version: 66.04
glider: 101
mission: 7
dive: 20
start: 11 10 108 18 9 13
data:
$ID,101
$MISSION,7
$DIVE,20
$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,-732135.75
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2375
$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,2517
$C_ROLL_CLIMB,2317
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,28
$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
$GPS1,180332,6129.830,-829.685,38,1.4,38,-8.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-50.8
$GPS2,180853,6129.809,-829.708,9,6.7,28,-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,94.0,4176,-22.7,-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,-2.17,-92.4,0.0,0.0,0,79,0.00,0.00,-61.15,0.000,2,0.000,0.000,25,2495,2978
$GC,83,-2.24,-146.6,3.1,-4.1,3,115,9.75,2.45,-16.58,0.000,4,0.127,0.056,1884,1113,3513
$GC,362,-2.17,-146.6,55.3,-16.8,15,368,0.00,2.47,0.00,0.000,6,0.000,0.041,1884,2522,3512
$GC,680,-2.11,-146.6,111.9,-17.6,31,682,0.15,0.00,0.00,0.000,6,0.101,0.000,1913,2522,3513
$GC,988,-2.11,-146.6,165.7,-17.0,46,992,0.00,2.08,0.00,0.000,4,0.000,0.058,1913,3690,3513
$GC,1079,-2.04,-146.6,182.4,-18.9,50,1083,0.00,2.03,0.00,0.000,6,0.000,0.035,1913,2501,3513
$GC,1413,-2.04,-146.6,241.5,-18.2,66,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,2501,3513
$GC,1722,-2.04,-146.6,295.1,-16.9,81,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,2500,3513
$GC,2031,-2.04,-146.6,347.1,-16.8,96,2035,0.00,2.15,0.00,0.000,4,0.000,0.060,1913,3696,3513
$GC,2123,-1.99,-146.6,363.9,-18.0,100,2127,0.12,2.03,0.00,0.000,6,0.104,0.035,1937,2512,3513
$GC,2456,-1.99,-146.6,416.3,-15.5,116,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2512,3513
$GC,2765,-1.99,-146.6,463.7,-14.9,131,2768,0.00,2.20,0.00,0.000,4,0.000,0.072,1937,3693,3513
$GC,2833,-1.99,-146.6,474.6,-16.0,134,2841,0.00,2.03,0.00,0.000,6,0.000,0.039,1937,2527,3513
$GC,3170,-2.03,-146.6,525.7,-15.2,150,3174,0.00,2.25,0.00,0.000,4,0.000,0.089,1937,3693,3513
$GC,3227,-2.03,-146.6,534.7,-15.6,152,3233,0.00,2.12,0.00,0.000,6,0.000,0.054,1937,2511,3513
$GC,3544,-2.08,-146.6,581.2,-14.8,168,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2509,3513
$GC,3854,-2.12,-146.6,625.0,-12.7,183,3858,0.10,2.28,0.00,0.000,4,0.061,0.087,1909,3693,3513
$GC,3961,-2.05,-146.6,638.4,-16.4,188,3965,0.00,2.10,0.00,0.000,6,0.000,0.050,1909,2515,3513
$GC,4294,-2.05,-146.6,711.7,-19.4,204,4299,0.00,2.58,0.00,0.000,4,0.000,0.070,1909,1109,3513
$GC,4553,-2.01,-146.6,739.5,-13.1,215,4560,0.12,2.62,0.00,0.000,6,0.112,0.073,1932,2517,3512
$GC,4871,-2.08,-146.6,772.2,-14.2,231,4875,0.00,2.65,0.00,0.000,4,0.000,0.077,1932,1107,3513
$GC,5128,-2.08,-146.6,806.4,-18.6,242,5135,0.00,2.65,0.00,0.000,6,0.000,0.074,1932,2517,3513
$STATE,5421,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5421,begin apogee
$GC,5429,-0.45,0.0,848.6,15.0,257,5565,1.60,0.00,132.25,1.361,6,0.071,0.000,2275,2303,2915
$STATE,5566,end apogee,CONTROL_FINISHED_OK
$STATE,5566,begin climb
$GC,5570,2.24,146.6,850.2,0.0,264,5715,2.60,2.83,131.25,1.305,4,0.040,0.087,2870,3705,2317
$GC,5974,2.07,146.6,799.3,12.6,282,5980,0.22,2.53,0.00,0.000,6,0.106,0.054,2828,2319,2316
$GC,6296,2.01,146.6,743.1,16.5,298,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2318,2314
$GC,6605,2.01,146.6,697.7,11.1,313,6610,0.00,2.65,0.00,0.000,4,0.000,0.074,2827,898,2313
$GC,6713,2.01,146.6,685.7,10.2,318,6718,0.00,2.62,0.00,0.000,6,0.000,0.061,2828,2321,2312
$GC,7041,2.03,164.6,655.2,8.7,334,7063,0.00,2.78,16.48,1.236,4,0.000,0.067,2828,900,2243
$GC,7187,2.03,164.6,641.7,10.7,340,7192,0.00,2.60,0.00,0.000,6,0.000,0.054,2828,2319,2243
$GC,7504,2.03,165.0,609.7,10.0,355,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2320,2242
$GC,7813,2.03,165.0,576.3,11.0,370,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2320,2242
$GC,8122,2.03,165.0,543.1,10.8,385,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2320,2242
$GC,8431,2.03,165.0,506.4,11.8,400,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2320,2242
$GC,8741,2.03,165.0,472.5,11.2,415,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2320,2243
$GC,9050,2.07,165.0,437.8,11.4,430,9054,0.00,2.55,0.00,0.000,4,0.000,0.054,2827,900,2244
$GC,9135,2.07,165.0,427.9,11.8,433,9141,0.00,2.53,0.00,0.000,6,0.000,0.043,2828,2330,2244
$GC,9451,2.07,165.0,392.8,11.4,449,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2330,2245
$GC,9760,2.07,165.0,359.6,10.2,464,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2330,2246
$GC,10069,2.07,165.0,327.1,11.0,479,10073,0.00,2.55,0.00,0.000,4,0.000,0.048,2827,898,2246
$GC,10148,2.07,165.0,318.1,11.4,482,10153,0.00,2.50,0.00,0.000,6,0.000,0.039,2828,2327,2246
$GC,10465,2.12,165.0,285.0,10.3,497,10469,0.00,2.53,0.00,0.000,4,0.000,0.047,2828,894,2247
$GC,10543,2.12,165.0,276.4,10.8,500,10549,0.00,2.47,0.00,0.000,6,0.000,0.039,2827,2319,2248
$GC,10859,2.12,165.0,241.6,11.3,516,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2319,2248
$GC,11169,2.17,165.0,207.6,10.7,531,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2318,2248
$GC,11478,2.22,165.0,175.9,10.4,546,11480,0.12,0.00,0.00,0.000,6,0.062,0.000,2859,2319,2248
$GC,11787,2.22,165.0,138.3,13.3,561,11791,0.00,2.50,0.00,0.000,4,0.000,0.045,2860,902,2248
$GC,11854,2.18,165.0,129.0,13.5,564,11859,0.00,2.47,0.00,0.000,6,0.000,0.038,2859,2329,2248
$GC,12177,2.18,165.0,88.0,13.2,580,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2329,2249
$GC,12486,2.18,165.7,47.7,9.9,595,12492,0.00,0.00,3.92,0.558,6,0.000,0.000,2859,2329,2239
$GC,12797,2.13,165.7,5.2,14.1,610,12801,0.00,2.53,0.00,0.000,4,0.000,0.046,2859,901,2239
$STATE,12816,end climb,SURFACE_DEPTH_REACHED
$STATE,12816,begin surface coast
$FINISH,0.7,1.027284
$STATE,12823,end surface coast,CONTROL_FINISHED_OK
$STATE,12823,begin surface
$SM_CCo,12851,95.88,0.762,2,0,1692,300.00
$SM_GC,1.38,0.00,0.00,95.88,0.000,0.000,0.762,26,2518,1692,-10.80,0.03,300.00
$IRIDIUM_FIX,6103.81,-835.19,040298,141417
$TT8_MAMPS,0.027612
$HUMID,1968
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.1,104.9
$24V_AH,23.0,6.329
$10V_AH,10.1,2.468
$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,27.500,78.575,283.900,95.875,0.000,23.474,26.855,137.394,6.500,0.000,0.000,30.638,1159.620,9695.114,497.389,1499.833,432.474,0.000,1226.725,0.000,1445.092,0.000,44.550,0.000
$DEVICE_MAMPS,127.322,88.972,1360.658,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.426,417.689,342.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31627,611
$CAP_FILE_SIZE,92696,0
$CFSIZE,260165632,256802816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,101108,214632,6129.798,-827.821,39,1.3,39,-8.9