version: 66.02
glider: 16
mission: 6
dive: 5
start: 11 13 107 21 10 16
data:
$ID,16
$MISSION,6
$DIVE,5
$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,566.1524
$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,-2074859
$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,17
$R_STBD_OVSHOOT,22
$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
$GPS1,204938,6135.742,-852.755,42,1.4,42,-9.2
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-58.3
$GPS2,210838,6135.824,-852.482,14,1.4,31,-9.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.063,-0.256
$KALMAN_X,2425.0,-199.5,-210.6,9549.6,2652.2
$KALMAN_Y,-346.0,-308.1,-465.6,-3288.7,2380.8
$MHEAD_RNG_PITCHd_Wd,175.4,26573,-18.1,-10.000
$D_GRID,781
$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,-146.6,0.0,0.0,0,121,0.00,0.00,-102.47,0.000,2,0.000,0.000,70,2204,3212
$GC,123,-1.29,-146.6,4.5,-3.7,5,145,11.45,2.60,-4.15,0.000,4,0.167,0.075,2123,3607,3416
$GC,396,-1.29,-146.6,47.6,-14.7,17,401,0.00,2.58,0.00,0.000,6,0.000,0.046,2121,2196,3415
$GC,723,-1.29,-146.6,90.9,-13.9,33,728,0.00,2.62,0.00,0.000,4,0.000,0.064,2123,3610,3414
$GC,980,-1.29,-146.6,126.2,-13.4,44,987,0.00,2.58,0.00,0.000,6,0.000,0.048,2121,2199,3413
$GC,1295,-1.29,-146.6,169.7,-14.6,60,1300,0.00,2.60,0.00,0.000,4,0.000,0.065,2121,3608,3413
$GC,1451,-1.29,-146.6,192.9,-14.4,67,1456,0.00,2.55,0.00,0.000,6,0.000,0.048,2121,2206,3413
$GC,1777,-1.29,-146.6,238.7,-13.8,83,1782,0.00,2.60,0.00,0.000,4,0.000,0.066,2122,3607,3413
$GC,1888,-1.29,-146.6,255.7,-15.0,88,1893,0.00,2.58,0.00,0.000,6,0.000,0.049,2122,2198,3413
$GC,2215,-1.29,-146.6,297.6,-12.1,104,2219,0.00,2.60,0.00,0.000,4,0.000,0.067,2122,3607,3412
$GC,2314,-1.29,-146.6,310.5,-13.2,108,2321,0.00,2.58,0.00,0.000,6,0.000,0.050,2121,2197,3413
$GC,2630,-1.29,-146.6,349.5,-12.4,124,2635,0.00,2.60,0.00,0.000,4,0.000,0.067,2121,3606,3413
$GC,2763,-1.29,-146.6,367.1,-13.6,130,2767,0.00,2.53,0.00,0.000,6,0.000,0.050,2122,2199,3413
$GC,3095,-1.29,-146.6,409.7,-12.6,146,3099,0.00,2.60,0.00,0.000,4,0.000,0.068,2121,3606,3413
$GC,3210,-1.29,-146.6,424.9,-12.5,151,3217,0.00,2.55,0.00,0.000,6,0.000,0.050,2121,2202,3413
$GC,3531,-1.29,-146.6,462.0,-11.5,167,3535,0.00,2.60,0.00,0.000,4,0.000,0.069,2122,3606,3413
$GC,3699,-1.29,-146.6,482.4,-12.0,174,3705,0.00,2.53,0.00,0.000,6,0.000,0.050,2122,2197,3413
$GC,4013,-1.29,-146.6,519.6,-12.2,190,4017,0.00,2.62,0.00,0.000,4,0.000,0.069,2122,3613,3413
$GC,4218,-1.29,-146.6,547.1,-13.2,199,4223,0.00,2.58,0.00,0.000,6,0.000,0.051,2121,2199,3413
$GC,4539,-1.29,-146.6,590.3,-13.7,215,4543,0.00,2.60,0.00,0.000,4,0.000,0.069,2122,3607,3413
$GC,4638,-1.29,-146.6,604.0,-14.0,219,4644,0.00,2.55,0.00,0.000,6,0.000,0.051,2122,2203,3413
$GC,4960,-1.29,-146.6,646.1,-12.7,235,4964,0.00,2.60,0.00,0.000,4,0.000,0.070,2122,3610,3413
$GC,5116,-1.29,-146.6,667.0,-13.8,242,5120,0.00,2.55,0.00,0.000,6,0.000,0.051,2121,2197,3413
$GC,5447,-1.29,-146.6,706.7,-11.1,258,5451,0.00,2.62,0.00,0.000,4,0.000,0.071,2122,3609,3414
$GC,5703,-1.29,-146.6,736.2,-10.4,269,5711,0.00,2.58,0.00,0.000,6,0.000,0.053,2121,2197,3414
$GC,6019,-1.29,-146.6,766.3,-9.7,285,6024,0.00,2.65,0.00,0.000,4,0.000,0.076,2122,3610,3414
$GC,6090,-1.29,-146.6,773.3,-10.2,288,6095,0.00,2.60,0.00,0.000,6,0.000,0.057,2122,2197,3414
$STATE,6184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6184,begin apogee
$GC,6187,-0.31,0.0,782.3,9.7,293,6311,1.08,0.00,120.65,1.216,6,0.105,0.000,2340,2197,2817
$STATE,6312,end apogee,CONTROL_FINISHED_OK
$STATE,6312,begin climb
$GC,6313,1.29,146.6,784.6,0.0,299,6437,1.62,0.00,119.03,1.196,6,0.067,0.000,2688,2197,2219
$GC,6743,1.29,146.6,748.0,10.0,320,6748,0.00,2.67,0.00,0.000,4,0.000,0.074,2688,788,2219
$GC,6968,1.33,180.0,727.2,8.5,330,7002,0.00,2.60,27.02,1.154,6,0.000,0.053,2688,2198,2084
$GC,7317,1.35,199.3,696.9,9.1,347,7339,0.00,2.80,16.73,1.120,4,0.000,0.076,2689,3615,2004
$GC,7384,1.35,199.3,690.1,11.1,350,7388,0.00,2.62,0.00,0.000,6,0.000,0.058,2689,2200,2004
$GC,7710,1.35,199.3,654.2,11.3,366,7714,0.00,2.67,0.00,0.000,4,0.000,0.072,2688,3613,2003
$GC,7819,1.35,199.3,641.0,11.3,371,7825,0.00,2.62,0.00,0.000,6,0.000,0.054,2688,2202,2002
$GC,8146,1.35,201.4,606.4,9.9,387,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2201,2001
$GC,8455,1.35,201.4,573.0,11.0,402,8460,0.00,2.62,0.00,0.000,4,0.000,0.067,2688,3611,2001
$GC,8499,1.35,201.4,567.9,11.8,404,8504,0.00,2.60,0.00,0.000,6,0.000,0.052,2688,2202,2001
$GC,8826,1.35,201.4,532.5,10.9,420,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2201,2001
$GC,9135,1.35,201.4,499.4,10.6,435,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2201,2001
$GC,9444,1.35,201.4,465.9,10.9,450,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2201,2001
$GC,9753,1.35,201.4,431.2,11.1,465,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2201,2002
$GC,10062,1.35,201.4,397.4,10.9,480,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2201,2002
$GC,10372,1.35,203.1,366.2,9.9,495,10378,0.00,0.00,4.68,0.664,6,0.000,0.000,2688,2201,1989
$GC,10681,1.38,225.4,337.1,9.0,510,10706,0.00,2.70,18.90,0.869,4,0.000,0.066,2688,3614,1897
$GC,10739,1.38,225.4,331.5,10.8,512,10746,0.00,2.62,0.00,0.000,6,0.000,0.052,2688,2198,1897
$GC,11054,1.38,226.9,301.3,9.9,528,11056,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2198,1897
$GC,11363,1.38,226.9,270.3,10.1,543,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2198,1897
$GC,11673,1.38,226.9,238.4,10.7,558,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2198,1897
$GC,11982,1.38,226.9,203.9,10.9,573,11986,0.00,2.60,0.00,0.000,4,0.000,0.064,2689,781,1898
$GC,12019,1.38,226.9,199.5,11.4,574,12027,0.00,2.55,0.00,0.000,6,0.000,0.042,2689,2198,1898
$GC,12335,1.38,226.9,165.0,11.0,590,12336,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2198,1898
$GC,12645,1.38,226.9,130.0,11.8,605,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2198,1898
$GC,12954,1.38,226.9,95.4,11.5,620,12955,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2198,1898
$GC,13264,1.40,249.5,63.7,9.0,635,13286,0.12,0.00,20.05,0.701,6,0.051,0.000,2728,2198,1800
$GC,13594,1.40,249.5,24.5,11.8,651,13598,0.00,2.60,0.00,0.000,4,0.000,0.060,2728,785,1800
$GC,13636,1.40,249.5,18.2,13.3,653,13641,0.00,2.55,0.00,0.000,6,0.000,0.042,2728,2198,1800
$STATE,13777,end climb,SURFACE_DEPTH_REACHED
$STATE,13777,begin surface coast
$FINISH,0.7,1.027335
$STATE,13798,end surface coast,CONTROL_FINISHED_OK
$STATE,13798,begin surface
$SM_CCo,13816,176.48,0.681,1,0,508,566.15
$SM_GC,1.40,0.00,0.00,176.48,0.000,0.000,0.681,66,2198,508,-10.78,-0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2094
$TCM_TEMP,17.20
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,752.0,91.5
$24V_AH,23.5,7.869
$10V_AH,10.1,3.018
$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,25.725,104.075,327.050,176.475,0.000,163.406,206.392,396.112,17.250,0.000,0.000,31.414,1275.530,10598.827,663.177,1736.129,920.679,33.364,1497.549,0.000,1674.854,0.000,44.612
$DEVICE_MAMPS,167.206,75.933,1215.695,681.096,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.783,464.862,390.523,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31683,661
$CFSIZE,260165632,257978368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,141107,010457,6134.580,-847.279,31,7.9,50,-9.1