version: 66.02
glider: 16
mission: 6
dive: 16
start: 11 15 107 18 18 19
data:
$ID,16
$MISSION,6
$DIVE,16
$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,-2075171.8
$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,17
$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
$GPS1,181238,6130.184,-829.486,35,1.9,35,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.5
$GPS2,181729,6130.124,-829.418,14,2.1,33,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.133,-0.228
$KALMAN_X,-1080.6,-754.4,-96.9,33801.4,-564.4
$KALMAN_Y,31349.7,-51.5,-755.2,-45473.5,7349.2
$MHEAD_RNG_PITCHd_Wd,158.6,3911,-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,-62.33,0.000,2,0.000,0.000,69,2405,3264
$GC,82,-1.29,-146.6,4.8,-7.8,3,105,11.57,2.55,-3.12,0.000,4,0.173,0.079,2122,3765,3418
$GC,356,-1.29,-146.6,52.1,-15.3,15,360,0.00,2.50,0.00,0.000,6,0.000,0.047,2122,2399,3419
$GC,683,-1.29,-146.6,100.4,-15.3,31,687,0.00,2.58,0.00,0.000,4,0.000,0.068,2122,3769,3419
$GC,753,-1.29,-146.6,111.1,-15.4,34,758,0.00,2.50,0.00,0.000,6,0.000,0.047,2122,2400,3419
$GC,1074,-1.29,-146.6,159.0,-15.0,50,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2400,3419
$GC,1383,-1.29,-146.6,206.4,-15.2,65,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2400,3419
$GC,1694,-1.29,-146.6,252.1,-14.5,80,1698,0.00,2.55,0.00,0.000,4,0.000,0.070,2122,3763,3419
$GC,1769,-1.29,-146.6,263.3,-14.8,83,1777,0.00,2.47,0.00,0.000,6,0.000,0.047,2122,2402,3419
$GC,2085,-1.29,-146.6,306.4,-13.4,99,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2404,3419
$GC,2394,-1.29,-146.6,347.7,-13.0,114,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2404,3420
$GC,2703,-1.29,-146.6,388.0,-13.4,129,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2404,3420
$GC,3013,-1.29,-146.6,428.6,-13.1,144,3017,0.00,2.55,0.00,0.000,4,0.000,0.070,2122,3765,3420
$GC,3079,-1.29,-146.6,437.6,-13.6,147,3083,0.00,2.45,0.00,0.000,6,0.000,0.048,2122,2401,3419
$GC,3410,-1.29,-146.6,481.4,-13.6,163,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2401,3420
$GC,3719,-1.29,-146.6,522.9,-13.2,178,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2401,3419
$GC,4029,-1.29,-146.6,562.0,-12.1,193,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2401,3420
$GC,4338,-1.29,-146.6,603.1,-13.6,208,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2401,3420
$GC,4647,-1.29,-146.6,646.2,-14.0,223,4651,0.00,2.60,0.00,0.000,4,0.000,0.062,2122,985,3420
$GC,4843,-1.29,-146.6,672.2,-14.9,232,4847,0.00,2.55,0.00,0.000,6,0.000,0.049,2122,2400,3421
$GC,5174,-1.29,-146.6,716.2,-11.4,248,5179,0.00,2.60,0.00,0.000,4,0.000,0.064,2121,989,3421
$GC,5240,-1.29,-146.6,723.0,-9.9,251,5245,0.00,2.58,0.00,0.000,6,0.000,0.054,2122,2397,3421
$GC,5567,-1.29,-146.6,758.2,-11.7,267,5571,0.00,2.60,0.00,0.000,4,0.000,0.082,2122,3764,3422
$GC,5632,-1.29,-146.6,766.7,-13.8,270,5638,0.00,2.53,0.00,0.000,6,0.000,0.058,2122,2403,3422
$GC,5960,-1.29,-146.6,800.3,-11.5,286,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2404,3421
$GC,6269,-1.29,-146.6,841.4,-13.5,301,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2403,3419
$STATE,6329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6329,begin apogee
$GC,6333,-0.31,0.0,845.0,6.3,304,6460,1.12,0.00,123.12,1.296,6,0.132,0.000,2337,2195,2817
$STATE,6461,end apogee,CONTROL_FINISHED_OK
$STATE,6461,begin climb
$GC,6462,1.29,146.6,843.1,0.0,310,6588,1.75,0.00,120.85,1.263,6,0.092,0.000,2690,2196,2219
$GC,6882,1.29,146.6,796.3,20.6,331,6886,0.00,2.75,0.00,0.000,4,0.000,0.084,2690,3613,2217
$GC,7137,1.29,146.6,768.4,14.2,342,7145,0.00,2.67,0.00,0.000,6,0.000,0.063,2690,2203,2215
$GC,7453,1.36,209.4,745.6,7.1,358,7510,0.00,2.80,50.72,1.226,4,0.000,0.082,2690,3616,1963
$GC,7604,1.36,209.4,732.1,11.5,364,7609,0.00,2.70,0.00,0.000,6,0.000,0.064,2690,2203,1962
$GC,7930,1.36,209.4,694.3,11.1,380,7935,0.00,2.72,0.00,0.000,4,0.000,0.081,2690,786,1960
$GC,7962,1.36,209.4,690.3,13.0,381,7969,0.00,2.65,0.00,0.000,6,0.000,0.056,2690,2196,1959
$GC,8278,1.36,209.4,653.5,11.2,397,8282,0.00,2.67,0.00,0.000,4,0.000,0.072,2690,782,1958
$GC,8320,1.36,209.4,648.4,13.0,399,8325,0.00,2.65,0.00,0.000,6,0.000,0.054,2690,2202,1957
$GC,8647,1.36,209.4,602.4,14.1,415,8651,0.00,2.67,0.00,0.000,4,0.000,0.075,2690,3616,1956
$GC,8673,1.36,209.4,599.3,11.6,416,8678,0.00,2.65,0.00,0.000,6,0.000,0.058,2690,2200,1956
$GC,8994,1.36,209.4,562.6,13.2,432,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2197,1955
$GC,9304,1.36,209.4,527.7,11.7,447,9308,0.00,2.65,0.00,0.000,4,0.000,0.067,2690,785,1955
$GC,9357,1.36,209.4,520.9,13.4,449,9365,0.00,2.60,0.00,0.000,6,0.000,0.046,2690,2204,1955
$GC,9673,1.36,209.4,481.9,12.7,465,9677,0.00,2.65,0.00,0.000,4,0.000,0.064,2690,776,1955
$GC,9699,1.36,209.4,478.1,14.2,466,9704,0.00,2.60,0.00,0.000,6,0.000,0.044,2690,2201,1955
$GC,10026,1.36,209.4,436.7,12.5,482,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2201,1957
$GC,10335,1.36,209.4,397.3,12.9,497,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2201,1957
$GC,10645,1.36,209.4,356.8,12.6,512,10649,0.00,2.60,0.00,0.000,4,0.000,0.065,2690,3609,1958
$GC,10698,1.36,209.4,349.3,12.6,514,10706,0.00,2.58,0.00,0.000,6,0.000,0.051,2690,2204,1958
$GC,11014,1.36,209.4,309.1,12.4,530,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2205,1960
$GC,11323,1.36,209.4,271.0,12.5,545,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2204,1961
$GC,11632,1.36,209.4,231.8,12.5,560,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2205,1961
$GC,11942,1.36,209.4,194.5,12.1,575,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2205,1963
$GC,12251,1.36,209.4,157.6,11.5,590,12252,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2205,1963
$GC,12561,1.36,209.4,123.3,11.0,605,12565,0.00,2.62,0.00,0.000,4,0.000,0.062,2690,779,1964
$GC,12592,1.36,209.4,119.5,11.5,606,12599,0.00,2.55,0.00,0.000,6,0.000,0.042,2690,2192,1963
$GC,12909,1.36,209.4,84.9,10.9,622,12913,0.00,2.62,0.00,0.000,4,0.000,0.064,2690,3616,1964
$GC,12940,1.36,209.4,80.8,12.2,623,12948,0.00,2.60,0.00,0.000,6,0.000,0.051,2690,2202,1964
$GC,13256,1.36,209.4,44.4,11.7,639,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2202,1965
$GC,13565,1.36,209.4,8.7,11.9,654,13566,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2201,1965
$STATE,13626,end climb,SURFACE_DEPTH_REACHED
$STATE,13626,begin surface coast
$FINISH,0.9,1.013778
$STATE,13648,end surface coast,CONTROL_FINISHED_OK
$STATE,13648,begin surface
$SM_CCo,13666,50.67,0.673,0,0,1594,300.00
$SM_GC,1.48,0.00,0.00,50.67,0.000,0.000,0.673,74,2406,1594,-10.75,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2106
$TCM_TEMP,16.30
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,776.4,78.2
$24V_AH,23.4,9.323
$10V_AH,10.1,3.754
$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,25.800,89.400,294.700,50.675,0.000,32.588,38.458,124.048,15.750,0.000,0.000,34.416,1208.491,10593.607,464.133,1483.969,265.117,33.359,1184.406,0.000,1427.178,0.000,46.181
$DEVICE_MAMPS,172.575,83.603,1296.230,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.065,459.744,380.148,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31743,658
$CFSIZE,260165632,257495040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,151107,220828,6129.840,-827.984,40,3.9,59,-8.9