version: 66.04
glider: 5
mission: 7
dive: 12
start: 8 31 109 1 15 30
data:
$ID,5
$MISSION,7
$DIVE,12
$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,-100473.16
$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,17
$R_STBD_OVSHOOT,22
$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
$GPS1,010931,6130.185,-824.368,40,1.5,40,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-62.1
$GPS2,011438,6130.196,-824.421,14,1.3,14,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.107,-0.183
$KALMAN_X,-14438.3,-738.9,120.9,28638.1,-2629.7
$KALMAN_Y,14669.0,690.2,-102.6,-27145.3,3265.0
$MHEAD_RNG_PITCHd_Wd,158.6,628,-22.9,-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,17,-1.67,-92.5,0.0,0.0,0,81,0.00,0.00,-61.38,0.000,2,0.000,0.000,416,2144,2856
$GC,84,-1.76,-146.6,3.0,-4.6,3,120,10.75,2.60,-16.52,0.000,4,0.170,0.072,2353,716,3429
$GC,200,-1.71,-146.6,25.8,-20.8,8,204,0.00,2.50,0.00,0.000,6,0.000,0.048,2353,2132,3429
$GC,522,-1.66,-146.6,90.2,-19.7,24,527,0.15,2.58,0.00,0.000,4,0.110,0.058,2380,715,3430
$GC,585,-1.73,-146.6,101.5,-16.5,27,589,0.00,2.50,0.00,0.000,6,0.000,0.048,2380,2135,3430
$GC,911,-1.73,-146.6,156.9,-17.0,43,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2134,3431
$GC,1221,-1.73,-146.6,211.2,-17.3,58,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2135,3431
$GC,1530,-1.78,-146.6,266.1,-17.5,73,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2135,3431
$GC,1840,-1.82,-146.6,321.0,-18.0,88,1845,0.15,2.60,0.00,0.000,4,0.054,0.063,2343,709,3431
$GC,1873,-1.82,-146.6,328.0,-20.3,89,1879,0.00,2.50,0.00,0.000,6,0.000,0.052,2343,2121,3431
$GC,2190,-1.77,-146.6,390.2,-19.9,105,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2120,3431
$GC,2499,-1.73,-146.6,450.1,-19.2,120,2504,0.12,2.58,0.00,0.000,4,0.108,0.065,2365,710,3431
$GC,2532,-1.73,-146.6,456.6,-18.2,121,2538,0.00,2.50,0.00,0.000,6,0.000,0.051,2365,2120,3431
$GC,2848,-1.73,-146.6,511.5,-17.6,137,2852,0.00,2.55,0.00,0.000,4,0.000,0.065,2365,714,3431
$GC,2881,-1.77,-146.6,517.5,-17.8,138,2887,0.00,2.47,0.00,0.000,6,0.000,0.052,2365,2110,3431
$GC,3199,-1.77,-146.6,570.8,-17.3,154,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2111,3431
$GC,3506,-1.77,-146.6,627.1,-17.3,169,3510,0.00,2.62,0.00,0.000,4,0.000,0.077,2365,3530,3431
$GC,3763,-1.77,-146.6,672.5,-16.0,180,3770,0.00,2.60,0.00,0.000,6,0.000,0.061,2365,2087,3431
$GC,4082,-1.77,-146.6,721.6,-16.9,196,4087,0.00,2.72,0.00,0.000,4,0.000,0.082,2365,3530,3431
$GC,4284,-1.77,-146.6,758.2,-19.4,205,4288,0.00,2.67,0.00,0.000,6,0.000,0.072,2365,2085,3430
$STATE,4437,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4437,begin apogee
$GC,4444,-0.33,0.0,785.7,20.2,213,4574,1.45,0.00,125.97,1.370,6,0.093,0.000,2668,1894,2831
$STATE,4575,end apogee,CONTROL_FINISHED_OK
$STATE,4575,begin climb
$GC,4578,1.76,146.6,793.4,0.0,219,4712,2.12,2.67,124.60,1.341,4,0.069,0.089,3129,519,2233
$GC,4972,1.62,244.4,759.7,2.9,237,5064,0.17,2.58,83.40,1.322,6,0.126,0.064,3100,1934,1834
$GC,5386,1.62,244.4,697.8,17.8,257,5390,0.00,2.62,0.00,0.000,4,0.000,0.086,3100,3311,1832
$GC,5548,1.62,244.4,672.5,14.6,264,5553,0.00,2.72,0.00,0.000,6,0.000,0.080,3100,1878,1832
$GC,5865,1.56,244.4,625.5,12.6,279,5869,0.00,2.72,0.00,0.000,4,0.000,0.079,3101,3320,1831
$GC,5882,1.56,244.4,622.5,15.6,280,5886,0.00,2.72,0.00,0.000,6,0.000,0.076,3101,1875,1830
$GC,6209,1.56,244.4,574.0,14.5,296,6213,0.00,2.58,0.00,0.000,4,0.000,0.083,3100,501,1829
$GC,6230,1.56,244.4,570.3,15.8,297,6235,0.00,2.47,0.00,0.000,6,0.000,0.059,3100,1870,1829
$GC,6552,1.56,244.4,522.0,15.0,313,6556,0.00,2.55,0.00,0.000,4,0.000,0.077,3100,508,1828
$GC,6592,1.52,244.4,515.8,16.2,315,6597,0.12,2.42,0.00,0.000,6,0.123,0.055,3077,1865,1828
$GC,6919,1.58,244.4,471.0,13.7,331,6923,0.00,2.53,0.00,0.000,4,0.000,0.074,3077,505,1828
$GC,6982,1.58,244.4,461.6,14.7,334,6986,0.00,2.40,0.00,0.000,6,0.000,0.053,3077,1856,1829
$GC,7309,1.65,244.4,417.3,13.9,350,7311,0.12,0.00,0.00,0.000,6,0.068,0.000,3108,1857,1829
$GC,7617,1.65,244.4,369.4,15.7,365,7622,0.00,2.50,0.00,0.000,4,0.000,0.072,3108,500,1830
$GC,7651,1.59,244.4,363.7,16.6,366,7657,0.00,2.38,0.00,0.000,6,0.000,0.051,3108,1844,1830
$GC,7967,1.59,244.4,315.7,15.5,382,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1846,1831
$GC,8276,1.59,244.4,270.0,14.4,397,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1846,1831
$GC,8586,1.59,244.4,224.0,15.0,412,8590,0.00,2.45,0.00,0.000,4,0.000,0.071,3108,508,1832
$GC,8625,1.54,244.4,217.7,15.5,413,8631,0.15,2.35,0.00,0.000,6,0.110,0.050,3079,1845,1831
$GC,8941,1.63,244.4,175.9,13.4,429,8945,0.00,2.45,0.00,0.000,4,0.000,0.071,3079,507,1832
$GC,8959,1.69,244.4,173.5,13.4,430,8963,0.15,2.33,0.00,0.000,6,0.060,0.050,3116,1842,1832
$GC,9291,1.69,244.4,121.9,16.0,446,9295,0.00,2.45,0.00,0.000,4,0.000,0.070,3116,503,1833
$GC,9332,1.63,244.4,114.9,17.9,448,9336,0.00,2.33,0.00,0.000,6,0.000,0.048,3116,1829,1833
$GC,9665,1.63,244.4,62.6,15.5,464,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1830,1833
$GC,9974,1.63,244.4,15.6,13.9,479,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1843,1834
$STATE,10053,end climb,SURFACE_DEPTH_REACHED
$STATE,10053,begin surface coast
$FINISH,0.3,1.026831
$STATE,10075,end surface coast,CONTROL_FINISHED_OK
$STATE,10075,begin surface
$SM_CCo,10099,28.65,0.779,0,0,1607,300.00
$SM_GC,1.18,0.00,0.00,28.65,0.000,0.000,0.779,419,2148,1607,-10.70,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1838
$TCM_TEMP,17.60
$XPDR_PINGS,67
$ALTIM_BOTTOM_PING,721.6,71.9
$24V_AH,23.7,4.669
$10V_AH,10.0,2.661
$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,27.125,87.025,333.975,28.650,0.000,37.762,29.269,127.305,23.250,0.000,0.000,14.474,937.483,7475.267,449.513,1181.289,398.677,33.349,1067.281,0.000,1145.075,0.000,44.206,0.000
$DEVICE_MAMPS,169.507,88.972,1369.862,779.272,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.484,359.369,287.234,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25358,484
$CAP_FILE_SIZE,83292,0
$CFSIZE,254472192,251019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,310809,040537,6129.977,-824.573,39,0.9,39,-8.9