version: 66.04
glider: 5
mission: 7
dive: 6
start: 8 30 109 1 12 48
data:
$ID,5
$MISSION,7
$DIVE,6
$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,-3
$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,-100364.14
$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,22
$R_STBD_OVSHOOT,33
$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,20
$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,4
$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
$GPS1,010437,6136.145,-840.003,35,1.0,35,-9.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-56.2
$GPS2,011056,6136.132,-840.011,16,1.1,16,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.202,-0.170
$KALMAN_X,-7960.6,-295.8,18.9,8097.3,-3853.8
$KALMAN_Y,8301.6,-112.9,-27.0,-9057.1,3249.3
$MHEAD_RNG_PITCHd_Wd,139.2,17463,-18.1,-10.000
$D_GRID,849
$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,15,-1.44,-146.6,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,2,0.000,0.000,419,2148,2482
$GC,63,-1.44,-146.6,2.0,-3.8,2,119,10.95,2.58,-37.17,0.000,4,0.161,0.079,2421,3526,3430
$GC,374,-1.36,-146.6,48.2,-16.3,16,379,0.12,2.47,0.00,0.000,6,0.106,0.048,2446,2126,3430
$GC,701,-1.36,-146.6,93.2,-13.7,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2126,3430
$GC,1011,-1.36,-146.6,135.9,-13.1,47,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2126,3431
$GC,1319,-1.36,-146.6,176.9,-12.9,62,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2125,3431
$GC,1629,-1.36,-146.6,217.5,-13.4,77,1633,0.00,2.60,0.00,0.000,4,0.000,0.071,2446,3532,3431
$GC,1668,-1.36,-146.6,222.8,-13.6,79,1673,0.00,2.53,0.00,0.000,6,0.000,0.051,2446,2114,3431
$GC,1995,-1.36,-146.6,264.8,-13.5,95,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2102,3431
$GC,2304,-1.36,-146.6,305.8,-12.8,110,2308,0.00,2.60,0.00,0.000,4,0.000,0.072,2446,3522,3431
$GC,2370,-1.36,-146.6,314.7,-13.2,113,2375,0.00,2.50,0.00,0.000,6,0.000,0.053,2446,2120,3431
$GC,2692,-1.36,-146.6,352.6,-11.6,129,2696,0.00,2.60,0.00,0.000,4,0.000,0.073,2446,3523,3431
$GC,2732,-1.36,-146.6,357.4,-12.4,131,2736,0.00,2.50,0.00,0.000,6,0.000,0.054,2446,2126,3431
$GC,3058,-1.36,-146.6,397.4,-12.1,147,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2123,3431
$GC,3367,-1.36,-146.6,434.6,-12.3,162,3372,0.00,2.60,0.00,0.000,4,0.000,0.074,2446,3527,3431
$GC,3423,-1.36,-146.6,441.7,-12.8,164,3429,0.00,2.50,0.00,0.000,6,0.000,0.054,2447,2127,3431
$GC,3739,-1.36,-146.6,480.7,-12.8,180,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2126,3431
$GC,4048,-1.36,-146.6,519.8,-12.5,195,4056,0.00,2.60,0.00,0.000,4,0.000,0.074,2447,3520,3431
$GC,4078,-1.36,-146.6,523.9,-13.0,196,4082,0.00,2.45,0.00,0.000,6,0.000,0.056,2446,2146,3431
$GC,4399,-1.36,-146.6,565.6,-13.1,212,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2134,3431
$GC,4708,-1.36,-146.6,603.7,-12.1,227,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2134,3431
$GC,5017,-1.36,-146.6,640.4,-13.2,242,5022,0.00,2.58,0.00,0.000,4,0.000,0.076,2446,3531,3430
$GC,5148,-1.41,-146.6,659.1,-14.9,248,5152,0.00,2.45,0.00,0.000,6,0.000,0.054,2446,2158,3430
$GC,5474,-1.41,-146.6,701.0,-12.2,264,5479,0.00,2.58,0.00,0.000,4,0.000,0.067,2446,718,3430
$GC,5721,-1.49,-146.6,729.6,-10.4,275,5727,0.12,2.45,0.00,0.000,6,0.059,0.054,2413,2101,3430
$GC,6046,-1.45,-146.6,768.5,-13.4,291,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2102,3429
$GC,6353,-1.41,-146.6,808.2,-12.9,306,6358,0.12,2.58,0.00,0.000,4,0.113,0.078,2436,722,3428
$GC,6386,-1.49,-146.6,812.8,-10.4,307,6393,0.00,2.53,0.00,0.000,6,0.000,0.064,2435,2116,3428
$GC,6702,-1.49,-146.6,844.7,-10.9,323,6707,0.00,2.62,0.00,0.000,4,0.000,0.082,2436,716,3426
$STATE,6739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6740,begin apogee
$GC,6749,-0.33,0.0,849.6,13.2,325,6882,1.10,0.00,125.85,1.445,6,0.091,0.000,2667,1931,2831
$STATE,6883,end apogee,CONTROL_FINISHED_OK
$STATE,6883,begin climb
$GC,6886,1.44,146.6,855.1,0.0,332,7020,1.83,2.78,125.95,1.413,4,0.065,0.089,3059,517,2234
$GC,7040,1.30,194.9,852.5,7.8,338,7089,0.17,2.62,42.45,1.360,6,0.117,0.066,3029,1925,2036
$GC,7402,1.33,241.1,819.0,7.9,356,7448,0.00,2.80,40.35,1.362,4,0.000,0.093,3029,516,1848
$GC,7488,1.26,241.1,809.3,13.2,360,7492,0.00,2.60,0.00,0.000,6,0.000,0.070,3029,1909,1848
$GC,7809,1.26,241.1,771.4,12.8,376,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1919,1847
$GC,8118,1.26,241.1,730.6,12.2,391,8123,0.00,2.70,0.00,0.000,4,0.000,0.093,3028,514,1846
$GC,8146,1.20,241.1,727.0,13.3,392,8151,0.00,2.58,0.00,0.000,6,0.000,0.071,3028,1899,1845
$GC,8463,1.25,271.4,696.8,8.6,407,8491,0.00,0.00,26.35,1.359,6,0.000,0.000,3028,1914,1725
$GC,8792,1.25,271.4,665.4,10.6,423,8796,0.00,2.62,0.00,0.000,4,0.000,0.086,3028,516,1724
$GC,8841,1.25,271.4,659.5,11.9,425,8846,0.00,2.58,0.00,0.000,6,0.000,0.065,3028,1915,1725
$GC,9157,1.25,271.4,624.5,11.8,440,9162,0.00,2.65,0.00,0.000,4,0.000,0.077,3029,3334,1724
$GC,9185,1.31,271.4,620.9,13.0,441,9190,0.00,2.62,0.00,0.000,6,0.000,0.068,3028,1919,1724
$GC,9502,1.31,271.4,585.7,10.8,456,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1919,1724
$GC,9811,1.35,271.4,551.9,11.0,471,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1918,1725
$GC,10121,1.40,271.4,518.1,10.5,486,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1918,1725
$GC,10430,1.46,271.4,483.6,12.0,501,10432,0.15,0.00,0.00,0.000,6,0.063,0.000,3065,1918,1726
$GC,10739,1.46,271.4,441.2,13.8,516,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1918,1727
$GC,11048,1.46,271.4,399.4,13.9,531,11052,0.00,2.58,0.00,0.000,4,0.000,0.069,3065,501,1727
$GC,11076,1.38,271.4,395.1,15.2,532,11080,0.00,2.50,0.00,0.000,6,0.000,0.052,3065,1912,1727
$GC,11396,1.38,271.4,352.2,13.1,548,11401,0.00,2.58,0.00,0.000,4,0.000,0.067,3065,502,1728
$GC,11437,1.29,271.4,346.6,14.5,550,11442,0.20,2.47,0.00,0.000,6,0.100,0.052,3027,1902,1729
$GC,11764,1.37,278.2,312.3,9.7,566,11774,0.00,0.00,8.27,0.895,6,0.000,0.000,3026,1902,1696
$GC,12074,1.45,279.3,281.9,10.0,581,12076,0.15,0.00,0.00,0.000,6,0.059,0.000,3064,1903,1696
$GC,12382,1.45,279.3,244.9,12.0,596,12387,0.00,2.53,0.00,0.000,4,0.000,0.067,3064,510,1697
$GC,12416,1.39,279.3,240.4,12.1,597,12422,0.00,2.42,0.00,0.000,6,0.000,0.051,3064,1883,1697
$GC,12732,1.39,279.3,202.1,12.4,613,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1884,1697
$GC,13041,1.39,279.3,163.4,12.6,628,13045,0.00,2.50,0.00,0.000,4,0.000,0.067,3064,507,1698
$GC,13058,1.34,279.3,161.2,12.8,629,13063,0.15,2.42,0.00,0.000,6,0.100,0.051,3035,1883,1698
$GC,13386,1.41,279.3,124.4,11.0,645,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1885,1698
$GC,13695,1.49,279.3,91.4,10.4,660,13700,0.15,2.53,0.00,0.000,4,0.060,0.066,3072,504,1699
$GC,13762,1.44,279.3,82.1,14.0,663,13767,0.00,2.40,0.00,0.000,6,0.000,0.049,3072,1870,1699
$GC,14084,1.44,279.3,43.6,11.8,679,14085,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1870,1699
$GC,14393,1.44,279.3,4.0,14.3,694,14398,0.00,2.47,0.00,0.000,4,0.000,0.064,3073,507,1700
$STATE,14402,end climb,SURFACE_DEPTH_REACHED
$STATE,14402,begin surface coast
$FINISH,1.6,1.026804
$STATE,14410,end surface coast,CONTROL_FINISHED_OK
$STATE,14410,begin surface
$SM_CCo,14435,11.82,0.716,0,0,1607,300.00
$SM_GC,1.98,0.00,0.00,11.82,0.000,0.000,0.716,423,2134,1607,-10.68,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1846
$TCM_TEMP,17.90
$XPDR_PINGS,83
$ALTIM_TOP_PING,18.3,16.3
$ALTIM_BOTTOM_PING,820.6,52.1
$24V_AH,23.7,3.701
$10V_AH,10.1,2.274
$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,26.675,107.400,369.225,11.825,0.000,37.760,29.949,192.213,28.750,0.000,0.000,16.575,1295.931,11043.320,495.356,1494.348,562.573,33.348,1253.585,0.000,1453.646,0.000,55.038,0.000
$DEVICE_MAMPS,161.070,92.807,1445.028,715.611,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.318,520.272,395.787,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34782,695
$CAP_FILE_SIZE,108425,0
$CFSIZE,254472192,251318272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,300809,051455,6135.286,-838.703,39,1.2,39,-9.1