version: 66.04
glider: 5
mission: 7
dive: 17
start: 8 31 109 19 47 47
data:
$ID,5
$MISSION,7
$DIVE,17
$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,-100552.89
$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,26
$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
$GPS1,194137,6127.395,-823.771,29,1.6,29,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.8
$GPS2,194655,6127.420,-823.706,16,1.6,16,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.230,-0.129
$KALMAN_X,-28299.2,676.2,584.0,41229.5,-8120.1
$KALMAN_Y,30107.6,-1388.6,-704.5,-45006.0,8685.1
$MHEAD_RNG_PITCHd_Wd,128.3,4913,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-60.72,0.000,2,0.000,0.000,417,2143,2910
$GC,83,-1.44,-146.6,3.2,-4.9,3,115,11.23,2.55,-14.35,0.000,4,0.172,0.078,2421,3538,3431
$GC,349,-1.31,-146.6,49.3,-18.4,15,354,0.17,2.53,0.00,0.000,6,0.104,0.048,2455,2113,3431
$GC,678,-1.31,-146.6,95.9,-13.5,31,682,0.00,2.60,0.00,0.000,4,0.000,0.066,2455,3533,3432
$GC,733,-1.31,-146.6,104.3,-14.3,33,740,0.00,2.47,0.00,0.000,6,0.000,0.049,2455,2139,3432
$GC,1050,-1.31,-146.6,146.8,-12.2,49,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2125,3432
$GC,1358,-1.31,-146.6,186.7,-13.0,64,1362,0.00,2.58,0.00,0.000,4,0.000,0.067,2455,3538,3433
$GC,1408,-1.31,-146.6,193.4,-13.0,66,1412,0.00,2.47,0.00,0.000,6,0.000,0.051,2455,2145,3433
$GC,1724,-1.31,-146.6,233.1,-12.5,81,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2134,3433
$GC,2034,-1.31,-146.6,271.1,-12.2,96,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2134,3432
$GC,2343,-1.35,-146.6,307.1,-11.6,111,2347,0.00,2.55,0.00,0.000,4,0.000,0.071,2455,3531,3433
$GC,2393,-1.35,-146.6,313.1,-11.9,113,2397,0.00,2.47,0.00,0.000,6,0.000,0.054,2455,2145,3433
$GC,2709,-1.40,-146.6,351.3,-11.9,128,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2133,3433
$GC,3018,-1.44,-146.6,387.6,-12.1,143,3023,0.12,2.58,0.00,0.000,4,0.058,0.066,2420,718,3433
$GC,3046,-1.44,-146.6,391.3,-13.1,144,3050,0.00,2.53,0.00,0.000,6,0.000,0.052,2420,2146,3432
$GC,3362,-1.40,-146.6,434.4,-13.4,159,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2146,3433
$GC,3671,-1.40,-146.6,475.6,-13.4,174,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2146,3432
$GC,3980,-1.40,-146.6,518.4,-14.3,189,3984,0.00,2.60,0.00,0.000,4,0.000,0.066,2420,716,3432
$GC,4025,-1.40,-146.6,525.1,-15.2,191,4030,0.00,2.53,0.00,0.000,6,0.000,0.051,2420,2145,3432
$GC,4347,-1.40,-146.6,570.6,-14.1,207,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2144,3431
$GC,4656,-1.40,-146.6,615.1,-14.2,222,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2144,3431
$GC,4965,-1.40,-146.6,657.1,-12.0,237,4969,0.00,2.58,0.00,0.000,4,0.000,0.066,2420,722,3432
$GC,5223,-1.40,-146.6,689.9,-12.9,248,5230,0.00,2.50,0.00,0.000,6,0.000,0.055,2420,2132,3431
$GC,5539,-1.40,-146.6,729.5,-11.2,264,5544,0.00,2.60,0.00,0.000,4,0.000,0.077,2420,721,3432
$GC,5797,-1.45,-146.6,762.6,-13.5,275,5804,0.00,2.53,0.00,0.000,6,0.000,0.063,2420,2120,3431
$GC,6114,-1.45,-146.6,808.7,-11.1,291,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2123,3430
$STATE,6255,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6255,begin apogee
$GC,6262,-0.33,0.0,826.4,12.7,298,6397,1.20,0.00,128.32,1.425,6,0.091,0.000,2673,1900,2830
$STATE,6398,end apogee,CONTROL_FINISHED_OK
$STATE,6398,begin climb
$GC,6401,1.44,146.6,834.2,0.0,305,6539,1.77,2.80,127.47,1.383,4,0.063,0.084,3057,3327,2233
$GC,6549,1.75,377.3,833.8,-0.5,312,6759,0.30,2.75,198.93,1.348,6,0.064,0.092,3125,1924,1292
$GC,7066,1.53,377.3,738.9,21.8,337,7071,0.20,2.70,0.00,0.000,4,0.119,0.084,3084,3331,1292
$GC,7178,1.53,377.3,719.3,16.7,342,7182,0.00,2.72,0.00,0.000,6,0.000,0.083,3085,1910,1292
$GC,7499,1.43,377.3,659.3,19.3,358,7505,0.15,2.70,0.00,0.000,4,0.117,0.097,3056,503,1292
$GC,7528,1.32,377.3,653.5,19.6,359,7533,0.12,2.60,0.00,0.000,6,0.120,0.070,3035,1900,1292
$GC,7844,1.32,377.3,609.9,12.1,374,7848,0.00,2.67,0.00,0.000,4,0.000,0.091,3034,504,1291
$GC,7899,1.32,377.3,602.0,13.8,376,7905,0.00,2.47,0.00,0.000,6,0.000,0.065,3034,1857,1290
$GC,8215,1.32,377.3,560.1,14.0,392,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1857,1290
$GC,8524,1.32,377.3,514.6,14.8,407,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1857,1290
$GC,8833,1.36,377.3,469.9,14.6,422,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1857,1290
$GC,9142,1.36,377.3,424.4,15.0,437,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1857,1291
$GC,9452,1.41,377.3,380.6,13.9,452,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1858,1292
$GC,9761,1.47,377.3,339.0,13.3,467,9763,0.15,0.00,0.00,0.000,6,0.058,0.000,3072,1858,1292
$GC,10071,1.40,377.3,287.5,17.2,482,10076,0.12,2.50,0.00,0.000,4,0.100,0.074,3048,504,1293
$GC,10093,1.34,377.3,283.5,17.0,483,10097,0.00,2.42,0.00,0.000,6,0.000,0.051,3048,1872,1292
$GC,10414,1.34,377.3,235.9,14.9,499,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1888,1293
$GC,10723,1.34,377.3,190.0,14.4,514,10727,0.00,2.53,0.00,0.000,4,0.000,0.073,3048,506,1293
$GC,10740,1.34,377.3,187.5,14.6,515,10744,0.00,2.38,0.00,0.000,6,0.000,0.051,3048,1859,1293
$GC,11074,1.34,377.3,138.6,14.8,531,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1872,1294
$GC,11382,1.34,377.3,93.1,15.0,546,11387,0.00,2.50,0.00,0.000,4,0.000,0.072,3048,500,1294
$GC,11410,1.34,377.3,88.6,16.3,547,11414,0.00,2.38,0.00,0.000,6,0.000,0.052,3048,1847,1294
$GC,11726,1.34,377.3,42.6,13.6,562,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1861,1295
$STATE,12032,end climb,SURFACE_DEPTH_REACHED
$STATE,12033,begin surface coast
$FINISH,0.4,1.026819
$STATE,12055,end surface coast,CONTROL_FINISHED_OK
$STATE,12055,begin surface
$SM_CCo,12138,0.00,0.000,0,0,1295,377.03
$SM_GC,1.16,11.27,0.00,0.00,0.031,0.000,0.000,417,2150,1295,-10.61,0.57,377.03
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1848
$TCM_TEMP,16.70
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,795.6,38.7
$24V_AH,23.7,5.532
$10V_AH,10.0,2.982
$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,26.825,77.600,454.725,0.000,0.000,37.762,31.124,132.726,20.000,0.000,0.000,16.176,1071.778,9145.747,499.728,1320.480,419.676,33.350,1192.696,0.000,1281.836,0.000,48.872,0.000
$DEVICE_MAMPS,171.808,96.642,1425.086,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.925,429.569,337.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28519,578
$CAP_FILE_SIZE,88645,0
$CFSIZE,254472192,250757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,310809,231107,6127.076,-822.771,25,1.5,25,-8.9