version: 66.04
glider: 101
mission: 7
dive: 16
start: 11 10 108 0 54 59
data:
$ID,101
$MISSION,7
$DIVE,16
$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,-732041.69
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,004937,6130.430,-830.774,31,1.0,31,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-48.7
$GPS2,005438,6130.448,-830.871,9,1.1,14,-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,108.1,5254,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.88,0.000,2,0.000,0.000,27,2483,3436
$GC,103,-1.81,-146.6,4.7,-5.2,4,119,10.73,0.00,-1.73,0.000,6,0.137,0.000,2006,2483,3515
$GC,429,-1.81,-146.6,52.2,-12.5,20,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2482,3515
$GC,737,-1.81,-146.6,95.3,-13.6,35,741,0.00,2.17,0.00,0.000,4,0.000,0.059,2006,3695,3516
$GC,856,-1.75,-146.6,112.6,-14.9,40,860,0.12,2.12,0.00,0.000,6,0.100,0.035,2029,2448,3515
$GC,1177,-1.75,-146.6,152.8,-12.1,56,1181,0.00,2.25,0.00,0.000,4,0.000,0.058,2029,3697,3515
$GC,1256,-1.75,-146.6,162.8,-11.8,59,1260,0.00,2.10,0.00,0.000,6,0.000,0.035,2029,2467,3515
$GC,1578,-1.75,-146.6,199.6,-11.4,75,1582,0.00,2.20,0.00,0.000,4,0.000,0.058,2029,3689,3515
$GC,1656,-1.75,-146.6,209.1,-12.1,78,1660,0.00,2.10,0.00,0.000,6,0.000,0.035,2029,2455,3515
$GC,1978,-1.75,-146.6,245.1,-11.7,94,1981,0.00,2.22,0.00,0.000,4,0.000,0.058,2029,3688,3515
$GC,2034,-1.75,-146.6,251.9,-12.8,96,2037,0.00,2.10,0.00,0.000,6,0.000,0.035,2029,2457,3515
$GC,2356,-1.75,-146.6,288.9,-11.3,112,2359,0.00,2.22,0.00,0.000,4,0.000,0.058,2029,3687,3515
$GC,2417,-1.75,-146.6,296.4,-12.4,114,2423,0.00,2.08,0.00,0.000,6,0.000,0.035,2029,2469,3515
$GC,2733,-1.75,-146.6,331.1,-11.1,130,2737,0.00,2.22,0.00,0.000,4,0.000,0.060,2029,3695,3515
$GC,2795,-1.75,-146.6,338.7,-11.8,132,2801,0.00,2.10,0.00,0.000,6,0.000,0.035,2029,2468,3515
$GC,3111,-1.75,-146.6,373.5,-10.9,148,3115,0.00,2.22,0.00,0.000,4,0.000,0.061,2029,3693,3515
$GC,3180,-1.75,-146.6,381.3,-11.0,151,3184,0.00,2.10,0.00,0.000,6,0.000,0.036,2029,2470,3515
$GC,3513,-1.75,-146.6,416.5,-10.2,167,3517,0.00,2.22,0.00,0.000,4,0.000,0.064,2030,3686,3516
$GC,3593,-1.75,-146.6,425.4,-10.8,170,3597,0.00,2.10,0.00,0.000,6,0.000,0.037,2029,2467,3515
$GC,3916,-1.75,-146.6,459.1,-10.6,186,3920,0.00,2.28,0.00,0.000,4,0.000,0.071,2029,3693,3515
$GC,3972,-1.75,-146.6,466.0,-12.0,188,3978,0.00,2.12,0.00,0.000,6,0.000,0.038,2030,2468,3515
$GC,4288,-1.75,-146.6,498.7,-10.4,204,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2468,3516
$GC,4597,-1.75,-146.6,529.7,-10.2,219,4601,0.00,2.35,0.00,0.000,4,0.000,0.090,2030,3685,3516
$GC,4698,-1.75,-146.6,541.0,-11.0,223,4704,0.00,2.20,0.00,0.000,6,0.000,0.056,2030,2467,3515
$GC,5014,-1.75,-146.6,572.0,-10.0,239,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2464,3516
$GC,5324,-1.75,-146.6,605.7,-11.3,254,5328,0.00,2.35,0.00,0.000,4,0.000,0.091,2029,3683,3515
$GC,5386,-1.75,-146.6,613.1,-11.1,257,5390,0.00,2.17,0.00,0.000,6,0.000,0.051,2030,2463,3515
$GC,5714,-1.75,-146.6,644.5,-9.5,273,5718,0.00,2.35,0.00,0.000,4,0.000,0.088,2030,3690,3515
$GC,5792,-1.75,-146.6,652.8,-10.4,276,5796,0.00,2.17,0.00,0.000,6,0.000,0.050,2030,2466,3515
$GC,6113,-1.75,-146.6,687.9,-11.3,292,6117,0.00,2.33,0.00,0.000,4,0.000,0.087,2029,3683,3515
$GC,6372,-1.75,-146.6,711.2,-9.8,303,6378,0.00,2.20,0.00,0.000,6,0.000,0.053,2030,2456,3515
$GC,6689,-1.79,-146.6,741.1,-9.9,319,6693,0.00,2.62,0.00,0.000,4,0.000,0.080,2029,1053,3515
$GC,6949,-1.88,-146.6,767.9,-13.4,330,6956,0.15,2.62,0.00,0.000,6,0.076,0.073,1998,2454,3515
$GC,7266,-1.93,-146.6,805.3,-2.0,346,7270,0.00,2.38,0.00,0.000,4,0.000,0.095,1998,3700,3515
$GC,7335,-1.93,-146.6,808.2,-8.5,349,7339,0.00,2.22,0.00,0.000,6,0.000,0.055,1998,2465,3514
$STATE,7598,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7598,begin apogee
$GC,7606,-0.45,0.0,841.5,18.6,362,7742,1.50,0.00,131.75,1.366,6,0.081,0.000,2312,2308,2915
$STATE,7742,end apogee,CONTROL_FINISHED_OK
$STATE,7743,begin climb
$GC,7746,1.81,146.6,846.4,0.0,369,7891,2.25,2.83,131.38,1.315,4,0.060,0.087,2801,3698,2317
$GC,8151,1.56,146.6,809.5,10.4,387,8156,0.28,2.53,0.00,0.000,6,0.100,0.054,2750,2317,2315
$GC,8472,1.51,146.6,774.1,11.9,403,8477,0.00,2.67,0.00,0.000,4,0.000,0.085,2750,3694,2314
$GC,8720,1.41,159.1,751.4,9.4,414,8737,0.17,2.53,11.93,1.230,6,0.107,0.054,2717,2314,2266
$GC,9046,1.46,205.8,725.6,7.8,430,9091,0.00,0.00,43.20,1.324,6,0.000,0.000,2717,2314,2076
$GC,9396,1.51,205.8,692.1,10.0,447,9400,0.00,2.65,0.00,0.000,4,0.000,0.072,2717,899,2075
$GC,9463,1.55,205.8,684.6,10.9,450,9468,0.12,2.62,0.00,0.000,6,0.086,0.057,2743,2321,2075
$GC,9786,1.55,209.2,652.9,9.8,466,9792,0.00,0.00,4.65,0.920,6,0.000,0.000,2743,2323,2062
$GC,10095,1.56,217.8,622.9,9.6,481,10109,0.00,2.70,9.23,1.120,4,0.000,0.064,2743,905,2027
$GC,10149,1.56,217.8,616.6,11.5,483,10154,0.00,2.60,0.00,0.000,6,0.000,0.053,2743,2322,2027
$GC,10465,1.56,217.8,581.3,10.9,498,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2322,2027
$GC,10774,1.56,217.8,545.0,10.9,513,10776,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2323,2028
$GC,11084,1.56,217.8,511.8,11.6,528,11088,0.00,2.60,0.00,0.000,4,0.000,0.061,2743,907,2028
$GC,11162,1.56,217.8,502.7,11.8,531,11168,0.00,2.55,0.00,0.000,6,0.000,0.050,2743,2320,2029
$GC,11478,1.56,217.8,466.1,11.7,547,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2320,2029
$GC,11787,1.56,217.8,432.5,10.6,562,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2320,2030
$GC,12097,1.57,219.8,400.8,9.9,577,12103,0.00,0.00,4.57,0.755,6,0.000,0.000,2743,2320,2018
$GC,12406,1.57,219.8,369.1,10.5,592,12407,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2320,2018
$GC,12715,1.57,225.7,338.3,9.7,607,12729,0.00,2.62,6.53,0.838,4,0.000,0.049,2743,901,1995
$GC,12775,1.57,225.7,332.1,10.7,609,12782,0.00,2.53,0.00,0.000,6,0.000,0.041,2743,2330,1995
$GC,13092,1.61,225.7,300.3,10.1,625,13093,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2330,1996
$GC,13401,1.65,225.7,269.0,10.4,640,13406,0.12,2.42,0.00,0.000,4,0.060,0.058,2774,3690,1996
$GC,13474,1.59,225.7,260.0,12.1,643,13479,0.00,2.40,0.00,0.000,6,0.000,0.035,2774,2297,1996
$GC,13790,1.59,225.7,224.8,11.2,658,13792,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2297,1996
$GC,14100,1.59,225.7,189.6,11.1,673,14101,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2297,1997
$GC,14409,1.59,225.7,155.8,10.5,688,14410,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2295,1997
$GC,14719,1.59,225.7,121.7,11.5,703,14723,0.00,2.53,0.00,0.000,4,0.000,0.056,2774,3696,1997
$GC,14769,1.54,225.7,115.2,12.5,705,14774,0.15,2.38,0.00,0.000,6,0.103,0.035,2747,2313,1997
$GC,15086,1.58,225.7,80.4,11.0,720,15087,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2312,1997
$GC,15395,1.58,225.7,46.4,11.4,735,15396,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2312,1997
$GC,15706,1.61,247.1,13.4,9.0,750,15729,0.00,0.00,20.45,0.783,6,0.000,0.000,2747,2312,1907
$STATE,15803,end climb,SURFACE_DEPTH_REACHED
$STATE,15804,begin surface coast
$FINISH,0.5,1.027256
$STATE,15825,end surface coast,CONTROL_FINISHED_OK
$STATE,15826,begin surface
$SM_CCo,15851,43.12,0.778,0,0,1692,300.00
$SM_GC,1.26,0.00,0.00,43.12,0.000,0.000,0.778,25,2488,1692,-10.97,0.59,300.00
$IRIDIUM_FIX,6108.28,-826.94,030298,202022
$TT8_MAMPS,0.029146
$HUMID,2005
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,750.3,100.2
$24V_AH,23.0,5.679
$10V_AH,10.1,2.192
$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,27.675,108.675,363.675,43.125,0.000,22.326,28.027,131.540,6.750,0.000,0.000,15.784,1421.418,11983.064,530.014,1789.526,476.777,0.000,1416.702,0.000,1746.215,0.000,44.531,0.000
$DEVICE_MAMPS,137.293,95.108,1366.027,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,563.636,516.718,426.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38002,756
$CAP_FILE_SIZE,114751,0
$CFSIZE,260165632,256983040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,101108,052109,6131.005,-831.171,31,1.3,32,-9.0