version: 66.04
glider: 101
mission: 7
dive: 80
start: 11 18 108 13 3 57
data:
$ID,101
$MISSION,7
$DIVE,80
$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,-733398.44
$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,35
$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
$GPS1,125807,6219.927,-954.840,36,1.0,41,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-56.1
$GPS2,130336,6219.961,-954.676,13,1.6,16,-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,311.6,35470,-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,11,begin dive
$GC,15,-1.51,-146.6,0.0,0.0,0,78,0.00,0.00,-60.50,0.000,2,0.000,0.000,26,2530,2993
$GC,82,-1.51,-146.6,3.3,-4.2,3,114,10.43,2.08,-16.48,0.000,4,0.122,0.071,2040,3695,3513
$GC,218,-1.39,-146.6,18.2,-11.4,9,223,0.15,2.03,0.00,0.000,6,0.091,0.035,2068,2504,3514
$GC,540,-1.39,-146.6,52.6,-10.9,25,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2503,3514
$GC,849,-1.39,-146.6,84.7,-10.1,40,853,0.00,2.12,0.00,0.000,4,0.000,0.054,2068,3691,3514
$GC,943,-1.32,-146.6,94.4,-10.4,44,946,0.00,2.00,0.00,0.000,6,0.000,0.035,2069,2510,3514
$GC,1277,-1.32,-146.6,131.1,-11.0,60,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2510,3514
$GC,1585,-1.32,-146.6,162.3,-10.1,75,1589,0.00,2.12,0.00,0.000,4,0.000,0.055,2069,3695,3514
$GC,1676,-1.26,-146.6,171.9,-10.5,79,1681,0.15,2.00,0.00,0.000,6,0.090,0.035,2098,2512,3514
$GC,2010,-1.26,-146.6,200.9,-8.7,95,2014,0.00,2.12,0.00,0.000,4,0.000,0.055,2098,3699,3514
$GC,2089,-1.26,-146.6,208.2,-8.9,98,2093,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2515,3514
$GC,2411,-1.26,-146.6,235.7,-8.4,114,2415,0.00,2.10,0.00,0.000,4,0.000,0.055,2098,3699,3514
$GC,2479,-1.26,-146.6,241.9,-9.1,117,2483,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2515,3514
$GC,2813,-1.26,-146.6,269.8,-8.5,133,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2515,3514
$GC,3122,-1.26,-146.6,297.2,-9.1,148,3125,0.00,2.12,0.00,0.000,4,0.000,0.057,2098,3699,3514
$GC,3268,-1.26,-146.6,311.6,-10.0,154,3272,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2518,3514
$GC,3590,-1.26,-146.6,341.5,-9.1,170,3593,0.00,2.10,0.00,0.000,4,0.000,0.058,2098,3690,3514
$GC,3663,-1.26,-146.6,348.7,-9.4,173,3667,0.00,1.98,0.00,0.000,6,0.000,0.035,2098,2520,3514
$GC,3990,-1.26,-146.6,378.6,-8.8,189,3994,0.00,2.12,0.00,0.000,4,0.000,0.060,2098,3699,3514
$GC,4059,-1.26,-146.6,384.9,-9.4,192,4063,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2518,3514
$GC,4392,-1.26,-146.6,410.8,-7.5,208,4396,0.00,2.12,0.00,0.000,4,0.000,0.062,2098,3694,3514
$GC,4483,-1.26,-146.6,418.2,-8.0,212,4487,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2510,3514
$GC,4816,-1.26,-146.6,444.4,-8.0,228,4820,0.00,2.15,0.00,0.000,4,0.000,0.064,2097,3687,3514
$GC,4881,-1.26,-146.6,450.0,-8.9,230,4887,0.00,2.03,0.00,0.000,6,0.000,0.036,2098,2502,3514
$GC,5197,-1.26,-146.6,476.9,-8.7,246,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2502,3514
$GC,5507,-1.26,-146.6,502.0,-8.1,261,5510,0.00,2.22,0.00,0.000,4,0.000,0.078,2098,3686,3514
$GC,5557,-1.26,-146.6,506.2,-8.1,263,5561,0.00,2.05,0.00,0.000,6,0.000,0.044,2098,2517,3514
$GC,5885,-1.26,-146.6,535.6,-9.6,279,5889,0.00,2.25,0.00,0.000,4,0.000,0.094,2098,3684,3514
$GC,5953,-1.26,-146.6,542.9,-11.5,282,5957,0.00,2.12,0.00,0.000,6,0.000,0.061,2098,2512,3514
$GC,6292,-1.32,-146.6,575.6,-9.5,298,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2510,3514
$GC,6596,-1.37,-146.6,601.6,-8.3,313,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2510,3514
$GC,6905,-1.43,-146.6,627.0,-7.9,328,6910,0.15,2.25,0.00,0.000,4,0.051,0.089,2056,3685,3513
$STATE,6986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6986,begin apogee
$GC,6997,-0.45,0.0,635.3,9.5,331,7130,1.00,0.00,129.50,1.214,6,0.079,0.000,2270,2306,2915
$STATE,7131,end apogee,CONTROL_FINISHED_OK
$STATE,7131,begin climb
$GC,7134,1.51,146.6,639.5,0.0,338,7268,2.03,0.00,129.30,1.170,6,0.053,0.000,2708,2306,2316
$GC,7594,1.46,146.6,605.8,8.5,361,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2306,2315
$GC,7900,1.40,146.6,579.3,8.3,376,7905,0.15,2.60,0.00,0.000,4,0.099,0.067,2680,897,2314
$GC,7957,1.43,166.9,574.8,7.2,378,7984,0.00,2.60,18.88,1.127,6,0.000,0.054,2680,2322,2233
$GC,8294,1.43,166.9,544.6,10.5,395,8298,0.00,2.62,0.00,0.000,4,0.000,0.064,2680,906,2232
$GC,8428,1.43,166.9,531.5,9.4,401,8432,0.00,2.55,0.00,0.000,6,0.000,0.051,2680,2326,2232
$GC,8750,1.43,166.9,504.5,8.0,417,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2326,2232
$GC,9059,1.44,181.4,479.5,7.5,432,9077,0.00,0.00,13.98,1.083,6,0.000,0.000,2680,2327,2174
$GC,9388,1.48,208.0,456.2,7.0,448,9417,0.00,2.65,24.62,1.095,4,0.000,0.053,2679,901,2067
$GC,9481,1.48,208.0,448.8,8.5,452,9486,0.00,2.55,0.00,0.000,6,0.000,0.043,2680,2330,2067
$GC,9803,1.48,211.1,422.9,7.9,468,9812,0.00,2.47,4.68,0.786,4,0.000,0.061,2680,3690,2054
$GC,9858,1.48,211.1,418.3,8.6,470,9862,0.00,2.42,0.00,0.000,6,0.000,0.036,2680,2295,2054
$GC,10174,1.52,211.1,391.9,8.7,485,10176,0.12,0.00,0.00,0.000,6,0.057,0.000,2714,2296,2054
$GC,10483,1.52,211.1,361.7,9.6,500,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2296,2054
$GC,10793,1.52,211.1,331.0,10.0,515,10794,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2296,2054
$GC,11102,1.52,211.1,301.2,9.7,530,11106,0.00,2.53,0.00,0.000,4,0.000,0.056,2714,3699,2054
$GC,11148,1.47,211.1,296.4,10.8,532,11153,0.00,2.38,0.00,0.000,6,0.000,0.035,2714,2311,2054
$GC,11476,1.47,211.1,264.2,10.2,548,11477,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2311,2054
$GC,11785,1.47,211.1,233.1,10.0,563,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2311,2055
$GC,12094,1.47,211.1,202.1,9.8,578,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2311,2055
$GC,12404,1.47,211.1,171.8,9.6,593,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2310,2055
$GC,12713,1.47,211.1,141.4,9.9,608,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2310,2056
$GC,13022,1.47,211.1,110.2,10.5,623,13024,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2310,2056
$GC,13332,1.47,211.1,74.9,11.4,638,13336,0.00,2.45,0.00,0.000,4,0.000,0.053,2714,3693,2056
$GC,13382,1.42,211.1,68.6,12.0,640,13387,0.15,2.35,0.00,0.000,6,0.100,0.034,2686,2312,2056
$GC,13699,1.42,211.1,35.2,10.9,655,13703,0.00,2.45,0.00,0.000,4,0.000,0.052,2685,3695,2056
$GC,13811,1.49,269.2,28.3,5.8,660,13870,0.00,2.35,49.55,0.815,6,0.000,0.034,2686,2312,1816
$STATE,14054,end climb,SURFACE_DEPTH_REACHED
$STATE,14054,begin surface coast
$FINISH,0.8,1.027327
$STATE,14077,end surface coast,CONTROL_FINISHED_OK
$STATE,14077,begin surface
$SM_CCo,14102,26.20,0.739,1,0,1692,300.00
$SM_GC,1.56,0.00,0.00,26.20,0.000,0.000,0.739,25,2529,1692,-10.81,0.34,300.00
$IRIDIUM_FIX,6153.50,-955.12,120298,080824
$TT8_MAMPS,0.029146
$HUMID,2000
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.60
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,575.6,69.3
$24V_AH,23.1,14.082
$10V_AH,10.1,5.746
$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,26.325,89.975,370.500,26.200,0.000,22.298,28.026,147.879,8.750,0.000,0.000,18.239,1251.603,10707.617,501.326,1519.603,487.396,0.000,1256.551,0.000,1485.714,0.000,36.052,0.000
$DEVICE_MAMPS,121.953,93.574,1214.161,738.621,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,506.690,459.780,422.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34829,673
$CAP_FILE_SIZE,99389,0
$CFSIZE,260165632,254332928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181108,170047,6220.367,-955.841,23,2.0,32,-10.0