version: 66.02
glider: 16
mission: 6
dive: 17
start: 11 15 107 22 14 13
data:
$ID,16
$MISSION,6
$DIVE,17
$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,-2075206.6
$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,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
$GPS1,220828,6129.840,-827.984,40,3.9,59,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-61.2
$GPS2,221323,6129.808,-827.910,14,2.9,33,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,-0.214
$KALMAN_X,-3209.6,-96.0,11.2,36489.5,-1875.1
$KALMAN_Y,34591.4,-357.9,-33.2,-49727.7,6473.3
$MHEAD_RNG_PITCHd_Wd,153.1,2596,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.29,-146.6,0.0,0.0,0,80,0.00,0.00,-62.33,0.000,2,0.000,0.000,73,2407,3266
$GC,82,-1.29,-146.6,4.6,-6.9,3,105,11.57,2.53,-3.05,0.000,4,0.173,0.079,2123,3765,3418
$GC,356,-1.29,-146.6,52.4,-15.2,15,361,0.00,2.50,0.00,0.000,6,0.000,0.046,2123,2399,3419
$GC,683,-1.29,-146.6,101.7,-15.2,31,687,0.00,2.55,0.00,0.000,4,0.000,0.067,2122,3763,3419
$GC,759,-1.29,-146.6,113.8,-15.0,34,767,0.00,2.47,0.00,0.000,6,0.000,0.046,2122,2403,3419
$GC,1074,-1.29,-146.6,160.6,-14.8,50,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2404,3419
$GC,1383,-1.29,-146.6,205.8,-14.5,65,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2403,3419
$GC,1694,-1.29,-146.6,251.1,-14.7,80,1698,0.00,2.55,0.00,0.000,4,0.000,0.069,2123,3763,3420
$GC,1781,-1.29,-146.6,264.5,-14.6,84,1786,0.00,2.47,0.00,0.000,6,0.000,0.047,2123,2404,3420
$GC,2107,-1.29,-146.6,310.1,-13.2,100,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2404,3420
$GC,2418,-1.29,-146.6,350.8,-13.4,115,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2404,3420
$GC,2726,-1.29,-146.6,391.2,-12.8,130,2730,0.00,2.55,0.00,0.000,4,0.000,0.069,2123,3766,3420
$GC,2770,-1.29,-146.6,397.0,-13.6,132,2774,0.00,2.45,0.00,0.000,6,0.000,0.047,2123,2398,3420
$GC,3102,-1.29,-146.6,437.3,-12.1,148,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2398,3420
$GC,3412,-1.29,-146.6,477.4,-13.3,163,3416,0.00,2.55,0.00,0.000,4,0.000,0.069,2123,3764,3420
$GC,3478,-1.29,-146.6,486.8,-14.7,166,3482,0.00,2.45,0.00,0.000,6,0.000,0.047,2123,2398,3420
$GC,3797,-1.29,-146.6,529.9,-13.5,182,3802,0.00,2.55,0.00,0.000,4,0.000,0.069,2123,3765,3420
$GC,3852,-1.29,-146.6,537.8,-13.8,184,3859,0.00,2.47,0.00,0.000,6,0.000,0.047,2123,2402,3420
$GC,4167,-1.29,-146.6,579.3,-13.8,200,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2402,3421
$GC,4477,-1.29,-146.6,623.8,-15.6,215,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2401,3421
$GC,4786,-1.29,-146.6,664.3,-6.4,230,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2402,3421
$STATE,5073,end dive,NO_VERTICAL_VELOCITY
$STATE,5074,begin apogee
$GC,5077,-0.31,0.0,670.5,0.0,244,5203,1.10,0.00,121.65,1.122,6,0.121,0.000,2337,2192,2817
$STATE,5203,end apogee,CONTROL_FINISHED_OK
$STATE,5203,begin climb
$GC,5205,1.29,146.6,669.0,0.0,250,5332,1.70,2.75,118.57,1.104,4,0.091,0.074,2688,3607,2219
$GC,5358,1.39,239.6,667.2,5.8,257,5440,0.08,2.65,74.88,1.091,6,0.046,0.058,2717,2208,1839
$GC,5754,1.39,239.6,633.6,11.9,277,5759,0.00,2.72,0.00,0.000,4,0.000,0.075,2717,783,1838
$GC,5839,1.39,239.6,621.4,12.8,281,5843,0.00,2.60,0.00,0.000,6,0.000,0.051,2717,2196,1837
$GC,6163,1.39,239.6,572.3,17.4,297,6168,0.00,2.65,0.00,0.000,4,0.000,0.064,2717,782,1834
$GC,6206,1.39,239.6,564.8,16.2,299,6212,0.00,2.60,0.00,0.000,6,0.000,0.047,2717,2194,1834
$GC,6533,1.39,239.6,520.5,15.1,315,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2194,1833
$GC,6842,1.39,239.6,471.8,15.2,330,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2194,1833
$GC,7152,1.39,239.6,425.8,16.1,345,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2194,1833
$GC,7461,1.39,239.6,379.3,14.3,360,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2194,1834
$GC,7770,1.39,239.6,334.3,14.6,375,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2194,1834
$GC,8080,1.39,239.6,290.7,14.1,390,8084,0.00,2.60,0.00,0.000,4,0.000,0.061,2717,782,1833
$GC,8122,1.39,239.6,284.5,14.6,392,8127,0.00,2.55,0.00,0.000,6,0.000,0.043,2717,2191,1834
$GC,8449,1.39,239.6,239.1,13.8,408,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2191,1834
$GC,8758,1.39,239.6,197.1,13.6,423,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2191,1834
$GC,9067,1.39,239.6,154.9,13.9,438,9072,0.00,2.58,0.00,0.000,4,0.000,0.061,2717,782,1835
$GC,9112,1.39,239.6,148.5,14.3,440,9116,0.00,2.53,0.00,0.000,6,0.000,0.042,2717,2202,1834
$GC,9443,1.39,239.6,104.9,13.2,456,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2201,1835
$GC,9753,1.39,239.6,63.6,13.6,471,9757,0.00,2.60,0.00,0.000,4,0.000,0.060,2717,782,1835
$GC,9795,1.39,239.6,57.5,13.9,473,9800,0.00,2.55,0.00,0.000,6,0.000,0.041,2717,2199,1835
$GC,10122,1.39,239.6,13.7,13.8,489,10126,0.00,2.60,0.00,0.000,4,0.000,0.060,2717,782,1836
$GC,10165,1.39,239.6,7.7,13.5,491,10169,0.00,2.55,0.00,0.000,6,0.000,0.041,2717,2199,1836
$STATE,10222,end climb,SURFACE_DEPTH_REACHED
$STATE,10222,begin surface coast
$FINISH,0.7,1.002120
$STATE,10244,end surface coast,CONTROL_FINISHED_OK
$STATE,10244,begin surface
$SM_CCo,10262,32.42,0.668,0,0,1594,300.00
$SM_GC,1.77,0.00,0.00,32.42,0.000,0.000,0.668,68,2401,1594,-10.77,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2094
$TCM_TEMP,17.40
$XPDR_PINGS,3
$24V_AH,23.5,9.440
$10V_AH,10.1,3.804
$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,25.950,67.375,315.100,32.425,0.000,32.587,37.867,129.508,6.000,0.000,0.000,34.264,920.071,7876.605,427.081,1115.698,258.788,33.357,986.791,0.000,1069.274,0.000,35.038
$DEVICE_MAMPS,173.342,79.001,1122.121,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.613,347.120,309.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25367,495
$CFSIZE,260165632,257474560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,161107,010702,6128.710,-824.275,42,1.8,42,-8.9