4598,-1.29,-146.6,609.5,-13.3,221,4602,0.00,2.58,0.00,0.000,4,0.000,0.073,2124,3766,3417
$GC,4696,-1.29,-146.6,623.2,-13.1,225,4704,0.00,2.50,0.00,0.000,6,0.000,0.050,2124,2400,3417
$GC,5012,-1.29,-146.6,667.7,-13.4,241,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2400,3417
$GC,5321,-1.29,-146.6,710.4,-13.2,256,5325,0.00,2.58,0.00,0.000,4,0.000,0.074,2124,3766,3417
$GC,5577,-1.29,-146.6,742.4,-12.9,267,5585,0.00,2.50,0.00,0.000,6,0.000,0.054,2124,2407,3418
$GC,5893,-1.29,-146.6,771.4,-9.3,283,5898,0.00,2.58,0.00,0.000,4,0.000,0.080,2124,3762,3417
$GC,5999,-1.29,-146.6,783.5,-13.3,288,6004,0.00,2.53,0.00,0.000,6,0.000,0.063,2124,2399,3418
$GC,6325,-1.29,-146.6,823.7,-6.0,304,6329,0.00,2.70,0.00,0.000,4,0.000,0.081,2124,978,3420
$GC,6386,-1.29,-146.6,834.0,-18.3,307,6390,0.00,2.62,0.00,0.000,6,0.000,0.067,2124,2395,3419
$STATE,6394,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6394,begin apogee
$GC,6397,-0.31,0.0,835.9,19.4,307,6524,1.05,0.00,123.35,1.258,6,0.116,0.000,2334,2199,2817
$STATE,6525,end apogee,CONTROL_FINISHED_OK
$STATE,6525,begin climb
$GC,6526,1.29,146.6,842.9,0.0,314,6657,1.67,2.85,120.40,1.237,4,0.077,0.078,2687,779,2219
$GC,6781,1.29,146.6,828.9,14.2,326,6785,0.00,2.67,0.00,0.000,6,0.000,0.063,2687,2200,2218
$GC,7106,1.34,192.2,798.2,7.9,342,7150,0.00,2.80,37.50,1.209,4,0.000,0.077,2687,789,2034
$GC,7195,1.34,192.2,788.1,11.4,346,7200,0.00,2.70,0.00,0.000,6,0.000,0.061,2687,2201,2032
$GC,7522,1.34,192.2,747.9,12.2,362,7526,0.00,2.75,0.00,0.000,4,0.000,0.090,2687,3614,2030
$GC,7778,1.34,192.2,719.8,12.2,373,7785,0.00,2.70,0.00,0.000,6,0.000,0.067,2687,2199,2027
$GC,8093,1.34,192.2,684.1,11.6,389,8097,0.00,2.70,0.00,0.000,4,0.000,0.079,2687,3616,2025
$GC,8193,1.34,192.2,672.2,11.4,393,8198,0.00,2.67,0.00,0.000,6,0.000,0.061,2687,2196,2024
$GC,8514,1.35,199.4,638.1,9.7,409,8525,0.00,2.67,5.72,0.874,4,0.000,0.072,2687,3614,2004
$GC,8590,1.35,199.4,628.6,13.1,412,8597,0.00,2.65,0.00,0.000,6,0.000,0.056,2687,2196,2004
$GC,8906,1.35,199.4,589.2,13.4,428,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,2004
$GC,9215,1.35,199.4,552.0,11.6,443,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,2004
$GC,9524,1.35,199.4,518.5,10.6,458,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2197,2005
$GC,9834,1.35,199.4,485.1,10.6,473,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,2006
$GC,10143,1.35,199.4,453.5,10.3,488,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,2006
$GC,10452,1.35,199.4,420.2,10.8,503,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,2006
$GC,10761,1.35,199.4,387.7,10.7,518,10766,0.00,2.65,0.00,0.000,4,0.000,0.069,2687,3616,2008
$GC,10823,1.35,199.4,380.9,11.6,521,10828,0.00,2.60,0.00,0.000,6,0.000,0.055,2687,2195,2008
$GC,11148,1.35,199.4,347.5,10.2,537,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,2008
$GC,11457,1.35,199.4,315.1,10.4,552,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,2009
$GC,11766,1.35,199.4,282.8,10.3,567,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2194,2009
$GC,12075,1.35,199.4,249.9,10.6,582,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,2009
$GC,12385,1.35,199.4,217.8,10.5,597,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,2010
$GC,12694,1.36,213.3,187.0,9.4,612,12716,0.00,2.70,13.60,0.746,4,0.000,0.066,2687,3614,1947
$GC,12742,1.38,227.1,182.5,9.4,614,12761,0.08,2.62,12.38,0.729,6,0.039,0.053,2720,2202,1891
$GC,13068,1.38,227.1,145.1,11.3,630,13070,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2202,1891
$GC,13377,1.38,227.1,109.4,11.5,645,13378,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2202,1891
$GC,13686,1.38,227.1,67.6,12.4,660,13688,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2202,1891
$GC,13996,1.38,227.1,19.3,15.8,675,14000,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,785,1891
$GC,14034,1.38,227.1,12.9,17.1,677,14038,0.00,2.55,0.00,0.000,6,0.000,0.044,2720,2208,1891
$STATE,14110,end climb,SURFACE_DEPTH_REACHED
$STATE,14111,begin surface coast
$FINISH,1.0,1.027197
$STATE,14132,end surface coast,CONTROL_FINISHED_OK
$STATE,14133,begin surface
$SM_CCo,14151,44.30,0.629,2,0,1594,300.00
$SM_GC,1.35,0.00,0.00,44.30,0.000,0.000,0.629,72,2408,1594,-10.75,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,2113
$TCM_TEMP,17.50
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,751.5,94.3
$24V_AH,23.5,11.779
$10V_AH,10.1,4.758
$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,25.900,99.675,312.950,44.300,0.000,32.624,23.373,98.728,12.500,0.000,0.000,12.556,1268.667,10830.818,513.734,1596.912,232.928,33.351,1307.239,0.000,1558.721,0.000,44.597
$DEVICE_MAMPS,174.876,89.739,1257.880,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.262,490.916,378.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34830,682
$CFSIZE,260165632,256737280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,181107,094201,6129.621,-834.210,37,1.5,37,-9.0