version: 66.04
glider: 101
mission: 7
dive: 14
start: 11 9 108 16 29 57
data:
$ID,101
$MISSION,7
$DIVE,14
$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,-732009.12
$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,2317
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,36
$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
$GPS1,162408,6130.816,-831.191,29,1.7,30,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-48.4
$GPS2,162937,6130.876,-831.244,13,1.8,29,-9.0
$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,115.4,5751,-17.9,-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,-1.81,-146.6,0.0,0.0,0,79,0.00,0.00,-61.00,0.000,2,0.000,0.000,28,2486,3001
$GC,83,-1.81,-146.6,3.7,-6.2,3,113,10.40,2.17,-14.27,0.000,4,0.128,0.071,2007,3674,3514
$GC,182,-1.76,-146.6,21.5,-15.8,7,185,0.00,2.08,0.00,0.000,6,0.000,0.035,2006,2463,3514
$GC,504,-1.71,-146.6,79.3,-16.8,23,506,0.15,0.00,0.00,0.000,6,0.084,0.000,2038,2463,3514
$GC,813,-1.71,-146.6,116.2,-7.8,38,817,0.00,2.20,0.00,0.000,4,0.000,0.057,2038,3680,3514
$GC,898,-1.71,-146.6,126.8,-14.6,41,904,0.00,2.10,0.00,0.000,6,0.000,0.035,2038,2468,3514
$GC,1214,-1.71,-146.6,164.6,-11.6,57,1217,0.00,2.17,0.00,0.000,4,0.000,0.055,2038,3679,3514
$GC,1299,-1.71,-146.6,175.2,-11.5,60,1305,0.00,2.08,0.00,0.000,6,0.000,0.035,2038,2458,3514
$GC,1616,-1.76,-146.6,210.1,-10.8,76,1620,0.00,2.20,0.00,0.000,4,0.000,0.057,2037,3677,3514
$GC,1689,-1.76,-146.6,218.7,-11.7,79,1693,0.00,2.08,0.00,0.000,6,0.000,0.035,2038,2460,3514
$GC,2017,-1.76,-146.6,251.7,-10.1,95,2021,0.00,2.20,0.00,0.000,4,0.000,0.058,2038,3677,3514
$GC,2063,-1.76,-146.6,256.9,-11.7,97,2067,0.00,2.08,0.00,0.000,6,0.000,0.036,2038,2460,3514
$GC,2397,-1.81,-146.6,291.9,-10.7,113,2400,0.00,2.20,0.00,0.000,4,0.000,0.059,2038,3676,3514
$GC,2512,-1.81,-146.6,305.1,-11.5,118,2515,0.00,2.08,0.00,0.000,6,0.000,0.036,2038,2460,3514
$GC,2845,-1.86,-146.6,341.2,-11.1,134,2847,0.15,0.00,0.00,0.000,6,0.053,0.000,1998,2458,3514
$GC,3154,-1.86,-146.6,379.2,-12.2,149,3157,0.00,2.22,0.00,0.000,4,0.000,0.062,1998,3680,3514
$GC,3261,-1.80,-146.6,393.5,-13.4,153,3268,0.10,2.08,0.00,0.000,6,0.103,0.037,2015,2474,3515
$GC,3577,-1.80,-146.6,431.3,-11.8,169,3581,0.00,2.22,0.00,0.000,4,0.000,0.067,2015,3684,3515
$GC,3633,-1.80,-146.6,438.3,-12.7,171,3637,0.00,2.10,0.00,0.000,6,0.000,0.038,2015,2468,3515
$GC,3956,-1.80,-146.6,476.5,-11.7,187,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2468,3514
$GC,4264,-1.80,-146.6,511.6,-10.9,202,4268,0.00,2.30,0.00,0.000,4,0.000,0.085,2015,3672,3515
$GC,4343,-1.80,-146.6,520.5,-10.5,205,4350,0.00,2.12,0.00,0.000,6,0.000,0.051,2015,2477,3515
$GC,4660,-1.80,-146.6,555.1,-10.9,221,4664,0.00,2.35,0.00,0.000,4,0.000,0.101,2015,3676,3515
$GC,4716,-1.80,-146.6,562.0,-12.1,223,4722,0.00,2.17,0.00,0.000,6,0.000,0.053,2015,2461,3514
$GC,5032,-1.80,-146.6,597.6,-11.2,239,5036,0.00,2.35,0.00,0.000,4,0.000,0.091,2015,3677,3515
$GC,5099,-1.80,-146.6,605.6,-11.5,242,5103,0.00,2.17,0.00,0.000,6,0.000,0.052,2015,2461,3514
$GC,5426,-1.80,-146.6,640.6,-10.8,258,5431,0.00,2.35,0.00,0.000,4,0.000,0.089,2015,3680,3515
$GC,5494,-1.80,-146.6,648.2,-11.0,261,5498,0.00,2.17,0.00,0.000,6,0.000,0.051,2015,2463,3514
$GC,5821,-1.80,-146.6,686.3,-11.9,277,5825,0.00,2.33,0.00,0.000,4,0.000,0.087,2015,3673,3515
$GC,6080,-1.80,-146.6,716.2,-9.8,288,6086,0.00,2.17,0.00,0.000,6,0.000,0.055,2015,2465,3514
$GC,6397,-1.84,-146.6,740.5,-5.9,304,6401,0.00,2.35,0.00,0.000,4,0.000,0.096,2015,3670,3514
$GC,6442,-1.84,-146.6,744.2,-9.7,306,6446,0.00,2.17,0.00,0.000,6,0.000,0.057,2015,2468,3514
$GC,6770,-1.84,-146.6,781.9,-6.9,322,6774,0.00,2.35,0.00,0.000,4,0.000,0.097,2015,3670,3514
$GC,6843,-1.84,-146.6,792.8,-15.3,325,6847,0.00,2.20,0.00,0.000,6,0.000,0.059,2015,2460,3514
$GC,7159,-1.91,-146.6,833.3,-14.0,340,7163,0.00,2.35,0.00,0.000,4,0.000,0.092,2015,3670,3513
$STATE,7214,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7214,begin apogee
$GC,7224,-0.45,0.0,840.0,14.4,342,7360,1.38,0.00,131.43,1.368,6,0.084,0.000,2306,2314,2915
$STATE,7360,end apogee,CONTROL_FINISHED_OK
$STATE,7361,begin climb
$GC,7364,1.81,146.6,845.7,0.0,349,7504,2.28,2.72,130.80,1.313,4,0.054,0.086,2808,3676,2317
$GC,7763,1.54,146.6,806.0,11.5,366,7768,0.32,2.50,0.00,0.000,6,0.104,0.058,2747,2313,2315
$GC,8085,1.52,158.1,783.6,9.5,382,8106,0.00,2.67,11.50,1.210,4,0.000,0.084,2747,3672,2269
$GC,8360,1.40,158.1,760.1,10.3,394,8365,0.17,2.50,0.00,0.000,6,0.112,0.054,2715,2309,2269
$GC,8682,1.49,196.3,733.0,8.2,410,8720,0.00,0.00,35.38,1.328,6,0.000,0.000,2715,2309,2114
$GC,9031,1.53,228.2,700.9,8.5,427,9066,0.12,2.70,29.48,1.301,4,0.057,0.076,2748,910,1983
$GC,9096,1.56,249.4,695.0,9.0,430,9122,0.00,2.60,20.70,1.254,6,0.000,0.060,2748,2298,1898
$GC,9444,1.56,249.4,655.7,11.9,447,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2299,1897
$GC,9753,1.56,249.4,617.4,12.2,462,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2300,1896
$GC,10063,1.56,249.4,576.7,13.0,477,10067,0.00,2.60,0.00,0.000,4,0.000,0.074,2748,3693,1897
$GC,10107,1.56,249.4,570.7,13.0,479,10111,0.00,2.45,0.00,0.000,6,0.000,0.043,2748,2313,1897
$GC,10428,1.56,249.4,531.0,12.3,495,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2313,1897
$GC,10737,1.56,249.4,492.0,12.6,510,10742,0.00,2.58,0.00,0.000,4,0.000,0.067,2748,3694,1898
$GC,10823,1.56,249.4,480.7,13.7,514,10827,0.00,2.42,0.00,0.000,6,0.000,0.039,2748,2312,1898
$GC,11150,1.56,249.4,440.9,12.4,530,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2312,1898
$GC,11459,1.56,249.4,402.6,12.3,545,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2312,1899
$GC,11768,1.56,249.4,363.7,12.4,560,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2312,1900
$GC,12077,1.56,249.4,324.4,12.7,575,12081,0.00,2.53,0.00,0.000,4,0.000,0.058,2748,3702,1900
$GC,12134,1.56,249.4,316.7,12.8,577,12138,0.00,2.42,0.00,0.000,6,0.000,0.036,2748,2301,1900
$GC,12450,1.56,249.4,281.7,10.5,592,12451,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2301,1900
$GC,12759,1.60,249.4,248.6,10.5,607,12764,0.00,2.55,0.00,0.000,4,0.000,0.058,2748,3706,1901
$GC,12827,1.60,249.4,241.0,10.9,610,12831,0.00,2.40,0.00,0.000,6,0.000,0.036,2748,2314,1900
$GC,13149,1.64,249.4,205.0,12.3,626,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2314,1902
$GC,13458,1.69,249.4,166.9,11.8,641,13460,0.12,0.00,0.00,0.000,6,0.056,0.000,2784,2314,1902
$GC,13769,1.69,249.4,127.1,12.8,656,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2314,1903
$GC,14077,1.69,249.4,87.8,13.9,671,14081,0.00,2.50,0.00,0.000,4,0.000,0.056,2784,3699,1903
$GC,14162,1.64,249.4,73.5,16.1,675,14166,0.00,2.38,0.00,0.000,6,0.000,0.035,2784,2316,1903
$GC,14490,1.64,249.4,18.6,16.0,691,14494,0.00,2.47,0.00,0.000,4,0.000,0.048,2784,905,1904
$GC,14513,1.64,249.4,15.1,13.8,692,14517,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2329,1904
$STATE,14604,end climb,SURFACE_DEPTH_REACHED
$STATE,14604,begin surface coast
$FINISH,0.7,1.027244
$STATE,14626,end surface coast,CONTROL_FINISHED_OK
$STATE,14626,begin surface
$SM_CCo,14651,43.50,0.716,3,0,1692,300.00
$SM_GC,1.25,0.00,0.00,43.50,0.000,0.000,0.716,27,2474,1692,-10.96,0.20,300.00
$IRIDIUM_FIX,6108.28,-835.86,030298,121216
$TT8_MAMPS,0.029146
$HUMID,2003
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.3,99.4
$24V_AH,23.0,5.365
$10V_AH,10.1,2.046
$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,27.625,116.375,359.275,43.500,0.000,24.324,27.754,133.382,6.500,0.000,0.000,30.566,1332.185,10996.775,520.538,1717.504,477.506,0.000,1378.628,0.000,1656.398,0.000,44.521,0.000
$DEVICE_MAMPS,128.089,101.244,1367.561,715.611,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,516.879,477.522,378.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34897,698
$CAP_FILE_SIZE,111067,0
$CFSIZE,260165632,257101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,091108,203638,6130.613,-830.423,47,1.0,47,-9.0