version: 66.04
glider: 5
mission: 7
dive: 18
start: 8 31 109 23 16 48
data:
$ID,5
$MISSION,7
$DIVE,18
$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,-100566.42
$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,13
$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
$GPS1,231107,6127.076,-822.771,25,1.5,25,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-61.7
$GPS2,231556,6127.059,-822.745,12,1.6,12,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.262,0.025
$KALMAN_X,-30881.6,109.2,449.0,45359.0,-8311.0
$KALMAN_Y,30920.2,-945.9,-710.7,-46923.3,8094.8
$MHEAD_RNG_PITCHd_Wd,93.4,5800,-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,11,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,-60.83,0.000,2,0.000,0.000,416,2148,2541
$GC,81,-1.44,-146.6,2.1,-2.3,3,133,11.23,2.53,-33.42,0.000,4,0.173,0.081,2423,3517,3429
$GC,268,-1.34,-146.6,28.4,-17.3,11,273,0.15,2.50,0.00,0.000,6,0.107,0.048,2453,2110,3429
$GC,586,-1.34,-146.6,76.6,-15.5,26,590,0.00,2.47,0.00,0.000,4,0.000,0.063,2452,719,3430
$GC,630,-1.40,-146.6,83.9,-15.2,28,635,0.00,2.45,0.00,0.000,6,0.000,0.046,2453,2114,3430
$GC,952,-1.40,-146.6,129.7,-14.7,44,957,0.00,2.53,0.00,0.000,4,0.000,0.063,2453,718,3431
$GC,993,-1.45,-146.6,135.8,-15.2,46,998,0.12,2.42,0.00,0.000,6,0.053,0.051,2417,2107,3431
$GC,1323,-1.39,-146.6,188.6,-15.4,62,1325,0.12,0.00,0.00,0.000,6,0.099,0.000,2442,2107,3431
$GC,1629,-1.39,-146.6,231.1,-13.5,77,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2107,3431
$GC,1939,-1.39,-146.6,272.5,-13.1,92,1944,0.00,2.62,0.00,0.000,4,0.000,0.075,2442,3535,3431
$GC,1967,-1.39,-146.6,276.4,-13.5,93,1972,0.00,2.58,0.00,0.000,6,0.000,0.056,2441,2100,3431
$GC,2283,-1.39,-146.6,315.2,-12.0,108,2287,0.00,2.62,0.00,0.000,4,0.000,0.072,2442,3528,3431
$GC,2316,-1.39,-146.6,319.6,-12.7,109,2326,0.00,2.55,0.00,0.000,6,0.000,0.056,2441,2108,3431
$GC,2632,-1.39,-146.6,358.3,-12.3,125,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2094,3431
$GC,2942,-1.39,-146.6,395.7,-11.9,140,2946,0.00,2.62,0.00,0.000,4,0.000,0.072,2442,3531,3431
$GC,2997,-1.39,-146.6,402.9,-12.2,142,3003,0.00,2.55,0.00,0.000,6,0.000,0.056,2442,2109,3431
$GC,3313,-1.39,-146.6,441.1,-12.6,158,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2096,3431
$GC,3622,-1.39,-146.6,480.3,-12.9,173,3626,0.00,2.62,0.00,0.000,4,0.000,0.073,2442,3527,3431
$GC,3671,-1.39,-146.6,487.0,-13.8,175,3676,0.00,2.53,0.00,0.000,6,0.000,0.057,2441,2123,3431
$GC,3987,-1.39,-146.6,527.7,-13.0,190,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2112,3431
$GC,4296,-1.39,-146.6,566.9,-12.5,205,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2112,3431
$GC,4606,-1.39,-146.6,604.7,-12.4,220,4610,0.00,2.53,0.00,0.000,4,0.000,0.068,2442,717,3431
$GC,4695,-1.46,-146.6,616.0,-11.9,224,4700,0.00,2.45,0.00,0.000,6,0.000,0.051,2442,2104,3430
$GC,5016,-1.46,-146.6,651.3,-11.2,240,5020,0.00,2.55,0.00,0.000,4,0.000,0.073,2441,718,3430
$GC,5274,-1.53,-146.6,683.0,-11.9,251,5280,0.15,2.40,0.00,0.000,6,0.055,0.054,2402,2068,3430
$GC,5590,-1.47,-146.6,726.9,-12.6,267,5595,0.12,2.53,0.00,0.000,4,0.103,0.076,2424,718,3430
$GC,5630,-1.53,-146.6,731.2,-10.2,269,5635,0.00,2.45,0.00,0.000,6,0.000,0.061,2424,2078,3430
$GC,5957,-1.53,-146.6,769.9,-13.5,285,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2080,3429
$STATE,6264,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6264,begin apogee
$GC,6271,-0.33,0.0,812.4,16.7,300,6407,1.17,0.00,127.97,1.400,6,0.093,0.000,2671,1902,2830
$STATE,6407,end apogee,CONTROL_FINISHED_OK
$STATE,6407,begin climb
$GC,6410,1.44,146.6,821.3,0.0,307,6548,1.75,2.75,127.35,1.364,4,0.057,0.088,3058,516,2233
$GC,6807,1.19,146.6,791.5,14.4,325,6813,0.28,2.60,0.00,0.000,6,0.100,0.069,3006,1918,2231
$GC,7138,1.15,156.1,758.2,9.6,341,7152,0.00,2.80,9.38,1.190,4,0.000,0.097,3005,513,2194
$GC,7254,1.04,156.1,738.9,18.1,345,7259,0.17,2.62,0.00,0.000,6,0.107,0.070,2974,1931,2193
$GC,7571,1.26,246.3,719.6,5.9,360,7655,0.20,2.75,78.10,1.374,4,0.064,0.087,3021,3323,1827
$GC,7679,1.26,246.3,708.8,12.3,365,7684,0.00,2.72,0.00,0.000,6,0.000,0.083,3021,1912,1827
$GC,8006,1.26,246.3,667.6,10.1,381,8011,0.00,2.72,0.00,0.000,4,0.000,0.099,3021,505,1826
$GC,8046,1.21,246.3,663.0,12.5,383,8051,0.00,2.58,0.00,0.000,6,0.000,0.071,3021,1891,1826
$GC,8373,1.21,246.3,624.4,11.4,399,8377,0.00,2.67,0.00,0.000,4,0.000,0.091,3021,509,1824
$GC,8451,1.15,246.3,616.6,10.7,402,8458,0.15,2.47,0.00,0.000,6,0.106,0.067,2995,1859,1824
$GC,8767,1.24,246.3,585.4,10.7,418,8772,0.00,2.58,0.00,0.000,4,0.000,0.087,2995,504,1824
$GC,8831,1.24,246.3,577.4,12.5,421,8835,0.00,2.45,0.00,0.000,6,0.000,0.063,2995,1857,1824
$GC,9158,1.32,246.3,542.9,10.9,437,9163,0.17,2.55,0.00,0.000,4,0.059,0.080,3036,507,1824
$GC,9191,1.25,246.3,538.5,14.2,438,9197,0.00,2.40,0.00,0.000,6,0.000,0.057,3036,1844,1824
$GC,9507,1.25,246.3,497.5,12.6,454,9511,0.00,2.67,0.00,0.000,4,0.000,0.072,3036,3329,1824
$GC,9528,1.25,246.3,494.7,12.1,455,9533,0.00,2.72,0.00,0.000,6,0.000,0.064,3036,1840,1824
$GC,9850,1.25,246.3,457.2,11.6,471,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1840,1825
$GC,10159,1.25,246.3,420.6,11.9,486,10164,0.00,2.72,0.00,0.000,4,0.000,0.067,3037,3329,1826
$GC,10199,1.25,246.3,415.8,12.0,488,10203,0.00,2.70,0.00,0.000,6,0.000,0.062,3036,1846,1826
$GC,10525,1.25,246.3,376.9,11.5,504,10530,0.00,2.72,0.00,0.000,4,0.000,0.066,3036,3335,1826
$GC,10547,1.25,246.3,374.2,11.6,505,10551,0.00,2.67,0.00,0.000,6,0.000,0.059,3036,1851,1827
$GC,10868,1.25,246.3,338.2,11.1,521,10873,0.00,2.70,0.00,0.000,4,0.000,0.064,3036,3331,1827
$GC,10908,1.25,246.3,333.8,10.7,523,10912,0.00,2.65,0.00,0.000,6,0.000,0.058,3036,1863,1827
$GC,11234,1.25,246.3,298.1,11.2,539,11239,0.00,2.67,0.00,0.000,4,0.000,0.064,3036,3336,1828
$GC,11256,1.25,246.3,295.4,11.7,540,11261,0.00,2.62,0.00,0.000,6,0.000,0.058,3036,1870,1828
$GC,11578,1.25,246.3,260.7,10.4,556,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1870,1829
$GC,11887,1.25,248.4,229.7,9.9,571,11897,0.00,2.65,4.28,0.665,4,0.000,0.063,3036,3330,1818
$GC,11937,1.29,248.4,224.2,10.4,573,11942,0.00,2.60,0.00,0.000,6,0.000,0.056,3036,1884,1818
$GC,12259,1.29,248.4,191.8,10.3,589,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1884,1818
$GC,12568,1.30,250.3,159.6,9.9,604,12573,0.00,2.62,0.00,0.000,4,0.000,0.063,3036,3333,1818
$GC,12601,1.31,258.3,156.2,9.6,605,12617,0.00,2.60,9.90,0.821,6,0.000,0.054,3037,1882,1778
$GC,12940,1.31,258.3,122.6,10.4,622,12941,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1881,1777
$GC,13251,1.31,258.3,90.2,10.6,637,13255,0.00,2.62,0.00,0.000,4,0.000,0.062,3037,3331,1778
$GC,13284,1.37,258.3,86.3,10.8,638,13290,0.00,2.58,0.00,0.000,6,0.000,0.054,3036,1889,1778
$GC,13600,1.41,258.3,51.7,11.2,654,13605,0.00,2.50,0.00,0.000,4,0.000,0.073,3036,512,1778
$GC,13651,1.41,258.3,46.0,10.8,656,13655,0.00,2.40,0.00,0.000,6,0.000,0.047,3037,1888,1778
$GC,13968,1.48,271.4,16.0,9.4,671,13990,0.15,2.60,12.12,0.747,4,0.052,0.069,3076,509,1724
$GC,14008,1.39,271.4,11.0,13.2,672,14015,0.15,2.38,0.00,0.000,6,0.091,0.048,3048,1866,1724
$STATE,14075,end climb,SURFACE_DEPTH_REACHED
$STATE,14075,begin surface coast
$FINISH,0.6,1.026804
$STATE,14096,end surface coast,CONTROL_FINISHED_OK
$STATE,14096,begin surface
$SM_CCo,14119,15.25,0.749,0,0,1608,300.00
$SM_GC,1.31,0.00,0.00,15.25,0.000,0.000,0.749,420,2139,1608,-10.70,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,17.70
$XPDR_PINGS,70
$ALTIM_BOTTOM_PING,772.0,49.3
$24V_AH,23.7,5.687
$10V_AH,10.0,3.050
$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,27.525,140.375,369.100,15.250,0.000,37.762,30.044,115.874,24.500,0.000,0.000,12.908,1285.928,10605.568,514.680,1581.549,443.925,33.348,1346.244,0.000,1541.239,0.000,49.460,0.000
$DEVICE_MAMPS,172.575,98.943,1399.775,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.428,504.946,395.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34816,677
$CAP_FILE_SIZE,113770,0
$CFSIZE,254472192,250679296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,50,0,0
$GPS,010909,031337,6128.080,-822.070,34,1.5,34,-8.9