version: 66.04
glider: 101
mission: 7
dive: 81
start: 11 18 108 17 16 42
data:
$ID,101
$MISSION,7
$DIVE,81
$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,-733414.81
$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,30
$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
$GPS1,170047,6220.367,-955.841,23,2.0,32,-10.0
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-50.8
$GPS2,171621,6220.263,-955.476,14,1.9,14,-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,311.4,34595,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.47,0.000,2,0.000,0.000,24,2530,3496
$GC,102,-1.51,-146.6,6.0,-7.2,4,118,10.55,2.05,-0.32,0.000,4,0.128,0.071,2037,3682,3512
$GC,367,-1.37,-146.6,52.6,-19.4,15,372,0.17,2.00,0.00,0.000,6,0.094,0.035,2071,2505,3513
$GC,695,-1.32,-146.6,85.4,-9.3,31,698,0.00,2.12,0.00,0.000,4,0.000,0.054,2071,3691,3514
$GC,802,-1.26,-146.6,98.2,-11.2,35,809,0.15,2.03,0.00,0.000,6,0.092,0.035,2100,2493,3513
$GC,1120,-1.26,-146.6,122.5,-7.9,51,1124,0.00,2.15,0.00,0.000,4,0.000,0.054,2100,3695,3514
$GC,1193,-1.26,-146.6,130.0,-9.8,54,1197,0.00,2.00,0.00,0.000,6,0.000,0.034,2100,2513,3513
$GC,1521,-1.26,-146.6,162.1,-9.6,70,1525,0.00,2.10,0.00,0.000,4,0.000,0.054,2100,3685,3513
$GC,1605,-1.26,-146.6,170.9,-10.4,73,1611,0.00,2.00,0.00,0.000,6,0.000,0.035,2100,2504,3513
$GC,1922,-1.26,-146.6,200.9,-9.5,89,1926,0.00,2.12,0.00,0.000,4,0.000,0.054,2100,3691,3514
$GC,1995,-1.26,-146.6,208.7,-11.1,92,1999,0.00,2.00,0.00,0.000,6,0.000,0.034,2100,2506,3513
$GC,2323,-1.26,-146.6,239.9,-9.4,108,2326,0.00,2.12,0.00,0.000,4,0.000,0.054,2100,3693,3513
$GC,2385,-1.26,-146.6,246.1,-10.1,110,2391,0.00,2.03,0.00,0.000,6,0.000,0.034,2100,2515,3513
$GC,2702,-1.26,-146.6,275.2,-9.3,126,2706,0.00,2.10,0.00,0.000,4,0.000,0.055,2100,3686,3513
$GC,2776,-1.26,-146.6,282.5,-10.2,129,2779,0.00,1.98,0.00,0.000,6,0.000,0.035,2100,2517,3513
$GC,3103,-1.26,-146.6,311.1,-8.4,145,3107,0.00,2.10,0.00,0.000,4,0.000,0.056,2100,3690,3513
$GC,3161,-1.26,-146.6,316.1,-9.0,147,3165,0.00,2.00,0.00,0.000,6,0.000,0.034,2100,2507,3513
$GC,3483,-1.26,-146.6,342.2,-8.1,163,3486,0.00,2.12,0.00,0.000,4,0.000,0.057,2100,3690,3513
$GC,3561,-1.26,-146.6,349.1,-8.8,166,3565,0.00,2.00,0.00,0.000,6,0.000,0.035,2100,2510,3514
$GC,3885,-1.26,-146.6,376.3,-8.8,182,3889,0.00,2.12,0.00,0.000,4,0.000,0.058,2099,3689,3513
$GC,3942,-1.26,-146.6,381.8,-9.9,184,3945,0.00,2.00,0.00,0.000,6,0.000,0.035,2100,2511,3514
$GC,4264,-1.26,-146.6,410.8,-8.9,200,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2511,3513
$GC,4573,-1.26,-146.6,438.8,-9.1,215,4576,0.00,2.15,0.00,0.000,4,0.000,0.064,2100,3689,3513
$GC,4702,-1.26,-146.6,451.4,-10.0,220,4709,0.00,2.03,0.00,0.000,6,0.000,0.036,2100,2504,3513
$GC,5019,-1.26,-146.6,479.9,-9.1,236,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2504,3513
$GC,5328,-1.26,-146.6,506.0,-7.9,251,5332,0.00,2.22,0.00,0.000,4,0.000,0.080,2100,3685,3513
$GC,5475,-1.26,-146.6,518.9,-9.3,257,5479,0.00,2.05,0.00,0.000,6,0.000,0.048,2100,2526,3513
$GC,5797,-1.31,-146.6,547.3,-8.8,273,5801,0.00,2.62,0.00,0.000,4,0.000,0.077,2100,1108,3513
$GC,5870,-1.38,-146.6,554.1,-9.3,276,5875,0.12,2.58,0.00,0.000,6,0.067,0.069,2071,2499,3513
$GC,6187,-1.38,-146.6,583.2,-8.7,291,6191,0.00,2.28,0.00,0.000,4,0.000,0.094,2071,3695,3513
$GC,6267,-1.38,-146.6,590.5,-8.5,294,6273,0.00,2.10,0.00,0.000,6,0.000,0.053,2071,2517,3513
$GC,6583,-1.38,-146.6,616.1,-8.0,310,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2516,3513
$GC,6893,-1.38,-146.6,639.6,-7.4,325,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2515,3512
$STATE,7136,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7136,begin apogee
$GC,7145,-0.45,0.0,660.5,9.9,337,7279,0.95,0.00,129.50,1.230,6,0.068,0.000,2274,2314,2915
$STATE,7280,end apogee,CONTROL_FINISHED_OK
$STATE,7280,begin climb
$GC,7284,1.51,146.6,667.7,0.0,344,7421,1.92,2.70,128.82,1.187,4,0.054,0.074,2706,909,2316
$GC,7560,1.44,146.6,649.0,10.4,356,7566,0.00,2.62,0.00,0.000,6,0.000,0.059,2706,2330,2316
$GC,7877,1.38,146.6,621.3,8.8,372,7878,0.15,0.00,0.00,0.000,6,0.110,0.000,2678,2330,2315
$GC,8185,1.38,146.6,595.6,8.6,387,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2330,2314
$GC,8495,1.38,146.6,568.3,8.8,402,8499,0.00,2.55,0.00,0.000,4,0.000,0.075,2678,3702,2313
$GC,8557,1.38,146.6,562.4,10.1,405,8562,0.00,2.47,0.00,0.000,6,0.000,0.044,2678,2306,2313
$GC,8885,1.39,156.4,535.6,7.6,421,8899,0.00,2.65,9.32,1.065,4,0.000,0.071,2678,3703,2277
$GC,8934,1.40,164.9,531.8,7.7,423,8951,0.00,2.47,9.32,1.048,6,0.000,0.042,2678,2309,2242
$GC,9261,1.50,248.2,513.2,4.8,439,9344,0.10,2.67,73.05,1.159,4,0.061,0.060,2706,901,1902
$GC,9428,1.50,248.2,499.1,9.8,446,9435,0.00,2.58,0.00,0.000,6,0.000,0.047,2706,2330,1902
$GC,9745,1.50,248.2,465.4,11.3,462,9748,0.00,2.47,0.00,0.000,4,0.000,0.064,2706,3697,1901
$GC,9801,1.50,248.2,458.3,12.7,464,9806,0.00,2.42,0.00,0.000,6,0.000,0.038,2706,2307,1900
$GC,10117,1.50,248.2,422.8,10.9,479,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2307,1901
$GC,10427,1.50,248.2,390.1,10.7,494,10431,0.00,2.53,0.00,0.000,4,0.000,0.058,2706,3695,1900
$GC,10516,1.50,248.2,379.4,12.0,498,10520,0.00,2.40,0.00,0.000,6,0.000,0.035,2706,2304,1901
$GC,10837,1.50,248.2,344.6,10.7,514,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2304,1901
$GC,11146,1.50,248.2,311.2,11.0,529,11151,0.00,2.53,0.00,0.000,4,0.000,0.056,2706,3700,1901
$GC,11226,1.50,248.2,301.7,12.3,532,11232,0.00,2.40,0.00,0.000,6,0.000,0.035,2706,2306,1901
$GC,11542,1.50,248.2,268.0,10.5,548,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2305,1901
$GC,11851,1.50,248.2,237.0,10.0,563,11855,0.00,2.50,0.00,0.000,4,0.000,0.054,2706,3696,1901
$GC,11929,1.50,248.2,228.2,10.6,566,11936,0.00,2.38,0.00,0.000,6,0.000,0.034,2706,2306,1901
$GC,12246,1.50,248.2,195.9,10.0,582,12247,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2306,1901
$GC,12555,1.50,248.2,167.1,9.0,597,12559,0.00,2.50,0.00,0.000,4,0.000,0.053,2706,3703,1902
$GC,12617,1.50,248.2,161.7,8.7,599,12623,0.00,2.38,0.00,0.000,6,0.000,0.034,2706,2313,1902
$GC,12933,1.50,248.2,133.4,8.7,615,12938,0.00,2.47,0.00,0.000,4,0.000,0.053,2706,3697,1902
$GC,12984,1.50,248.2,127.5,12.1,617,12988,0.00,2.35,0.00,0.000,6,0.000,0.034,2706,2317,1902
$GC,13301,1.50,248.2,100.5,8.6,632,13302,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2316,1903
$GC,13610,1.50,248.2,69.8,11.5,647,13614,0.00,2.47,0.00,0.000,4,0.000,0.053,2706,3703,1903
$GC,13666,1.50,248.2,63.2,11.9,649,13672,0.00,2.38,0.00,0.000,6,0.000,0.034,2706,2307,1903
$GC,13982,1.50,248.2,33.0,8.3,665,13986,0.00,2.47,0.00,0.000,4,0.000,0.052,2706,3695,1904
$GC,14016,1.51,253.4,30.1,7.8,666,14028,0.00,2.35,6.50,0.703,6,0.000,0.033,2706,2308,1881
$GC,14350,1.51,253.4,3.2,14.0,683,14354,0.00,2.42,0.00,0.000,4,0.000,0.048,2706,921,1881
$STATE,14357,end climb,SURFACE_DEPTH_REACHED
$STATE,14358,begin surface coast
$FINISH,0.9,1.027357
$STATE,14366,end surface coast,CONTROL_FINISHED_OK
$STATE,14366,begin surface
$SM_CCo,14393,40.45,0.749,2,0,1692,300.00
$SM_GC,1.55,0.00,0.00,40.45,0.000,0.000,0.749,28,2534,1692,-10.79,0.48,300.00
$IRIDIUM_FIX,6153.50,-955.12,120298,171745
$TT8_MAMPS,0.029146
$HUMID,1993
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.50
$XPDR_PINGS,66
$ALTIM_BOTTOM_PING,576.0,92.7
$24V_AH,23.1,14.244
$10V_AH,10.1,5.821
$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,26.000,124.525,356.525,40.450,0.000,97.180,121.851,381.494,21.250,0.000,0.000,15.747,1299.090,10954.312,521.029,1684.714,925.363,0.000,1376.846,0.000,1642.910,0.000,33.180,0.000
$DEVICE_MAMPS,128.089,94.341,1229.501,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,502.103,466.510,429.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34884,684
$CAP_FILE_SIZE,116806,0
$CFSIZE,260165632,254267392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,181108,211858,6220.152,-1000.728,28,2.1,47,-10.1