version: 66.04
glider: 101
mission: 7
dive: 79
start: 11 18 108 8 38 23
data:
$ID,101
$MISSION,7
$DIVE,79
$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,-733379.56
$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,37
$R_STBD_OVSHOOT,32
$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
$GPS1,082901,6217.926,-953.614,38,1.6,43,-10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-58.7
$GPS2,083802,6217.957,-953.558,10,1.4,15,-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,315.6,38323,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.51,-146.6,0.0,0.0,0,78,0.00,0.00,-60.47,0.000,2,0.000,0.000,26,2534,3002
$GC,82,-1.51,-146.6,3.2,-3.1,3,114,10.38,2.50,-16.45,0.000,4,0.120,0.054,2037,1113,3513
$GC,244,-1.42,-146.6,22.3,-12.2,10,249,0.12,2.45,0.00,0.000,6,0.099,0.039,2061,2512,3513
$GC,561,-1.37,-146.6,53.3,-9.4,25,564,0.00,2.10,0.00,0.000,4,0.000,0.057,2061,3695,3513
$GC,630,-1.29,-146.6,59.9,-9.6,28,635,0.15,2.03,0.00,0.000,6,0.089,0.035,2091,2502,3513
$GC,958,-1.29,-146.6,90.4,-9.7,44,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2502,3513
$GC,1268,-1.29,-146.6,118.5,-9.2,59,1271,0.00,2.12,0.00,0.000,4,0.000,0.054,2091,3689,3513
$GC,1382,-1.29,-146.6,129.6,-9.5,64,1385,0.00,2.00,0.00,0.000,6,0.000,0.035,2091,2508,3513
$GC,1715,-1.29,-146.6,156.6,-7.3,80,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2508,3513
$GC,2024,-1.29,-146.6,181.2,-8.1,95,2028,0.00,2.12,0.00,0.000,4,0.000,0.055,2090,3693,3513
$GC,2137,-1.29,-146.6,191.4,-9.6,100,2141,0.00,2.00,0.00,0.000,6,0.000,0.035,2091,2510,3513
$GC,2471,-1.29,-146.6,218.9,-7.9,116,2475,0.00,2.12,0.00,0.000,4,0.000,0.056,2091,3696,3513
$GC,2542,-1.29,-146.6,225.2,-9.5,119,2546,0.00,2.00,0.00,0.000,6,0.000,0.034,2091,2510,3513
$GC,2875,-1.29,-146.6,252.5,-8.7,135,2879,0.00,2.10,0.00,0.000,4,0.000,0.056,2091,3689,3513
$GC,2937,-1.29,-146.6,258.5,-9.9,137,2943,0.00,1.98,0.00,0.000,6,0.000,0.035,2091,2518,3513
$GC,3253,-1.29,-146.6,285.9,-8.3,153,3257,0.00,2.10,0.00,0.000,4,0.000,0.057,2091,3692,3513
$GC,3332,-1.29,-146.6,292.9,-8.8,156,3336,0.00,2.00,0.00,0.000,6,0.000,0.034,2091,2508,3513
$GC,3654,-1.29,-146.6,317.1,-7.3,172,3658,0.00,2.12,0.00,0.000,4,0.000,0.058,2091,3691,3513
$GC,3746,-1.29,-146.6,324.1,-7.7,176,3750,0.00,1.98,0.00,0.000,6,0.000,0.035,2091,2519,3513
$GC,4079,-1.29,-146.6,352.3,-9.3,192,4083,0.00,2.12,0.00,0.000,4,0.000,0.059,2091,3696,3513
$GC,4148,-1.29,-146.6,359.0,-10.4,195,4152,0.00,2.00,0.00,0.000,6,0.000,0.035,2091,2516,3513
$GC,4481,-1.29,-146.6,391.6,-9.5,211,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2516,3513
$GC,4791,-1.29,-146.6,421.6,-9.4,226,4795,0.00,2.15,0.00,0.000,4,0.000,0.064,2091,3695,3513
$GC,4892,-1.29,-146.6,431.3,-8.9,230,4896,0.00,2.00,0.00,0.000,6,0.000,0.036,2091,2525,3513
$GC,5214,-1.29,-146.6,457.6,-8.2,246,5218,0.00,2.15,0.00,0.000,4,0.000,0.069,2091,3693,3513
$GC,5299,-1.29,-146.6,465.3,-9.0,249,5305,0.00,2.03,0.00,0.000,6,0.000,0.038,2091,2518,3513
$GC,5615,-1.29,-146.6,492.4,-7.4,265,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2518,3513
$GC,5925,-1.29,-146.6,512.1,-7.1,280,5928,0.00,2.22,0.00,0.000,4,0.000,0.084,2091,3686,3513
$GC,6065,-1.29,-146.6,524.6,-9.5,286,6069,0.00,2.10,0.00,0.000,6,0.000,0.055,2091,2516,3513
$GC,6393,-1.34,-146.6,551.6,-7.7,302,6398,0.00,2.65,0.00,0.000,4,0.000,0.086,2091,1108,3513
$GC,6524,-1.40,-146.6,561.8,-8.1,308,6528,0.00,2.60,0.00,0.000,6,0.000,0.071,2091,2506,3513
$GC,6851,-1.44,-146.6,590.3,-8.8,324,6856,0.15,2.28,0.00,0.000,4,0.054,0.094,2052,3702,3513
$GC,6966,-1.38,-146.6,601.8,-10.5,329,6971,0.12,2.12,0.00,0.000,6,0.094,0.054,2075,2513,3512
$GC,7288,-1.38,-146.6,628.7,-8.3,345,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2512,3513
$GC,7598,-1.38,-146.6,654.4,-7.9,360,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2512,3511
$STATE,7677,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7677,begin apogee
$GC,7685,-0.45,0.0,661.1,8.2,364,7820,0.93,0.00,129.48,1.238,6,0.071,0.000,2273,2310,2915
$STATE,7821,end apogee,CONTROL_FINISHED_OK
$STATE,7821,begin climb
$GC,7824,1.51,146.6,666.0,0.0,371,7961,2.00,0.00,129.07,1.192,6,0.053,0.000,2707,2310,2317
$GC,8276,1.46,146.6,636.3,8.2,393,8280,0.00,2.60,0.00,0.000,4,0.000,0.071,2707,907,2315
$GC,8422,1.40,146.6,623.2,8.9,399,8428,0.15,2.60,0.00,0.000,6,0.123,0.057,2681,2326,2315
$GC,8738,1.40,146.6,597.6,8.5,415,8742,0.00,2.55,0.00,0.000,4,0.000,0.077,2681,3693,2314
$GC,8839,1.35,146.6,588.1,9.8,419,8845,0.00,2.45,0.00,0.000,6,0.000,0.045,2681,2312,2314
$GC,9155,1.35,146.6,561.0,8.1,435,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2311,2313
$GC,9465,1.41,195.9,541.0,6.1,450,9515,0.00,2.67,43.40,1.179,4,0.000,0.064,2681,907,2116
$GC,9611,1.41,195.9,530.2,8.7,456,9618,0.00,2.58,0.00,0.000,6,0.000,0.051,2681,2327,2116
$GC,9928,1.41,195.9,504.4,8.8,472,9932,0.00,2.50,0.00,0.000,4,0.000,0.068,2681,3703,2115
$GC,10040,1.41,195.9,493.4,9.6,477,10044,0.00,2.45,0.00,0.000,6,0.000,0.041,2681,2306,2115
$GC,10361,1.41,195.9,465.2,8.5,493,10365,0.00,2.50,0.00,0.000,4,0.000,0.057,2681,909,2115
$GC,10411,1.41,195.9,460.6,8.9,495,10415,0.00,2.50,0.00,0.000,6,0.000,0.044,2680,2322,2114
$GC,10727,1.41,195.9,432.8,8.9,510,10731,0.00,2.47,0.00,0.000,4,0.000,0.061,2681,3697,2115
$GC,10790,1.41,195.9,426.9,10.2,513,10794,0.00,2.40,0.00,0.000,6,0.000,0.038,2681,2311,2114
$GC,11117,1.45,195.9,397.2,9.1,529,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2311,2114
$GC,11426,1.46,202.0,371.2,7.8,544,11435,0.00,0.00,6.93,0.890,6,0.000,0.000,2681,2311,2091
$GC,11735,1.48,219.7,348.5,7.3,559,11758,0.00,2.60,16.80,0.996,4,0.000,0.057,2681,3692,2019
$GC,11800,1.48,219.7,343.5,8.0,562,11804,0.00,2.40,0.00,0.000,6,0.000,0.035,2681,2304,2018
$GC,12133,1.53,222.7,317.4,7.9,578,12140,0.12,0.00,4.35,0.708,6,0.057,0.000,2715,2305,2007
$GC,12442,1.53,222.7,288.9,9.5,593,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2304,2007
$GC,12752,1.53,222.7,259.5,9.6,608,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2304,2007
$GC,13061,1.53,222.7,230.7,9.3,623,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2304,2007
$GC,13370,1.53,222.7,200.9,9.8,638,13371,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2304,2007
$GC,13679,1.53,222.7,169.4,10.3,653,13683,0.00,2.47,0.00,0.000,4,0.000,0.054,2715,3690,2008
$GC,13741,1.48,222.7,162.6,11.6,655,13747,0.00,2.35,0.00,0.000,6,0.000,0.035,2715,2313,2008
$GC,14059,1.48,222.7,130.5,10.2,671,14060,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2312,2008
$GC,14367,1.48,222.7,97.6,11.4,686,14368,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2311,2008
$GC,14676,1.48,222.7,63.3,11.1,701,14680,0.00,2.47,0.00,0.000,4,0.000,0.053,2715,3697,2008
$GC,14732,1.44,222.7,57.6,10.1,703,14739,0.12,2.35,0.00,0.000,6,0.107,0.035,2692,2316,2008
$GC,15049,1.44,222.7,30.9,8.2,719,15050,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2314,2008
$GC,15360,1.44,222.7,3.3,8.9,734,15361,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2314,2009
$STATE,15375,end climb,SURFACE_DEPTH_REACHED
$STATE,15375,begin surface coast
$FINISH,0.8,1.003241
$STATE,15397,end surface coast,CONTROL_FINISHED_OK
$STATE,15397,begin surface
$SM_CCo,15422,66.97,0.769,2,0,1691,300.00
$SM_GC,1.70,0.00,0.00,66.97,0.000,0.000,0.769,26,2528,1691,-10.80,0.31,300.00
$IRIDIUM_FIX,6153.50,-955.92,120298,080845
$TT8_MAMPS,0.029146
$HUMID,2004
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.1,70.6
$24V_AH,23.1,13.947
$10V_AH,10.1,5.679
$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,25.975,105.825,330.025,66.975,0.000,46.791,66.696,222.038,5.250,0.000,0.000,16.500,1390.999,11743.120,532.643,1720.927,658.244,0.000,1377.403,0.000,1683.128,0.000,37.674,0.000
$DEVICE_MAMPS,122.720,93.574,1237.938,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,546.206,503.127,457.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38060,736
$CAP_FILE_SIZE,113635,0
$CFSIZE,260165632,254369792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,181108,125807,6219.927,-954.840,36,1.0,41,-10.0