version: 66.02
glider: 16
mission: 6
dive: 13
start: 11 15 107 6 26 43
data:
$ID,16
$MISSION,6
$DIVE,13
$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,-2075075.9
$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,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,17
$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
$GPS1,062107,6131.915,-835.385,42,1.7,53,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-62.9
$GPS2,062553,6131.897,-835.360,13,2.6,32,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.171,-0.200
$KALMAN_X,-4.4,1227.9,329.9,25058.7,-3361.2
$KALMAN_Y,25506.3,-1894.2,-1213.7,-34041.2,11075.1
$MHEAD_RNG_PITCHd_Wd,148.5,9806,-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,-62.25,0.000,2,0.000,0.000,72,2401,3279
$GC,82,-1.29,-146.6,4.6,-7.3,3,104,11.52,2.58,-2.80,0.000,4,0.172,0.078,2124,3773,3419
$GC,356,-1.29,-146.6,57.5,-18.4,15,360,0.00,2.50,0.00,0.000,6,0.000,0.048,2124,2405,3419
$GC,683,-1.29,-146.6,109.9,-15.5,31,687,0.00,2.58,0.00,0.000,4,0.000,0.070,2123,3772,3419
$GC,753,-1.29,-146.6,121.5,-15.7,34,758,0.00,2.50,0.00,0.000,6,0.000,0.048,2124,2406,3419
$GC,1074,-1.29,-146.6,169.8,-14.9,50,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2407,3419
$GC,1383,-1.29,-146.6,213.3,-13.7,65,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2407,3419
$GC,1693,-1.29,-146.6,253.9,-13.0,80,1697,0.00,2.55,0.00,0.000,4,0.000,0.070,2124,3766,3419
$GC,1758,-1.29,-146.6,262.6,-13.2,83,1763,0.00,2.50,0.00,0.000,6,0.000,0.048,2123,2397,3418
$GC,2084,-1.29,-146.6,304.0,-12.9,99,2089,0.00,2.55,0.00,0.000,4,0.000,0.070,2123,3766,3419
$GC,2178,-1.29,-146.6,316.4,-13.4,103,2183,0.00,2.50,0.00,0.000,6,0.000,0.049,2124,2398,3419
$GC,2499,-1.29,-146.6,355.3,-12.3,119,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2398,3420
$GC,2809,-1.29,-146.6,393.7,-12.7,134,2813,0.00,2.58,0.00,0.000,4,0.000,0.071,2124,3773,3420
$GC,2858,-1.29,-146.6,400.6,-13.8,136,2863,0.00,2.50,0.00,0.000,6,0.000,0.049,2123,2403,3420
$GC,3178,-1.29,-146.6,443.3,-13.5,152,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2402,3420
$GC,3488,-1.29,-146.6,484.6,-13.4,167,3492,0.00,2.55,0.00,0.000,4,0.000,0.071,2124,3766,3420
$GC,3558,-1.29,-146.6,494.9,-14.0,170,3563,0.00,2.47,0.00,0.000,6,0.000,0.048,2123,2407,3420
$GC,3880,-1.29,-146.6,536.8,-12.8,186,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2407,3420
$GC,4189,-1.29,-146.6,578.8,-14.2,201,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2406,3420
$GC,4498,-1.29,-146.6,616.7,-10.9,216,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2407,3420
$GC,4809,-1.29,-146.6,652.2,-11.2,231,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2407,3419
$GC,5117,-1.29,-146.6,689.5,-11.3,246,5122,0.00,2.55,0.00,0.000,4,0.000,0.071,2125,3768,3421
$GC,5373,-1.29,-146.6,723.6,-13.5,257,5380,0.00,2.50,0.00,0.000,6,0.000,0.052,2123,2403,3421
$GC,5689,-1.29,-146.6,762.2,-11.2,273,5693,0.00,2.60,0.00,0.000,4,0.000,0.067,2123,985,3421
$GC,5827,-1.29,-146.6,776.2,-11.5,279,5832,0.00,2.60,0.00,0.000,6,0.000,0.054,2124,2393,3421
$GC,6148,-1.29,-146.6,805.7,-11.0,295,6152,0.00,2.65,0.00,0.000,4,0.000,0.088,2123,3769,3421
$GC,6247,-1.29,-146.6,818.7,-11.6,299,6254,0.00,2.53,0.00,0.000,6,0.000,0.059,2123,2406,3421
$STATE,6459,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6459,begin apogee
$GC,6462,-0.31,0.0,849.9,15.4,310,6590,1.12,0.00,123.45,1.280,6,0.133,0.000,2339,2196,2817
$STATE,6590,end apogee,CONTROL_FINISHED_OK
$STATE,6590,begin climb
$GC,6592,1.29,146.6,854.6,0.0,316,6722,1.65,2.88,120.62,1.259,4,0.079,0.084,2687,3616,2219
$GC,6973,1.29,146.6,819.7,13.0,333,6981,0.00,2.67,0.00,0.000,6,0.000,0.063,2687,2205,2218
$GC,7289,1.35,198.0,789.9,7.7,349,7339,0.00,2.80,42.30,1.230,4,0.000,0.081,2687,3614,2009
$GC,7422,1.35,198.0,773.9,12.0,355,7427,0.00,2.70,0.00,0.000,6,0.000,0.063,2688,2196,2008
$GC,7749,1.35,198.0,738.4,10.4,371,7754,0.00,2.70,0.00,0.000,4,0.000,0.077,2687,786,2006
$GC,7787,1.35,198.0,733.7,12.2,373,7791,0.00,2.62,0.00,0.000,6,0.000,0.054,2687,2204,2006
$GC,8113,1.35,198.0,694.9,12.3,389,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2204,2003
$GC,8422,1.35,198.0,659.9,10.9,404,8426,0.00,2.67,0.00,0.000,4,0.000,0.067,2687,782,2002
$GC,8461,1.35,198.0,655.5,10.8,406,8465,0.00,2.60,0.00,0.000,6,0.000,0.049,2687,2205,2002
$GC,8786,1.35,198.0,620.5,11.6,422,8791,0.00,2.65,0.00,0.000,4,0.000,0.070,2688,3617,2001
$GC,8880,1.35,198.0,608.9,11.5,426,8885,0.00,2.62,0.00,0.000,6,0.000,0.053,2687,2199,2001
$GC,9201,1.35,198.0,573.3,11.1,442,9205,0.00,2.62,0.00,0.000,4,0.000,0.065,2687,785,2001
$GC,9244,1.35,198.0,568.3,11.0,444,9249,0.00,2.60,0.00,0.000,6,0.000,0.045,2687,2203,2002
$GC,9571,1.35,198.0,532.3,11.3,460,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2203,2002
$GC,9880,1.35,198.0,501.0,10.1,475,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2203,2002
$GC,10190,1.37,217.8,472.7,9.1,490,10211,0.00,0.00,16.33,0.950,6,0.000,0.000,2687,2203,1928
$GC,10519,1.37,217.8,441.8,10.3,506,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2203,1928
$GC,10829,1.37,217.8,409.2,10.9,521,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2203,1929
$GC,11138,1.37,217.8,376.0,10.5,536,11142,0.00,2.62,0.00,0.000,4,0.000,0.061,2687,776,1930
$GC,11191,1.37,217.8,370.0,10.9,538,11199,0.00,2.58,0.00,0.000,6,0.000,0.044,2687,2198,1930
$GC,11507,1.37,217.8,336.1,10.8,554,11511,0.00,2.62,0.00,0.000,4,0.000,0.061,2687,776,1930
$GC,11539,1.37,217.8,332.4,10.9,555,11546,0.00,2.58,0.00,0.000,6,0.000,0.043,2687,2196,1930
$GC,11855,1.37,217.8,296.7,11.2,571,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2197,1931
$GC,12164,1.37,217.8,262.3,11.4,586,12165,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2197,1932
$GC,12473,1.37,217.8,226.5,11.6,601,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,1931
$GC,12783,1.37,217.8,190.4,11.5,616,12784,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2197,1932
$GC,13092,1.37,217.8,154.6,11.7,631,13093,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2197,1932
$GC,13401,1.37,217.8,119.6,11.4,646,13402,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,1934
$GC,13710,1.37,217.8,84.1,11.5,661,13715,0.00,2.60,0.00,0.000,4,0.000,0.060,2687,781,1934
$GC,13742,1.37,217.8,80.1,11.0,662,13750,0.00,2.55,0.00,0.000,6,0.000,0.042,2687,2195,1934
$GC,14059,1.37,217.8,43.6,11.3,678,14060,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2195,1934
$GC,14367,1.37,217.8,9.5,10.7,693,14369,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,1934
$STATE,14448,end climb,SURFACE_DEPTH_REACHED
$STATE,14448,begin surface coast
$FINISH,0.8,1.014599
$STATE,14470,end surface coast,CONTROL_FINISHED_OK
$STATE,14470,begin surface
$SM_CCo,14488,46.42,0.670,0,0,1593,300.00
$SM_GC,1.55,0.00,0.00,46.42,0.000,0.000,0.670,73,2401,1593,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2092
$TCM_TEMP,17.40
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,752.8,106.0
$24V_AH,23.4,8.929
$10V_AH,10.1,3.565
$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,25.675,94.250,302.700,46.425,0.000,32.594,35.444,123.211,13.500,0.000,0.000,33.506,1287.314,11196.521,479.972,1600.016,264.065,33.356,1248.271,0.000,1541.619,0.000,44.632
$DEVICE_MAMPS,171.808,88.205,1280.123,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.206,495.163,388.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34859,698
$CFSIZE,260165632,257630208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,151107,103008,6131.438,-832.185,38,1.3,38,-9.0