version: 66.02
glider: 16
mission: 6
dive: 37
start: 11 18 107 16 9 17
data:
$ID,16
$MISSION,6
$DIVE,37
$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,-2075801.8
$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,17
$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
$GPS1,160355,6128.712,-836.311,30,1.5,45,-9.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-53.5
$GPS2,160827,6128.677,-836.302,33,1.4,33,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.116,-0.147
$KALMAN_X,12258.6,-712.0,-593.4,14893.4,10436.5
$KALMAN_Y,65646.1,-622.8,27.5,-82688.5,3506.1
$MHEAD_RNG_PITCHd_Wd,227.2,8246,-25.9,-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,16,-1.70,-71.9,0.0,0.0,0,61,0.00,0.00,-42.25,0.000,2,0.000,0.000,74,2401,2708
$GC,62,-1.73,-98.3,3.1,-7.5,2,94,10.95,2.55,-14.18,0.000,4,0.170,0.081,2027,3767,3219
$GC,346,-1.73,-98.3,60.6,-18.7,15,351,0.00,2.47,0.00,0.000,6,0.000,0.049,2027,2397,3219
$GC,672,-1.73,-98.3,117.1,-17.1,31,676,0.00,2.58,0.00,0.000,4,0.000,0.071,2027,3767,3219
$GC,800,-1.73,-98.3,140.4,-19.2,37,804,0.00,2.47,0.00,0.000,6,0.000,0.051,2027,2398,3219
$GC,1125,-1.73,-98.3,196.4,-16.7,53,1129,0.00,2.58,0.00,0.000,4,0.000,0.071,2027,3772,3219
$GC,1258,-1.73,-98.3,220.3,-17.4,59,1263,0.00,2.50,0.00,0.000,6,0.000,0.050,2027,2406,3219
$GC,1584,-1.73,-98.3,274.0,-17.1,75,1589,0.00,2.55,0.00,0.000,4,0.000,0.072,2027,3767,3220
$GC,1740,-1.73,-98.3,303.1,-18.6,82,1745,0.00,2.50,0.00,0.000,6,0.000,0.051,2027,2402,3220
$GC,2067,-1.73,-98.3,359.2,-17.4,98,2071,0.00,2.58,0.00,0.000,4,0.000,0.074,2027,3772,3220
$GC,2150,-1.73,-98.3,374.0,-18.0,102,2154,0.00,2.50,0.00,0.000,6,0.000,0.053,2027,2395,3220
$GC,2481,-1.73,-98.3,429.1,-17.2,118,2485,0.00,2.58,0.00,0.000,4,0.000,0.073,2027,3766,3220
$GC,2552,-1.73,-98.3,442.9,-19.4,121,2557,0.00,2.50,0.00,0.000,6,0.000,0.051,2027,2403,3220
$GC,2873,-1.73,-98.3,496.1,-16.1,137,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2403,3220
$GC,3183,-1.73,-98.3,543.0,-15.4,152,3187,0.00,2.55,0.00,0.000,4,0.000,0.073,2027,3766,3220
$GC,3276,-1.73,-98.3,558.6,-16.4,156,3281,0.00,2.50,0.00,0.000,6,0.000,0.051,2027,2402,3220
$GC,3597,-1.73,-98.3,607.7,-16.0,172,3601,0.00,2.58,0.00,0.000,4,0.000,0.074,2027,3772,3220
$GC,3853,-1.73,-98.3,651.8,-16.6,183,3861,0.00,2.50,0.00,0.000,6,0.000,0.052,2027,2404,3220
$STATE,4003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4004,begin apogee
$GC,4007,-0.31,0.0,672.8,13.1,191,4094,1.52,0.00,82.32,1.106,6,0.100,0.000,2339,2194,2817
$STATE,4094,end apogee,CONTROL_FINISHED_OK
$STATE,4095,begin climb
$GC,4096,1.73,98.3,672.7,0.0,195,4185,2.08,0.00,80.70,1.099,6,0.059,0.000,2788,2194,2416
$GC,4493,1.73,98.3,637.6,11.0,215,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2193,2415
$GC,4802,1.73,98.3,609.1,10.3,230,4806,0.00,2.65,0.00,0.000,4,0.000,0.071,2788,3613,2415
$GC,4847,1.73,98.3,604.0,12.3,232,4851,0.00,2.60,0.00,0.000,6,0.000,0.057,2788,2203,2415
$GC,5172,1.73,98.3,565.9,10.7,248,5176,0.00,2.65,0.00,0.000,4,0.000,0.071,2788,3613,2415
$GC,5428,1.73,101.4,537.5,9.7,259,5438,0.00,2.62,4.15,0.652,6,0.000,0.057,2788,2202,2402
$GC,5766,1.73,102.7,504.6,9.9,276,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2202,2402
$GC,6075,1.74,106.6,474.7,9.6,291,6086,0.00,2.67,5.90,0.752,4,0.000,0.071,2788,3617,2382
$GC,6181,1.74,106.6,462.6,11.8,296,6186,0.00,2.62,0.00,0.000,6,0.000,0.058,2788,2194,2381
$GC,6507,1.74,106.6,428.8,10.6,312,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2194,2382
$GC,6816,1.74,106.6,396.6,10.6,327,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2194,2381
$GC,7125,1.74,106.6,363.2,11.2,342,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2194,2382
$GC,7434,1.74,106.6,328.0,11.3,357,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2194,2381
$GC,7744,1.74,106.6,294.0,11.3,372,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2194,2381
$GC,8053,1.74,113.3,260.9,9.4,387,8067,0.00,2.70,6.68,0.689,4,0.000,0.069,2788,3613,2355
$GC,8141,1.74,113.3,251.5,11.8,391,8145,0.00,2.60,0.00,0.000,6,0.000,0.058,2788,2199,2355
$GC,8466,1.76,126.0,221.0,8.8,407,8479,0.00,0.00,11.48,0.743,6,0.000,0.000,2788,2199,2303
$GC,8775,1.77,138.4,192.5,8.8,422,8788,0.00,0.00,11.62,0.729,6,0.000,0.000,2788,2199,2251
$GC,9084,1.78,149.0,164.0,9.0,437,9099,0.00,2.67,9.77,0.690,4,0.000,0.070,2788,3620,2208
$GC,9182,1.78,149.0,151.8,14.2,440,9189,0.00,2.65,0.00,0.000,6,0.000,0.058,2788,2202,2208
$GC,9498,1.78,149.0,103.5,14.0,456,9502,0.00,2.62,0.00,0.000,4,0.000,0.067,2788,782,2208
$GC,9573,1.78,149.0,92.5,13.8,459,9582,0.00,2.58,0.00,0.000,6,0.000,0.044,2788,2200,2207
$GC,9889,1.78,149.0,43.8,16.9,475,9894,0.00,2.62,0.00,0.000,4,0.000,0.070,2788,3615,2207
$GC,9932,1.78,149.0,36.2,17.5,477,9937,0.00,2.62,0.00,0.000,6,0.000,0.057,2788,2197,2207
$STATE,10176,end climb,SURFACE_DEPTH_REACHED
$STATE,10176,begin surface coast
$FINISH,0.7,1.027222
$STATE,10198,end surface coast,CONTROL_FINISHED_OK
$STATE,10198,begin surface
$SM_CCo,10216,97.65,0.625,5,0,1593,300.00
$SM_GC,1.51,0.00,0.00,97.65,0.000,0.000,0.625,74,2402,1593,-10.74,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2085
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,601.0,81.8
$24V_AH,23.6,12.090
$10V_AH,10.2,4.915
$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,26.650,78.150,212.625,97.650,0.000,32.631,33.122,117.374,5.500,0.000,0.000,33.627,962.171,7693.557,450.327,1272.611,246.217,33.350,1056.953,0.000,1221.522,0.000,34.828
$DEVICE_MAMPS,169.507,81.302,1106.014,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.342,353.542,290.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25413,490
$CFSIZE,260165632,256634880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,5,0
$GPS,181107,190258,6127.283,-836.853,29,2.1,48,-9.0