version: 66.02
glider: 16
mission: 6
dive: 20
start: 11 16 107 8 30 19
data:
$ID,16
$MISSION,6
$DIVE,20
$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,-2075312.2
$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,16
$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
$GPS1,082427,6128.299,-823.080,42,3.7,61,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-59.5
$GPS2,082929,6128.279,-822.970,14,3.9,33,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.071,-0.254
$KALMAN_X,-7084.4,526.7,173.9,43907.6,-4567.1
$KALMAN_Y,44435.8,-1054.0,-604.0,-61116.7,10624.5
$MHEAD_RNG_PITCHd_Wd,173.2,3658,-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,-62.22,0.000,2,0.000,0.000,72,2405,3252
$GC,82,-1.29,-146.6,4.2,-5.7,3,104,11.57,2.55,-3.45,0.000,4,0.173,0.081,2124,3765,3416
$GC,322,-1.29,-146.6,45.8,-13.7,13,329,0.00,2.50,0.00,0.000,6,0.000,0.046,2125,2399,3418
$GC,638,-1.29,-146.6,90.7,-14.4,29,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2399,3418
$GC,947,-1.29,-146.6,135.1,-14.5,44,951,0.00,2.55,0.00,0.000,4,0.000,0.068,2124,3765,3417
$GC,1030,-1.29,-146.6,147.6,-14.6,48,1035,0.00,2.47,0.00,0.000,6,0.000,0.048,2125,2395,3418
$GC,1355,-1.29,-146.6,195.1,-14.6,64,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2395,3417
$GC,1665,-1.29,-146.6,242.1,-15.8,79,1669,0.00,2.55,0.00,0.000,4,0.000,0.069,2125,3765,3418
$GC,1736,-1.29,-146.6,253.7,-15.8,82,1741,0.00,2.50,0.00,0.000,6,0.000,0.048,2125,2398,3417
$GC,2057,-1.29,-146.6,299.8,-14.5,98,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2397,3417
$GC,2366,-1.29,-146.6,341.3,-13.3,113,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2396,3417
$GC,2676,-1.29,-146.6,380.8,-12.9,128,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2397,3418
$GC,2985,-1.29,-146.6,420.0,-12.7,143,2989,0.00,2.58,0.00,0.000,4,0.000,0.071,2125,3769,3418
$GC,3051,-1.29,-146.6,429.0,-13.9,146,3056,0.00,2.47,0.00,0.000,6,0.000,0.048,2125,2405,3417
$GC,3377,-1.29,-146.6,469.1,-11.9,162,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2405,3417
$GC,3687,-1.29,-146.6,508.5,-12.7,177,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2405,3418
$GC,3996,-1.29,-146.6,547.4,-12.2,192,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2405,3418
$GC,4305,-1.29,-146.6,583.4,-10.7,207,4309,0.00,2.53,0.00,0.000,4,0.000,0.071,2126,3765,3418
$GC,4562,-1.29,-146.6,612.9,-8.4,218,4567,0.00,2.47,0.00,0.000,6,0.000,0.048,2124,2405,3419
$GC,4884,-1.29,-146.6,651.5,-11.0,234,4888,0.00,2.53,0.00,0.000,4,0.000,0.068,2125,3766,3419
$GC,5139,-1.29,-146.6,691.3,-15.0,245,5147,0.00,2.50,0.00,0.000,6,0.000,0.054,2125,2405,3419
$GC,5456,-1.29,-146.6,723.0,-8.5,261,5460,0.00,2.60,0.00,0.000,4,0.000,0.086,2124,3766,3420
$GC,5516,-1.29,-146.6,728.3,-8.0,264,5520,0.00,2.50,0.00,0.000,6,0.000,0.058,2124,2401,3420
$GC,5841,-1.29,-146.6,762.8,-11.4,280,5845,0.00,2.62,0.00,0.000,4,0.000,0.087,2125,3762,3419
$GC,5902,-1.29,-146.6,769.3,-16.0,283,5906,0.00,2.50,0.00,0.000,6,0.000,0.060,2125,2401,3419
$STATE,6232,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6233,begin apogee
$GC,6236,-0.31,0.0,822.7,15.6,299,6363,1.10,0.00,122.65,1.287,6,0.123,0.000,2339,2202,2817
$STATE,6363,end apogee,CONTROL_FINISHED_OK
$STATE,6364,begin climb
$GC,6365,1.29,146.6,828.9,0.0,305,6495,1.73,2.83,120.50,1.257,4,0.097,0.079,2687,785,2219
$GC,6748,1.36,209.8,800.8,7.1,322,6805,0.00,2.65,51.97,1.225,6,0.000,0.064,2687,2194,1961
$GC,7120,1.36,209.8,761.1,17.6,341,7125,0.00,2.70,0.00,0.000,4,0.000,0.077,2687,787,1959
$GC,7376,1.36,209.8,710.3,14.7,352,7383,0.00,2.67,0.00,0.000,6,0.000,0.059,2686,2201,1958
$GC,7691,1.56,389.7,696.0,1.8,368,7839,0.28,0.00,144.45,1.228,6,0.053,0.000,2756,2201,1228
$GC,8141,1.56,389.7,651.4,13.1,390,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2201,1227
$GC,8450,1.56,389.7,574.6,27.0,405,8455,0.00,2.67,0.00,0.000,4,0.000,0.071,2756,787,1225
$GC,8473,1.56,389.7,569.1,25.1,406,8477,0.00,2.62,0.00,0.000,6,0.000,0.052,2756,2208,1226
$GC,8797,1.56,389.7,502.8,22.6,422,8802,0.00,2.67,0.00,0.000,4,0.000,0.069,2756,787,1225
$GC,8852,1.56,389.7,490.0,22.7,424,8859,0.00,2.60,0.00,0.000,6,0.000,0.047,2756,2197,1225
$GC,9167,1.56,389.7,417.7,23.5,440,9171,0.00,2.65,0.00,0.000,4,0.000,0.067,2756,785,1226
$GC,9238,1.56,389.7,401.0,23.3,443,9243,0.00,2.58,0.00,0.000,6,0.000,0.044,2756,2194,1226
$GC,9560,1.56,389.7,331.5,22.9,459,9564,0.00,2.65,0.00,0.000,4,0.000,0.066,2756,779,1227
$GC,9636,1.56,389.7,313.9,22.4,462,9643,0.00,2.60,0.00,0.000,6,0.000,0.044,2756,2201,1227
$GC,9951,1.56,389.7,247.9,20.2,478,9956,0.00,2.65,0.00,0.000,4,0.000,0.064,2756,780,1229
$GC,10028,1.56,389.7,232.0,20.6,481,10036,0.00,2.58,0.00,0.000,6,0.000,0.042,2756,2199,1229
$GC,10344,1.56,389.7,166.4,20.7,497,10348,0.00,2.62,0.00,0.000,4,0.000,0.063,2756,783,1231
$GC,10386,1.56,389.7,157.5,20.9,499,10391,0.00,2.55,0.00,0.000,6,0.000,0.042,2756,2190,1231
$GC,10714,1.56,389.7,89.4,21.4,515,10718,0.00,2.60,0.00,0.000,4,0.000,0.062,2756,784,1232
$GC,10779,1.56,389.7,74.9,21.9,518,10783,0.00,2.58,0.00,0.000,6,0.000,0.042,2756,2202,1232
$GC,11106,1.56,389.7,5.7,21.1,534,11110,0.00,2.62,0.00,0.000,4,0.000,0.061,2756,782,1233
$STATE,11124,end climb,SURFACE_DEPTH_REACHED
$STATE,11124,begin surface coast
$FINISH,0.9,1.027220
$STATE,11131,end surface coast,CONTROL_FINISHED_OK
$STATE,11131,begin surface
$SM_CCo,11212,0.00,0.000,0,0,1232,388.56
$SM_GC,1.57,11.62,0.00,0.00,0.035,0.000,0.000,69,2402,1232,-10.68,0.08,388.56
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2150
$TCM_TEMP,19.40
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,725.4,106.1
$24V_AH,23.4,9.887
$10V_AH,10.1,3.982
$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,26.300,93.875,439.575,0.000,0.000,32.585,41.479,131.702,13.750,0.000,0.000,34.758,1020.137,8292.307,522.878,1415.442,270.117,33.354,1229.067,0.000,1355.336,0.000,43.013
$DEVICE_MAMPS,173.342,88.205,1287.026,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.081,371.934,299.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25365,535
$CFSIZE,260165632,257331200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,161107,113825,6128.207,-823.972,26,1.2,43,-8.9