version: 66.04
glider: 5
mission: 7
dive: 14
start: 8 31 109 7 45 30
data:
$ID,5
$MISSION,7
$DIVE,14
$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,-100502.48
$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,19
$R_STBD_OVSHOOT,32
$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
$GPS1,073930,6129.386,-823.974,39,1.1,39,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-63.9
$GPS2,074438,6129.384,-823.856,15,1.1,15,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.071,-0.254
$KALMAN_X,-18967.2,-116.4,184.0,32974.4,-4210.9
$KALMAN_Y,22471.0,-432.4,-327.2,-35092.3,8184.9
$MHEAD_RNG_PITCHd_Wd,173.2,1525,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.44,-146.6,0.0,0.0,0,81,0.00,0.00,-61.40,0.000,2,0.000,0.000,416,2152,2924
$GC,84,-1.44,-146.6,2.9,-3.8,3,115,11.02,2.47,-14.18,0.000,4,0.164,0.076,2424,3525,3431
$GC,256,-1.35,-146.6,32.8,-16.4,10,263,0.12,2.47,0.00,0.000,6,0.107,0.048,2448,2125,3431
$GC,574,-1.35,-146.6,79.3,-15.8,26,578,0.00,2.58,0.00,0.000,4,0.000,0.065,2448,3530,3431
$GC,638,-1.35,-146.6,89.3,-13.9,29,642,0.00,2.42,0.00,0.000,6,0.000,0.048,2448,2157,3431
$GC,966,-1.35,-146.6,133.7,-13.8,45,971,0.00,2.58,0.00,0.000,4,0.000,0.064,2448,713,3432
$GC,1023,-1.41,-146.6,141.6,-13.0,47,1029,0.00,2.55,0.00,0.000,6,0.000,0.050,2448,2160,3432
$GC,1338,-1.41,-146.6,182.6,-12.8,63,1343,0.00,2.60,0.00,0.000,4,0.000,0.064,2448,718,3432
$GC,1366,-1.41,-146.6,186.5,-13.3,64,1371,0.00,2.55,0.00,0.000,6,0.000,0.049,2448,2162,3432
$GC,1682,-1.41,-146.6,227.1,-13.2,79,1686,0.00,2.62,0.00,0.000,4,0.000,0.065,2448,719,3432
$GC,1732,-1.47,-146.6,234.1,-13.6,81,1736,0.00,2.53,0.00,0.000,6,0.000,0.051,2448,2147,3432
$GC,2048,-1.47,-146.6,278.3,-14.0,96,2053,0.10,2.62,0.00,0.000,4,0.058,0.066,2418,716,3433
$GC,2082,-1.47,-146.6,283.6,-15.5,97,2088,0.00,2.50,0.00,0.000,6,0.000,0.051,2418,2132,3433
$GC,2398,-1.41,-146.6,331.3,-15.3,113,2402,0.00,2.55,0.00,0.000,4,0.000,0.065,2418,721,3433
$GC,2425,-1.37,-146.6,335.7,-15.5,114,2431,0.15,2.47,0.00,0.000,6,0.095,0.051,2448,2120,3432
$GC,2741,-1.37,-146.6,376.9,-12.9,129,2746,0.00,2.55,0.00,0.000,4,0.000,0.067,2448,719,3433
$GC,2782,-1.43,-146.6,382.2,-13.7,131,2787,0.00,2.47,0.00,0.000,6,0.000,0.051,2448,2119,3433
$GC,3109,-1.43,-146.6,423.6,-12.2,147,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2119,3432
$GC,3419,-1.43,-146.6,462.2,-12.7,162,3423,0.00,2.55,0.00,0.000,4,0.000,0.067,2448,715,3433
$GC,3463,-1.50,-146.6,467.9,-12.8,164,3468,0.15,2.45,0.00,0.000,6,0.052,0.053,2407,2101,3432
$GC,3787,-1.42,-146.6,515.4,-15.3,180,3789,0.15,0.00,0.00,0.000,6,0.096,0.000,2435,2102,3432
$GC,4093,-1.42,-146.6,555.5,-12.5,195,4098,0.00,2.50,0.00,0.000,4,0.000,0.067,2435,721,3432
$GC,4127,-1.42,-146.6,559.9,-12.7,196,4133,0.00,2.45,0.00,0.000,6,0.000,0.052,2435,2104,3432
$GC,4443,-1.42,-146.6,598.9,-12.9,212,4447,0.00,2.62,0.00,0.000,4,0.000,0.076,2435,3535,3432
$GC,4521,-1.47,-146.6,609.1,-12.5,215,4528,0.00,2.58,0.00,0.000,6,0.000,0.060,2435,2109,3432
$GC,4838,-1.47,-146.6,647.8,-13.9,231,4843,0.00,2.53,0.00,0.000,4,0.000,0.071,2435,718,3432
$GC,5097,-1.55,-146.6,683.0,-13.6,242,5103,0.12,2.42,0.00,0.000,6,0.058,0.054,2400,2080,3432
$GC,5413,-1.47,-146.6,722.2,-11.2,258,5418,0.12,2.55,0.00,0.000,4,0.100,0.080,2423,716,3432
$GC,5476,-1.52,-146.6,730.7,-13.4,261,5480,0.00,2.45,0.00,0.000,6,0.000,0.062,2423,2081,3432
$GC,5809,-1.52,-146.6,756.4,-2.8,277,5814,0.00,2.55,0.00,0.000,4,0.000,0.081,2423,721,3431
$GC,5850,-1.48,-146.6,760.8,-13.4,279,5854,0.00,2.42,0.00,0.000,6,0.000,0.069,2423,2037,3430
$STATE,6174,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6174,begin apogee
$GC,6181,-0.33,0.0,806.9,13.0,295,6315,1.15,0.00,126.50,1.411,6,0.081,0.000,2672,1904,2831
$STATE,6316,end apogee,CONTROL_FINISHED_OK
$STATE,6316,begin climb
$GC,6319,1.44,146.6,812.2,0.0,302,6454,1.73,2.80,125.90,1.371,4,0.048,0.085,3061,3326,2232
$GC,6713,1.20,146.6,785.1,10.2,320,6718,0.30,2.67,0.00,0.000,6,0.105,0.081,3004,1923,2231
$GC,7041,1.29,255.6,764.3,5.0,336,7146,0.10,2.80,93.18,1.363,4,0.073,0.086,3027,3324,1788
$GC,7154,1.25,255.6,751.9,14.4,341,7159,0.00,2.72,0.00,0.000,6,0.000,0.085,3027,1921,1787
$GC,7475,1.25,255.6,711.5,11.5,357,7480,0.00,2.75,0.00,0.000,4,0.000,0.099,3027,504,1786
$GC,7531,1.17,255.6,704.7,12.5,359,7538,0.15,2.62,0.00,0.000,6,0.112,0.069,3000,1916,1786
$GC,7848,1.18,258.6,677.3,9.9,375,7852,0.00,2.65,0.00,0.000,4,0.000,0.087,3001,3327,1785
$GC,7870,1.24,258.6,674.8,10.8,376,7874,0.00,2.67,0.00,0.000,6,0.000,0.087,3001,1935,1785
$GC,8191,1.46,348.1,650.5,5.9,392,8278,0.25,2.75,78.55,1.348,4,0.065,0.081,3060,3320,1411
$GC,8284,1.39,348.1,637.9,15.4,396,8289,0.00,2.62,0.00,0.000,6,0.000,0.078,3060,1961,1411
$GC,8601,1.34,348.1,589.2,15.0,411,8603,0.12,0.00,0.00,0.000,6,0.111,0.000,3037,1948,1412
$GC,8910,1.34,348.1,545.7,14.2,426,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1948,1412
$GC,9219,1.34,348.1,499.5,14.9,441,9223,0.00,2.55,0.00,0.000,4,0.000,0.071,3037,3330,1413
$GC,9236,1.34,348.1,496.8,15.3,442,9240,0.00,2.55,0.00,0.000,6,0.000,0.063,3037,1938,1413
$GC,9562,1.34,348.1,450.3,13.7,458,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1938,1414
$GC,9871,1.34,348.1,407.6,14.3,473,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1938,1414
$GC,10181,1.34,348.1,364.7,14.0,488,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1938,1415
$GC,10490,1.34,348.1,322.3,13.6,503,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1938,1415
$GC,10800,1.38,348.1,280.8,13.3,518,10804,0.00,2.60,0.00,0.000,4,0.000,0.073,3037,512,1416
$GC,10817,1.38,348.1,278.6,12.8,519,10821,0.00,2.58,0.00,0.000,6,0.000,0.050,3037,1965,1416
$GC,11144,1.43,348.1,234.3,13.4,535,11148,0.00,2.67,0.00,0.000,4,0.000,0.073,3037,514,1416
$GC,11165,1.43,348.1,230.9,14.7,536,11170,0.00,2.53,0.00,0.000,6,0.000,0.050,3037,1938,1416
$GC,11487,1.49,348.1,186.6,13.7,552,11492,0.15,2.65,0.00,0.000,4,0.058,0.070,3075,510,1417
$GC,11509,1.49,348.1,183.1,15.3,553,11514,0.00,2.53,0.00,0.000,6,0.000,0.050,3075,1934,1417
$GC,11832,1.43,348.1,130.1,16.8,569,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1934,1417
$GC,12141,1.38,348.1,78.4,16.9,584,12146,0.15,2.62,0.00,0.000,4,0.098,0.069,3047,513,1418
$GC,12197,1.38,348.1,69.6,14.0,586,12204,0.00,2.50,0.00,0.000,6,0.000,0.049,3046,1926,1418
$GC,12515,1.42,348.1,27.9,13.2,602,12519,0.00,2.47,0.00,0.000,4,0.000,0.062,3046,3327,1418
$GC,12533,1.50,348.1,25.3,13.3,603,12538,0.12,2.45,0.00,0.000,6,0.061,0.052,3078,1950,1419
$STATE,12693,end climb,SURFACE_DEPTH_REACHED
$STATE,12693,begin surface coast
$FINISH,0.3,1.003038
$STATE,12714,end surface coast,CONTROL_FINISHED_OK
$STATE,12714,begin surface
$SM_CCo,12798,0.00,0.000,0,0,1419,346.61
$SM_GC,1.11,11.45,0.00,0.00,0.034,0.000,0.000,417,2137,1419,-10.60,0.20,346.61
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1843
$TCM_TEMP,17.60
$XPDR_PINGS,96
$ALTIM_BOTTOM_PING,746.4,69.3
$24V_AH,23.7,5.006
$10V_AH,10.0,2.784
$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,27.625,128.975,424.125,0.000,0.000,37.760,29.125,126.856,30.750,0.000,0.000,15.164,1171.203,9553.693,523.301,1420.188,440.824,33.357,1283.529,0.000,1378.034,0.000,45.781,0.000
$DEVICE_MAMPS,164.138,98.943,1411.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.441,455.198,345.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31595,612
$CAP_FILE_SIZE,105432,0
$CFSIZE,254472192,250900480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,310809,112010,6128.367,-824.721,42,1.3,45,-8.9