version: 66.02
glider: 16
mission: 6
dive: 22
start: 11 16 107 14 54 18
data:
$ID,16
$MISSION,6
$DIVE,22
$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,-2075345.6
$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,12
$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
$GPS1,144526,6128.671,-821.683,39,1.8,39,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-55.0
$GPS2,145327,6128.729,-821.424,11,1.9,17,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.019,-0.263
$KALMAN_X,-8827.4,0.4,339.2,47361.5,-4015.4
$KALMAN_Y,53140.4,-887.6,-603.9,-69155.0,14777.3
$MHEAD_RNG_PITCHd_Wd,184.8,3941,-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,-62.40,0.000,2,0.000,0.000,73,2403,3145
$GC,83,-1.29,-146.6,4.1,-6.2,3,106,11.52,2.60,-6.07,0.000,4,0.172,0.080,2123,3766,3418
$GC,357,-1.29,-146.6,49.3,-16.6,15,362,0.00,2.50,0.00,0.000,6,0.000,0.046,2123,2400,3418
$GC,684,-1.29,-146.6,98.9,-14.4,31,689,0.00,2.55,0.00,0.000,4,0.000,0.067,2123,3766,3418
$GC,745,-1.29,-146.6,108.2,-15.0,34,750,0.00,2.47,0.00,0.000,6,0.000,0.048,2123,2398,3418
$GC,1071,-1.29,-146.6,154.3,-13.9,50,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2398,3418
$GC,1380,-1.29,-146.6,196.4,-13.4,65,1384,0.00,2.55,0.00,0.000,4,0.000,0.068,2123,3765,3417
$GC,1479,-1.29,-146.6,210.1,-13.6,69,1487,0.00,2.47,0.00,0.000,6,0.000,0.048,2123,2407,3418
$GC,1796,-1.29,-146.6,251.4,-13.3,85,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2406,3418
$GC,2104,-1.29,-146.6,293.8,-13.8,100,2108,0.00,2.55,0.00,0.000,4,0.000,0.069,2123,3769,3418
$GC,2181,-1.29,-146.6,305.0,-14.2,103,2188,0.00,2.50,0.00,0.000,6,0.000,0.049,2123,2403,3418
$GC,2496,-1.29,-146.6,348.0,-13.6,119,2501,0.00,2.55,0.00,0.000,4,0.000,0.071,2123,3765,3418
$GC,2541,-1.29,-146.6,354.4,-14.1,121,2545,0.00,2.47,0.00,0.000,6,0.000,0.050,2123,2395,3418
$GC,2861,-1.29,-146.6,397.5,-13.4,137,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2395,3419
$GC,3170,-1.29,-146.6,438.2,-12.9,152,3174,0.00,2.58,0.00,0.000,4,0.000,0.071,2123,3766,3419
$GC,3231,-1.29,-146.6,446.3,-13.4,155,3235,0.00,2.47,0.00,0.000,6,0.000,0.050,2123,2396,3419
$GC,3563,-1.29,-146.6,493.4,-14.5,171,3567,0.00,2.58,0.00,0.000,4,0.000,0.071,2123,3769,3419
$GC,3684,-1.29,-146.6,511.3,-13.8,176,3691,0.00,2.50,0.00,0.000,6,0.000,0.050,2123,2404,3419
$GC,3999,-1.29,-146.6,553.7,-13.8,192,4003,0.00,2.58,0.00,0.000,4,0.000,0.073,2123,3770,3419
$GC,4105,-1.29,-146.6,567.5,-10.7,197,4109,0.00,2.50,0.00,0.000,6,0.000,0.052,2123,2393,3419
$GC,4437,-1.29,-146.6,598.2,-7.7,213,4441,0.00,2.60,0.00,0.000,4,0.000,0.077,2123,3765,3419
$GC,4693,-1.29,-146.6,630.2,-10.9,224,4700,0.00,2.53,0.00,0.000,6,0.000,0.056,2123,2401,3420
$GC,5008,-1.29,-146.6,666.7,-12.9,240,5012,0.00,2.62,0.00,0.000,4,0.000,0.083,2123,3766,3420
$GC,5087,-1.29,-146.6,677.8,-12.0,243,5094,0.00,2.55,0.00,0.000,6,0.000,0.059,2123,2401,3420
$GC,5402,-1.29,-146.6,717.8,-11.5,259,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2400,3419
$GC,5711,-1.29,-146.6,758.9,-15.2,274,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2401,3419
$STATE,5752,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5752,begin apogee
$GC,5756,-0.31,0.0,762.8,12.2,276,5882,1.10,0.00,122.25,1.250,6,0.122,0.000,2337,2196,2817
$STATE,5883,end apogee,CONTROL_FINISHED_OK
$STATE,5883,begin climb
$GC,5884,1.29,146.6,772.9,0.0,282,6014,1.75,2.83,119.88,1.224,4,0.102,0.085,2687,779,2219
$GC,6266,1.29,146.6,747.8,10.0,299,6273,0.00,2.67,0.00,0.000,6,0.000,0.061,2687,2190,2216
$GC,6581,1.29,146.6,713.7,12.2,315,6585,0.00,2.70,0.00,0.000,4,0.000,0.079,2687,781,2215
$GC,6787,1.38,225.2,687.6,6.4,324,6856,0.08,2.67,62.67,1.206,6,0.054,0.061,2712,2194,1899
$GC,7171,1.49,326.5,673.7,5.4,343,7255,0.00,0.00,82.18,1.203,6,0.000,0.000,2713,2193,1486
$GC,7560,1.49,326.5,585.7,15.2,362,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2193,1484
$GC,7870,1.64,469.1,570.7,3.5,377,7992,0.25,2.78,114.57,1.144,4,0.051,0.074,2775,3614,904
$GC,8019,1.64,469.1,555.4,18.2,384,8023,0.00,2.72,0.00,0.000,6,0.000,0.064,2775,2200,904
$GC,8345,1.64,469.1,469.1,22.2,400,8350,0.00,2.70,0.00,0.000,4,0.000,0.074,2775,782,903
$GC,8411,1.64,469.1,453.8,22.6,403,8416,0.00,2.62,0.00,0.000,6,0.000,0.048,2775,2200,903
$GC,8738,1.64,469.1,370.8,26.1,419,8742,0.00,2.70,0.00,0.000,4,0.000,0.071,2775,776,904
$GC,8866,1.64,469.1,335.8,27.1,425,8870,0.00,2.58,0.00,0.000,6,0.000,0.047,2775,2202,905
$GC,9197,1.64,469.1,252.0,25.1,441,9201,0.00,2.67,0.00,0.000,4,0.000,0.069,2775,782,906
$GC,9308,1.64,469.1,222.9,26.8,446,9312,0.00,2.58,0.00,0.000,6,0.000,0.045,2774,2202,907
$GC,9627,1.64,469.1,139.6,26.1,462,9632,0.00,2.65,0.00,0.000,4,0.000,0.066,2775,782,908
$GC,9737,1.64,469.1,110.1,26.2,467,9742,0.00,2.58,0.00,0.000,6,0.000,0.043,2775,2196,908
$GC,10065,1.64,469.1,23.6,25.9,483,10069,0.00,2.60,0.00,0.000,4,0.000,0.058,2775,780,909
$STATE,10151,end climb,SURFACE_DEPTH_REACHED
$STATE,10151,begin surface coast
$FINISH,1.6,1.027258
$STATE,10158,end surface coast,CONTROL_FINISHED_OK
$STATE,10158,begin surface
$SM_CCo,10239,0.00,0.000,0,0,908,468.28
$SM_GC,1.34,11.73,0.00,0.00,0.035,0.000,0.000,75,2399,908,-10.68,-0.03,468.28
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.022243
$HUMID,2159
$TCM_TEMP,19.40
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,675.7,95.0
$24V_AH,23.5,10.218
$10V_AH,10.1,4.090
$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,26.425,94.150,501.550,0.000,0.000,65.264,75.987,195.943,13.750,0.000,0.000,17.655,953.118,7443.120,578.943,1348.830,406.550,33.351,1267.278,0.000,1306.142,0.000,42.561
$DEVICE_MAMPS,171.808,94.341,1250.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.687,339.482,271.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25439,487
$CFSIZE,260165632,257249280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,161107,174608,6128.534,-823.393,40,1.3,40,-8.9