version: 66.04
glider: 5
mission: 7
dive: 9
start: 8 30 109 13 43 43
data:
$ID,5
$MISSION,7
$DIVE,9
$D_SURF,3
$D_FLARE,2
$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,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$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,300
$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,-100428.34
$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,2130
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,30
$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,0
$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,4
$XPDR_VALID,5
$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
$GPS1,133355,6131.617,-833.876,41,1.4,42,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.2
$GPS2,134249,6131.608,-833.894,15,1.4,15,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.207,-0.163
$KALMAN_X,-12612.5,1329.3,258.9,16259.2,-3321.3
$KALMAN_Y,10224.8,-986.8,-339.0,-18156.9,2919.3
$MHEAD_RNG_PITCHd_Wd,137.1,8405,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.44,-146.6,0.0,0.0,0,58,0.00,0.00,-41.05,0.000,2,0.000,0.000,419,2146,2488
$GC,62,-1.44,-146.6,2.2,-4.3,2,119,10.90,2.58,-40.45,0.000,4,0.159,0.071,2420,717,3429
$GC,373,-1.36,-146.6,46.0,-17.2,15,378,0.12,2.50,0.00,0.000,6,0.105,0.046,2445,2134,3430
$GC,696,-1.36,-146.6,90.2,-12.6,31,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2133,3430
$GC,1004,-1.36,-146.6,131.5,-14.2,46,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2134,3431
$GC,1313,-1.36,-146.6,174.9,-14.0,61,1317,0.00,2.55,0.00,0.000,4,0.000,0.061,2445,719,3431
$GC,1364,-1.36,-146.6,181.9,-13.6,63,1368,0.00,2.53,0.00,0.000,6,0.000,0.049,2445,2147,3432
$GC,1685,-1.36,-146.6,226.0,-14.0,79,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2147,3431
$GC,1994,-1.36,-146.6,269.5,-14.3,94,1999,0.00,2.58,0.00,0.000,4,0.000,0.061,2445,718,3432
$GC,2040,-1.36,-146.6,275.9,-14.4,96,2044,0.00,2.53,0.00,0.000,6,0.000,0.050,2445,2145,3431
$GC,2367,-1.36,-146.6,320.9,-13.7,112,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2145,3432
$GC,2676,-1.36,-146.6,362.9,-13.6,127,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2145,3431
$GC,2985,-1.36,-146.6,404.9,-13.3,142,2989,0.00,2.60,0.00,0.000,4,0.000,0.064,2445,708,3431
$GC,3035,-1.41,-146.6,411.6,-13.6,144,3039,0.00,2.53,0.00,0.000,6,0.000,0.052,2445,2136,3431
$GC,3351,-1.41,-146.6,453.2,-13.4,159,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2137,3431
$GC,3661,-1.41,-146.6,495.4,-13.9,174,3665,0.00,2.58,0.00,0.000,4,0.000,0.064,2445,708,3430
$GC,3701,-1.46,-146.6,501.1,-13.9,176,3705,0.00,2.53,0.00,0.000,6,0.000,0.053,2445,2133,3430
$GC,4028,-1.46,-146.6,545.1,-13.2,192,4033,0.00,2.58,0.00,0.000,4,0.000,0.064,2445,708,3430
$GC,4079,-1.50,-146.6,552.3,-13.2,194,4084,0.12,2.50,0.00,0.000,6,0.059,0.054,2412,2119,3430
$GC,4395,-1.42,-146.6,599.6,-14.9,209,4397,0.12,0.00,0.00,0.000,6,0.099,0.000,2435,2119,3430
$GC,4704,-1.42,-146.6,640.3,-12.4,224,4709,0.00,2.53,0.00,0.000,4,0.000,0.064,2435,718,3430
$GC,4760,-1.42,-146.6,647.4,-12.2,226,4766,0.00,2.47,0.00,0.000,6,0.000,0.053,2435,2113,3430
$GC,5076,-1.42,-146.6,688.3,-13.2,242,5080,0.00,2.62,0.00,0.000,4,0.000,0.076,2435,3534,3429
$GC,5126,-1.42,-146.6,694.8,-13.1,244,5133,0.00,2.55,0.00,0.000,6,0.000,0.058,2435,2113,3429
$GC,5450,-1.42,-146.6,737.1,-13.2,260,5454,0.00,2.50,0.00,0.000,4,0.000,0.067,2434,718,3429
$GC,5516,-1.48,-146.6,746.8,-13.7,263,5521,0.00,2.50,0.00,0.000,6,0.000,0.055,2435,2124,3429
$GC,5838,-1.48,-146.6,787.3,-12.0,279,5842,0.00,2.65,0.00,0.000,4,0.000,0.084,2435,3538,3429
$GC,6016,-1.48,-146.6,807.2,-11.8,287,6020,0.00,2.50,0.00,0.000,6,0.000,0.064,2435,2158,3428
$STATE,6340,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6340,begin apogee
$GC,6348,-0.33,0.0,847.1,9.0,303,6477,1.12,0.00,125.82,1.401,6,0.091,0.000,2674,1905,2831
$STATE,6478,end apogee,CONTROL_FINISHED_OK
$STATE,6478,begin climb
$GC,6481,1.44,146.6,850.2,0.0,309,6615,1.80,2.75,125.53,1.372,4,0.074,0.077,3055,3334,2232
$GC,6874,1.20,146.6,820.2,13.7,327,6879,0.28,2.67,0.00,0.000,6,0.111,0.080,3004,1920,2231
$GC,7201,1.36,245.2,799.3,5.5,343,7293,0.17,2.78,84.03,1.378,4,0.067,0.084,3043,3316,1831
$GC,7429,1.39,268.9,775.4,8.9,353,7460,0.00,2.70,21.55,1.306,6,0.000,0.085,3044,1918,1734
$GC,7769,1.39,268.9,729.8,14.4,370,7774,0.00,2.67,0.00,0.000,4,0.000,0.089,3044,504,1734
$GC,7792,1.34,268.9,726.7,13.4,371,7796,0.00,2.58,0.00,0.000,6,0.000,0.064,3044,1913,1733
$GC,8113,1.34,268.9,691.3,12.0,387,8117,0.00,2.70,0.00,0.000,4,0.000,0.087,3044,506,1732
$GC,8157,1.27,268.9,685.0,13.9,389,8162,0.12,2.58,0.00,0.000,6,0.112,0.064,3022,1915,1732
$GC,8479,1.32,268.9,648.6,10.8,405,8483,0.00,2.62,0.00,0.000,4,0.000,0.076,3022,3328,1731
$GC,8506,1.40,268.9,645.4,11.3,406,8512,0.12,2.62,0.00,0.000,6,0.071,0.068,3050,1910,1731
$GC,8823,1.40,268.9,605.2,13.8,421,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1910,1731
$GC,9132,1.40,268.9,568.6,11.4,436,9136,0.00,2.58,0.00,0.000,4,0.000,0.076,3050,506,1732
$GC,9149,1.35,268.9,566.4,12.3,437,9154,0.00,2.55,0.00,0.000,6,0.000,0.054,3050,1935,1731
$GC,9477,1.35,268.9,524.5,12.6,453,9481,0.00,2.62,0.00,0.000,4,0.000,0.072,3050,510,1732
$GC,9532,1.28,268.9,517.2,13.0,455,9539,0.15,2.50,0.00,0.000,6,0.100,0.054,3022,1915,1732
$GC,9849,1.34,268.9,484.4,10.8,471,9853,0.00,2.60,0.00,0.000,4,0.000,0.073,3022,504,1733
$GC,9882,1.34,268.9,480.3,11.5,472,9889,0.00,2.47,0.00,0.000,6,0.000,0.054,3022,1897,1733
$GC,10198,1.41,268.9,446.0,10.6,488,10203,0.12,2.55,0.00,0.000,4,0.064,0.071,3054,505,1734
$GC,10220,1.41,268.9,443.2,11.9,489,10224,0.00,2.45,0.00,0.000,6,0.000,0.053,3054,1889,1734
$GC,10541,1.41,268.9,404.2,12.2,505,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1890,1734
$GC,10850,1.41,268.9,365.5,12.7,520,10854,0.00,2.53,0.00,0.000,4,0.000,0.071,3054,507,1735
$GC,10895,1.34,268.9,359.4,13.5,522,10899,0.00,2.42,0.00,0.000,6,0.000,0.051,3054,1879,1735
$GC,11216,1.34,268.9,318.8,12.8,538,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1879,1736
$GC,11525,1.34,268.9,278.8,12.9,553,11529,0.00,2.50,0.00,0.000,4,0.000,0.070,3053,510,1736
$GC,11542,1.30,268.9,276.5,13.0,554,11547,0.15,2.42,0.00,0.000,6,0.097,0.052,3025,1884,1736
$GC,11869,1.37,268.9,239.3,10.9,570,11874,0.00,2.60,0.00,0.000,4,0.000,0.066,3025,3324,1737
$GC,11892,1.45,268.9,236.5,12.4,571,11897,0.17,2.58,0.00,0.000,6,0.058,0.056,3068,1885,1737
$GC,12214,1.41,268.9,193.8,13.3,587,12218,0.00,2.47,0.00,0.000,4,0.000,0.070,3068,507,1737
$GC,12230,1.34,268.9,191.3,13.5,587,12237,0.17,2.42,0.00,0.000,6,0.094,0.050,3034,1888,1737
$GC,12547,1.39,268.9,156.3,10.7,603,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1888,1737
$GC,12856,1.44,268.9,122.4,11.6,618,12858,0.12,0.00,0.00,0.000,6,0.061,0.000,3067,1889,1738
$GC,13165,1.44,268.9,80.8,12.6,633,13169,0.00,2.50,0.00,0.000,4,0.000,0.069,3067,511,1738
$GC,13221,1.37,268.9,74.3,11.5,635,13228,0.12,2.40,0.00,0.000,6,0.103,0.048,3044,1888,1738
$GC,13539,1.43,268.9,44.1,10.0,651,13543,0.00,2.55,0.00,0.000,4,0.000,0.063,3044,3323,1738
$GC,13584,1.53,268.9,38.5,11.6,653,13589,0.15,2.55,0.00,0.000,6,0.059,0.052,3081,1888,1739
$STATE,13861,end climb,SURFACE_DEPTH_REACHED
$STATE,13861,begin surface coast
$FINISH,0.4,1.005830
$STATE,13884,end surface coast,CONTROL_FINISHED_OK
$STATE,13887,begin surface
$SM_CCo,13910,16.38,0.742,0,0,1608,300.00
$SM_GC,1.46,0.00,0.00,16.38,0.000,0.000,0.742,416,2146,1608,-10.71,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,17.80
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,770.1,83.6
$24V_AH,23.7,4.187
$10V_AH,10.1,2.482
$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,27.525,128.675,356.925,16.375,0.000,75.527,54.099,223.149,20.000,0.000,0.000,15.887,1269.891,10551.539,480.199,1551.246,614.788,33.343,1288.619,0.000,1507.165,0.000,47.854,0.000
$DEVICE_MAMPS,158.769,88.972,1401.309,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.022,498.107,388.783,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34842,668
$CAP_FILE_SIZE,113529,0
$CFSIZE,254472192,251146240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,300809,173709,6130.757,-829.861,37,1.8,39,-9.0