version: 66.04
glider: 5
mission: 7
dive: 2
start: 8 29 109 13 38 8
data:
$ID,5
$MISSION,7
$DIVE,2
$D_SURF,3
$D_FLARE,2
$D_TGT,300
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$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,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,598
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100132.04
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,133313,6136.659,-839.472,11,1.2,28,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-53.8
$GPS2,133620,6136.666,-839.441,15,1.4,15,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.148,-0.218
$KALMAN_X,45.2,45.2,45.2,218.3,190.7
$KALMAN_Y,62.7,62.7,62.7,-99.5,264.8
$MHEAD_RNG_PITCHd_Wd,155.0,17756,-18.1,-10.000
$D_GRID,855
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.44,-146.6,0.0,0.0,0,143,0.00,0.00,-125.75,0.000,2,0.000,0.000,428,2228,3073
$GC,147,-1.44,-146.6,3.0,-2.1,7,173,10.85,2.58,-10.07,0.000,4,0.160,0.078,2422,3635,3428
$GC,427,-1.31,-146.6,47.4,-16.7,19,434,0.17,2.45,0.00,0.000,6,0.100,0.043,2457,2224,3424
$GC,745,-1.31,-146.6,93.9,-13.9,35,749,0.00,2.58,0.00,0.000,4,0.000,0.067,2457,3638,3424
$GC,768,-1.31,-146.6,97.1,-13.3,36,772,0.00,2.53,0.00,0.000,6,0.000,0.046,2457,2202,3423
$GC,1089,-1.31,-146.6,138.9,-13.8,52,1093,0.00,2.45,0.00,0.000,4,0.000,0.059,2457,824,3424
$GC,1174,-1.36,-146.6,150.8,-12.9,56,1179,0.00,2.42,0.00,0.000,6,0.000,0.048,2457,2200,3423
$STATE,1334,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1334,begin apogee
$GC,1341,-0.33,0.0,173.2,14.2,64,1458,0.98,0.00,113.12,0.828,6,0.074,0.000,2670,2085,2831
$STATE,1459,end apogee,CONTROL_FINISHED_OK
$STATE,1459,begin climb
$GC,1462,1.44,146.6,181.3,0.0,70,1585,1.73,0.00,113.88,0.802,6,0.053,0.000,3056,2085,2234
$GC,1899,1.48,212.3,161.6,7.0,91,1956,0.00,2.53,51.70,0.791,4,0.000,0.061,3056,716,1965
$GC,2061,1.42,212.3,145.5,10.9,97,2065,0.00,2.47,0.00,0.000,6,0.000,0.048,3056,2118,1965
$GC,2377,1.42,212.3,113.5,10.3,112,2381,0.00,2.53,0.00,0.000,4,0.000,0.061,3056,725,1965
$GC,2507,1.36,212.3,99.6,11.6,118,2512,0.00,2.40,0.00,0.000,6,0.000,0.048,3056,2085,1965
$GC,2835,1.37,213.4,69.5,10.0,134,2839,0.00,2.47,0.00,0.000,4,0.000,0.061,3056,715,1964
$GC,2885,1.32,213.4,63.4,11.3,136,2890,0.15,2.38,0.00,0.000,6,0.097,0.048,3029,2068,1964
$GC,3204,1.44,238.6,33.8,8.9,151,3227,0.15,0.00,21.15,0.729,6,0.060,0.000,3065,2068,1858
$STATE,3491,end climb,SURFACE_DEPTH_REACHED
$STATE,3491,begin surface coast
$FINISH,0.6,1.026758
$STATE,3515,end surface coast,CONTROL_FINISHED_OK
$STATE,3515,begin surface
$SM_CCo,3538,181.30,0.693,0,0,393,598.04
$SM_GC,0.90,0.00,0.00,181.30,0.000,0.000,0.693,421,2248,393,-10.69,0.48,598.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1789
$TCM_TEMP,18.20
$XPDR_PINGS,5
$ALTIM_TOP_PING,18.7,17.7
$ALTIM_BOTTOM_PING,170.3,10.5
$24V_AH,24.0,3.071
$10V_AH,10.1,2.013
$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,Compass2
$DEVICE_SECS,25.475,30.200,299.850,181.300,0.000,0.000,0.000,0.000,2.750,0.000,0.000,15.602,370.722,2259.503,595.745,504.017,122.062,30.183,871.982,0.000,490.384,0.000,13.206,0.000
$DEVICE_MAMPS,160.303,78.234,827.593,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,111.600,121.307,230.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6539,166
$CAP_FILE_SIZE,50598,0
$CFSIZE,254472192,251572224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,290809,144130,6136.538,-839.285,32,1.3,43,-9.1