version: 66.02
glider: 16
mission: 6
dive: 12
start: 11 15 107 2 12 42
data:
$ID,16
$MISSION,6
$DIVE,12
$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,-2075041.8
$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,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
$GPS1,015638,6133.789,-836.312,38,1.8,38,-9.0
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.6
$GPS2,021152,6133.678,-836.157,11,2.1,30,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.017,-0.263
$KALMAN_X,-739.8,1314.8,306.5,25054.0,-3842.1
$KALMAN_Y,22329.7,-1303.6,-112.8,-29275.8,7652.3
$MHEAD_RNG_PITCHd_Wd,185.4,11984,-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,-62.28,0.000,2,0.000,0.000,70,2408,3286
$GC,82,-1.29,-146.6,4.7,-6.8,3,104,11.57,2.58,-2.62,0.000,4,0.173,0.078,2123,3760,3418
$GC,299,-1.29,-146.6,42.5,-15.1,12,307,0.00,2.47,0.00,0.000,6,0.000,0.044,2123,2401,3419
$GC,617,-1.29,-146.6,86.2,-14.2,28,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2401,3418
$GC,925,-1.29,-146.6,129.9,-14.0,43,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2401,3418
$GC,1233,-1.29,-146.6,173.6,-14.1,58,1238,0.00,2.55,0.00,0.000,4,0.000,0.068,2123,3765,3418
$GC,1310,-1.29,-146.6,185.4,-15.2,61,1318,0.00,2.47,0.00,0.000,6,0.000,0.047,2123,2408,3418
$GC,1626,-1.29,-146.6,228.1,-13.4,77,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2408,3418
$GC,1935,-1.29,-146.6,269.7,-13.2,92,1939,0.00,2.55,0.00,0.000,4,0.000,0.070,2123,3766,3418
$GC,1989,-1.29,-146.6,277.4,-13.9,94,1997,0.00,2.47,0.00,0.000,6,0.000,0.048,2123,2405,3418
$GC,2305,-1.29,-146.6,320.2,-13.5,110,2309,0.00,2.55,0.00,0.000,4,0.000,0.070,2123,3765,3418
$GC,2370,-1.29,-146.6,329.7,-14.8,113,2376,0.00,2.47,0.00,0.000,6,0.000,0.048,2124,2407,3418
$GC,2697,-1.29,-146.6,373.4,-13.4,129,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2407,3419
$GC,3007,-1.29,-146.6,414.3,-13.1,144,3011,0.00,2.53,0.00,0.000,4,0.000,0.071,2123,3765,3419
$GC,3083,-1.29,-146.6,424.8,-13.3,147,3092,0.00,2.47,0.00,0.000,6,0.000,0.048,2123,2405,3418
$GC,3406,-1.29,-146.6,467.5,-13.2,163,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2405,3419
$GC,3716,-1.29,-146.6,506.9,-12.5,178,3720,0.00,2.55,0.00,0.000,4,0.000,0.071,2123,3769,3419
$GC,3803,-1.29,-146.6,518.7,-12.9,182,3808,0.00,2.50,0.00,0.000,6,0.000,0.049,2123,2398,3419
$GC,4130,-1.29,-146.6,559.8,-13.0,198,4134,0.00,2.55,0.00,0.000,4,0.000,0.071,2123,3763,3419
$GC,4218,-1.29,-146.6,572.6,-15.2,202,4223,0.00,2.47,0.00,0.000,6,0.000,0.049,2123,2403,3420
$GC,4545,-1.29,-146.6,617.6,-13.3,218,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2403,3419
$GC,4854,-1.29,-146.6,656.5,-11.8,233,4858,0.00,2.55,0.00,0.000,4,0.000,0.071,2123,3763,3419
$GC,5010,-1.29,-146.6,676.0,-12.4,240,5015,0.00,2.47,0.00,0.000,6,0.000,0.050,2123,2404,3419
$GC,5337,-1.29,-146.6,712.7,-11.9,256,5341,0.00,2.62,0.00,0.000,4,0.000,0.066,2123,980,3420
$GC,5458,-1.29,-146.6,729.1,-13.3,261,5465,0.00,2.60,0.00,0.000,6,0.000,0.052,2123,2395,3420
$GC,5773,-1.29,-146.6,764.2,-10.1,277,5777,0.00,2.60,0.00,0.000,4,0.000,0.079,2123,3769,3421
$GC,6018,-1.29,-146.6,798.7,-15.5,288,6023,0.00,2.53,0.00,0.000,6,0.000,0.056,2123,2402,3420
$GC,6345,-1.29,-146.6,846.8,-15.3,304,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2402,3420
$STATE,6406,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6406,begin apogee
$GC,6410,-0.31,0.0,850.9,5.7,307,6536,1.10,0.00,123.22,1.272,6,0.123,0.000,2337,2196,2817
$STATE,6537,end apogee,CONTROL_FINISHED_OK
$STATE,6537,begin climb
$GC,6538,1.29,146.6,856.1,0.0,313,6669,1.67,2.83,120.32,1.262,4,0.084,0.083,2687,3614,2219
$GC,6920,1.29,146.6,821.1,10.1,330,6928,0.00,2.70,0.00,0.000,6,0.000,0.064,2687,2200,2218
$GC,7236,1.29,146.6,786.7,12.7,346,7240,0.00,2.72,0.00,0.000,4,0.000,0.081,2687,3609,2216
$GC,7396,1.29,146.6,767.9,15.1,353,7401,0.00,2.67,0.00,0.000,6,0.000,0.067,2687,2207,2216
$GC,7717,1.30,151.3,733.4,9.8,369,7724,0.00,0.00,4.38,0.815,6,0.000,0.000,2688,2207,2200
$GC,8027,1.30,157.9,704.3,9.7,384,8040,0.00,2.75,6.70,0.971,4,0.000,0.073,2688,787,2173
$GC,8107,1.30,157.9,694.7,11.8,387,8115,0.00,2.62,0.00,0.000,6,0.000,0.052,2688,2195,2172
$GC,8423,1.31,168.3,661.4,9.5,403,8438,0.00,2.72,9.62,1.034,4,0.000,0.074,2687,3612,2132
$GC,8520,1.31,168.3,651.3,11.0,406,8528,0.00,2.62,0.00,0.000,6,0.000,0.055,2688,2205,2132
$GC,8836,1.32,176.6,621.1,9.6,422,8846,0.00,0.00,8.55,0.977,6,0.000,0.000,2688,2205,2096
$GC,9145,1.33,178.4,591.1,9.9,437,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2205,2096
$GC,9454,1.33,178.4,559.2,10.2,452,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2205,2096
$GC,9764,1.34,191.1,529.5,9.4,467,9785,0.00,2.70,13.48,0.973,4,0.000,0.067,2688,3611,2037
$GC,9812,1.34,191.1,524.7,10.4,469,9817,0.00,2.62,0.00,0.000,6,0.000,0.053,2687,2200,2037
$GC,10138,1.34,191.1,489.4,11.0,485,10143,0.00,2.62,0.00,0.000,4,0.000,0.067,2688,3611,2037
$GC,10177,1.34,191.1,484.9,12.2,486,10184,0.00,2.58,0.00,0.000,6,0.000,0.054,2687,2200,2037
$GC,10492,1.34,191.1,451.5,10.6,502,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2200,2037
$GC,10801,1.34,191.1,418.0,11.2,517,10802,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2200,2039
$GC,11110,1.34,191.1,384.3,10.6,532,11114,0.00,2.65,0.00,0.000,4,0.000,0.067,2687,3619,2039
$GC,11187,1.34,191.1,375.2,11.7,535,11195,0.00,2.62,0.00,0.000,6,0.000,0.055,2688,2203,2039
$GC,11503,1.34,191.1,340.8,10.8,551,11507,0.00,2.65,0.00,0.000,4,0.000,0.068,2688,3620,2039
$GC,11541,1.34,191.1,336.3,11.4,553,11545,0.00,2.60,0.00,0.000,6,0.000,0.057,2688,2200,2039
$GC,11872,1.34,191.1,300.8,10.5,569,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2200,2040
$GC,12181,1.34,191.1,267.8,10.6,584,12185,0.00,2.65,0.00,0.000,4,0.000,0.068,2688,3618,2041
$GC,12287,1.34,191.1,255.4,11.9,589,12291,0.00,2.60,0.00,0.000,6,0.000,0.057,2688,2200,2041
$GC,12619,1.34,191.1,219.0,10.8,605,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2200,2042
$GC,12928,1.34,191.1,186.4,10.5,620,12929,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2200,2042
$GC,13237,1.34,191.1,154.3,10.1,635,13238,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2200,2042
$GC,13547,1.36,207.6,125.0,9.2,650,13568,0.00,0.00,15.55,0.716,6,0.000,0.000,2688,2200,1969
$GC,13877,1.36,207.6,91.6,10.5,666,13879,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2200,1969
$GC,14186,1.36,214.3,59.8,9.7,681,14194,0.00,0.00,6.62,0.597,6,0.000,0.000,2687,2200,1943
$GC,14496,1.36,214.3,27.8,10.2,696,14497,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2200,1943
$STATE,14720,end climb,SURFACE_DEPTH_REACHED
$STATE,14720,begin surface coast
$FINISH,0.8,1.014012
$STATE,14742,end surface coast,CONTROL_FINISHED_OK
$STATE,14742,begin surface
$SM_CCo,14760,49.55,0.634,2,0,1594,300.00
$SM_GC,1.79,0.00,0.00,49.55,0.000,0.000,0.634,73,2401,1594,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2085
$TCM_TEMP,16.40
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,775.3,85.1
$24V_AH,23.4,8.801
$10V_AH,10.1,3.499
$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,25.725,99.300,308.450,49.550,0.000,98.188,206.562,386.517,16.750,0.000,0.000,31.793,1317.991,11458.419,512.924,1679.306,772.355,33.354,1318.765,0.000,1617.637,0.000,49.176
$DEVICE_MAMPS,172.575,82.836,1272.453,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.201,504.073,409.461,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34803,708
$CFSIZE,260165632,257667072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,151107,062107,6131.915,-835.385,42,1.7,53,-9.0