version: 66.04
glider: 5
mission: 7
dive: 16
start: 8 31 109 15 36 38
data:
$ID,5
$MISSION,7
$DIVE,16
$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,-100536.09
$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,30
$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
$GPS1,153007,6127.715,-824.844,28,1.9,28,-8.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-61.9
$GPS2,153544,6127.719,-824.863,16,1.0,16,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.219,-0.147
$KALMAN_X,-25573.7,1301.1,150.5,37304.8,-7705.0
$KALMAN_Y,28388.8,-1519.8,-558.1,-42751.1,9281.0
$MHEAD_RNG_PITCHd_Wd,132.7,4226,-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,-61.58,0.000,2,0.000,0.000,420,2148,2916
$GC,82,-1.44,-146.6,3.0,-3.7,3,114,11.05,2.50,-14.52,0.000,4,0.166,0.081,2422,3526,3430
$GC,260,-1.35,-146.6,33.8,-18.2,11,266,0.15,2.50,0.00,0.000,6,0.104,0.049,2451,2116,3431
$GC,582,-1.35,-146.6,80.2,-14.2,27,587,0.00,2.60,0.00,0.000,4,0.000,0.066,2451,3536,3431
$GC,616,-1.35,-146.6,85.3,-14.7,28,622,0.00,2.45,0.00,0.000,6,0.000,0.049,2452,2154,3431
$GC,932,-1.35,-146.6,126.7,-12.9,44,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2141,3432
$GC,1241,-1.35,-146.6,167.1,-12.9,59,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2141,3432
$GC,1550,-1.35,-146.6,207.7,-12.8,74,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2142,3432
$GC,1860,-1.35,-146.6,246.2,-12.4,89,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2141,3432
$GC,2168,-1.35,-146.6,286.0,-12.8,104,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2140,3432
$GC,2478,-1.35,-146.6,324.6,-12.6,119,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2140,3432
$GC,2787,-1.35,-146.6,365.4,-13.2,134,2791,0.00,2.55,0.00,0.000,4,0.000,0.073,2452,3530,3432
$GC,2832,-1.35,-146.6,371.4,-14.1,136,2836,0.00,2.47,0.00,0.000,6,0.000,0.056,2452,2151,3432
$GC,3153,-1.39,-146.6,413.1,-13.0,152,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2139,3432
$GC,3462,-1.39,-146.6,454.3,-12.9,167,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2139,3432
$GC,3771,-1.39,-146.6,493.0,-12.4,182,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2139,3432
$GC,4080,-1.39,-146.6,532.0,-12.4,197,4085,0.00,2.55,0.00,0.000,4,0.000,0.068,2451,723,3431
$GC,4114,-1.46,-146.6,536.3,-12.6,198,4121,0.12,2.53,0.00,0.000,6,0.055,0.051,2417,2155,3432
$GC,4431,-1.42,-146.6,579.7,-13.5,214,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2155,3431
$GC,4740,-1.38,-146.6,622.9,-14.7,229,4745,0.12,2.62,0.00,0.000,4,0.099,0.065,2441,721,3432
$GC,4826,-1.45,-146.6,634.9,-13.2,233,4830,0.00,2.55,0.00,0.000,6,0.000,0.052,2441,2164,3432
$GC,5152,-1.45,-146.6,675.6,-11.5,249,5156,0.00,2.53,0.00,0.000,4,0.000,0.076,2441,3538,3431
$GC,5410,-1.45,-146.6,707.5,-11.2,260,5416,0.00,2.40,0.00,0.000,6,0.000,0.058,2441,2198,3431
$GC,5727,-1.49,-146.6,742.9,-12.6,276,5731,0.00,2.55,0.00,0.000,4,0.000,0.082,2442,3541,3431
$GC,5850,-1.49,-146.6,761.2,-16.1,281,5856,0.00,2.47,0.00,0.000,6,0.000,0.069,2442,2195,3431
$GC,6166,-1.55,-146.6,795.2,-11.1,297,6171,0.15,2.75,0.00,0.000,4,0.059,0.085,2403,722,3429
$GC,6200,-1.48,-146.6,801.0,-18.7,298,6206,0.00,2.67,0.00,0.000,6,0.000,0.066,2402,2190,3430
$STATE,6492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6492,begin apogee
$GC,6500,-0.33,0.0,840.6,18.2,313,6635,1.27,0.00,127.88,1.437,6,0.096,0.000,2668,1910,2831
$STATE,6635,end apogee,CONTROL_FINISHED_OK
$STATE,6636,begin climb
$GC,6639,1.44,146.6,846.4,0.0,320,6776,1.80,2.80,127.43,1.394,4,0.064,0.091,3058,509,2233
$GC,6802,1.26,146.6,844.4,10.9,327,6809,0.20,2.62,0.00,0.000,6,0.110,0.066,3023,1937,2233
$GC,7118,1.28,203.4,811.9,7.4,343,7174,0.00,2.70,50.15,1.366,4,0.000,0.087,3022,3310,2001
$GC,7393,1.28,203.4,785.7,10.8,354,7399,0.00,2.65,0.00,0.000,6,0.000,0.084,3022,1929,2000
$GC,7709,1.24,203.4,745.9,14.1,370,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1929,1999
$GC,8018,1.19,203.4,702.1,12.9,385,8023,0.00,2.65,0.00,0.000,4,0.000,0.087,3022,3309,1998
$GC,8059,1.23,224.3,698.7,9.0,387,8083,0.00,2.65,18.27,1.319,6,0.000,0.090,3022,1940,1916
$GC,8415,1.21,249.5,670.0,8.9,404,8444,0.00,2.83,23.25,1.337,4,0.000,0.097,3022,516,1813
$GC,8474,1.15,253.2,663.2,9.8,406,8485,0.15,2.62,4.95,0.989,6,0.110,0.069,2996,1919,1798
$GC,8816,1.26,269.5,635.9,9.3,423,8838,0.12,2.80,15.60,1.276,4,0.070,0.087,3024,503,1731
$GC,8862,1.26,269.5,630.2,12.5,425,8866,0.00,2.62,0.00,0.000,6,0.000,0.066,3024,1924,1731
$GC,9189,1.26,269.5,591.7,11.8,441,9193,0.00,2.67,0.00,0.000,4,0.000,0.082,3024,509,1731
$GC,9229,1.26,269.5,586.9,13.0,443,9233,0.00,2.55,0.00,0.000,6,0.000,0.060,3024,1915,1731
$GC,9555,1.26,269.5,551.9,11.0,459,9559,0.00,2.65,0.00,0.000,4,0.000,0.077,3024,501,1732
$GC,9582,1.26,269.5,548.5,11.7,460,9587,0.00,2.50,0.00,0.000,6,0.000,0.056,3024,1896,1732
$GC,9898,1.26,269.5,513.5,11.1,475,9902,0.00,2.60,0.00,0.000,4,0.000,0.076,3024,501,1732
$GC,9919,1.26,269.5,510.7,12.3,476,9924,0.00,2.45,0.00,0.000,6,0.000,0.053,3024,1876,1733
$GC,10241,1.26,269.5,476.3,10.6,492,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1890,1733
$GC,10550,1.26,269.5,443.8,10.5,507,10554,0.00,2.53,0.00,0.000,4,0.000,0.074,3024,500,1734
$GC,10578,1.26,269.5,440.5,11.8,508,10582,0.00,2.45,0.00,0.000,6,0.000,0.053,3024,1882,1734
$GC,10899,1.26,269.5,406.3,10.9,524,10903,0.00,2.55,0.00,0.000,4,0.000,0.074,3024,500,1735
$GC,10916,1.26,269.5,404.3,11.1,525,10920,0.00,2.42,0.00,0.000,6,0.000,0.051,3024,1870,1735
$GC,11243,1.31,269.5,368.5,10.7,541,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1881,1736
$GC,11552,1.35,269.5,336.3,10.6,556,11557,0.00,2.50,0.00,0.000,4,0.000,0.073,3024,508,1736
$GC,11574,1.35,269.5,333.6,11.7,557,11579,0.00,2.38,0.00,0.000,6,0.000,0.051,3024,1856,1737
$GC,11897,1.39,271.2,301.0,9.9,573,11903,0.10,0.00,4.28,0.700,6,0.061,0.000,3052,1868,1725
$GC,12205,1.39,271.2,264.5,11.8,588,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1868,1725
$GC,12514,1.39,271.2,228.7,11.6,603,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1868,1726
$GC,12824,1.39,271.2,194.6,10.7,618,12827,0.00,2.47,0.00,0.000,4,0.000,0.072,3052,503,1726
$GC,12857,1.33,271.2,190.7,12.2,619,12862,0.00,2.38,0.00,0.000,6,0.000,0.050,3052,1854,1726
$GC,13173,1.33,271.2,155.5,10.9,634,13174,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1868,1726
$GC,13483,1.33,271.2,122.8,10.5,649,13487,0.00,2.62,0.00,0.000,4,0.000,0.064,3052,3325,1727
$GC,13523,1.33,271.2,118.4,11.6,651,13527,0.00,2.67,0.00,0.000,6,0.000,0.056,3053,1834,1727
$GC,13850,1.33,271.2,80.9,11.6,667,13851,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1834,1727
$GC,14159,1.33,271.2,47.7,10.4,682,14163,0.00,2.70,0.00,0.000,4,0.000,0.060,3053,3330,1728
$GC,14270,1.33,271.2,35.4,10.9,687,14275,0.00,2.62,0.00,0.000,6,0.000,0.054,3053,1860,1728
$STATE,14570,end climb,SURFACE_DEPTH_REACHED
$STATE,14570,begin surface coast
$FINISH,0.4,1.026836
$STATE,14591,end surface coast,CONTROL_FINISHED_OK
$STATE,14591,begin surface
$SM_CCo,14614,15.15,0.742,0,0,1608,300.00
$SM_GC,1.58,0.00,0.00,15.15,0.000,0.000,0.742,417,2141,1608,-10.71,0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.80
$XPDR_PINGS,73
$ALTIM_BOTTOM_PING,771.0,77.8
$24V_AH,23.7,5.342
$10V_AH,10.1,2.924
$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,26.625,114.375,371.800,15.150,0.000,37.760,28.158,154.367,25.250,0.000,0.000,16.594,1301.501,11144.031,487.925,1559.801,479.833,33.350,1286.591,0.000,1518.117,0.000,47.389,0.000
$DEVICE_MAMPS,165.672,96.642,1436.591,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.475,525.599,405.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34852,703
$CAP_FILE_SIZE,109419,0
$CFSIZE,254472192,250781696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,310809,194137,6127.395,-823.771,29,1.6,29,-8.9