version: 66.02
glider: 16
mission: 6
dive: 40
start: 11 18 107 23 22 36
data:
$ID,16
$MISSION,6
$DIVE,40
$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,-2075885.5
$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
$GPS1,231758,6126.172,-838.778,24,5.2,43,-9.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-54.7
$GPS2,232146,6126.156,-838.822,10,2.3,29,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.241,-0.106
$KALMAN_X,9741.9,-798.0,-545.0,15226.1,3591.2
$KALMAN_Y,68339.9,-314.0,-154.6,-90168.6,8227.4
$MHEAD_RNG_PITCHd_Wd,122.7,11705,-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,-62.62,0.000,2,0.000,0.000,71,2402,3339
$GC,83,-1.29,-146.6,4.9,-7.0,3,105,11.48,2.70,-1.50,0.000,4,0.170,0.080,2122,979,3419
$GC,241,-1.29,-146.6,32.0,-12.7,10,245,0.00,2.60,0.00,0.000,6,0.000,0.054,2122,2398,3420
$GC,566,-1.29,-146.6,89.5,-16.4,26,570,0.00,2.58,0.00,0.000,4,0.000,0.075,2121,3768,3420
$GC,671,-1.29,-146.6,102.8,-11.6,31,676,0.00,2.50,0.00,0.000,6,0.000,0.054,2122,2398,3420
$GC,998,-1.29,-146.6,150.0,-15.4,47,1002,0.00,2.60,0.00,0.000,4,0.000,0.075,2122,3772,3420
$GC,1036,-1.29,-146.6,156.2,-15.9,49,1040,0.00,2.50,0.00,0.000,6,0.000,0.054,2121,2400,3420
$GC,1367,-1.29,-146.6,199.9,-13.2,65,1372,0.00,2.58,0.00,0.000,4,0.000,0.075,2121,3768,3420
$GC,1421,-1.29,-146.6,207.4,-13.0,67,1426,0.00,2.53,0.00,0.000,6,0.000,0.055,2121,2404,3420
$GC,1742,-1.29,-146.6,248.1,-13.0,83,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2404,3420
$GC,2051,-1.29,-146.6,288.2,-13.1,98,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2404,3420
$GC,2363,-1.29,-146.6,327.4,-13.2,113,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2404,3420
$GC,2670,-1.29,-146.6,370.0,-15.1,128,2674,0.00,2.58,0.00,0.000,4,0.000,0.077,2121,3771,3420
$GC,2717,-1.29,-146.6,377.4,-14.4,130,2723,0.00,2.53,0.00,0.000,6,0.000,0.055,2122,2400,3420
$GC,3039,-1.29,-146.6,417.7,-12.9,146,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2400,3420
$STATE,3264,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3264,begin apogee
$GC,3268,-0.31,0.0,447.2,13.1,157,3390,1.12,0.00,118.50,0.962,6,0.132,0.000,2337,2189,2817
$STATE,3391,end apogee,CONTROL_FINISHED_OK
$STATE,3391,begin climb
$GC,3392,1.29,146.6,452.0,0.0,163,3517,1.62,2.75,115.72,0.950,4,0.069,0.068,2687,785,2219
$GC,3588,1.30,152.5,440.3,9.7,172,3600,0.00,2.62,6.45,0.724,6,0.000,0.048,2687,2200,2194
$GC,3908,1.30,152.5,408.4,10.3,187,3912,0.00,2.67,0.00,0.000,4,0.000,0.076,2688,3616,2194
$GC,3957,1.30,152.5,402.8,11.4,189,3962,0.00,2.67,0.00,0.000,6,0.000,0.062,2687,2203,2193
$GC,4284,1.30,157.4,369.1,9.8,205,4291,0.00,0.00,5.38,0.672,6,0.000,0.000,2688,2203,2175
$GC,4594,1.34,190.6,340.7,8.5,220,4623,0.00,0.00,27.38,0.864,6,0.000,0.000,2687,2203,2039
$GC,4923,1.37,219.3,311.1,8.7,236,4948,0.00,0.00,23.48,0.839,6,0.000,0.000,2688,2203,1922
$GC,5252,1.37,219.3,278.5,10.5,252,5256,0.00,2.65,0.00,0.000,4,0.000,0.069,2688,778,1921
$GC,5284,1.37,219.3,274.5,12.2,253,5289,0.00,2.60,0.00,0.000,6,0.000,0.048,2687,2192,1921
$GC,5605,1.37,219.3,237.8,11.3,269,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2193,1921
$GC,5914,1.41,257.9,208.8,8.2,284,5948,0.12,0.00,31.15,0.795,6,0.050,0.000,2726,2193,1764
$GC,6244,1.41,257.9,166.3,15.9,300,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2193,1764
$GC,6553,1.41,257.9,127.6,13.3,315,6558,0.00,2.62,0.00,0.000,4,0.000,0.065,2726,782,1764
$GC,6585,1.41,257.9,122.6,15.0,316,6593,0.00,2.60,0.00,0.000,6,0.000,0.046,2726,2204,1763
$GC,6901,1.41,257.9,78.8,13.6,332,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2203,1763
$GC,7210,1.41,257.9,43.5,10.3,347,7214,0.00,2.62,0.00,0.000,4,0.000,0.064,2726,782,1764
$GC,7241,1.41,257.9,38.8,14.7,348,7249,0.00,2.58,0.00,0.000,6,0.000,0.045,2726,2198,1764
$STATE,7495,end climb,SURFACE_DEPTH_REACHED
$STATE,7495,begin surface coast
$FINISH,0.8,1.013857
$STATE,7516,end surface coast,CONTROL_FINISHED_OK
$STATE,7516,begin surface
$SM_CCo,7534,27.10,0.591,2,0,1594,300.00
$SM_GC,1.85,0.00,0.00,27.10,0.000,0.000,0.591,72,2400,1594,-10.75,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2103
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,375.0,81.5
$24V_AH,23.6,12.343
$10V_AH,10.2,5.038
$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,26.025,52.850,328.050,27.100,0.000,32.586,24.731,89.357,3.000,0.000,0.000,29.850,682.115,5672.109,445.349,816.530,197.705,33.353,860.934,0.000,784.352,0.000,20.697
$DEVICE_MAMPS,169.507,79.768,961.818,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,249.706,259.939,264.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15956,362
$CFSIZE,260165632,256569344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,191107,013001,6126.248,-836.480,37,1.8,42,-9.0