version: 66.02
glider: 16
mission: 6
dive: 6
start: 11 14 107 1 13 46
data:
$ID,16
$MISSION,6
$DIVE,6
$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,400
$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,-2074901.9
$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,16
$R_STBD_OVSHOOT,21
$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
$GPS1,010457,6134.580,-847.279,31,7.9,50,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-58.7
$GPS2,011208,6134.582,-847.121,42,1.1,42,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.256,-0.061
$KALMAN_X,4147.2,968.3,655.3,10514.3,723.8
$KALMAN_Y,-859.0,779.5,657.3,-7279.2,-1075.9
$MHEAD_RNG_PITCHd_Wd,112.5,21311,-18.1,-10.000
$D_GRID,753
$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,16,-1.29,-146.6,0.0,0.0,0,121,0.00,0.00,-102.32,0.000,2,0.000,0.000,65,2198,3206
$GC,123,-1.29,-146.6,3.9,-3.0,5,145,11.48,2.62,-4.55,0.000,4,0.166,0.077,2125,3606,3417
$GC,397,-1.29,-146.6,48.1,-14.8,17,401,0.00,2.58,0.00,0.000,6,0.000,0.048,2125,2199,3415
$GC,724,-1.29,-146.6,91.3,-13.1,33,728,0.00,2.62,0.00,0.000,4,0.000,0.066,2125,3613,3414
$GC,979,-1.29,-146.6,128.0,-14.3,44,987,0.00,2.58,0.00,0.000,6,0.000,0.048,2125,2204,3413
$GC,1295,-1.29,-146.6,174.3,-13.8,60,1299,0.00,2.62,0.00,0.000,4,0.000,0.067,2125,3615,3412
$GC,1492,-1.29,-146.6,200.4,-14.0,69,1496,0.00,2.55,0.00,0.000,6,0.000,0.050,2125,2199,3411
$GC,1816,-1.29,-146.6,242.6,-12.6,85,1820,0.00,2.62,0.00,0.000,4,0.000,0.067,2125,3612,3411
$GC,2011,-1.29,-146.6,268.2,-13.3,94,2016,0.00,2.55,0.00,0.000,6,0.000,0.050,2125,2200,3411
$GC,2343,-1.29,-146.6,311.5,-13.1,110,2347,0.00,2.62,0.00,0.000,4,0.000,0.069,2125,3611,3411
$GC,2476,-1.29,-146.6,329.9,-13.0,116,2481,0.00,2.58,0.00,0.000,6,0.000,0.051,2125,2204,3411
$GC,2803,-1.29,-146.6,371.6,-13.7,132,2807,0.00,2.62,0.00,0.000,4,0.000,0.070,2125,3611,3410
$GC,2946,-1.29,-146.6,394.4,-15.7,138,2953,0.00,2.58,0.00,0.000,6,0.000,0.052,2125,2202,3411
$GC,3262,-1.29,-146.6,439.0,-13.4,154,3266,0.00,2.62,0.00,0.000,4,0.000,0.070,2125,3614,3411
$GC,3405,-1.29,-146.6,459.0,-13.1,160,3413,0.00,2.60,0.00,0.000,6,0.000,0.052,2125,2197,3411
$GC,3722,-1.29,-146.6,497.3,-12.0,176,3726,0.00,2.62,0.00,0.000,4,0.000,0.070,2125,3607,3411
$GC,3872,-1.29,-146.6,516.5,-13.4,183,3876,0.00,2.55,0.00,0.000,6,0.000,0.052,2125,2196,3411
$GC,4197,-1.29,-146.6,554.7,-11.4,199,4202,0.00,2.62,0.00,0.000,4,0.000,0.070,2125,3607,3411
$GC,4373,-1.29,-146.6,575.5,-12.5,207,4378,0.00,2.55,0.00,0.000,6,0.000,0.052,2125,2196,3411
$GC,4698,-1.29,-146.6,614.1,-11.9,223,4703,0.00,2.62,0.00,0.000,4,0.000,0.070,2125,3610,3411
$GC,4859,-1.29,-146.6,635.0,-12.5,230,4864,0.00,2.58,0.00,0.000,6,0.000,0.052,2125,2200,3411
$GC,5181,-1.29,-146.6,674.5,-13.0,246,5189,0.00,2.62,0.00,0.000,4,0.000,0.071,2125,3609,3411
$GC,5339,-1.29,-146.6,695.1,-12.9,253,5344,0.00,2.55,0.00,0.000,6,0.000,0.053,2125,2199,3411
$GC,5665,-1.29,-146.6,732.2,-10.7,269,5669,0.00,2.60,0.00,0.000,4,0.000,0.067,2125,784,3413
$GC,5725,-1.29,-146.6,738.8,-11.2,271,5732,0.00,2.55,0.00,0.000,6,0.000,0.046,2125,2194,3411
$STATE,5874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5875,begin apogee
$GC,5878,-0.31,0.0,755.3,11.7,279,6001,1.08,0.00,119.40,1.185,6,0.117,0.000,2338,2194,2817
$STATE,6001,end apogee,CONTROL_FINISHED_OK
$STATE,6002,begin climb
$GC,6003,1.29,146.6,760.2,0.0,285,6130,1.62,2.70,119.00,1.160,4,0.064,0.063,2689,786,2219
$GC,6331,1.29,146.6,730.5,10.6,300,6336,0.00,2.60,0.00,0.000,6,0.000,0.047,2689,2195,2218
$GC,6653,1.29,146.6,698.3,10.2,316,6657,0.00,2.62,0.00,0.000,4,0.000,0.064,2690,786,2218
$GC,6908,1.29,146.6,668.3,11.7,327,6916,0.00,2.60,0.00,0.000,6,0.000,0.046,2689,2201,2217
$GC,7224,1.29,146.6,636.1,10.1,343,7228,0.00,2.62,0.00,0.000,4,0.000,0.062,2689,785,2216
$GC,7244,1.29,146.6,633.8,11.1,344,7250,0.00,2.58,0.00,0.000,6,0.000,0.045,2690,2194,2216
$GC,7572,1.32,176.3,605.5,8.6,360,7598,0.00,0.00,24.48,1.039,6,0.000,0.000,2689,2193,2098
$GC,7901,1.34,187.9,574.4,9.5,376,7914,0.00,0.00,10.85,0.938,6,0.000,0.000,2690,2194,2051
$GC,8211,1.35,200.6,544.4,9.4,391,8231,0.00,2.72,11.60,0.928,4,0.000,0.067,2689,3610,1999
$GC,8258,1.35,200.6,539.6,10.0,393,8263,0.00,2.62,0.00,0.000,6,0.000,0.053,2689,2202,1999
$GC,8584,1.35,200.6,507.6,10.5,409,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2202,1999
$GC,8894,1.35,200.6,475.6,10.9,424,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1999
$GC,9203,1.36,208.6,444.8,9.6,439,9217,0.00,2.67,8.35,0.822,4,0.000,0.067,2689,3609,1966
$GC,9250,1.36,208.6,439.6,11.2,441,9256,0.00,2.60,0.00,0.000,6,0.000,0.053,2690,2205,1966
$GC,9577,1.36,208.6,406.3,10.8,457,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2205,1966
$GC,9887,1.36,212.1,374.8,9.8,472,9896,0.00,2.65,4.30,0.617,4,0.000,0.064,2690,786,1952
$GC,9930,1.36,212.1,370.5,10.3,474,9934,0.00,2.55,0.00,0.000,6,0.000,0.044,2689,2204,1952
$GC,10255,1.38,227.2,338.9,9.3,490,10277,0.00,2.67,13.65,0.829,4,0.000,0.067,2689,3605,1890
$GC,10299,1.38,227.2,334.6,10.4,492,10303,0.00,2.58,0.00,0.000,6,0.000,0.054,2688,2201,1890
$GC,10624,1.38,227.2,302.8,10.3,508,10628,0.00,2.60,0.00,0.000,4,0.000,0.064,2689,786,1890
$GC,10656,1.38,227.2,298.9,11.8,509,10661,0.00,2.58,0.00,0.000,6,0.000,0.044,2689,2201,1889
$GC,10977,1.38,227.2,261.4,11.4,525,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1890
$GC,11286,1.38,227.2,225.6,11.8,540,11287,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1890
$GC,11595,1.38,227.2,190.1,11.5,555,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1889
$GC,11904,1.38,227.2,155.7,11.1,570,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1890
$GC,12214,1.38,227.2,120.0,12.1,585,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1890
$GC,12523,1.38,227.2,84.4,11.1,600,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2201,1890
$GC,12833,1.38,227.2,51.1,11.3,615,12837,0.00,2.60,0.00,0.000,4,0.000,0.060,2689,783,1890
$GC,12875,1.38,227.2,45.7,12.2,617,12880,0.00,2.55,0.00,0.000,6,0.000,0.042,2689,2201,1891
$GC,13202,1.38,227.2,6.9,11.7,633,13206,0.00,2.60,0.00,0.000,4,0.000,0.060,2689,781,1891
$GC,13218,1.38,227.2,4.8,13.3,634,13222,0.00,2.53,0.00,0.000,6,0.000,0.042,2689,2202,1891
$STATE,13253,end climb,SURFACE_DEPTH_REACHED
$STATE,13253,begin surface coast
$FINISH,0.7,1.027292
$STATE,13275,end surface coast,CONTROL_FINISHED_OK
$STATE,13275,begin surface
$SM_CCo,13292,92.45,0.660,1,0,1186,400.08
$SM_GC,1.39,0.00,0.00,92.45,0.000,0.000,0.660,71,2201,1186,-10.75,0.03,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2097
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.3,101.1
$24V_AH,23.5,8.005
$10V_AH,10.1,3.087
$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,25.500,114.500,311.625,92.450,0.000,32.587,34.858,263.089,6.500,0.000,0.000,42.279,1245.893,9880.021,573.991,1735.600,440.863,33.331,1408.383,0.000,1662.372,0.000,45.019
$DEVICE_MAMPS,166.439,76.700,1185.015,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.234,454.955,378.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31660,637
$CFSIZE,260165632,257970176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,141107,045808,6133.484,-841.176,40,1.8,40,-9.1