version: 66.02
glider: 16
mission: 6
dive: 15
start: 11 15 107 14 7 27
data:
$ID,16
$MISSION,6
$DIVE,15
$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,-2075136.8
$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,15
$R_STBD_OVSHOOT,26
$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
$GPS1,140138,6131.120,-830.254,35,1.8,35,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-60.9
$GPS2,140637,6131.062,-830.198,35,1.7,45,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.120,-0.235
$KALMAN_X,467.8,-603.7,-46.4,31357.6,-730.1
$KALMAN_Y,29111.8,-553.3,-507.8,-41245.7,8411.6
$MHEAD_RNG_PITCHd_Wd,162.0,4997,-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,15,begin dive
$GC,16,-1.29,-146.6,0.0,0.0,0,80,0.00,0.00,-62.17,0.000,2,0.000,0.000,73,2411,3240
$GC,82,-1.29,-146.6,4.5,-7.0,3,105,11.57,2.53,-3.70,0.000,4,0.173,0.078,2125,3763,3417
$GC,329,-1.29,-146.6,45.7,-14.6,14,333,0.00,2.45,0.00,0.000,6,0.000,0.044,2125,2396,3417
$GC,654,-1.29,-146.6,89.0,-13.7,30,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2395,3417
$GC,964,-1.29,-146.6,130.6,-13.2,45,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2395,3417
$GC,1272,-1.29,-146.6,170.5,-12.8,60,1276,0.00,2.55,0.00,0.000,4,0.000,0.067,2125,3763,3417
$GC,1327,-1.29,-146.6,177.7,-12.6,62,1334,0.00,2.47,0.00,0.000,6,0.000,0.045,2125,2401,3417
$GC,1642,-1.29,-146.6,218.4,-13.0,78,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2401,3417
$GC,1951,-1.29,-146.6,258.1,-12.7,93,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2401,3417
$GC,2261,-1.29,-146.6,298.4,-13.0,108,2265,0.00,2.53,0.00,0.000,4,0.000,0.068,2125,3758,3417
$GC,2376,-1.29,-146.6,314.3,-13.3,113,2381,0.00,2.45,0.00,0.000,6,0.000,0.047,2125,2408,3417
$GC,2697,-1.29,-146.6,356.3,-12.9,129,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2408,3417
$GC,3007,-1.29,-146.6,395.2,-12.4,144,3011,0.00,2.53,0.00,0.000,4,0.000,0.069,2125,3760,3417
$GC,3055,-1.29,-146.6,401.6,-12.8,146,3060,0.00,2.47,0.00,0.000,6,0.000,0.047,2125,2397,3417
$GC,3376,-1.29,-146.6,440.8,-12.0,162,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2396,3417
$GC,3686,-1.29,-146.6,476.8,-11.8,177,3690,0.00,2.55,0.00,0.000,4,0.000,0.069,2125,3764,3417
$GC,3802,-1.29,-146.6,491.2,-12.1,182,3806,0.00,2.47,0.00,0.000,6,0.000,0.046,2125,2397,3417
$GC,4122,-1.29,-146.6,529.4,-11.1,198,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2397,3417
$GC,4432,-1.29,-146.6,568.7,-13.9,213,4436,0.00,2.53,0.00,0.000,4,0.000,0.069,2125,3759,3417
$GC,4547,-1.29,-146.6,584.3,-13.3,218,4552,0.00,2.45,0.00,0.000,6,0.000,0.046,2125,2404,3417
$GC,4874,-1.29,-146.6,624.7,-13.1,234,4879,0.00,2.60,0.00,0.000,4,0.000,0.063,2125,988,3417
$GC,4934,-1.29,-146.6,632.1,-13.2,236,4941,0.00,2.55,0.00,0.000,6,0.000,0.049,2125,2393,3417
$GC,5249,-1.29,-146.6,667.7,-9.4,252,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2393,3418
$GC,5559,-1.29,-146.6,698.4,-9.0,267,5563,0.00,2.60,0.00,0.000,4,0.000,0.065,2125,988,3418
$GC,5814,-1.29,-146.6,728.4,-11.6,278,5821,0.00,2.60,0.00,0.000,6,0.000,0.055,2125,2397,3418
$GC,6130,-1.29,-146.6,762.6,-12.1,294,6134,0.00,2.62,0.00,0.000,4,0.000,0.070,2125,990,3419
$GC,6168,-1.29,-146.6,767.8,-14.5,296,6172,0.00,2.62,0.00,0.000,6,0.000,0.063,2125,2404,3419
$GC,6493,-1.29,-146.6,812.0,-13.3,312,6497,0.00,2.65,0.00,0.000,4,0.000,0.093,2125,3767,3418
$GC,6525,-1.29,-146.6,814.9,-7.4,313,6530,0.00,2.55,0.00,0.000,6,0.000,0.064,2125,2413,3418
$GC,6846,-1.29,-146.6,830.1,-1.9,329,6850,0.00,2.62,0.00,0.000,4,0.000,0.091,2125,3765,3415
$STATE,6966,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6966,begin apogee
$GC,6973,-0.31,0.0,846.6,16.5,334,7100,1.08,0.00,122.22,1.322,6,0.121,0.000,2336,2196,2817
$STATE,7100,end apogee,CONTROL_FINISHED_OK
$STATE,7100,begin climb
$GC,7102,1.29,146.6,851.7,0.0,341,7233,1.67,2.80,120.82,1.276,4,0.083,0.081,2687,789,2219
$GC,7484,1.29,146.6,813.5,15.4,358,7491,0.00,2.67,0.00,0.000,6,0.000,0.059,2687,2200,2217
$GC,7800,1.29,146.6,766.7,12.8,374,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,2216
$GC,8109,1.29,146.6,735.6,10.9,389,8113,0.00,2.70,0.00,0.000,4,0.000,0.079,2687,787,2215
$GC,8146,1.29,146.6,731.3,10.6,390,8154,0.00,2.65,0.00,0.000,6,0.000,0.058,2687,2193,2215
$GC,8463,1.34,191.6,703.7,8.0,406,8503,0.00,0.00,36.78,1.213,6,0.000,0.000,2687,2193,2035
$GC,8811,1.34,191.6,666.8,11.2,423,8815,0.00,2.67,0.00,0.000,4,0.000,0.075,2687,786,2033
$GC,8849,1.34,191.6,662.5,11.0,424,8856,0.00,2.65,0.00,0.000,6,0.000,0.056,2687,2196,2032
$GC,9164,1.34,191.6,624.3,13.4,440,9169,0.00,2.67,0.00,0.000,4,0.000,0.071,2687,784,2030
$GC,9236,1.34,191.6,614.3,15.2,443,9241,0.00,2.62,0.00,0.000,6,0.000,0.052,2687,2197,2030
$GC,9557,1.34,191.6,576.6,11.8,459,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,2029
$GC,9866,1.36,206.4,542.5,9.3,474,9888,0.00,2.72,12.40,1.009,4,0.000,0.064,2687,782,1974
$GC,9925,1.36,206.4,535.8,12.5,476,9932,0.00,2.62,0.00,0.000,6,0.000,0.046,2687,2201,1974
$GC,10241,1.36,206.4,501.4,10.6,492,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,1974
$GC,10550,1.36,206.4,467.7,10.7,507,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,1975
$GC,10859,1.36,206.4,434.4,11.0,522,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,1976
$GC,11169,1.36,206.4,400.8,11.2,537,11173,0.00,2.62,0.00,0.000,4,0.000,0.067,2688,3614,1977
$GC,11200,1.36,206.4,396.6,12.8,538,11206,0.00,2.62,0.00,0.000,6,0.000,0.053,2687,2197,1977
$GC,11522,1.36,206.4,356.4,12.7,554,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2197,1978
$GC,11831,1.36,206.4,317.9,12.1,569,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2197,1980
$GC,12140,1.36,206.4,282.1,11.0,584,12144,0.00,2.62,0.00,0.000,4,0.000,0.065,2687,3612,1980
$GC,12172,1.36,206.4,278.3,12.0,585,12180,0.00,2.58,0.00,0.000,6,0.000,0.051,2687,2206,1980
$GC,12488,1.36,206.4,244.3,11.0,601,12492,0.00,2.62,0.00,0.000,4,0.000,0.066,2687,3618,1981
$GC,12530,1.36,206.4,239.1,12.8,603,12535,0.00,2.60,0.00,0.000,6,0.000,0.051,2687,2204,1982
$GC,12857,1.36,206.4,200.1,12.5,619,12858,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2204,1983
$GC,13166,1.36,206.4,161.3,12.4,634,13171,0.00,2.62,0.00,0.000,4,0.000,0.066,2687,3620,1983
$GC,13205,1.36,206.4,156.5,12.7,636,13210,0.00,2.58,0.00,0.000,6,0.000,0.052,2687,2199,1983
$GC,13531,1.36,206.4,117.5,11.9,652,13532,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2199,1983
$GC,13840,1.36,206.4,81.8,11.3,667,13849,0.00,2.65,3.78,0.478,4,0.000,0.064,2687,788,1975
$GC,13884,1.36,206.4,76.4,12.8,669,13888,0.00,2.55,0.00,0.000,6,0.000,0.044,2687,2210,1975
$GC,14209,1.36,208.7,40.5,9.9,685,14218,0.00,2.62,3.58,0.451,4,0.000,0.065,2688,3608,1966
$GC,14235,1.36,208.7,37.2,13.4,686,14240,0.00,2.60,0.00,0.000,6,0.000,0.053,2687,2197,1966
$STATE,14540,end climb,SURFACE_DEPTH_REACHED
$STATE,14540,begin surface coast
$FINISH,0.8,1.027141
$STATE,14562,end surface coast,CONTROL_FINISHED_OK
$STATE,14562,begin surface
$SM_CCo,14580,52.88,0.641,2,0,1594,300.00
$SM_GC,1.71,0.00,0.00,52.88,0.000,0.000,0.641,70,2405,1594,-10.76,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2094
$TCM_TEMP,16.20
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,750.7,105.4
$24V_AH,23.4,9.195
$10V_AH,10.1,3.691
$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,25.600,114.825,299.575,52.875,0.000,32.653,38.966,122.420,15.250,0.000,0.000,45.833,1300.408,11233.308,505.409,1643.513,268.826,33.361,1301.908,0.000,1573.302,0.000,44.640
$DEVICE_MAMPS,173.342,92.807,1322.308,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.413,494.134,400.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34767,702
$CFSIZE,260165632,257531904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,151107,181238,6130.184,-829.486,35,1.9,35,-8.9