version: 66.04
glider: 101
mission: 7
dive: 7
start: 11 8 108 16 9 40
data:
$ID,101
$MISSION,7
$DIVE,7
$D_SURF,2
$D_FLARE,3
$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,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.023
$MASS,50300
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,60
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-125.67
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-731856
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,177
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2467
$C_ROLL_CLIMB,2367
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,657
$VBD_MAX,3935
$C_VBD,2915
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.271928
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-1.3
$TCM_ROLL_OFFSET,-0.2
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042858003
$SEABIRD_T_H,0.00062598009
$SEABIRD_T_I,2.1740922e-05
$SEABIRD_T_J,2.0518198e-06
$SEABIRD_C_G,-9.9824123
$SEABIRD_C_H,1.1171527
$SEABIRD_C_I,-0.00017022179
$SEABIRD_C_J,0.00010324208
$GPS1,160408,6130.671,-826.298,25,1.5,25,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-60.2
$GPS2,160920,6130.689,-826.296,14,1.5,31,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,147.0,1715,-27.6,-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,-2.59,-61.8,0.0,0.0,0,88,0.00,0.00,-69.32,0.000,6,0.000,0.000,26,2468,3168
$GC,92,-2.66,-120.3,3.6,-3.6,4,111,9.70,0.00,-6.55,0.000,6,0.134,0.000,1823,2469,3407
$GC,419,-2.66,-120.3,69.4,-21.1,20,423,0.00,2.20,0.00,0.000,4,0.000,0.060,1823,3687,3408
$GC,459,-2.60,-120.3,78.4,-22.0,21,465,0.00,2.15,0.00,0.000,6,0.000,0.038,1823,2440,3408
$GC,776,-2.60,-120.3,142.4,-19.7,37,780,0.00,2.28,0.00,0.000,4,0.000,0.058,1823,3692,3408
$GC,843,-2.55,-120.3,156.4,-20.2,40,848,0.15,2.10,0.00,0.000,6,0.114,0.036,1850,2465,3408
$GC,1166,-2.60,-120.3,217.4,-19.1,56,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2465,3408
$GC,1475,-2.65,-120.3,274.7,-18.2,71,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2465,3408
$GC,1784,-2.70,-120.3,331.2,-18.0,86,1788,0.12,2.20,0.00,0.000,4,0.061,0.060,1819,3685,3408
$GC,1818,-2.64,-120.3,338.1,-19.6,87,1821,0.00,2.10,0.00,0.000,6,0.000,0.038,1819,2470,3408
$GC,2139,-2.64,-120.3,398.8,-18.5,103,2143,0.00,2.25,0.00,0.000,4,0.000,0.065,1819,3692,3408
$GC,2173,-2.57,-120.3,405.6,-19.9,104,2180,0.15,2.12,0.00,0.000,6,0.112,0.038,1845,2467,3408
$GC,2490,-2.62,-120.3,460.0,-16.7,120,2494,0.00,2.55,0.00,0.000,4,0.000,0.065,1845,1066,3408
$GC,2524,-2.68,-120.3,466.0,-17.1,121,2530,0.00,2.55,0.00,0.000,6,0.000,0.056,1845,2463,3408
$GC,2840,-2.73,-120.3,521.2,-17.4,137,2842,0.15,0.00,0.00,0.000,6,0.063,0.000,1810,2463,3408
$GC,3149,-2.73,-120.3,582.4,-21.3,152,3153,0.00,2.35,0.00,0.000,4,0.000,0.094,1810,3689,3408
$GC,3189,-2.66,-120.3,591.3,-23.0,154,3194,0.10,2.20,0.00,0.000,6,0.120,0.054,1826,2470,3408
$GC,3516,-2.66,-120.3,647.0,-14.2,170,3520,0.00,2.38,0.00,0.000,4,0.000,0.092,1826,3690,3408
$GC,3544,-2.58,-120.3,651.2,-14.8,171,3549,0.10,2.22,0.00,0.000,6,0.119,0.056,1843,2460,3408
$GC,3861,-2.64,-120.3,695.6,-13.5,186,3866,0.00,2.65,0.00,0.000,4,0.000,0.081,1843,1055,3408
$GC,4121,-2.75,-120.3,731.8,-16.6,197,4128,0.15,2.70,0.00,0.000,6,0.079,0.078,1812,2471,3408
$GC,4437,-2.75,-120.3,792.1,-19.3,213,4441,0.00,2.70,0.00,0.000,4,0.000,0.079,1812,1054,3408
$STATE,4593,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4593,begin apogee
$GC,4604,-0.45,0.0,817.4,19.9,220,4721,2.45,0.00,108.45,1.332,6,0.110,0.000,2306,2371,2915
$STATE,4721,end apogee,CONTROL_FINISHED_OK
$STATE,4721,begin climb
$GC,4725,2.66,120.3,819.8,0.0,226,4842,3.12,2.78,107.60,1.287,4,0.058,0.076,2991,950,2424
$GC,5096,2.48,120.3,774.1,14.0,242,5101,0.22,2.70,0.00,0.000,6,0.162,0.067,2956,2381,2423
$GC,5418,2.40,120.3,737.9,12.5,258,5423,0.12,2.55,0.00,0.000,4,0.152,0.089,2937,3700,2422
$GC,5676,2.27,120.3,701.5,15.5,269,5683,0.17,2.45,0.00,0.000,6,0.131,0.058,2906,2367,2420
$GC,5993,2.27,120.3,668.0,10.9,285,5997,0.00,2.58,0.00,0.000,4,0.000,0.087,2906,3693,2419
$GC,6055,2.21,120.3,661.5,11.6,288,6060,0.00,2.42,0.00,0.000,6,0.000,0.055,2906,2363,2418
$GC,6383,2.22,126.4,629.0,9.3,304,6391,0.00,0.00,5.90,1.036,6,0.000,0.000,2906,2363,2399
$GC,6692,2.22,129.2,598.2,9.7,319,6701,0.00,2.55,4.30,0.877,4,0.000,0.079,2906,3696,2388
$GC,6783,2.22,129.2,588.6,12.0,323,6787,0.00,2.40,0.00,0.000,6,0.000,0.048,2906,2360,2388
$GC,7110,2.26,129.2,551.1,11.8,339,7114,0.00,2.53,0.00,0.000,4,0.000,0.074,2906,3695,2387
$GC,7339,2.26,129.2,522.1,12.8,349,7343,0.00,2.38,0.00,0.000,6,0.000,0.044,2906,2355,2387
$GC,7656,2.31,129.2,485.0,11.7,364,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2355,2387
$GC,7965,2.36,129.2,449.9,11.3,379,7969,0.00,2.50,0.00,0.000,4,0.000,0.058,2906,958,2388
$GC,8049,2.36,129.2,439.9,11.6,382,8055,0.00,2.53,0.00,0.000,6,0.000,0.047,2906,2374,2388
$GC,8366,2.42,129.2,403.9,10.8,398,8371,0.12,2.55,0.00,0.000,4,0.066,0.052,2935,957,2389
$GC,8625,2.42,129.2,373.2,11.5,409,8631,0.00,2.50,0.00,0.000,6,0.000,0.044,2935,2369,2389
$GC,8941,2.42,129.2,336.7,11.3,425,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2369,2390
$GC,9250,2.42,129.2,300.2,12.0,440,9254,0.00,2.53,0.00,0.000,4,0.000,0.048,2935,954,2391
$GC,9396,2.42,129.2,282.5,12.4,446,9402,0.00,2.50,0.00,0.000,6,0.000,0.041,2935,2377,2391
$GC,9712,2.42,129.2,245.5,11.7,462,9716,0.00,2.53,0.00,0.000,4,0.000,0.048,2935,951,2392
$GC,9971,2.42,129.2,214.4,11.6,473,9975,0.00,2.47,0.00,0.000,6,0.000,0.040,2935,2369,2392
$GC,10287,2.42,129.2,177.9,11.4,488,10291,0.00,2.53,0.00,0.000,4,0.000,0.047,2935,944,2393
$GC,10507,2.42,129.2,152.4,11.9,498,10512,0.00,2.50,0.00,0.000,6,0.000,0.040,2935,2377,2393
$GC,10837,2.42,129.2,114.4,11.5,514,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2377,2393
$GC,11144,2.42,129.2,79.4,11.4,529,11149,0.00,2.53,0.00,0.000,4,0.000,0.045,2935,949,2393
$GC,11253,2.42,129.2,65.7,13.2,534,11257,0.00,2.47,0.00,0.000,6,0.000,0.039,2935,2370,2393
$GC,11580,2.42,129.2,25.2,12.0,550,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2370,2394
$STATE,11783,end climb,SURFACE_DEPTH_REACHED
$STATE,11783,begin surface coast
$FINISH,0.6,1.001966
$STATE,11805,end surface coast,CONTROL_FINISHED_OK
$STATE,11805,begin surface
$SM_CCo,11831,102.95,0.758,2,0,1692,300.00
$SM_GC,1.22,0.00,0.00,102.95,0.000,0.000,0.758,27,2476,1692,-10.96,0.25,300.00
$IRIDIUM_FIX,6108.28,-831.40,020298,121207
$TT8_MAMPS,0.029146
$HUMID,2005
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,754.3,72.7
$24V_AH,23.0,4.423
$10V_AH,10.1,1.614
$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,29.875,97.850,226.250,102.950,0.000,25.865,28.117,124.461,7.250,0.000,0.000,33.211,1128.686,8698.045,478.508,1533.453,425.086,0.000,1210.881,0.000,1471.578,0.000,47.394,0.000
$DEVICE_MAMPS,161.837,93.574,1331.512,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.077,383.756,330.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28533,561
$CAP_FILE_SIZE,96520,0
$CFSIZE,260165632,257454080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,081108,193007,6130.610,-826.729,40,1.6,40,-8.9