version: 66.02
glider: 16
mission: 6
dive: 33
start: 11 18 107 2 53 4
data:
$ID,16
$MISSION,6
$DIVE,33
$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,-2075704
$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,14
$R_STBD_OVSHOOT,19
$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
$GPS1,024657,6127.178,-828.657,26,3.1,45,-8.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-61.0
$GPS2,025214,6127.138,-828.614,15,1.6,32,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.230,0.129
$KALMAN_X,6891.9,-1294.7,-573.3,27572.9,10617.3
$KALMAN_Y,59237.5,78.4,228.7,-80036.9,-1715.0
$MHEAD_RNG_PITCHd_Wd,308.2,3733,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-61.55,0.000,2,0.000,0.000,71,2408,3223
$GC,82,-1.29,-146.6,4.4,-7.1,3,103,11.73,2.58,-3.97,0.000,4,0.174,0.082,2120,3772,3416
$GC,175,-1.29,-146.6,23.8,-14.7,7,180,0.00,2.53,0.00,0.000,6,0.000,0.051,2120,2403,3418
$GC,496,-1.29,-146.6,71.7,-15.3,23,500,0.00,2.55,0.00,0.000,4,0.000,0.069,2120,3766,3417
$GC,566,-1.29,-146.6,82.7,-15.3,26,572,0.00,2.50,0.00,0.000,6,0.000,0.049,2120,2403,3417
$GC,890,-1.29,-146.6,128.6,-13.7,42,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2403,3417
$GC,1197,-1.29,-146.6,170.4,-13.5,57,1201,0.00,2.55,0.00,0.000,4,0.000,0.071,2120,3766,3417
$GC,1281,-1.29,-146.6,182.7,-15.3,61,1285,0.00,2.47,0.00,0.000,6,0.000,0.051,2120,2400,3417
$GC,1607,-1.29,-146.6,227.2,-13.3,77,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2400,3417
$GC,1915,-1.29,-146.6,267.6,-13.2,92,1919,0.00,2.55,0.00,0.000,4,0.000,0.073,2121,3765,3417
$GC,1964,-1.29,-146.6,274.5,-14.2,94,1972,0.00,2.50,0.00,0.000,6,0.000,0.051,2121,2400,3417
$GC,2287,-1.29,-146.6,317.7,-13.4,110,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2399,3418
$GC,2596,-1.29,-146.6,358.2,-13.3,125,2600,0.00,2.58,0.00,0.000,4,0.000,0.074,2120,3767,3417
$GC,2667,-1.29,-146.6,368.5,-15.1,128,2672,0.00,2.50,0.00,0.000,6,0.000,0.051,2120,2401,3417
$GC,2988,-1.29,-146.6,411.6,-13.1,144,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2401,3417
$GC,3298,-1.29,-146.6,452.8,-13.6,159,3303,0.00,2.55,0.00,0.000,4,0.000,0.074,2120,3766,3417
$GC,3354,-1.29,-146.6,461.1,-15.0,161,3360,0.00,2.47,0.00,0.000,6,0.000,0.052,2120,2398,3417
$GC,3668,-1.29,-146.6,504.9,-13.8,177,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2398,3417
$GC,3977,-1.29,-146.6,547.5,-13.7,192,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2398,3417
$GC,4287,-1.29,-146.6,590.2,-13.8,207,4291,0.00,2.55,0.00,0.000,4,0.000,0.074,2120,3765,3417
$GC,4347,-1.29,-146.6,599.0,-14.0,210,4352,0.00,2.47,0.00,0.000,6,0.000,0.051,2120,2395,3417
$GC,4679,-1.29,-146.6,643.3,-13.1,226,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2395,3417
$GC,4989,-1.29,-146.6,682.8,-11.4,241,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2395,3417
$GC,5298,-1.29,-146.6,714.2,-9.3,256,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2395,3417
$GC,5607,-1.29,-146.6,746.1,-10.7,271,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2395,3418
$GC,5916,-1.29,-146.6,785.1,-13.6,286,5921,0.00,2.62,0.00,0.000,4,0.000,0.084,2120,3766,3419
$GC,5965,-1.29,-146.6,788.3,-6.2,288,5970,0.00,2.55,0.00,0.000,6,0.000,0.064,2120,2405,3419
$STATE,6285,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6285,begin apogee
$GC,6289,-0.31,0.0,823.7,18.3,304,6416,1.10,0.00,123.15,1.255,6,0.121,0.000,2336,2200,2817
$STATE,6416,end apogee,CONTROL_FINISHED_OK
$STATE,6417,begin climb
$GC,6418,1.29,146.6,830.4,0.0,310,6543,1.70,0.00,120.50,1.243,6,0.088,0.000,2686,2200,2219
$GC,6849,1.29,146.6,803.7,12.0,331,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2200,2217
$GC,7158,1.70,518.6,790.3,-6.9,346,7464,0.43,2.83,298.30,1.206,4,0.049,0.080,2786,789,701
$GC,7586,1.70,518.6,638.1,35.3,366,7594,0.00,2.65,0.00,0.000,6,0.000,0.054,2786,2198,700
$GC,7902,1.70,518.6,542.5,27.9,382,7906,0.00,2.67,0.00,0.000,4,0.000,0.071,2785,788,700
$GC,8045,1.70,518.6,502.2,28.2,388,8053,0.00,2.60,0.00,0.000,6,0.000,0.048,2786,2199,700
$GC,8361,1.70,518.6,410.9,28.2,404,8365,0.00,2.65,0.00,0.000,4,0.000,0.069,2786,786,701
$GC,8483,1.70,518.6,375.5,28.2,409,8488,0.00,2.60,0.00,0.000,6,0.000,0.046,2786,2202,701
$GC,8804,1.70,518.6,283.3,28.4,425,8808,0.00,2.67,0.00,0.000,4,0.000,0.068,2786,778,701
$GC,8942,1.70,518.6,243.9,28.4,431,8948,0.00,2.60,0.00,0.000,6,0.000,0.044,2784,2201,701
$GC,9269,1.70,518.6,155.3,27.4,447,9274,0.00,2.65,0.00,0.000,4,0.000,0.067,2786,785,702
$GC,9402,1.70,518.6,117.7,28.3,453,9407,0.00,2.58,0.00,0.000,6,0.000,0.044,2786,2201,702
$GC,9729,1.70,518.6,26.6,28.6,469,9734,0.00,2.65,0.00,0.000,4,0.000,0.065,2786,778,703
$STATE,9827,end climb,SURFACE_DEPTH_REACHED
$STATE,9827,begin surface coast
$FINISH,1.1,1.027227
$STATE,9836,end surface coast,CONTROL_FINISHED_OK
$STATE,9836,begin surface
$SM_CCo,9917,0.00,0.000,0,0,703,518.56
$SM_GC,1.57,11.73,0.00,0.00,0.033,0.000,0.000,72,2405,703,-10.69,0.14,518.56
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2148
$TCM_TEMP,17.30
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,726.7,106.1
$24V_AH,23.5,11.656
$10V_AH,10.1,4.694
$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,26.675,73.050,541.950,0.000,0.000,32.628,33.250,159.233,10.000,0.000,0.000,31.981,874.371,7329.529,611.209,1139.990,287.001,33.359,1191.058,0.000,1090.696,0.000,43.019
$DEVICE_MAMPS,174.109,84.370,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,336.438,332.837,266.661,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22273,474
$CFSIZE,260165632,256815104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,181107,053931,6129.494,-830.480,35,1.7,39,-8.9