version: 66.04
glider: 5
mission: 7
dive: 13
start: 8 31 109 4 11 0
data:
$ID,5
$MISSION,7
$DIVE,13
$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,-100486.69
$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,15
$R_STBD_OVSHOOT,29
$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
$GPS1,040537,6129.977,-824.573,39,0.9,39,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.2
$GPS2,041008,6130.001,-824.585,12,1.6,12,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.124,-0.233
$KALMAN_X,-16467.8,-810.6,-15.1,30731.3,-3498.7
$KALMAN_Y,18181.0,213.8,129.6,-30772.3,5909.4
$MHEAD_RNG_PITCHd_Wd,161.0,366,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.53,0.000,2,0.000,0.000,419,2150,2923
$GC,82,-1.44,-146.6,3.2,-4.7,3,114,11.32,2.65,-13.73,0.000,4,0.173,0.073,2423,704,3430
$GC,142,-1.38,-146.6,14.3,-16.9,5,147,0.00,2.53,0.00,0.000,6,0.000,0.048,2424,2128,3430
$GC,465,-1.31,-146.6,65.9,-15.0,21,470,0.17,2.58,0.00,0.000,4,0.102,0.068,2463,3535,3431
$GC,498,-1.31,-146.6,71.2,-14.3,22,504,0.00,2.53,0.00,0.000,6,0.000,0.050,2463,2114,3431
$GC,816,-1.37,-146.6,113.8,-13.8,38,820,0.00,2.60,0.00,0.000,4,0.000,0.067,2463,3533,3431
$GC,849,-1.37,-146.6,118.9,-13.8,39,855,0.00,2.45,0.00,0.000,6,0.000,0.050,2463,2152,3432
$GC,1165,-1.42,-146.6,157.0,-11.8,55,1170,0.12,2.58,0.00,0.000,4,0.055,0.063,2427,720,3432
$GC,1205,-1.42,-146.6,162.4,-13.5,57,1209,0.00,2.53,0.00,0.000,6,0.000,0.048,2427,2148,3432
$GC,1531,-1.42,-146.6,208.2,-14.5,73,1536,0.00,2.60,0.00,0.000,4,0.000,0.067,2427,722,3432
$GC,1559,-1.42,-146.6,212.6,-15.7,74,1563,0.00,2.50,0.00,0.000,6,0.000,0.050,2427,2134,3432
$GC,1875,-1.42,-146.6,257.4,-14.3,89,1879,0.00,2.58,0.00,0.000,4,0.000,0.071,2427,3542,3432
$GC,1909,-1.37,-146.6,262.4,-14.6,90,1913,0.00,2.55,0.00,0.000,6,0.000,0.055,2427,2119,3432
$GC,2224,-1.37,-146.6,309.1,-14.9,105,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2106,3432
$GC,2534,-1.37,-146.6,354.0,-14.5,120,2538,0.00,2.62,0.00,0.000,4,0.000,0.073,2427,3538,3432
$GC,2589,-1.37,-146.6,362.2,-14.7,122,2595,0.00,2.53,0.00,0.000,6,0.000,0.056,2427,2130,3432
$GC,2905,-1.37,-146.6,407.6,-14.2,138,2910,0.00,2.62,0.00,0.000,4,0.000,0.073,2427,3544,3432
$GC,2938,-1.31,-146.6,412.6,-14.7,139,2945,0.15,2.53,0.00,0.000,6,0.097,0.056,2456,2138,3432
$GC,3255,-1.37,-146.6,451.6,-12.1,155,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2126,3432
$GC,3564,-1.43,-146.6,489.3,-12.4,170,3566,0.12,0.00,0.00,0.000,6,0.058,0.000,2421,2126,3432
$GC,3873,-1.43,-146.6,534.1,-14.7,185,3877,0.00,2.60,0.00,0.000,4,0.000,0.074,2421,3537,3432
$GC,3901,-1.38,-146.6,538.2,-14.6,186,3906,0.12,2.50,0.00,0.000,6,0.097,0.057,2446,2143,3432
$GC,4217,-1.38,-146.6,578.2,-12.3,201,4221,0.00,2.53,0.00,0.000,4,0.000,0.067,2445,722,3432
$GC,4245,-1.43,-146.6,581.9,-12.9,202,4249,0.00,2.53,0.00,0.000,6,0.000,0.052,2446,2146,3432
$GC,4566,-1.43,-146.6,623.9,-13.8,218,4570,0.00,2.58,0.00,0.000,4,0.000,0.077,2446,3542,3432
$GC,4812,-1.49,-146.6,650.8,-9.9,229,4817,0.12,2.50,0.00,0.000,6,0.056,0.057,2410,2147,3431
$GC,5134,-1.42,-146.6,692.2,-13.3,245,5139,0.12,2.62,0.00,0.000,4,0.106,0.077,2433,3541,3431
$GC,5229,-1.42,-146.6,705.2,-13.2,249,5233,0.00,2.47,0.00,0.000,6,0.000,0.063,2433,2176,3431
$GC,5545,-1.42,-146.6,743.1,-5.8,264,5550,0.00,2.67,0.00,0.000,4,0.000,0.079,2433,721,3431
$GC,5639,-1.42,-146.6,758.8,-16.0,268,5644,0.00,2.60,0.00,0.000,6,0.000,0.063,2433,2151,3431
$STATE,5849,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5849,begin apogee
$GC,5857,-0.33,0.0,790.2,12.0,278,5992,1.10,0.00,127.20,1.384,6,0.081,0.000,2670,1908,2831
$STATE,5992,end apogee,CONTROL_FINISHED_OK
$STATE,5992,begin climb
$GC,5996,1.44,146.6,797.3,0.0,285,6130,1.77,2.78,125.40,1.355,4,0.063,0.081,3059,3336,2232
$GC,6139,1.68,296.6,798.2,3.2,292,6273,0.22,2.70,127.32,1.330,6,0.070,0.081,3110,1926,1621
$GC,6592,1.45,296.6,735.9,14.7,314,6597,0.22,2.67,0.00,0.000,4,0.117,0.079,3064,3332,1621
$GC,6778,1.38,296.6,711.6,14.8,322,6782,0.00,2.70,0.00,0.000,6,0.000,0.081,3064,1918,1620
$GC,7094,1.28,296.6,673.1,14.0,337,7096,0.20,0.00,0.00,0.000,6,0.110,0.000,3025,1918,1620
$GC,7403,1.28,296.6,631.7,14.1,352,7407,0.00,2.67,0.00,0.000,4,0.000,0.081,3026,3330,1619
$GC,7443,1.41,296.6,627.3,10.6,354,7448,0.12,2.72,0.00,0.000,6,0.074,0.077,3053,1889,1618
$GC,7770,1.36,296.6,582.4,14.2,370,7775,0.00,2.60,0.00,0.000,4,0.000,0.084,3053,503,1618
$GC,7790,1.29,296.6,579.8,13.7,371,7796,0.15,2.55,0.00,0.000,6,0.110,0.059,3026,1911,1618
$GC,8117,1.29,296.6,539.7,12.7,387,8122,0.00,2.62,0.00,0.000,4,0.000,0.078,3026,507,1618
$GC,8173,1.29,296.6,532.4,12.7,389,8179,0.00,2.47,0.00,0.000,6,0.000,0.055,3026,1888,1618
$GC,8489,1.29,296.6,494.2,12.1,405,8493,0.00,2.55,0.00,0.000,4,0.000,0.074,3026,507,1618
$GC,8539,1.29,296.6,487.6,13.1,407,8543,0.00,2.40,0.00,0.000,6,0.000,0.053,3026,1859,1618
$GC,8855,1.29,296.6,447.9,12.8,422,8858,0.00,2.50,0.00,0.000,4,0.000,0.074,3026,502,1618
$GC,8882,1.29,296.6,443.9,14.0,423,8887,0.00,2.40,0.00,0.000,6,0.000,0.054,3026,1852,1618
$GC,9204,1.29,296.6,404.5,12.1,439,9208,0.00,2.47,0.00,0.000,4,0.000,0.074,3026,507,1619
$GC,9225,1.29,296.6,401.7,13.2,440,9229,0.00,2.35,0.00,0.000,6,0.000,0.051,3026,1841,1619
$GC,9553,1.33,296.6,363.2,11.6,456,9557,0.00,2.47,0.00,0.000,4,0.000,0.074,3026,501,1620
$GC,9571,1.33,296.6,361.0,11.7,457,9575,0.00,2.35,0.00,0.000,6,0.000,0.051,3026,1834,1620
$GC,9898,1.37,296.6,322.7,12.0,473,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1838,1620
$GC,10207,1.43,296.6,286.0,12.1,488,10211,0.12,2.45,0.00,0.000,4,0.060,0.072,3058,507,1621
$GC,10234,1.38,296.6,282.0,14.9,489,10239,0.00,2.33,0.00,0.000,6,0.000,0.051,3058,1829,1621
$GC,10556,1.38,296.6,235.6,14.4,505,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1842,1621
$GC,10865,1.38,296.6,192.3,13.9,520,10869,0.00,2.42,0.00,0.000,4,0.000,0.073,3058,507,1622
$GC,10884,1.32,296.6,189.7,14.1,521,10889,0.15,2.35,0.00,0.000,6,0.097,0.051,3030,1843,1622
$GC,11211,1.37,296.6,149.7,11.8,537,11215,0.00,2.67,0.00,0.000,4,0.000,0.064,3030,3330,1622
$GC,11230,1.42,296.6,147.5,11.7,538,11235,0.12,2.70,0.00,0.000,6,0.060,0.055,3062,1825,1622
$GC,11557,1.42,296.6,105.1,11.9,554,11562,0.00,2.72,0.00,0.000,4,0.000,0.062,3062,3330,1623
$GC,11579,1.42,296.6,102.3,12.0,555,11584,0.00,2.67,0.00,0.000,6,0.000,0.057,3062,1842,1623
$GC,11903,1.42,296.6,64.3,12.7,571,11907,0.00,2.67,0.00,0.000,4,0.000,0.061,3062,3327,1623
$GC,11926,1.42,296.6,61.1,13.6,572,11930,0.00,2.62,0.00,0.000,6,0.000,0.054,3062,1861,1623
$GC,12247,1.42,296.6,19.9,12.1,588,12252,0.00,2.65,0.00,0.000,4,0.000,0.059,3062,3333,1623
$GC,12292,1.42,296.6,14.5,11.5,590,12296,0.00,2.58,0.00,0.000,6,0.000,0.052,3062,1889,1623
$STATE,12383,end climb,SURFACE_DEPTH_REACHED
$STATE,12383,begin surface coast
$FINISH,0.4,1.026842
$STATE,12405,end surface coast,CONTROL_FINISHED_OK
$STATE,12405,begin surface
$SM_CCo,12429,1.92,0.108,0,0,1608,300.00
$SM_GC,1.86,0.00,0.00,1.92,0.000,0.000,0.108,416,2144,1608,-10.71,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1827
$TCM_TEMP,17.80
$XPDR_PINGS,71
$ALTIM_BOTTOM_PING,773.5,26.4
$24V_AH,23.2,4.827
$10V_AH,10.0,2.722
$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,27.875,144.275,379.925,1.925,0.000,37.760,27.014,105.590,24.750,0.000,0.000,12.902,1154.387,9281.356,489.217,1376.373,410.754,33.346,1230.319,0.000,1339.879,0.000,47.256,0.000
$DEVICE_MAMPS,173.342,83.603,1384.435,108.147,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.438,446.965,359.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31680,596
$CAP_FILE_SIZE,106110,0
$CFSIZE,254472192,250953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,0,0
$GPS,310809,073930,6129.386,-823.974,39,1.1,39,-8.9