version: 66.04
glider: 5
mission: 7
dive: 7
start: 8 30 109 5 23 6
data:
$ID,5
$MISSION,7
$DIVE,7
$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,-100396.57
$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,18
$R_STBD_OVSHOOT,21
$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
$GPS1,051455,6135.286,-838.703,39,1.2,39,-9.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-62.0
$GPS2,052113,6135.276,-838.601,14,1.2,31,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,-0.203
$KALMAN_X,-10620.4,-492.2,721.9,11478.7,-4611.9
$KALMAN_Y,10913.4,-937.1,-555.6,-11886.9,4870.3
$MHEAD_RNG_PITCHd_Wd,149.4,15490,-18.1,-10.000
$D_GRID,847
$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,-41.53,0.000,2,0.000,0.000,423,2133,2493
$GC,63,-1.44,-146.6,2.1,-4.4,2,115,10.82,2.58,-35.25,0.000,4,0.156,0.078,2424,3544,3429
$GC,370,-1.35,-146.6,46.7,-16.0,16,375,0.12,2.53,0.00,0.000,6,0.108,0.048,2448,2117,3429
$GC,697,-1.35,-146.6,94.9,-13.7,32,701,0.00,2.60,0.00,0.000,4,0.000,0.067,2448,3537,3430
$GC,769,-1.35,-146.6,105.8,-14.8,35,773,0.00,2.45,0.00,0.000,6,0.000,0.048,2448,2151,3430
$GC,1085,-1.35,-146.6,148.7,-12.9,50,1090,0.00,2.53,0.00,0.000,4,0.000,0.060,2448,723,3431
$GC,1130,-1.40,-146.6,155.0,-13.6,52,1135,0.00,2.55,0.00,0.000,6,0.000,0.048,2448,2166,3431
$GC,1452,-1.40,-146.6,197.8,-13.3,68,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2166,3431
$GC,1761,-1.40,-146.6,238.4,-12.7,83,1765,0.00,2.62,0.00,0.000,4,0.000,0.061,2448,715,3431
$GC,1794,-1.40,-146.6,242.8,-13.2,84,1800,0.00,2.55,0.00,0.000,6,0.000,0.050,2448,2158,3431
$GC,2110,-1.40,-146.6,284.0,-13.8,100,2114,0.00,2.60,0.00,0.000,4,0.000,0.061,2448,717,3431
$GC,2143,-1.45,-146.6,288.7,-14.4,101,2149,0.00,2.53,0.00,0.000,6,0.000,0.051,2448,2141,3431
$GC,2459,-1.45,-146.6,332.7,-13.7,117,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2142,3431
$GC,2768,-1.45,-146.6,374.7,-13.5,132,2772,0.00,2.58,0.00,0.000,4,0.000,0.063,2448,718,3431
$GC,2808,-1.49,-146.6,380.1,-14.2,134,2813,0.12,2.50,0.00,0.000,6,0.056,0.051,2414,2131,3431
$GC,3137,-1.43,-146.6,431.3,-15.9,150,3142,0.10,2.55,0.00,0.000,4,0.104,0.064,2432,725,3431
$GC,3177,-1.43,-146.6,438.0,-15.2,152,3181,0.00,2.47,0.00,0.000,6,0.000,0.053,2433,2125,3431
$GC,3504,-1.43,-146.6,487.1,-14.7,168,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2122,3431
$GC,3813,-1.43,-146.6,530.5,-13.8,183,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2124,3430
$GC,4123,-1.43,-146.6,571.6,-13.4,198,4127,0.00,2.55,0.00,0.000,4,0.000,0.064,2433,716,3430
$GC,4167,-1.43,-146.6,577.9,-13.0,200,4171,0.00,2.50,0.00,0.000,6,0.000,0.053,2432,2126,3430
$GC,4488,-1.43,-146.6,619.4,-13.1,216,4493,0.00,2.62,0.00,0.000,4,0.000,0.079,2432,3538,3430
$GC,4684,-1.43,-146.6,647.0,-12.7,224,4690,0.00,2.50,0.00,0.000,6,0.000,0.056,2432,2143,3430
$GC,4999,-1.43,-146.6,689.0,-13.1,240,5004,0.00,2.55,0.00,0.000,4,0.000,0.066,2433,715,3430
$GC,5246,-1.48,-146.6,723.9,-13.4,251,5251,0.00,2.50,0.00,0.000,6,0.000,0.054,2432,2121,3429
$GC,5568,-1.48,-146.6,762.2,-11.8,267,5572,0.00,2.58,0.00,0.000,4,0.000,0.073,2432,722,3430
$GC,5623,-1.48,-146.6,768.8,-12.8,269,5629,0.00,2.53,0.00,0.000,6,0.000,0.060,2432,2124,3429
$GC,5939,-1.48,-146.6,804.1,-10.5,285,5943,0.00,2.67,0.00,0.000,4,0.000,0.087,2432,3542,3428
$GC,6001,-1.48,-146.6,811.1,-9.4,288,6006,0.00,2.60,0.00,0.000,6,0.000,0.071,2432,2130,3427
$STATE,6284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6284,begin apogee
$GC,6292,-0.33,0.0,848.4,16.3,302,6421,1.12,0.00,126.22,1.437,6,0.086,0.000,2672,1905,2831
$STATE,6422,end apogee,CONTROL_FINISHED_OK
$STATE,6422,begin climb
$GC,6425,1.44,146.6,857.5,0.0,308,6560,1.77,2.67,125.90,1.404,4,0.062,0.086,3058,531,2233
$GC,6765,1.21,146.6,822.3,14.6,323,6772,0.28,2.58,0.00,0.000,6,0.114,0.067,3009,1922,2232
$GC,7081,1.28,193.6,801.6,7.9,339,7124,0.00,0.00,40.65,1.381,6,0.000,0.000,3008,1937,2041
$GC,7432,1.28,193.6,768.8,10.2,356,7437,0.00,2.67,0.00,0.000,4,0.000,0.089,3009,3333,2041
$GC,7465,1.31,212.2,765.6,9.2,357,7493,0.10,2.67,17.23,1.325,6,0.078,0.080,3031,1928,1966
$GC,7804,1.37,243.8,734.6,8.6,374,7834,0.00,0.00,28.60,1.369,6,0.000,0.000,3030,1928,1836
$GC,8130,1.37,243.8,701.8,10.8,390,8135,0.00,2.67,0.00,0.000,4,0.000,0.085,3031,3327,1835
$GC,8148,1.37,243.8,699.9,10.8,391,8153,0.00,2.70,0.00,0.000,6,0.000,0.078,3031,1902,1835
$GC,8476,1.38,254.3,666.0,9.5,407,8491,0.00,2.65,10.00,1.224,4,0.000,0.081,3031,510,1794
$GC,8530,1.38,254.3,660.4,10.4,408,8536,0.00,2.55,0.00,0.000,6,0.000,0.063,3031,1900,1794
$GC,8846,1.38,254.3,626.6,11.2,424,8850,0.00,2.65,0.00,0.000,4,0.000,0.076,3031,3332,1794
$GC,8863,1.38,254.3,624.6,11.8,425,8867,0.00,2.67,0.00,0.000,6,0.000,0.067,3031,1887,1794
$GC,9190,1.38,254.3,587.7,10.9,441,9194,0.00,2.67,0.00,0.000,4,0.000,0.072,3031,3329,1794
$GC,9212,1.38,254.3,584.9,12.7,442,9216,0.00,2.62,0.00,0.000,6,0.000,0.064,3031,1897,1794
$GC,9533,1.38,254.3,549.9,10.8,458,9534,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1896,1794
$GC,9842,1.38,254.3,515.8,11.1,473,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1896,1796
$GC,10151,1.38,254.3,482.0,11.1,488,10155,0.00,2.62,0.00,0.000,4,0.000,0.068,3031,3330,1796
$GC,10184,1.45,254.3,478.1,11.2,489,10191,0.12,2.60,0.00,0.000,6,0.067,0.061,3061,1898,1796
$GC,10500,1.41,254.3,438.1,12.8,505,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1898,1797
$GC,10809,1.41,254.3,397.9,12.9,520,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1898,1798
$GC,11118,1.41,254.3,357.5,13.3,535,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1898,1798
$GC,11428,1.41,254.3,317.4,12.7,550,11432,0.00,2.53,0.00,0.000,4,0.000,0.070,3060,506,1799
$GC,11445,1.34,254.3,314.9,13.2,550,11452,0.12,2.50,0.00,0.000,6,0.101,0.051,3037,1921,1799
$GC,11761,1.34,254.3,278.3,11.7,566,11765,0.00,2.58,0.00,0.000,4,0.000,0.067,3037,505,1800
$GC,11816,1.34,254.3,271.1,12.6,568,11822,0.00,2.47,0.00,0.000,6,0.000,0.051,3037,1909,1800
$GC,12132,1.34,254.3,235.3,10.6,584,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1909,1800
$GC,12441,1.34,254.3,203.3,10.0,599,12445,0.00,2.55,0.00,0.000,4,0.000,0.067,3037,507,1800
$GC,12485,1.34,254.3,198.3,10.7,601,12489,0.00,2.42,0.00,0.000,6,0.000,0.051,3037,1895,1801
$GC,12812,1.39,254.3,165.1,10.7,617,12816,0.00,2.53,0.00,0.000,4,0.000,0.068,3037,510,1802
$GC,12829,1.39,254.3,163.1,11.2,618,12833,0.00,2.42,0.00,0.000,6,0.000,0.051,3037,1889,1802
$GC,13157,1.39,254.3,126.9,11.2,634,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1890,1802
$GC,13466,1.44,254.3,94.2,10.2,649,13470,0.00,2.50,0.00,0.000,4,0.000,0.067,3037,510,1802
$GC,13484,1.44,254.3,92.3,10.6,650,13488,0.00,2.40,0.00,0.000,6,0.000,0.050,3037,1879,1802
$GC,13811,1.50,257.6,57.6,9.8,666,13825,0.15,2.53,6.28,0.689,4,0.058,0.065,3074,503,1779
$GC,13878,1.41,257.6,49.1,13.0,669,13883,0.12,2.38,0.00,0.000,6,0.101,0.050,3051,1852,1780
$GC,14207,1.46,257.6,14.2,10.6,685,14212,0.00,2.45,0.00,0.000,4,0.000,0.064,3050,499,1780
$GC,14219,1.46,259.0,12.8,9.9,685,14225,0.00,2.35,0.00,0.000,6,0.000,0.049,3050,1852,1780
$STATE,14326,end climb,SURFACE_DEPTH_REACHED
$STATE,14326,begin surface coast
$FINISH,0.4,1.026124
$STATE,14348,end surface coast,CONTROL_FINISHED_OK
$STATE,14348,begin surface
$SM_CCo,14371,21.62,0.760,0,0,1608,300.00
$SM_GC,0.88,0.00,0.00,21.62,0.000,0.000,0.760,413,2133,1608,-10.72,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1829
$TCM_TEMP,17.90
$XPDR_PINGS,75
$ALTIM_TOP_PING,18.4,19.0
$ALTIM_BOTTOM_PING,795.5,71.9
$24V_AH,23.7,3.862
$10V_AH,10.1,2.344
$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,26.400,133.650,354.875,21.625,0.000,37.759,44.718,164.703,26.250,0.000,0.000,31.807,1308.071,10858.192,499.893,1608.290,563.417,33.341,1318.030,0.000,1546.919,0.000,50.602,0.000
$DEVICE_MAMPS,156.468,88.972,1436.591,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.675,515.401,400.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34851,692
$CAP_FILE_SIZE,114073,0
$CFSIZE,254472192,251260928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,300809,092424,6133.715,-836.972,27,1.1,44,-9.0