version: 66.02
glider: 16
mission: 6
dive: 30
start: 11 17 107 17 8 7
data:
$ID,16
$MISSION,6
$DIVE,30
$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,-2075625.1
$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,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
$GPS1,170327,6123.766,-825.603,40,3.4,59,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-61.4
$GPS2,170717,6123.760,-825.556,13,3.0,32,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.243,0.101
$KALMAN_X,-3933.8,606.4,-209.7,38793.8,6610.0
$KALMAN_Y,65228.1,-1361.8,-672.8,-89899.7,6390.6
$MHEAD_RNG_PITCHd_Wd,301.5,9789,-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,-62.75,0.000,2,0.000,0.000,76,2408,3270
$GC,83,-1.29,-146.6,4.4,-7.4,3,104,11.75,2.72,-2.95,0.000,4,0.176,0.081,2120,981,3419
$GC,145,-1.29,-146.6,20.0,-18.6,6,149,0.00,2.62,0.00,0.000,6,0.000,0.055,2120,2405,3419
$GC,470,-1.29,-146.6,75.0,-17.1,22,474,0.00,2.55,0.00,0.000,4,0.000,0.075,2119,3768,3419
$GC,512,-1.29,-146.6,81.5,-13.3,24,517,0.00,2.55,0.00,0.000,6,0.000,0.055,2120,2396,3419
$GC,839,-1.29,-146.6,132.0,-15.1,40,844,0.00,2.58,0.00,0.000,4,0.000,0.074,2120,3766,3419
$GC,893,-1.29,-146.6,140.8,-15.7,42,901,0.00,2.53,0.00,0.000,6,0.000,0.054,2120,2401,3419
$GC,1209,-1.29,-146.6,186.7,-14.0,58,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2402,3419
$GC,1518,-1.29,-146.6,228.7,-13.2,73,1522,0.00,2.58,0.00,0.000,4,0.000,0.074,2120,3772,3419
$GC,1606,-1.29,-146.6,241.2,-14.6,77,1611,0.00,2.53,0.00,0.000,6,0.000,0.055,2120,2405,3419
$GC,1933,-1.29,-146.6,285.6,-13.7,93,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2404,3419
$GC,2242,-1.29,-146.6,328.0,-13.6,108,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2404,3419
$GC,2552,-1.29,-146.6,369.3,-13.1,123,2556,0.00,2.55,0.00,0.000,4,0.000,0.076,2120,3766,3419
$GC,2598,-1.29,-146.6,375.2,-13.1,125,2602,0.00,2.50,0.00,0.000,6,0.000,0.055,2119,2396,3419
$GC,2923,-1.29,-146.6,418.9,-13.1,141,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2395,3419
$GC,3232,-1.29,-146.6,461.3,-14.0,156,3237,0.00,2.58,0.00,0.000,4,0.000,0.074,2120,3767,3419
$GC,3286,-1.29,-146.6,469.7,-14.6,158,3294,0.00,2.53,0.00,0.000,6,0.000,0.054,2119,2397,3419
$GC,3602,-1.29,-146.6,512.2,-13.4,174,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2396,3419
$GC,3911,-1.29,-146.6,553.0,-13.1,189,3915,0.00,2.58,0.00,0.000,4,0.000,0.076,2120,3766,3419
$GC,3967,-1.29,-146.6,560.9,-14.9,191,3973,0.00,2.47,0.00,0.000,6,0.000,0.055,2120,2401,3419
$STATE,4177,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4177,begin apogee
$GC,4181,-0.31,0.0,588.9,13.3,202,4304,1.10,0.00,120.03,1.064,6,0.118,0.000,2336,2191,2817
$STATE,4305,end apogee,CONTROL_FINISHED_OK
$STATE,4305,begin climb
$GC,4306,1.29,146.6,593.1,0.0,208,4433,1.70,2.72,117.10,1.048,4,0.084,0.068,2689,789,2219
$GC,4483,1.31,160.9,583.8,9.3,216,4503,0.00,2.60,12.80,0.917,6,0.000,0.048,2689,2204,2161
$GC,4824,1.31,160.9,549.0,11.3,233,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2203,2160
$GC,5133,1.31,163.2,517.9,9.9,248,5142,0.00,2.70,3.75,0.594,4,0.000,0.075,2689,3607,2151
$GC,5232,1.31,163.2,507.3,10.7,252,5237,0.00,2.62,0.00,0.000,6,0.000,0.061,2689,2211,2150
$GC,5553,1.33,184.1,477.4,9.0,268,5574,0.00,0.00,17.88,0.927,6,0.000,0.000,2689,2212,2065
$GC,5883,1.35,204.5,446.6,9.1,284,5903,0.00,0.00,17.48,0.907,6,0.000,0.000,2689,2211,1983
$GC,6211,1.35,204.5,414.0,10.2,300,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2211,1982
$GC,6521,1.35,204.5,380.8,10.8,315,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2211,1982
$GC,6830,1.35,204.5,346.0,11.6,330,6834,0.00,2.65,0.00,0.000,4,0.000,0.075,2689,3617,1981
$GC,6874,1.35,204.5,340.6,12.4,332,6879,0.00,2.65,0.00,0.000,6,0.000,0.064,2689,2194,1981
$GC,7199,1.35,204.5,303.2,11.4,348,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2194,1981
$GC,7509,1.35,204.5,268.2,11.4,363,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2194,1981
$GC,7818,1.35,204.5,232.8,11.3,378,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2194,1981
$GC,8127,1.35,204.5,198.4,11.0,393,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2194,1981
$GC,8436,1.35,204.5,166.0,10.5,408,8441,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3611,1981
$GC,8475,1.35,204.5,161.6,11.3,410,8480,0.00,2.60,0.00,0.000,6,0.000,0.061,2689,2202,1981
$GC,8801,1.35,204.5,126.8,10.8,426,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2202,1981
$GC,9110,1.35,204.5,92.7,11.3,441,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1981
$GC,9420,1.35,204.5,56.2,12.0,456,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2201,1981
$GC,9729,1.35,204.5,22.8,10.2,471,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2202,1981
$STATE,9955,end climb,SURFACE_DEPTH_REACHED
$STATE,9955,begin surface coast
$FINISH,0.6,1.003550
$STATE,9977,end surface coast,CONTROL_FINISHED_OK
$STATE,9977,begin surface
$SM_CCo,9994,51.05,0.673,0,0,1593,300.00
$SM_GC,1.32,0.00,0.00,51.05,0.000,0.000,0.673,74,2406,1593,-10.75,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2085
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,550.2,48.4
$24V_AH,23.6,11.241
$10V_AH,10.2,4.535
$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,25.850,57.825,289.025,51.050,0.000,32.583,24.761,87.718,4.750,0.000,0.000,33.139,875.222,7761.475,432.415,1020.507,199.794,33.373,934.324,0.000,979.117,0.000,31.483
$DEVICE_MAMPS,176.410,81.302,1063.829,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,332.548,347.501,321.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22322,483
$CFSIZE,260165632,256929792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,171107,195637,6124.262,-827.353,32,1.6,32,-8.9