version: 66.04
glider: 101
mission: 7
dive: 21
start: 11 10 108 21 54 12
data:
$ID,101
$MISSION,7
$DIVE,21
$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,-732151.62
$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,16
$R_STBD_OVSHOOT,23
$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
$GPS1,214632,6129.798,-827.821,39,1.3,39,-8.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-52.9
$GPS2,215351,6129.736,-827.837,13,2.0,13,-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,87.9,2555,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-2.59,-61.8,0.0,0.0,0,90,0.00,0.00,-68.90,0.000,6,0.000,0.000,27,2519,3168
$GC,94,-2.66,-120.6,3.8,-3.6,4,117,9.35,2.53,-6.47,0.000,4,0.131,0.054,1793,1097,3407
$GC,370,-2.61,-120.6,65.9,-23.4,16,375,0.00,2.50,0.00,0.000,6,0.000,0.038,1793,2524,3408
$GC,693,-2.54,-120.6,140.4,-20.9,32,698,0.15,2.53,0.00,0.000,4,0.113,0.042,1820,1093,3407
$GC,811,-2.54,-120.6,163.5,-19.5,37,815,0.00,2.50,0.00,0.000,6,0.000,0.039,1820,2523,3407
$GC,1127,-2.54,-120.6,223.6,-19.4,52,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2523,3407
$GC,1436,-2.54,-120.6,282.9,-18.6,67,1440,0.00,2.53,0.00,0.000,4,0.000,0.044,1821,1092,3407
$GC,1498,-2.54,-120.6,294.7,-19.0,70,1503,0.00,2.50,0.00,0.000,6,0.000,0.041,1820,2517,3408
$GC,1826,-2.54,-120.6,356.5,-19.1,86,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2518,3408
$GC,2135,-2.54,-120.6,414.9,-19.0,101,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2518,3408
$GC,2445,-2.54,-120.6,474.8,-18.7,116,2452,0.00,2.60,0.00,0.000,4,0.000,0.064,1820,1102,3408
$GC,2526,-2.54,-120.6,490.6,-18.9,119,2530,0.00,2.58,0.00,0.000,6,0.000,0.060,1820,2511,3408
$GC,2843,-2.54,-120.6,552.4,-20.1,134,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2511,3408
$GC,3151,-2.54,-120.6,617.1,-20.6,149,3155,0.00,2.60,0.00,0.000,4,0.000,0.072,1820,1107,3408
$GC,3409,-2.54,-120.6,667.9,-17.1,160,3415,0.00,2.62,0.00,0.000,6,0.000,0.069,1820,2520,3408
$GC,3725,-2.54,-120.6,721.2,-16.3,176,3730,0.00,2.67,0.00,0.000,4,0.000,0.075,1820,1098,3408
$GC,3984,-2.54,-120.6,758.7,-16.1,187,3990,0.00,2.67,0.00,0.000,6,0.000,0.072,1820,2524,3408
$GC,4300,-2.54,-120.6,819.8,-21.9,203,4304,0.00,2.67,0.00,0.000,4,0.000,0.077,1820,1107,3407
$GC,4389,-2.54,-120.6,834.2,-13.8,207,4394,0.00,2.65,0.00,0.000,4,0.000,0.071,1820,2524,3407
$STATE,4394,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4394,begin apogee
$GC,4402,-0.45,0.0,834.7,11.9,207,4516,2.08,0.00,109.30,1.345,6,0.070,0.000,2274,2317,2915
$STATE,4517,end apogee,CONTROL_FINISHED_OK
$STATE,4517,begin climb
$GC,4520,2.66,120.6,835.6,0.0,213,4639,3.08,2.70,108.38,1.302,4,0.048,0.073,2963,905,2423
$GC,4696,2.55,120.6,821.6,12.8,221,4701,0.17,2.65,0.00,0.000,6,0.180,0.063,2937,2318,2423
$GC,5018,2.48,120.6,773.4,12.2,237,5023,0.12,2.62,0.00,0.000,4,0.146,0.087,2917,3698,2421
$GC,5276,2.40,120.6,735.2,11.4,248,5283,0.00,2.53,0.00,0.000,6,0.000,0.053,2918,2307,2420
$GC,5593,2.40,120.6,699.1,11.4,264,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2307,2419
$GC,5902,2.40,120.6,665.1,10.3,279,5906,0.00,2.60,0.00,0.000,4,0.000,0.071,2917,900,2417
$GC,6161,2.40,120.6,638.4,11.2,290,6167,0.00,2.60,0.00,0.000,6,0.000,0.056,2917,2324,2416
$GC,6477,2.40,120.6,604.7,12.2,306,6481,0.00,2.62,0.00,0.000,4,0.000,0.063,2917,905,2415
$GC,6670,2.40,120.6,582.6,11.8,314,6676,0.00,2.58,0.00,0.000,6,0.000,0.052,2917,2327,2415
$GC,6986,2.40,120.6,545.3,12.0,330,6991,0.00,2.60,0.00,0.000,4,0.000,0.060,2917,906,2414
$GC,7174,2.40,120.6,521.1,13.0,338,7179,0.00,2.53,0.00,0.000,6,0.000,0.048,2917,2319,2414
$GC,7491,2.40,120.6,482.6,11.9,353,7495,0.00,2.58,0.00,0.000,4,0.000,0.056,2917,900,2414
$GC,7560,2.40,120.6,473.7,13.0,356,7564,0.00,2.53,0.00,0.000,6,0.000,0.045,2917,2324,2415
$GC,7887,2.44,120.6,433.4,12.1,372,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2324,2415
$GC,8196,2.49,120.6,398.2,11.3,387,8200,0.00,2.55,0.00,0.000,4,0.000,0.051,2917,897,2416
$GC,8358,2.49,120.6,379.7,11.8,394,8363,0.00,2.50,0.00,0.000,6,0.000,0.041,2917,2322,2416
$GC,8675,2.53,120.6,343.6,11.7,409,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2322,2417
$GC,8984,2.58,120.6,307.1,12.1,424,8988,0.00,2.53,0.00,0.000,4,0.000,0.048,2917,894,2418
$GC,9237,2.58,120.6,275.9,11.8,435,9242,0.00,2.47,0.00,0.000,6,0.000,0.038,2917,2319,2418
$GC,9559,2.62,120.6,238.5,11.7,451,9564,0.12,2.53,0.00,0.000,4,0.068,0.046,2945,895,2420
$GC,9817,2.62,120.6,206.6,12.1,462,9823,0.00,2.47,0.00,0.000,6,0.000,0.038,2945,2320,2420
$GC,10133,2.62,120.6,169.4,11.7,478,10137,0.00,2.50,0.00,0.000,4,0.000,0.045,2945,899,2420
$GC,10269,2.62,120.6,152.5,12.3,484,10273,0.00,2.47,0.00,0.000,6,0.000,0.037,2945,2327,2420
$GC,10597,2.63,127.9,119.0,9.2,500,10611,0.00,2.58,7.62,0.762,4,0.000,0.044,2945,902,2393
$GC,10776,2.63,127.9,98.3,13.7,508,10780,0.00,2.47,0.00,0.000,6,0.000,0.036,2945,2329,2393
$GC,11104,2.63,127.9,63.5,10.0,524,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2329,2393
$GC,11413,2.63,127.9,23.1,13.0,539,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2329,2394
$STATE,11574,end climb,SURFACE_DEPTH_REACHED
$STATE,11575,begin surface coast
$FINISH,0.7,1.013042
$STATE,11596,end surface coast,CONTROL_FINISHED_OK
$STATE,11596,begin surface
$SM_CCo,11623,119.15,0.757,3,0,1692,300.00
$SM_GC,1.77,0.00,0.00,119.15,0.000,0.000,0.757,29,2518,1692,-10.79,0.03,300.00
$IRIDIUM_FIX,6108.28,-826.94,040298,212105
$TT8_MAMPS,0.029146
$HUMID,1977
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,750.0,94.6
$24V_AH,22.4,6.452
$10V_AH,10.1,2.530
$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,28.375,93.075,225.300,119.150,0.000,49.306,79.941,133.785,6.750,0.000,0.000,15.280,1104.686,8502.364,475.844,1606.159,515.529,0.000,1248.753,0.000,1559.766,0.000,44.513,0.000
$DEVICE_MAMPS,180.245,86.671,1344.551,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.913,374.698,323.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28549,548
$CAP_FILE_SIZE,93034,0
$CFSIZE,260165632,256761856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,111108,011137,6130.060,-827.654,38,1.4,44,-8.9