version: 66.02
glider: 16
mission: 6
dive: 3
start: 11 13 107 13 1 57
data:
$ID,16
$MISSION,6
$DIVE,3
$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,-3
$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,-2074792.9
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,23
$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
$GPS1,125732,6137.785,-903.234,12,1.3,12,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.8
$GPS2,130021,6137.773,-903.215,14,1.3,14,-9.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.242,-0.104
$KALMAN_X,100.9,196.0,146.6,1684.5,33.7
$KALMAN_Y,-2.4,-4.9,-3.6,-782.9,-0.9
$MHEAD_RNG_PITCHd_Wd,122.6,36710,-18.1,-10.000
$D_GRID,811
$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,-146.6,0.0,0.0,0,59,0.00,0.00,-37.75,0.000,6,0.000,0.000,71,2205,2524
$GC,61,-1.29,-146.6,2.2,-3.8,2,84,11.38,2.60,-5.43,0.000,4,0.172,0.068,2123,786,2681
$GC,207,-1.29,-146.6,7.8,-2.8,8,229,0.00,2.53,-17.35,0.000,6,0.000,0.073,2123,2200,3416
$GC,544,-1.29,-146.6,48.6,-13.8,25,548,0.00,2.58,0.00,0.000,4,0.000,0.056,2123,785,3416
$GC,687,-1.29,-146.6,67.2,-13.0,31,695,0.00,2.55,0.00,0.000,6,0.000,0.043,2123,2197,3415
$GC,1003,-1.29,-146.6,110.0,-13.9,47,1007,0.00,2.58,0.00,0.000,4,0.000,0.064,2123,3610,3414
$GC,1176,-1.29,-146.6,134.8,-13.3,55,1180,0.00,2.50,0.00,0.000,6,0.000,0.046,2123,2200,3413
$GC,1501,-1.29,-146.6,178.6,-14.1,71,1505,0.00,2.58,0.00,0.000,4,0.000,0.062,2123,3609,3413
$GC,1667,-1.29,-146.6,202.7,-13.6,78,1674,0.00,2.55,0.00,0.000,6,0.000,0.046,2123,2196,3413
$GC,1982,-1.29,-146.6,248.6,-14.9,94,1986,0.00,2.58,0.00,0.000,4,0.000,0.063,2123,3610,3413
$GC,2138,-1.29,-146.6,272.5,-14.5,101,2143,0.00,2.55,0.00,0.000,6,0.000,0.047,2123,2196,3413
$GC,2464,-1.29,-146.6,316.6,-13.6,117,2469,0.00,2.60,0.00,0.000,4,0.000,0.064,2123,3613,3413
$GC,2571,-1.29,-146.6,331.4,-14.0,122,2576,0.00,2.53,0.00,0.000,6,0.000,0.047,2123,2194,3413
$GC,2897,-1.29,-146.6,375.7,-13.6,138,2902,0.00,2.58,0.00,0.000,4,0.000,0.064,2123,3610,3413
$GC,3053,-1.29,-146.6,397.8,-13.5,145,3058,0.00,2.55,0.00,0.000,6,0.000,0.048,2123,2199,3413
$GC,3380,-1.29,-146.6,442.4,-14.1,161,3384,0.00,2.60,0.00,0.000,4,0.000,0.065,2123,3617,3413
$GC,3540,-1.29,-146.6,465.2,-14.2,168,3545,0.00,2.55,0.00,0.000,6,0.000,0.048,2123,2200,3413
$GC,3861,-1.29,-146.6,505.4,-11.8,184,3865,0.00,2.58,0.00,0.000,4,0.000,0.065,2123,3610,3413
$GC,3990,-1.29,-146.6,521.7,-12.7,190,3994,0.00,2.50,0.00,0.000,6,0.000,0.048,2123,2198,3413
$GC,4321,-1.29,-146.6,563.3,-13.5,206,4326,0.00,2.58,0.00,0.000,4,0.000,0.065,2123,3615,3413
$GC,4562,-1.29,-146.6,595.1,-13.1,217,4566,0.00,2.53,0.00,0.000,6,0.000,0.049,2123,2198,3413
$GC,4893,-1.29,-146.6,637.2,-13.1,233,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2198,3413
$GC,5202,-1.29,-146.6,673.5,-11.7,248,5207,0.00,2.60,0.00,0.000,4,0.000,0.067,2123,3612,3413
$GC,5436,-1.29,-146.6,703.1,-13.2,258,5443,0.00,2.55,0.00,0.000,6,0.000,0.050,2123,2200,3413
$GC,5752,-1.29,-146.6,734.8,-10.1,274,5756,0.00,2.58,0.00,0.000,4,0.000,0.069,2123,3609,3413
$GC,5980,-1.29,-146.6,761.3,-12.7,284,5985,0.00,2.58,0.00,0.000,6,0.000,0.054,2123,2199,3413
$GC,6307,-1.29,-146.6,797.1,-9.2,300,6312,0.00,2.65,0.00,0.000,4,0.000,0.079,2123,3606,3413
$STATE,6422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6422,begin apogee
$GC,6428,-0.31,0.0,811.3,10.8,305,6552,1.05,0.00,119.88,1.259,6,0.114,0.000,2335,2197,2817
$STATE,6553,end apogee,CONTROL_FINISHED_OK
$STATE,6553,begin climb
$GC,6554,1.29,146.6,816.2,0.0,311,6678,1.67,0.00,118.85,1.239,6,0.080,0.000,2687,2197,2218
$GC,6984,1.31,164.4,778.0,9.2,332,7005,0.00,0.00,15.77,1.116,6,0.000,0.000,2687,2197,2146
$GC,7314,1.31,164.4,743.9,10.1,348,7318,0.00,2.70,0.00,0.000,4,0.000,0.081,2686,3610,2145
$GC,7480,1.31,164.4,725.0,10.7,355,7487,0.00,2.65,0.00,0.000,6,0.000,0.062,2687,2204,2145
$GC,7796,1.31,165.0,691.1,10.0,371,7800,0.00,2.67,0.00,0.000,4,0.000,0.077,2687,3611,2143
$GC,7907,1.31,165.0,678.7,12.4,376,7911,0.00,2.60,0.00,0.000,6,0.000,0.058,2687,2199,2143
$GC,8226,1.36,213.0,648.6,7.8,392,8268,0.00,0.00,39.12,1.157,6,0.000,0.000,2687,2199,1948
$GC,8575,1.36,213.0,614.3,10.1,409,8579,0.00,2.62,0.00,0.000,4,0.000,0.068,2687,787,1948
$GC,8607,1.36,213.0,610.8,10.8,410,8612,0.00,2.58,0.00,0.000,6,0.000,0.046,2687,2192,1948
$GC,8929,1.36,213.0,576.9,10.8,426,8933,0.00,2.62,0.00,0.000,4,0.000,0.067,2687,3608,1948
$GC,8960,1.36,213.0,573.4,10.8,427,8967,0.00,2.60,0.00,0.000,6,0.000,0.051,2687,2198,1948
$GC,9275,1.36,213.0,541.2,10.0,443,9280,0.00,2.60,0.00,0.000,4,0.000,0.064,2687,787,1949
$GC,9302,1.36,213.0,538.3,10.5,444,9307,0.00,2.58,0.00,0.000,6,0.000,0.044,2687,2204,1949
$GC,9623,1.38,230.7,508.4,9.2,460,9645,0.10,0.00,16.38,0.979,6,0.057,0.000,2719,2204,1876
$GC,9952,1.38,230.7,468.9,11.7,476,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2204,1876
$GC,10262,1.38,230.7,431.7,12.4,491,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2204,1877
$GC,10571,1.38,230.7,395.6,11.3,506,10575,0.00,2.60,0.00,0.000,4,0.000,0.061,2719,782,1877
$GC,10596,1.38,230.7,392.3,12.4,507,10602,0.00,2.55,0.00,0.000,6,0.000,0.041,2719,2196,1878
$GC,10917,1.38,230.7,355.6,11.5,523,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2197,1878
$GC,11227,1.38,230.7,320.1,12.0,538,11231,0.00,2.58,0.00,0.000,4,0.000,0.062,2721,3610,1879
$GC,11265,1.38,230.7,315.0,14.0,540,11269,0.00,2.55,0.00,0.000,6,0.000,0.050,2719,2192,1879
$GC,11597,1.38,230.7,274.4,11.1,556,11601,0.00,2.60,0.00,0.000,4,0.000,0.062,2719,3616,1880
$GC,11629,1.38,230.7,270.5,11.6,557,11636,0.00,2.58,0.00,0.000,6,0.000,0.050,2719,2200,1880
$GC,11944,1.38,230.7,234.3,12.5,573,11948,0.00,2.55,0.00,0.000,4,0.000,0.062,2719,786,1881
$GC,11976,1.38,230.7,230.0,13.3,574,11981,0.00,2.53,0.00,0.000,6,0.000,0.041,2719,2195,1881
$GC,12297,1.38,230.7,187.2,13.4,590,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2195,1882
$GC,12607,1.38,230.7,146.7,12.3,605,12608,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2195,1882
$GC,12916,1.38,230.7,106.1,13.5,620,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2195,1883
$GC,13225,1.38,230.7,63.2,14.3,635,13230,0.00,2.58,0.00,0.000,4,0.000,0.058,2719,779,1883
$GC,13264,1.38,230.7,57.7,13.8,637,13269,0.00,2.53,0.00,0.000,6,0.000,0.041,2719,2208,1883
$GC,13590,1.38,230.7,13.3,12.8,653,13591,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2208,1884
$STATE,13692,end climb,SURFACE_DEPTH_REACHED
$STATE,13692,begin surface coast
$FINISH,0.6,1.027290
$STATE,13714,end surface coast,CONTROL_FINISHED_OK
$STATE,13714,begin surface
$SM_CCo,13731,38.05,0.673,0,0,1594,300.00
$SM_GC,1.88,0.00,0.00,38.05,0.000,0.000,0.673,72,2208,1594,-10.75,0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2195
$TCM_TEMP,17.30
$XPDR_PINGS,65
$ALTIM_BOTTOM_PING,750.4,96.1
$24V_AH,23.5,7.522
$10V_AH,10.1,2.868
$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,25.650,118.575,310.000,38.050,0.000,0.000,0.000,0.000,22.750,0.000,0.000,14.252,1285.837,10306.460,480.519,1718.626,92.057,31.420,1314.824,0.000,1671.583,0.000,44.614
$DEVICE_MAMPS,171.808,80.535,1259.414,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.836,464.320,385.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31707,659
$CFSIZE,260165632,258097152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131107,165258,6135.881,-859.410,39,5.7,58,-9.2