version: 66.04
glider: 101
mission: 7
dive: 78
start: 11 18 108 4 33 48
data:
$ID,101
$MISSION,7
$DIVE,78
$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,412.5
$T_MISSION,440
$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,-733362.44
$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,18
$R_STBD_OVSHOOT,33
$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
$GPS1,042808,6218.498,-948.926,33,1.9,33,-10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-59.9
$GPS2,043327,6218.469,-948.855,14,1.8,14,-10.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$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,311.3,41159,-14.7,-8.000
$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,-1.51,-146.6,0.0,0.0,0,79,0.00,0.00,-61.15,0.000,2,0.000,0.000,24,2536,3028
$GC,83,-1.51,-146.6,3.5,-4.5,3,113,10.43,2.05,-15.00,0.000,4,0.123,0.074,2039,3678,3515
$GC,316,-1.39,-146.6,33.1,-11.0,13,321,0.15,2.03,0.00,0.000,6,0.090,0.036,2068,2492,3515
$GC,633,-1.34,-146.6,64.6,-9.9,28,637,0.00,2.15,0.00,0.000,4,0.000,0.056,2068,3686,3515
$GC,695,-1.28,-146.6,71.1,-10.3,30,702,0.12,2.03,0.00,0.000,6,0.094,0.035,2093,2497,3515
$GC,1012,-1.28,-146.6,101.9,-9.2,46,1016,0.00,2.12,0.00,0.000,4,0.000,0.055,2093,3682,3515
$GC,1096,-1.28,-146.6,110.3,-9.0,49,1102,0.00,2.03,0.00,0.000,6,0.000,0.036,2093,2491,3515
$GC,1413,-1.28,-146.6,138.5,-8.7,65,1417,0.00,2.15,0.00,0.000,4,0.000,0.055,2093,3689,3515
$GC,1492,-1.28,-146.6,146.2,-9.9,68,1495,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2510,3515
$GC,1814,-1.28,-146.6,175.3,-9.4,84,1818,0.00,2.10,0.00,0.000,4,0.000,0.055,2093,3683,3515
$GC,1872,-1.28,-146.6,180.9,-9.4,86,1876,0.00,1.98,0.00,0.000,6,0.000,0.035,2093,2518,3515
$GC,2194,-1.28,-146.6,210.9,-9.8,102,2197,0.00,2.10,0.00,0.000,4,0.000,0.056,2093,3691,3515
$GC,2255,-1.28,-146.6,216.9,-9.4,104,2261,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2509,3515
$GC,2572,-1.28,-146.6,246.1,-10.0,120,2575,0.00,2.10,0.00,0.000,4,0.000,0.057,2093,3680,3515
$GC,2667,-1.28,-146.6,256.0,-10.2,124,2671,0.00,1.98,0.00,0.000,6,0.000,0.035,2093,2512,3515
$GC,2995,-1.28,-146.6,285.9,-8.8,140,2998,0.00,2.10,0.00,0.000,4,0.000,0.058,2093,3683,3515
$GC,3086,-1.28,-146.6,294.6,-9.3,144,3089,0.00,1.98,0.00,0.000,6,0.000,0.036,2093,2516,3515
$GC,3419,-1.28,-146.6,324.2,-8.8,160,3422,0.00,2.10,0.00,0.000,4,0.000,0.058,2093,3685,3515
$GC,3469,-1.28,-146.6,329.0,-9.0,162,3473,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2508,3515
$GC,3797,-1.28,-146.6,356.0,-8.1,178,3800,0.00,2.12,0.00,0.000,4,0.000,0.058,2093,3686,3515
$GC,3888,-1.28,-146.6,363.8,-9.1,182,3891,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2509,3515
$GC,4221,-1.28,-146.6,389.6,-7.7,198,4225,0.00,2.12,0.00,0.000,4,0.000,0.060,2093,3685,3515
$GC,4290,-1.28,-146.6,395.2,-8.1,201,4294,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2511,3515
$GC,4624,-1.28,-146.6,420.5,-7.3,217,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2511,3515
$GC,4933,-1.28,-146.6,442.2,-7.0,232,4937,0.00,2.15,0.00,0.000,4,0.000,0.065,2093,3686,3515
$GC,5040,-1.28,-146.6,450.6,-8.4,236,5046,0.00,2.00,0.00,0.000,6,0.000,0.037,2093,2521,3515
$GC,5356,-1.28,-146.6,474.1,-8.1,252,5360,0.00,2.15,0.00,0.000,4,0.000,0.071,2093,3683,3515
$GC,5425,-1.28,-146.6,480.1,-8.5,255,5428,0.00,2.03,0.00,0.000,6,0.000,0.039,2094,2510,3514
$GC,5758,-1.28,-146.6,511.0,-10.1,271,5762,0.00,2.20,0.00,0.000,4,0.000,0.081,2093,3676,3515
$GC,5904,-1.28,-146.6,525.9,-10.2,277,5908,0.00,2.05,0.00,0.000,6,0.000,0.051,2093,2524,3515
$GC,6226,-1.28,-146.6,554.1,-7.7,293,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2523,3515
$GC,6536,-1.32,-146.6,582.7,-10.7,308,6539,0.00,2.22,0.00,0.000,4,0.000,0.092,2093,3676,3515
$GC,6631,-1.32,-146.6,593.5,-10.9,312,6635,0.00,2.08,0.00,0.000,6,0.000,0.054,2093,2515,3515
$GC,6959,-1.38,-146.6,623.9,-8.9,328,6963,0.00,2.25,0.00,0.000,4,0.000,0.091,2093,3683,3515
$GC,7066,-1.38,-146.6,633.4,-8.9,333,7070,0.00,2.10,0.00,0.000,6,0.000,0.054,2093,2509,3514
$STATE,7149,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7149,begin apogee
$GC,7157,-0.45,0.0,640.7,8.5,337,7292,0.85,0.00,130.00,1.206,6,0.071,0.000,2273,2308,2915
$STATE,7293,end apogee,CONTROL_FINISHED_OK
$STATE,7293,begin climb
$GC,7296,1.51,146.6,646.0,0.0,344,7433,1.95,2.72,128.38,1.167,4,0.054,0.077,2709,901,2316
$GC,7479,1.43,146.6,638.0,8.3,352,7486,0.12,2.62,0.00,0.000,6,0.127,0.063,2688,2302,2316
$GC,7796,1.45,159.8,613.3,7.5,368,7814,0.00,0.00,13.15,1.075,6,0.000,0.000,2688,2302,2262
$GC,8125,1.45,159.8,584.5,9.4,384,8129,0.00,2.60,0.00,0.000,4,0.000,0.077,2689,3699,2261
$GC,8255,1.45,159.8,570.5,11.1,390,8259,0.00,2.47,0.00,0.000,6,0.000,0.045,2688,2313,2260
$GC,8582,1.45,159.8,537.7,9.8,406,8586,0.00,2.58,0.00,0.000,4,0.000,0.064,2688,903,2260
$GC,8817,1.45,159.8,514.1,8.5,416,8823,0.00,2.58,0.00,0.000,6,0.000,0.050,2688,2332,2259
$GC,9133,1.53,226.5,495.9,5.5,432,9197,0.00,2.62,57.62,1.137,4,0.000,0.067,2688,3697,1991
$GC,9243,1.56,250.0,489.7,7.1,437,9273,0.12,2.45,22.45,1.078,6,0.058,0.039,2720,2307,1895
$GC,9598,1.56,250.0,454.6,11.5,454,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2307,1894
$GC,9905,1.56,250.0,418.9,11.5,469,9909,0.00,2.55,0.00,0.000,4,0.000,0.061,2720,3698,1894
$GC,9961,1.51,250.0,412.1,12.7,471,9967,0.00,2.42,0.00,0.000,6,0.000,0.037,2720,2304,1894
$GC,10277,1.51,250.0,374.1,12.1,487,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2304,1894
$GC,10586,1.51,250.0,337.2,11.7,502,10591,0.00,2.53,0.00,0.000,4,0.000,0.058,2720,3695,1894
$GC,10643,1.46,250.0,330.1,12.5,504,10650,0.15,2.40,0.00,0.000,6,0.106,0.035,2692,2301,1894
$GC,10960,1.50,250.0,297.7,9.8,520,10963,0.00,2.53,0.00,0.000,4,0.000,0.056,2693,3697,1894
$GC,11006,1.50,250.0,293.0,10.1,522,11010,0.00,2.38,0.00,0.000,6,0.000,0.035,2692,2314,1894
$GC,11333,1.50,250.0,260.2,10.4,538,11337,0.00,2.50,0.00,0.000,4,0.000,0.055,2693,3699,1894
$GC,11373,1.50,250.0,255.7,11.6,540,11377,0.00,2.38,0.00,0.000,6,0.000,0.035,2693,2317,1894
$GC,11701,1.54,250.0,223.1,9.6,556,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2316,1894
$GC,12010,1.58,250.0,195.3,8.4,571,12015,0.12,2.50,0.00,0.000,4,0.055,0.054,2727,3706,1894
$GC,12083,1.52,250.0,186.9,11.7,574,12088,0.00,2.38,0.00,0.000,6,0.000,0.035,2727,2319,1894
$GC,12400,1.52,250.0,150.0,11.2,589,12401,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2319,1895
$GC,12709,1.52,250.0,115.5,10.4,604,12714,0.00,2.47,0.00,0.000,4,0.000,0.054,2727,3700,1896
$GC,12783,1.47,250.0,107.2,10.9,607,12788,0.17,2.38,0.00,0.000,6,0.104,0.035,2695,2311,1895
$GC,13101,1.47,250.0,76.5,10.7,622,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2310,1895
$GC,13409,1.47,250.0,47.7,8.7,637,13413,0.00,2.50,0.00,0.000,4,0.000,0.054,2694,3706,1895
$GC,13481,1.47,250.0,41.0,9.0,640,13486,0.00,2.38,0.00,0.000,6,0.000,0.034,2694,2313,1895
$GC,13798,1.51,250.0,12.8,8.6,655,13799,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2312,1895
$STATE,13918,end climb,SURFACE_DEPTH_REACHED
$STATE,13918,begin surface coast
$FINISH,0.9,1.027385
$STATE,13941,end surface coast,CONTROL_FINISHED_OK
$STATE,13941,begin surface
$SM_CCo,13966,44.95,0.730,3,0,1692,300.00
$SM_GC,1.79,0.00,0.00,44.95,0.000,0.000,0.730,26,2533,1692,-10.81,0.45,300.00
$IRIDIUM_FIX,6153.50,-958.87,120298,000047
$TT8_MAMPS,0.029146
$HUMID,2016
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,16.90
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,551.0,98.7
$24V_AH,23.1,13.803
$10V_AH,10.1,5.603
$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,25.900,122.125,351.600,44.950,0.000,26.369,27.034,145.096,11.500,0.000,0.000,15.597,1285.100,10377.295,520.514,1683.410,485.944,0.000,1369.634,0.000,1642.523,0.000,31.576,0.000
$DEVICE_MAMPS,126.555,92.040,1205.724,730.184,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.166,452.321,424.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34819,662
$CAP_FILE_SIZE,109257,0
$CFSIZE,260165632,254431232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,181108,082901,6217.926,-953.614,38,1.6,43,-10.0