version: 66.04
glider: 5
mission: 7
dive: 19
start: 9 1 109 3 22 42
data:
$ID,5
$MISSION,7
$DIVE,19
$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,-100580.91
$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,29
$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
$GPS1,031337,6128.080,-822.070,34,1.5,34,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.0
$GPS2,032150,6128.084,-822.176,13,1.5,13,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.246,-0.096
$KALMAN_X,-34970.3,198.9,119.1,50194.0,-7511.0
$KALMAN_Y,31230.9,-690.8,-545.4,-45758.1,5660.4
$MHEAD_RNG_PITCHd_Wd,120.2,4338,-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,-146.6,0.0,0.0,0,61,0.00,0.00,-41.97,0.000,2,0.000,0.000,420,2148,2489
$GC,65,-1.44,-146.6,2.2,-4.4,2,121,11.10,2.58,-37.88,0.000,4,0.166,0.079,2421,3530,3429
$GC,279,-1.30,-146.6,31.9,-18.0,11,286,0.20,2.50,0.00,0.000,6,0.102,0.049,2460,2118,3430
$GC,596,-1.30,-146.6,75.6,-12.4,27,600,0.00,2.50,0.00,0.000,4,0.000,0.064,2461,718,3430
$GC,663,-1.37,-146.6,83.9,-12.7,30,667,0.00,2.50,0.00,0.000,6,0.000,0.049,2460,2137,3431
$GC,985,-1.37,-146.6,122.1,-11.9,46,990,0.00,2.58,0.00,0.000,4,0.000,0.062,2461,716,3431
$GC,1026,-1.43,-146.6,127.3,-13.0,48,1031,0.12,2.47,0.00,0.000,6,0.054,0.048,2426,2131,3431
$GC,1356,-1.37,-146.6,174.5,-14.8,64,1358,0.10,0.00,0.00,0.000,6,0.102,0.000,2445,2131,3431
$GC,1662,-1.37,-146.6,215.6,-13.5,79,1667,0.00,2.58,0.00,0.000,4,0.000,0.065,2444,714,3431
$GC,1703,-1.37,-146.6,220.9,-13.6,81,1707,0.00,2.47,0.00,0.000,6,0.000,0.051,2444,2116,3431
$GC,2029,-1.37,-146.6,264.0,-13.2,97,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2117,3431
$GC,2339,-1.37,-146.6,304.1,-13.1,112,2343,0.00,2.53,0.00,0.000,4,0.000,0.065,2444,722,3431
$GC,2383,-1.41,-146.6,310.3,-13.4,114,2387,0.00,2.45,0.00,0.000,6,0.000,0.051,2444,2110,3431
$GC,2704,-1.41,-146.6,352.6,-13.6,130,2708,0.00,2.60,0.00,0.000,4,0.000,0.073,2445,3531,3431
$GC,2737,-1.41,-146.6,357.3,-14.4,131,2743,0.00,2.58,0.00,0.000,6,0.000,0.057,2444,2098,3431
$GC,3053,-1.41,-146.6,398.9,-12.9,147,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2084,3431
$GC,3362,-1.41,-146.6,439.1,-13.4,162,3366,0.00,2.65,0.00,0.000,4,0.000,0.072,2445,3532,3431
$GC,3418,-1.41,-146.6,447.0,-14.5,164,3425,0.00,2.55,0.00,0.000,6,0.000,0.057,2445,2110,3431
$GC,3734,-1.41,-146.6,487.9,-12.9,180,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2096,3431
$GC,4044,-1.41,-146.6,526.9,-12.6,195,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2097,3431
$GC,4353,-1.41,-146.6,567.8,-13.3,210,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2097,3430
$GC,4662,-1.41,-146.6,610.2,-13.4,225,4666,0.00,2.47,0.00,0.000,4,0.000,0.069,2444,722,3430
$GC,4864,-1.51,-146.6,637.9,-12.9,234,4869,0.12,2.47,0.00,0.000,6,0.057,0.052,2410,2126,3430
$GC,5194,-1.46,-146.6,684.7,-13.8,250,5198,0.00,2.62,0.00,0.000,4,0.000,0.081,2410,3540,3430
$GC,5384,-1.37,-146.6,713.6,-13.3,258,5391,0.17,2.50,0.00,0.000,6,0.100,0.064,2443,2162,3430
$GC,5703,-1.42,-146.6,758.5,-17.1,274,5707,0.00,2.60,0.00,0.000,4,0.000,0.084,2444,3536,3429
$GC,5753,-1.46,-146.6,766.4,-15.1,276,5757,0.00,2.47,0.00,0.000,6,0.000,0.067,2444,2178,3429
$STATE,5818,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5818,begin apogee
$GC,5826,-0.33,0.0,776.3,14.9,279,5961,1.08,0.00,127.47,1.361,6,0.089,0.000,2671,1896,2831
$STATE,5962,end apogee,CONTROL_FINISHED_OK
$STATE,5962,begin climb
$GC,5965,1.44,146.6,783.7,0.0,286,6103,1.80,2.72,127.12,1.328,4,0.071,0.091,3056,529,2233
$GC,6122,1.17,146.6,775.1,13.0,293,6128,0.30,2.58,0.00,0.000,6,0.096,0.062,3000,1918,2233
$GC,6439,1.20,165.4,756.7,9.1,308,6461,0.00,2.75,17.40,1.241,4,0.000,0.081,3000,3333,2156
$GC,6681,1.41,299.2,739.8,3.9,318,6804,0.25,2.67,114.88,1.329,6,0.058,0.078,3054,1920,1611
$GC,7120,1.32,299.2,671.6,16.6,340,7125,0.12,2.70,0.00,0.000,4,0.112,0.083,3032,3328,1611
$GC,7161,1.37,299.2,665.4,14.6,342,7166,0.00,2.70,0.00,0.000,6,0.000,0.081,3032,1907,1611
$GC,7487,1.37,299.2,621.5,12.8,358,7492,0.00,2.67,0.00,0.000,4,0.000,0.094,3032,504,1610
$GC,7521,1.31,299.2,616.7,13.8,359,7527,0.00,2.55,0.00,0.000,6,0.000,0.066,3032,1888,1610
$GC,7837,1.31,299.2,575.7,13.2,375,7842,0.00,2.65,0.00,0.000,4,0.000,0.090,3032,508,1609
$GC,7904,1.26,299.2,566.7,13.2,378,7909,0.00,2.53,0.00,0.000,6,0.000,0.064,3032,1891,1609
$GC,8225,1.26,299.2,530.0,11.0,394,8229,0.00,2.62,0.00,0.000,4,0.000,0.083,3032,506,1609
$GC,8269,1.26,299.2,524.6,12.7,396,8273,0.00,2.50,0.00,0.000,6,0.000,0.059,3032,1890,1609
$GC,8596,1.26,299.2,486.2,12.0,412,8600,0.00,2.60,0.00,0.000,4,0.000,0.081,3032,507,1609
$GC,8613,1.26,299.2,484.0,12.3,413,8617,0.00,2.47,0.00,0.000,6,0.000,0.055,3031,1888,1609
$GC,8939,1.26,299.2,443.2,12.9,429,8944,0.00,2.58,0.00,0.000,4,0.000,0.077,3032,507,1609
$GC,8957,1.26,299.2,440.7,13.1,430,8961,0.00,2.45,0.00,0.000,6,0.000,0.054,3032,1881,1609
$GC,9283,1.26,299.2,397.4,13.2,446,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1885,1610
$GC,9593,1.26,299.2,356.9,13.4,461,9597,0.00,2.53,0.00,0.000,4,0.000,0.075,3032,508,1610
$GC,9616,1.26,299.2,353.6,13.8,462,9620,0.00,2.42,0.00,0.000,6,0.000,0.052,3032,1878,1610
$GC,9942,1.26,299.2,311.2,12.4,478,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1892,1610
$GC,10252,1.30,299.2,271.2,13.2,493,10256,0.00,2.53,0.00,0.000,4,0.000,0.073,3032,508,1612
$GC,10274,1.30,299.2,267.9,14.4,494,10278,0.00,2.40,0.00,0.000,6,0.000,0.051,3032,1864,1612
$GC,10595,1.34,299.2,226.0,13.1,510,10599,0.00,2.62,0.00,0.000,4,0.000,0.065,3032,3332,1612
$GC,10613,1.40,299.2,223.8,13.0,511,10617,0.00,2.65,0.00,0.000,6,0.000,0.058,3032,1858,1612
$GC,10940,1.44,299.2,181.9,12.2,527,10945,0.12,2.65,0.00,0.000,4,0.058,0.063,3067,3329,1613
$GC,10973,1.44,299.2,177.2,14.1,528,10979,0.00,2.62,0.00,0.000,6,0.000,0.058,3066,1870,1613
$GC,11290,1.39,299.2,134.8,13.6,544,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1870,1613
$GC,11599,1.34,299.2,92.1,13.8,559,11604,0.15,2.65,0.00,0.000,4,0.093,0.062,3036,3333,1613
$GC,11617,1.34,299.2,89.6,13.5,560,11621,0.00,2.60,0.00,0.000,6,0.000,0.055,3036,1878,1613
$GC,11944,1.40,299.2,49.5,12.1,576,11946,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1878,1614
$GC,12254,1.46,299.2,14.1,11.2,591,12259,0.12,2.62,0.00,0.000,4,0.056,0.060,3070,3325,1614
$GC,12276,1.46,299.2,11.0,12.8,592,12280,0.00,2.60,0.00,0.000,6,0.000,0.054,3070,1869,1614
$STATE,12348,end climb,SURFACE_DEPTH_REACHED
$STATE,12348,begin surface coast
$FINISH,0.3,1.026847
$STATE,12369,end surface coast,CONTROL_FINISHED_OK
$STATE,12369,begin surface
$SM_CCo,12392,0.70,0.113,0,0,1608,300.00
$SM_GC,1.85,0.00,0.00,0.70,0.000,0.000,0.113,419,2149,1608,-10.70,0.54,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1853
$TCM_TEMP,17.70
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,723.1,62.1
$24V_AH,23.7,5.852
$10V_AH,10.0,3.113
$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,27.225,124.225,386.875,0.700,0.000,75.523,60.283,176.794,19.750,0.000,0.000,13.868,1148.919,9274.265,482.357,1414.210,571.841,33.353,1232.664,0.000,1372.484,0.000,47.531,0.000
$DEVICE_MAMPS,166.439,94.341,1360.658,112.749,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.014,443.323,361.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31761,597
$CAP_FILE_SIZE,104732,0
$CFSIZE,254472192,250634240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,0,0
$GPS,010909,065037,6128.883,-821.496,41,0.8,41,-8.9