version: 66.04
glider: 5
mission: 7
dive: 15
start: 8 31 109 11 33 2
data:
$ID,5
$MISSION,7
$DIVE,15
$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,-100518.87
$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,22
$R_STBD_OVSHOOT,33
$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
$GPS1,112010,6128.367,-824.721,42,1.3,45,-8.9
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-57.4
$GPS2,113208,6128.297,-824.615,15,1.5,15,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.173,-0.199
$KALMAN_X,-22005.0,959.6,302.6,34147.1,-6304.0
$KALMAN_Y,25971.4,-1109.8,-713.4,-39529.7,10000.2
$MHEAD_RNG_PITCHd_Wd,147.9,3172,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.65,0.000,2,0.000,0.000,415,2140,2691
$GC,81,-1.44,-146.6,2.6,-3.3,3,125,11.10,2.55,-23.42,0.000,4,0.166,0.077,2425,3518,3430
$GC,367,-1.39,-146.6,47.1,-16.2,15,373,0.00,2.47,0.00,0.000,6,0.000,0.049,2425,2124,3431
$GC,683,-1.34,-146.6,91.9,-13.4,31,688,0.12,2.53,0.00,0.000,4,0.110,0.062,2449,719,3431
$GC,734,-1.39,-146.6,98.1,-10.9,33,738,0.00,2.45,0.00,0.000,6,0.000,0.047,2448,2122,3431
$GC,1050,-1.39,-146.6,136.2,-12.9,48,1054,0.00,2.55,0.00,0.000,4,0.000,0.064,2449,715,3431
$GC,1113,-1.44,-146.6,144.1,-12.0,51,1118,0.00,2.47,0.00,0.000,6,0.000,0.047,2449,2122,3431
$GC,1445,-1.44,-146.6,185.1,-12.5,67,1449,0.00,2.55,0.00,0.000,4,0.000,0.064,2449,710,3431
$GC,1485,-1.49,-146.6,190.0,-12.6,69,1490,0.15,2.47,0.00,0.000,6,0.050,0.049,2407,2113,3431
$GC,1814,-1.40,-146.6,239.3,-15.4,85,1819,0.15,2.55,0.00,0.000,4,0.094,0.064,2435,709,3431
$GC,1864,-1.40,-146.6,247.1,-14.7,87,1869,0.00,2.45,0.00,0.000,6,0.000,0.051,2435,2094,3431
$GC,2180,-1.40,-146.6,290.1,-14.0,102,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2094,3431
$GC,2489,-1.40,-146.6,333.5,-14.1,117,2494,0.00,2.50,0.00,0.000,4,0.000,0.066,2435,719,3432
$GC,2552,-1.40,-146.6,342.4,-14.2,120,2556,0.00,2.40,0.00,0.000,6,0.000,0.051,2435,2080,3432
$GC,2879,-1.40,-146.6,387.9,-14.2,136,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2080,3432
$GC,3188,-1.40,-146.6,430.7,-13.9,151,3192,0.00,2.50,0.00,0.000,4,0.000,0.068,2435,715,3431
$GC,3238,-1.40,-146.6,437.9,-14.4,153,3243,0.00,2.42,0.00,0.000,6,0.000,0.053,2435,2081,3431
$GC,3554,-1.40,-146.6,479.9,-13.3,168,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2081,3431
$GC,3864,-1.40,-146.6,520.5,-13.0,183,3868,0.00,2.47,0.00,0.000,4,0.000,0.067,2435,720,3431
$GC,3897,-1.40,-146.6,525.2,-14.1,184,3903,0.00,2.40,0.00,0.000,6,0.000,0.051,2435,2076,3431
$GC,4213,-1.40,-146.6,563.7,-12.0,200,4217,0.00,2.47,0.00,0.000,4,0.000,0.067,2435,716,3431
$GC,4252,-1.40,-146.6,568.6,-12.4,202,4256,0.00,2.38,0.00,0.000,6,0.000,0.051,2435,2055,3431
$GC,4579,-1.40,-146.6,611.9,-13.5,218,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2055,3430
$GC,4888,-1.40,-146.6,651.0,-13.7,233,4892,0.00,2.42,0.00,0.000,4,0.000,0.067,2435,719,3430
$GC,5147,-1.40,-146.6,687.0,-14.1,244,5151,0.00,2.35,0.00,0.000,6,0.000,0.053,2435,2039,3430
$GC,5463,-1.40,-146.6,728.9,-11.9,259,5467,0.00,2.45,0.00,0.000,4,0.000,0.074,2435,713,3430
$GC,5721,-1.45,-146.6,759.8,-11.7,270,5727,0.00,2.35,0.00,0.000,6,0.000,0.061,2435,2016,3430
$GC,6037,-1.45,-146.6,798.7,-14.6,286,6042,0.00,2.85,0.00,0.000,4,0.000,0.089,2435,3534,3428
$GC,6055,-1.45,-146.6,801.9,-15.9,287,6060,0.00,2.80,0.00,0.000,6,0.000,0.075,2435,2024,3428
$STATE,6296,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6296,begin apogee
$GC,6304,-0.33,0.0,835.3,13.0,299,6439,1.10,0.00,127.22,1.421,6,0.087,0.000,2668,1909,2831
$STATE,6440,end apogee,CONTROL_FINISHED_OK
$STATE,6440,begin climb
$GC,6443,1.44,146.6,839.3,0.0,306,6580,1.73,2.80,126.85,1.380,4,0.042,0.095,3061,514,2232
$GC,6839,1.12,146.6,792.8,14.5,324,6845,0.38,2.60,0.00,0.000,6,0.106,0.068,2991,1914,2231
$GC,7167,1.15,164.6,766.3,9.2,340,7190,0.00,2.83,16.50,1.289,4,0.000,0.098,2991,510,2159
$GC,7240,1.16,167.2,758.4,9.9,343,7250,0.00,2.62,3.95,0.850,6,0.000,0.071,2991,1921,2149
$GC,7568,1.27,240.8,735.5,6.6,359,7639,0.15,2.75,63.85,1.379,4,0.067,0.087,3025,3320,1849
$GC,7668,1.31,267.0,727.4,8.8,363,7698,0.00,2.67,24.23,1.317,6,0.000,0.081,3025,1929,1741
$GC,8026,1.31,267.0,690.3,10.0,381,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1915,1741
$GC,8336,1.31,267.0,658.8,10.1,396,8340,0.00,2.70,0.00,0.000,4,0.000,0.096,3024,510,1739
$GC,8353,1.32,267.4,656.9,10.0,397,8357,0.00,2.62,0.00,0.000,6,0.000,0.068,3025,1935,1739
$GC,8680,1.32,267.4,626.1,10.2,413,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1943,1739
$GC,8988,1.32,267.4,593.6,11.1,428,8993,0.00,2.70,0.00,0.000,4,0.000,0.082,3025,507,1739
$GC,9038,1.32,267.4,587.6,12.4,430,9043,0.00,2.62,0.00,0.000,6,0.000,0.059,3025,1959,1738
$GC,9354,1.32,267.4,552.8,11.0,445,9359,0.00,2.72,0.00,0.000,4,0.000,0.078,3025,504,1739
$GC,9405,1.32,267.4,546.6,12.2,447,9409,0.00,2.55,0.00,0.000,6,0.000,0.055,3025,1931,1739
$GC,9720,1.32,267.4,510.7,11.2,462,9725,0.00,2.65,0.00,0.000,4,0.000,0.076,3025,509,1740
$GC,9761,1.32,267.4,506.0,12.7,464,9765,0.00,2.53,0.00,0.000,6,0.000,0.054,3025,1922,1740
$GC,10087,1.32,267.4,469.8,10.7,480,10091,0.00,2.60,0.00,0.000,4,0.000,0.073,3025,507,1741
$GC,10114,1.32,267.4,466.6,11.5,481,10119,0.00,2.50,0.00,0.000,6,0.000,0.054,3025,1916,1740
$GC,10431,1.32,267.4,431.9,10.7,496,10435,0.00,2.62,0.00,0.000,4,0.000,0.074,3024,500,1741
$GC,10448,1.32,267.4,429.7,11.2,497,10452,0.00,2.50,0.00,0.000,6,0.000,0.054,3025,1908,1741
$GC,10774,1.32,267.4,393.3,11.4,513,10779,0.00,2.60,0.00,0.000,4,0.000,0.072,3025,503,1742
$GC,10792,1.32,267.4,391.2,11.2,514,10796,0.00,2.47,0.00,0.000,6,0.000,0.053,3025,1901,1742
$GC,11118,1.32,267.4,353.9,11.5,530,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1914,1743
$GC,11428,1.32,267.4,318.3,11.3,545,11432,0.00,2.58,0.00,0.000,4,0.000,0.072,3025,505,1743
$GC,11445,1.32,267.4,316.3,11.3,546,11450,0.00,2.45,0.00,0.000,6,0.000,0.051,3025,1894,1744
$GC,11773,1.32,267.4,280.1,11.0,562,11777,0.00,2.55,0.00,0.000,4,0.000,0.073,3025,507,1744
$GC,11794,1.32,267.4,277.2,12.2,563,11799,0.00,2.42,0.00,0.000,6,0.000,0.052,3025,1875,1744
$GC,12115,1.36,267.4,240.6,11.3,579,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1876,1745
$GC,12425,1.41,267.4,204.9,11.4,594,12430,0.12,2.53,0.00,0.000,4,0.058,0.071,3058,503,1745
$GC,12442,1.41,267.4,202.8,11.5,595,12446,0.00,2.40,0.00,0.000,6,0.000,0.051,3059,1868,1745
$GC,12769,1.36,267.4,160.9,13.0,611,12774,0.00,2.50,0.00,0.000,4,0.000,0.072,3058,506,1746
$GC,12798,1.28,267.4,156.7,14.2,612,12803,0.20,2.38,0.00,0.000,6,0.094,0.050,3020,1858,1746
$GC,13114,1.33,267.4,120.2,10.9,627,13119,0.00,2.62,0.00,0.000,4,0.000,0.064,3020,3329,1746
$GC,13142,1.42,267.4,116.9,10.7,628,13147,0.15,2.67,0.00,0.000,6,0.054,0.055,3059,1839,1746
$GC,13458,1.42,267.4,78.2,11.7,643,13463,0.00,2.70,0.00,0.000,4,0.000,0.061,3059,3333,1746
$GC,13491,1.42,267.4,74.3,11.4,644,13498,0.00,2.62,0.00,0.000,6,0.000,0.055,3059,1864,1746
$GC,13809,1.42,267.4,36.2,12.5,660,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1864,1747
$STATE,14094,end climb,SURFACE_DEPTH_REACHED
$STATE,14095,begin surface coast
$FINISH,0.4,1.026720
$STATE,14115,end surface coast,CONTROL_FINISHED_OK
$STATE,14115,begin surface
$SM_CCo,14139,17.55,0.752,0,0,1607,300.00
$SM_GC,0.81,0.00,0.00,17.55,0.000,0.000,0.752,420,2157,1607,-10.70,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1847
$TCM_TEMP,17.70
$XPDR_PINGS,69
$ALTIM_BOTTOM_PING,822.5,21.1
$24V_AH,23.7,5.179
$10V_AH,10.0,2.856
$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,26.825,143.600,362.600,17.550,0.000,113.281,97.652,262.382,25.000,0.000,0.000,15.769,1287.942,10724.076,495.227,1626.969,748.560,33.352,1342.834,0.000,1573.975,0.000,54.178,0.000
$DEVICE_MAMPS,165.672,98.176,1421.251,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.410,502.161,388.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34798,675
$CAP_FILE_SIZE,118748,0
$CFSIZE,254472192,250830848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,51,0,0
$GPS,310809,153007,6127.715,-824.844,28,1.9,28,-8.9