version: 66.04
glider: 5
mission: 7
dive: 10
start: 8 30 109 17 45 59
data:
$ID,5
$MISSION,7
$DIVE,10
$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,-100444.18
$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,20
$R_STBD_OVSHOOT,27
$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
$GPS1,173709,6130.757,-829.861,37,1.8,39,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.8
$GPS2,174508,6130.802,-829.766,15,1.9,15,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.223,-0.140
$KALMAN_X,-13466.0,1628.3,511.6,20188.0,-5417.4
$KALMAN_Y,11126.2,-507.9,-75.5,-21300.7,3127.4
$MHEAD_RNG_PITCHd_Wd,131.1,4466,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,62,0.00,0.00,-42.00,0.000,2,0.000,0.000,415,2148,2487
$GC,66,-1.44,-146.6,2.1,-3.7,2,123,11.05,2.58,-37.85,0.000,4,0.160,0.083,2428,3529,3429
$GC,141,-1.26,-146.6,7.0,-11.6,5,148,0.20,2.50,0.00,0.000,6,0.100,0.050,2467,2126,3430
$GC,458,-1.26,-146.6,50.6,-13.7,21,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2123,3430
$GC,766,-1.30,-146.6,94.7,-13.0,36,771,0.00,2.58,0.00,0.000,4,0.000,0.067,2468,3531,3431
$GC,897,-1.30,-146.6,113.2,-14.1,42,901,0.00,2.47,0.00,0.000,6,0.000,0.047,2468,2133,3431
$GC,1224,-1.36,-146.6,156.4,-13.2,58,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2119,3431
$GC,1533,-1.41,-146.6,194.2,-12.1,73,1541,0.15,2.60,0.00,0.000,4,0.052,0.068,2427,3532,3431
$GC,1598,-1.35,-146.6,203.8,-14.9,75,1605,0.12,2.47,0.00,0.000,6,0.097,0.051,2451,2141,3431
$GC,1915,-1.35,-146.6,245.5,-12.6,91,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2129,3431
$GC,2223,-1.35,-146.6,284.3,-12.8,106,2227,0.00,2.58,0.00,0.000,4,0.000,0.073,2451,3535,3431
$GC,2263,-1.35,-146.6,289.7,-13.4,108,2267,0.00,2.47,0.00,0.000,6,0.000,0.053,2451,2146,3431
$GC,2589,-1.35,-146.6,331.6,-12.7,124,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2134,3431
$GC,2898,-1.35,-146.6,369.9,-12.3,139,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2134,3431
$GC,3208,-1.35,-146.6,407.0,-11.9,154,3212,0.00,2.58,0.00,0.000,4,0.000,0.075,2451,3532,3431
$GC,3248,-1.35,-146.6,411.8,-12.8,156,3252,0.00,2.45,0.00,0.000,6,0.000,0.056,2451,2159,3431
$GC,3574,-1.35,-146.6,450.1,-11.6,172,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2139,3431
$GC,3883,-1.35,-146.6,486.9,-12.3,187,3887,0.00,2.58,0.00,0.000,4,0.000,0.075,2451,3538,3431
$GC,3923,-1.35,-146.6,491.8,-12.4,189,3927,0.00,2.45,0.00,0.000,6,0.000,0.056,2450,2165,3430
$GC,4250,-1.35,-146.6,532.5,-12.8,205,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2152,3430
$GC,4560,-1.35,-146.6,570.5,-12.1,220,4564,0.00,2.53,0.00,0.000,4,0.000,0.075,2451,3531,3430
$GC,4606,-1.35,-146.6,576.5,-13.4,222,4610,0.00,2.42,0.00,0.000,6,0.000,0.056,2451,2171,3431
$GC,4935,-1.35,-146.6,620.6,-13.4,238,4939,0.00,2.53,0.00,0.000,4,0.000,0.074,2451,3534,3430
$GC,4985,-1.39,-146.6,627.4,-12.5,240,4989,0.00,2.40,0.00,0.000,6,0.000,0.057,2450,2189,3430
$GC,5301,-1.44,-146.6,667.1,-13.3,255,5305,0.00,2.60,0.00,0.000,4,0.000,0.065,2451,723,3430
$GC,5559,-1.48,-146.6,700.7,-14.5,266,5566,0.12,2.55,0.00,0.000,6,0.057,0.053,2415,2163,3430
$GC,5875,-1.48,-146.6,742.4,-13.1,282,5879,0.00,2.62,0.00,0.000,4,0.000,0.069,2415,726,3429
$GC,6134,-1.48,-146.6,774.5,-9.1,293,6140,0.00,2.53,0.00,0.000,6,0.000,0.058,2415,2131,3429
$GC,6449,-1.48,-146.6,815.6,-11.8,309,6454,0.00,2.62,0.00,0.000,4,0.000,0.083,2415,723,3428
$GC,6466,-1.48,-146.6,818.1,-13.2,310,6471,0.00,2.58,0.00,0.000,6,0.000,0.062,2415,2147,3428
$STATE,6543,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6543,begin apogee
$GC,6550,-0.33,0.0,830.0,14.9,314,6680,1.23,0.00,126.00,1.408,6,0.096,0.000,2670,1922,2831
$STATE,6681,end apogee,CONTROL_FINISHED_OK
$STATE,6681,begin climb
$GC,6684,1.44,146.6,837.2,0.0,320,6818,1.77,2.75,125.10,1.375,4,0.061,0.083,3063,3336,2233
$GC,7030,1.28,146.6,802.3,11.3,336,7035,0.22,2.70,0.00,0.000,6,0.118,0.081,3022,1918,2232
$GC,7358,1.11,146.6,770.2,10.4,352,7360,0.17,0.00,0.00,0.000,6,0.108,0.000,2989,1907,2230
$GC,7667,1.17,184.0,733.4,8.3,367,7709,0.00,2.80,32.45,1.348,4,0.000,0.084,2989,3330,2080
$GC,7743,1.23,187.7,726.4,9.8,370,7756,0.10,2.70,4.82,0.964,6,0.077,0.081,3012,1925,2065
$GC,8065,1.35,261.6,703.1,6.6,386,8136,0.12,2.80,63.20,1.370,4,0.074,0.094,3040,513,1764
$GC,8153,1.35,302.9,695.5,8.1,390,8195,0.00,2.65,36.33,1.325,6,0.000,0.070,3040,1935,1596
$GC,8519,1.35,302.9,646.8,14.1,408,8524,0.00,2.72,0.00,0.000,4,0.000,0.087,3040,504,1596
$GC,8582,1.30,302.9,638.4,13.7,411,8587,0.00,2.55,0.00,0.000,6,0.000,0.065,3041,1893,1597
$GC,8908,1.30,302.9,596.7,13.3,427,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1906,1596
$GC,9218,1.30,302.9,555.6,12.8,442,9222,0.00,2.60,0.00,0.000,4,0.000,0.078,3040,502,1597
$GC,9268,1.30,302.9,548.7,14.0,444,9272,0.00,2.50,0.00,0.000,6,0.000,0.057,3040,1892,1597
$GC,9583,1.30,302.9,508.0,13.0,459,9588,0.00,2.58,0.00,0.000,4,0.000,0.074,3040,501,1597
$GC,9600,1.30,302.9,505.6,13.5,460,9605,0.00,2.47,0.00,0.000,6,0.000,0.055,3040,1888,1597
$GC,9928,1.30,302.9,464.8,12.2,476,9932,0.00,2.58,0.00,0.000,4,0.000,0.072,3040,506,1598
$GC,9945,1.30,302.9,462.5,12.9,477,9949,0.00,2.42,0.00,0.000,6,0.000,0.052,3040,1875,1598
$GC,10277,1.30,302.9,421.5,12.2,493,10281,0.00,2.53,0.00,0.000,4,0.000,0.072,3040,507,1599
$GC,10299,1.30,302.9,418.6,12.9,494,10303,0.00,2.42,0.00,0.000,6,0.000,0.054,3040,1872,1599
$GC,10620,1.30,302.9,379.2,12.4,510,10624,0.00,2.53,0.00,0.000,4,0.000,0.072,3040,504,1600
$GC,10659,1.30,302.9,373.9,14.0,512,10663,0.00,2.40,0.00,0.000,6,0.000,0.054,3040,1860,1600
$GC,10986,1.30,302.9,332.6,12.8,528,10990,0.00,2.50,0.00,0.000,4,0.000,0.071,3040,500,1601
$GC,11019,1.30,302.9,328.1,13.8,529,11025,0.00,2.38,0.00,0.000,6,0.000,0.052,3040,1847,1601
$GC,11334,1.30,302.9,287.8,12.8,545,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1848,1601
$GC,11644,1.30,302.9,248.8,12.5,560,11648,0.00,2.45,0.00,0.000,4,0.000,0.072,3040,510,1601
$GC,11665,1.30,302.9,245.7,13.7,561,11670,0.00,2.35,0.00,0.000,6,0.000,0.052,3041,1843,1601
$GC,11987,1.30,302.9,202.4,13.9,577,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1844,1601
$GC,12296,1.30,302.9,161.2,13.0,592,12297,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1844,1602
$GC,12606,1.30,302.9,121.6,12.9,607,12610,0.00,2.67,0.00,0.000,4,0.000,0.063,3040,3330,1603
$GC,12633,1.36,302.9,117.7,14.3,608,12638,0.00,2.67,0.00,0.000,6,0.000,0.056,3040,1839,1603
$GC,12950,1.41,302.9,79.7,11.5,623,12954,0.00,2.40,0.00,0.000,4,0.000,0.071,3041,508,1603
$GC,12977,1.41,302.9,76.3,12.2,624,12981,0.00,2.33,0.00,0.000,6,0.000,0.050,3041,1836,1603
$GC,13295,1.47,302.9,41.0,11.0,639,13305,0.12,2.45,3.45,0.504,4,0.059,0.067,3073,508,1596
$GC,13322,1.43,302.9,37.6,12.2,640,13327,0.00,2.30,0.00,0.000,6,0.000,0.049,3073,1825,1596
$STATE,13600,end climb,SURFACE_DEPTH_REACHED
$STATE,13600,begin surface coast
$FINISH,0.6,1.026801
$STATE,13622,end surface coast,CONTROL_FINISHED_OK
$STATE,13622,begin surface
$SM_CCo,13706,0.00,0.000,0,0,1596,302.95
$SM_GC,1.42,11.48,0.00,0.00,0.036,0.000,0.000,417,2154,1596,-10.60,0.68,302.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1855
$TCM_TEMP,17.80
$XPDR_PINGS,71
$ALTIM_BOTTOM_PING,770.6,67.9
$24V_AH,23.7,4.357
$10V_AH,10.0,2.549
$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,26.875,127.775,391.350,0.000,0.000,75.524,53.072,170.979,24.750,0.000,0.000,15.214,1237.574,10377.476,489.732,1526.602,554.722,33.340,1292.338,0.000,1482.215,0.000,47.807,0.000
$DEVICE_MAMPS,160.303,93.574,1408.212,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.075,486.842,381.904,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34783,655
$CAP_FILE_SIZE,110474,0
$CFSIZE,254472192,251092992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,300809,213537,6130.452,-826.377,35,0.9,35,-8.9