version: 66.04
glider: 5
mission: 7
dive: 20
start: 9 1 109 6 56 41
data:
$ID,5
$MISSION,7
$DIVE,20
$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,-100597.5
$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,36
$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
$GPS1,065037,6128.883,-821.496,41,0.8,41,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.3
$GPS2,065549,6128.929,-821.499,15,0.8,15,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.236,-0.117
$KALMAN_X,-39852.5,711.6,496.8,54784.4,-10557.0
$KALMAN_Y,33736.1,-414.0,-81.2,-47462.3,6095.5
$MHEAD_RNG_PITCHd_Wd,125.2,3675,-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,-60.72,0.000,2,0.000,0.000,419,2150,2894
$GC,83,-1.44,-146.6,3.1,-4.5,3,116,11.20,2.53,-15.27,0.000,4,0.171,0.079,2424,3529,3430
$GC,262,-1.32,-146.6,33.7,-17.5,11,268,0.15,2.50,0.00,0.000,6,0.107,0.049,2453,2122,3430
$GC,584,-1.32,-146.6,79.0,-13.5,27,589,0.00,2.58,0.00,0.000,4,0.000,0.065,2454,3526,3431
$GC,640,-1.32,-146.6,86.6,-13.3,29,647,0.00,2.45,0.00,0.000,6,0.000,0.050,2454,2142,3431
$GC,958,-1.32,-146.6,128.3,-13.1,45,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2129,3431
$GC,1265,-1.32,-146.6,169.2,-13.1,60,1269,0.00,2.55,0.00,0.000,4,0.000,0.069,2454,3526,3431
$GC,1297,-1.32,-146.6,173.8,-13.9,61,1303,0.00,2.47,0.00,0.000,6,0.000,0.052,2453,2139,3431
$GC,1613,-1.32,-146.6,215.9,-13.5,77,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2126,3431
$GC,1922,-1.32,-146.6,255.9,-12.6,92,1927,0.00,2.53,0.00,0.000,4,0.000,0.069,2454,3520,3431
$GC,1967,-1.32,-146.6,262.0,-14.1,94,1971,0.00,2.45,0.00,0.000,6,0.000,0.055,2453,2150,3432
$GC,2288,-1.32,-146.6,303.7,-12.9,110,2292,0.00,2.53,0.00,0.000,4,0.000,0.071,2453,3526,3432
$GC,2338,-1.32,-146.6,310.1,-12.1,112,2342,0.00,2.40,0.00,0.000,6,0.000,0.054,2454,2170,3432
$GC,2660,-1.32,-146.6,346.0,-10.4,128,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2158,3432
$GC,2968,-1.32,-146.6,379.6,-10.9,143,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2158,3432
$GC,3277,-1.32,-146.6,412.6,-10.5,158,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2158,3431
$GC,3588,-1.32,-146.6,446.4,-11.1,173,3592,0.00,2.50,0.00,0.000,4,0.000,0.073,2453,3519,3432
$GC,3620,-1.32,-146.6,450.4,-11.2,174,3627,0.00,2.42,0.00,0.000,6,0.000,0.057,2454,2168,3432
$GC,3936,-1.32,-146.6,486.2,-11.5,190,3941,0.00,2.50,0.00,0.000,4,0.000,0.072,2454,3519,3431
$GC,3970,-1.32,-146.6,490.3,-11.3,191,3976,0.00,2.40,0.00,0.000,6,0.000,0.058,2454,2182,3431
$GC,4286,-1.32,-146.6,525.5,-11.1,207,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2168,3431
$GC,4595,-1.32,-146.6,560.8,-11.9,222,4599,0.00,2.62,0.00,0.000,4,0.000,0.068,2454,716,3431
$GC,4718,-1.46,-146.6,578.2,-13.0,227,4725,0.12,2.55,0.00,0.000,6,0.055,0.052,2418,2160,3431
$GC,5034,-1.46,-146.6,617.3,-11.7,243,5039,0.00,2.62,0.00,0.000,4,0.000,0.070,2418,722,3431
$GC,5292,-1.46,-146.6,653.4,-13.8,254,5298,0.00,2.50,0.00,0.000,6,0.000,0.054,2418,2129,3431
$GC,5608,-1.46,-146.6,696.9,-14.1,270,5612,0.00,2.65,0.00,0.000,4,0.000,0.085,2417,725,3430
$GC,5619,-1.39,-146.6,698.4,-11.3,270,5626,0.12,2.58,0.00,0.000,6,0.114,0.058,2441,2163,3430
$STATE,5849,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5849,begin apogee
$GC,5857,-0.33,0.0,725.5,12.0,282,5992,1.08,0.00,128.02,1.313,6,0.084,0.000,2670,1901,2831
$STATE,5993,end apogee,CONTROL_FINISHED_OK
$STATE,5993,begin climb
$GC,5996,1.44,146.6,728.9,0.0,289,6132,1.75,2.78,126.80,1.282,4,0.057,0.076,3056,3329,2233
$GC,6200,1.34,189.7,712.9,8.0,298,6249,0.00,2.62,38.05,1.236,6,0.000,0.073,3056,1937,2057
$GC,6561,1.29,229.5,679.5,8.2,316,6599,0.15,0.00,35.47,1.239,6,0.108,0.000,3028,1924,1895
$GC,6907,1.30,234.4,648.4,9.8,333,6918,0.00,2.75,5.90,0.977,4,0.000,0.089,3029,506,1875
$GC,6930,1.25,234.4,646.0,10.2,334,6934,0.00,2.65,0.00,0.000,6,0.000,0.062,3029,1945,1875
$GC,7251,1.25,234.4,612.8,10.9,350,7255,0.00,2.75,0.00,0.000,4,0.000,0.087,3029,511,1873
$GC,7278,1.17,234.4,609.5,12.7,351,7283,0.15,2.62,0.00,0.000,6,0.104,0.061,3002,1948,1873
$GC,7595,1.24,234.4,577.4,10.3,366,7599,0.00,2.72,0.00,0.000,4,0.000,0.084,3001,510,1872
$GC,7706,1.24,234.4,565.5,10.7,371,7711,0.00,2.55,0.00,0.000,6,0.000,0.058,3001,1916,1872
$GC,8028,1.29,234.4,533.5,10.5,387,8030,0.12,0.00,0.00,0.000,6,0.061,0.000,3032,1917,1872
$GC,8337,1.29,234.4,501.6,10.6,402,8341,0.00,2.65,0.00,0.000,4,0.000,0.077,3032,501,1871
$GC,8370,1.21,234.4,497.8,10.9,403,8377,0.12,2.53,0.00,0.000,6,0.102,0.054,3008,1910,1871
$GC,8687,1.26,234.4,463.2,11.2,419,8691,0.00,2.58,0.00,0.000,4,0.000,0.069,3008,3334,1871
$GC,8704,1.32,234.4,461.2,11.4,420,8709,0.12,2.60,0.00,0.000,6,0.060,0.061,3040,1906,1871
$GC,9032,1.28,234.4,420.1,12.5,436,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1906,1871
$GC,9341,1.28,234.4,380.8,12.7,451,9345,0.00,2.60,0.00,0.000,4,0.000,0.065,3040,3329,1872
$GC,9362,1.28,234.4,377.8,12.9,452,9367,0.00,2.55,0.00,0.000,6,0.000,0.059,3040,1917,1872
$GC,9683,1.28,234.4,339.1,12.1,468,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1917,1872
$GC,9992,1.28,234.4,301.2,12.3,483,9997,0.00,2.55,0.00,0.000,4,0.000,0.074,3040,512,1873
$GC,10020,1.22,234.4,297.5,12.9,484,10026,0.15,2.50,0.00,0.000,6,0.094,0.051,3010,1924,1873
$GC,10337,1.28,234.4,262.4,11.0,499,10341,0.00,2.60,0.00,0.000,4,0.000,0.074,3010,510,1873
$GC,10354,1.33,234.4,260.4,10.9,500,10359,0.12,2.50,0.00,0.000,6,0.057,0.049,3044,1929,1873
$GC,10682,1.33,234.4,218.7,12.5,516,10686,0.00,2.62,0.00,0.000,4,0.000,0.071,3044,510,1874
$GC,10715,1.25,234.4,214.1,13.3,517,10722,0.15,2.45,0.00,0.000,6,0.094,0.049,3014,1900,1874
$GC,11032,1.31,235.2,181.3,10.0,533,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1914,1875
$GC,11341,1.41,253.4,151.6,9.2,548,11361,0.17,0.00,16.98,0.866,6,0.053,0.000,3058,1914,1797
$GC,11672,1.36,253.4,113.2,11.4,564,11676,0.00,2.55,0.00,0.000,4,0.000,0.071,3058,514,1797
$GC,11690,1.28,253.4,110.8,11.7,565,11695,0.17,2.45,0.00,0.000,6,0.093,0.050,3024,1902,1797
$GC,12018,1.37,273.0,80.5,9.1,581,12040,0.00,2.62,17.17,0.825,4,0.000,0.070,3024,507,1717
$GC,12064,1.37,273.0,75.9,10.7,583,12068,0.00,2.50,0.00,0.000,6,0.000,0.048,3024,1912,1717
$GC,12386,1.46,273.0,42.2,10.9,599,12391,0.17,2.60,0.00,0.000,4,0.053,0.070,3073,509,1718
$GC,12404,1.46,273.0,40.2,10.5,600,12408,0.00,2.45,0.00,0.000,6,0.000,0.051,3073,1900,1718
$STATE,12707,end climb,SURFACE_DEPTH_REACHED
$STATE,12707,begin surface coast
$FINISH,0.4,1.026813
$STATE,12731,end surface coast,CONTROL_FINISHED_OK
$STATE,12731,begin surface
$SM_CCo,12754,14.05,0.754,0,0,1608,300.00
$SM_GC,1.58,0.00,0.00,14.05,0.000,0.000,0.754,422,2138,1608,-10.68,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1827
$TCM_TEMP,17.70
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,670.8,63.3
$24V_AH,23.7,5.997
$10V_AH,10.1,3.174
$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,27.500,118.475,368.400,14.050,0.000,37.763,34.630,125.086,20.500,0.000,0.000,15.954,1156.300,9634.581,511.621,1343.860,441.003,33.350,1211.515,0.000,1308.836,0.000,41.015,0.000
$DEVICE_MAMPS,171.041,88.972,1313.104,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.303,461.976,376.703,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31699,616
$CAP_FILE_SIZE,101279,0
$CFSIZE,254472192,250585088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,010909,103037,6129.128,-820.653,27,1.4,27,-8.9