version: 66.04
glider: 5
mission: 7
dive: 22
start: 9 1 109 14 11 54
data:
$ID,5
$MISSION,7
$DIVE,22
$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,-100652.4
$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,17
$R_STBD_OVSHOOT,28
$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
$GPS1,140230,6129.028,-821.331,39,2.0,39,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.0
$GPS2,141104,6128.996,-821.468,16,2.1,35,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.227,-0.135
$KALMAN_X,-48268.8,1447.5,610.1,62358.7,-13226.0
$KALMAN_Y,39139.7,-356.2,-595.7,-52279.8,7906.8
$MHEAD_RNG_PITCHd_Wd,129.7,3633,-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,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.97,0.000,2,0.000,0.000,421,2146,2911
$GC,82,-1.44,-146.6,3.3,-4.8,3,111,11.15,0.00,-14.32,0.000,6,0.166,0.000,2427,2143,3430
$GC,429,-1.35,-146.6,64.6,-16.9,20,434,0.12,2.60,0.00,0.000,4,0.112,0.061,2451,712,3430
$GC,501,-1.35,-146.6,76.1,-14.8,23,506,0.00,2.50,0.00,0.000,6,0.000,0.047,2452,2136,3430
$GC,818,-1.35,-146.6,120.0,-13.5,38,823,0.00,2.58,0.00,0.000,4,0.000,0.064,2452,715,3431
$GC,936,-1.35,-146.6,137.1,-13.5,43,940,0.00,2.45,0.00,0.000,6,0.000,0.047,2452,2116,3431
$GC,1252,-1.35,-146.6,178.7,-13.0,58,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2116,3431
$GC,1561,-1.35,-146.6,219.2,-13.0,73,1565,0.00,2.55,0.00,0.000,4,0.000,0.066,2452,711,3431
$GC,1601,-1.39,-146.6,224.2,-13.3,75,1605,0.00,2.47,0.00,0.000,6,0.000,0.049,2452,2116,3431
$GC,1928,-1.39,-146.6,262.6,-11.4,91,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2116,3431
$GC,2238,-1.39,-146.6,297.2,-11.6,106,2242,0.00,2.55,0.00,0.000,4,0.000,0.066,2452,705,3431
$GC,2288,-1.43,-146.6,303.5,-11.9,108,2293,0.00,2.47,0.00,0.000,6,0.000,0.051,2452,2108,3431
$GC,2604,-1.43,-146.6,340.4,-11.9,123,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2108,3431
$GC,2913,-1.43,-146.6,374.1,-10.8,138,2918,0.00,2.60,0.00,0.000,4,0.000,0.074,2452,3531,3431
$GC,2958,-1.43,-146.6,379.2,-11.1,140,2963,0.00,2.58,0.00,0.000,6,0.000,0.058,2452,2098,3431
$GC,3280,-1.43,-146.6,413.7,-10.9,156,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2085,3431
$GC,3589,-1.43,-146.6,449.0,-11.6,171,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2085,3431
$GC,3898,-1.43,-146.6,486.7,-12.7,186,3902,0.00,2.62,0.00,0.000,4,0.000,0.074,2452,3531,3430
$GC,3931,-1.43,-146.6,491.1,-12.4,187,3937,0.00,2.55,0.00,0.000,6,0.000,0.060,2452,2112,3431
$GC,4247,-1.43,-146.6,529.9,-12.4,203,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2100,3430
$GC,4556,-1.43,-146.6,569.6,-13.4,218,4563,0.00,2.50,0.00,0.000,4,0.000,0.070,2452,718,3430
$GC,4643,-1.50,-146.6,581.8,-13.2,221,4650,0.15,2.47,0.00,0.000,6,0.054,0.051,2411,2128,3430
$GC,4959,-1.43,-146.6,626.2,-13.3,237,4964,0.10,2.60,0.00,0.000,4,0.105,0.070,2429,716,3430
$GC,5217,-1.48,-146.6,661.7,-12.2,248,5223,0.00,2.40,0.00,0.000,6,0.000,0.053,2429,2071,3429
$GC,5533,-1.48,-146.6,703.7,-13.9,264,5538,0.00,2.70,0.00,0.000,4,0.000,0.081,2429,3532,3429
$GC,5596,-1.48,-146.6,712.9,-15.7,267,5600,0.00,2.62,0.00,0.000,6,0.000,0.067,2429,2095,3429
$STATE,5713,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5713,begin apogee
$GC,5721,-0.33,0.0,732.8,16.4,273,5856,1.15,0.00,128.30,1.320,6,0.089,0.000,2673,1917,2831
$STATE,5857,end apogee,CONTROL_FINISHED_OK
$STATE,5857,begin climb
$GC,5860,1.44,146.6,745.0,0.0,280,5998,1.75,2.75,127.75,1.285,4,0.058,0.086,3063,520,2233
$GC,6023,1.20,209.9,732.1,7.1,287,6085,0.30,2.58,55.78,1.246,6,0.106,0.061,3006,1934,1975
$GC,6396,1.34,296.7,701.4,6.0,305,6480,0.15,2.67,74.95,1.262,4,0.063,0.079,3042,3310,1621
$GC,6549,1.34,296.7,685.5,11.9,312,6553,0.00,2.55,0.00,0.000,6,0.000,0.078,3042,1967,1621
$GC,6875,1.36,310.5,653.5,9.4,328,6897,0.00,2.62,13.35,1.171,4,0.000,0.081,3043,3305,1564
$GC,6914,1.36,310.5,649.6,11.2,329,6920,0.00,2.60,0.00,0.000,6,0.000,0.078,3043,1940,1564
$GC,7230,1.32,310.5,604.5,15.4,345,7235,0.00,2.70,0.00,0.000,4,0.000,0.088,3043,510,1563
$GC,7248,1.27,310.5,601.9,14.2,346,7253,0.12,2.55,0.00,0.000,6,0.107,0.062,3020,1907,1563
$GC,7575,1.31,310.5,557.7,13.5,362,7580,0.00,2.65,0.00,0.000,4,0.000,0.083,3019,509,1563
$GC,7631,1.31,310.5,550.0,13.6,364,7638,0.00,2.55,0.00,0.000,6,0.000,0.059,3019,1916,1562
$GC,7948,1.36,310.5,513.4,10.7,380,7952,0.00,2.65,0.00,0.000,4,0.000,0.080,3019,503,1562
$GC,8003,1.36,310.5,506.9,11.1,382,8009,0.00,2.50,0.00,0.000,6,0.000,0.057,3019,1894,1562
$GC,8320,1.46,338.3,476.5,8.7,398,8350,0.20,2.65,24.48,1.136,4,0.059,0.076,3070,510,1451
$GC,8396,1.35,338.3,466.3,14.0,401,8402,0.17,2.47,0.00,0.000,6,0.104,0.054,3037,1884,1451
$GC,8712,1.35,338.3,429.6,12.0,417,8716,0.00,2.58,0.00,0.000,4,0.000,0.077,3037,504,1451
$GC,8728,1.35,338.3,427.4,12.5,418,8733,0.00,2.45,0.00,0.000,6,0.000,0.053,3037,1876,1451
$GC,9061,1.35,338.3,387.2,12.1,434,9066,0.00,2.55,0.00,0.000,4,0.000,0.074,3037,503,1452
$GC,9089,1.35,338.3,383.6,12.8,435,9093,0.00,2.45,0.00,0.000,6,0.000,0.054,3036,1876,1452
$GC,9405,1.35,338.3,348.6,10.0,450,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1892,1452
$GC,9714,1.35,338.3,313.4,12.1,465,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1892,1453
$GC,10023,1.35,338.3,273.2,13.3,480,10027,0.00,2.53,0.00,0.000,4,0.000,0.076,3036,510,1453
$GC,10047,1.35,338.3,269.9,14.2,481,10051,0.00,2.40,0.00,0.000,6,0.000,0.051,3037,1868,1453
$GC,10374,1.35,338.3,227.1,12.2,497,10378,0.00,2.53,0.00,0.000,4,0.000,0.076,3037,503,1454
$GC,10407,1.35,338.3,222.8,13.3,498,10413,0.00,2.40,0.00,0.000,6,0.000,0.051,3037,1860,1454
$GC,10723,1.35,338.3,182.9,13.0,514,10727,0.00,2.47,0.00,0.000,4,0.000,0.071,3037,510,1454
$GC,10740,1.35,338.3,180.7,12.2,515,10744,0.00,2.35,0.00,0.000,6,0.000,0.051,3037,1845,1454
$GC,11067,1.35,338.3,140.0,12.3,531,11068,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1859,1454
$GC,11376,1.35,338.3,101.9,11.9,546,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1859,1455
$GC,11686,1.44,367.8,70.5,8.7,561,11715,0.10,0.00,25.88,0.836,6,0.063,0.000,3063,1859,1331
$GC,12016,1.44,367.8,25.8,15.0,577,12021,0.00,2.45,0.00,0.000,4,0.000,0.070,3064,508,1331
$GC,12081,1.44,367.8,15.5,14.9,580,12085,0.00,2.35,0.00,0.000,6,0.000,0.048,3064,1847,1331
$STATE,12179,end climb,SURFACE_DEPTH_REACHED
$STATE,12179,begin surface coast
$FINISH,0.4,1.004578
$STATE,12200,end surface coast,CONTROL_FINISHED_OK
$STATE,12200,begin surface
$SM_CCo,12284,0.00,0.000,0,0,1331,367.95
$SM_GC,1.21,11.48,0.00,0.00,0.036,0.000,0.000,415,2171,1331,-10.61,1.13,367.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,17.60
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,672.4,70.1
$24V_AH,23.7,6.325
$10V_AH,10.1,3.295
$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,26.950,112.525,450.475,0.000,0.000,75.523,61.976,181.534,21.000,0.000,0.000,36.526,1093.819,9254.966,545.669,1353.654,552.076,33.351,1256.584,0.000,1296.446,0.000,43.599,0.000
$DEVICE_MAMPS,165.672,88.205,1320.007,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.323,435.010,347.426,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31633,586
$CAP_FILE_SIZE,98836,0
$CFSIZE,254472192,250486784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,010909,173755,6129.521,-821.243,40,1.6,40,-8.9