version: 66.04
glider: 101
mission: 7
dive: 82
start: 11 18 108 21 29 1
data:
$ID,101
$MISSION,7
$DIVE,82
$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,-733449.25
$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,29
$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
$GPS1,211858,6220.152,-1000.728,28,2.1,47,-10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-55.0
$GPS2,212842,6220.155,-1000.549,12,2.5,31,-10.1
$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,316.0,31092,-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,-60.83,0.000,2,0.000,0.000,28,2535,3034
$GC,83,-1.51,-146.6,3.8,-5.3,3,113,10.55,2.10,-12.52,0.000,4,0.129,0.068,2036,3685,3514
$GC,277,-1.33,-146.6,25.2,-11.0,11,284,0.25,2.03,0.00,0.000,6,0.091,0.035,2085,2495,3515
$GC,593,-1.33,-146.6,73.0,-15.4,27,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2495,3515
$GC,904,-1.33,-146.6,107.4,-7.8,42,908,0.00,2.15,0.00,0.000,4,0.000,0.054,2085,3695,3515
$GC,978,-1.33,-146.6,113.4,-7.3,45,981,0.00,2.00,0.00,0.000,6,0.000,0.035,2085,2515,3515
$GC,1307,-1.33,-146.6,137.1,-8.2,61,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2515,3515
$GC,1615,-1.33,-146.6,163.4,-9.0,76,1619,0.00,2.10,0.00,0.000,4,0.000,0.055,2085,3686,3515
$GC,1706,-1.33,-146.6,171.3,-8.6,80,1709,0.00,1.98,0.00,0.000,6,0.000,0.035,2085,2516,3515
$GC,2039,-1.33,-146.6,195.5,-8.5,96,2043,0.00,2.10,0.00,0.000,4,0.000,0.055,2085,3690,3515
$GC,2103,-1.33,-146.6,201.8,-10.0,98,2109,0.00,2.00,0.00,0.000,6,0.000,0.034,2085,2505,3515
$GC,2419,-1.33,-146.6,229.7,-8.7,114,2423,0.00,2.12,0.00,0.000,4,0.000,0.055,2085,3695,3515
$GC,2481,-1.33,-146.6,235.2,-9.3,116,2487,0.00,2.00,0.00,0.000,6,0.000,0.034,2086,2508,3515
$GC,2797,-1.33,-146.6,262.6,-8.4,132,2801,0.00,2.10,0.00,0.000,4,0.000,0.054,2085,3684,3515
$GC,2853,-1.33,-146.6,267.6,-8.9,134,2857,0.00,1.98,0.00,0.000,6,0.000,0.034,2085,2515,3515
$GC,3175,-1.33,-146.6,294.7,-8.8,150,3179,0.00,2.10,0.00,0.000,4,0.000,0.056,2085,3688,3515
$GC,3234,-1.33,-146.6,300.3,-10.3,152,3237,0.00,1.98,0.00,0.000,6,0.000,0.035,2085,2516,3515
$GC,3556,-1.33,-146.6,330.5,-9.3,168,3559,0.00,2.10,0.00,0.000,4,0.000,0.057,2085,3686,3515
$GC,3617,-1.33,-146.6,336.9,-10.3,170,3624,0.00,2.00,0.00,0.000,6,0.000,0.035,2085,2523,3515
$GC,3934,-1.33,-146.6,368.6,-10.5,186,3938,0.00,2.10,0.00,0.000,4,0.000,0.059,2085,3686,3515
$GC,4003,-1.33,-146.6,376.3,-11.3,189,4006,0.00,2.00,0.00,0.000,6,0.000,0.035,2085,2508,3514
$GC,4336,-1.33,-146.6,411.2,-10.1,205,4339,0.00,2.12,0.00,0.000,4,0.000,0.061,2085,3685,3514
$GC,4409,-1.33,-146.6,418.9,-10.4,208,4413,0.00,2.00,0.00,0.000,6,0.000,0.035,2085,2512,3515
$GC,4737,-1.33,-146.6,448.3,-8.0,224,4740,0.00,2.15,0.00,0.000,4,0.000,0.066,2085,3686,3515
$GC,4833,-1.33,-146.6,455.5,-6.6,228,4836,0.00,2.00,0.00,0.000,6,0.000,0.036,2085,2522,3515
$GC,5160,-1.33,-146.6,478.2,-7.7,244,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2522,3515
$GC,5470,-1.33,-146.6,502.3,-7.1,259,5474,0.00,2.58,0.00,0.000,4,0.000,0.070,2085,1108,3515
$GC,5521,-1.38,-146.6,506.1,-7.4,261,5525,0.00,2.55,0.00,0.000,6,0.000,0.061,2085,2508,3515
$GC,5843,-1.38,-146.6,527.5,-6.6,277,5847,0.00,2.25,0.00,0.000,4,0.000,0.094,2085,3694,3515
$GC,5894,-1.38,-146.6,531.4,-7.6,279,5898,0.00,2.10,0.00,0.000,6,0.000,0.057,2085,2525,3514
$GC,6216,-1.38,-146.6,556.9,-8.0,295,6220,0.00,2.33,0.00,0.000,4,0.000,0.105,2085,3696,3514
$GC,6394,-1.38,-146.6,570.2,-7.7,303,6398,0.00,2.10,0.00,0.000,6,0.000,0.055,2085,2514,3514
$GC,6727,-1.38,-146.6,595.1,-7.9,319,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2513,3514
$GC,7036,-1.38,-146.6,620.9,-8.5,334,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2512,3514
$GC,7345,-1.38,-146.6,647.6,-9.0,349,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2512,3513
$STATE,7610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7610,begin apogee
$GC,7618,-0.45,0.0,671.0,8.7,362,7753,0.88,0.00,130.10,1.256,6,0.070,0.000,2274,2312,2915
$STATE,7754,end apogee,CONTROL_FINISHED_OK
$STATE,7754,begin climb
$GC,7757,1.51,146.6,675.8,0.0,369,7892,1.95,0.00,129.48,1.211,6,0.051,0.000,2703,2312,2317
$GC,8192,1.46,146.6,646.4,8.1,390,8196,0.00,2.60,0.00,0.000,4,0.000,0.071,2703,910,2315
$GC,8248,1.39,151.6,642.1,7.8,392,8259,0.12,2.60,5.60,0.919,6,0.124,0.058,2682,2324,2297
$GC,8582,1.44,189.8,618.7,6.5,409,8622,0.00,2.78,34.92,1.201,4,0.000,0.067,2682,907,2140
$GC,8686,1.45,199.8,611.8,7.6,413,8702,0.00,2.60,10.55,1.085,6,0.000,0.055,2682,2323,2100
$GC,9018,1.45,199.8,582.5,9.8,430,9023,0.00,2.62,0.00,0.000,4,0.000,0.065,2682,909,2099
$GC,9074,1.45,199.8,576.1,11.5,432,9080,0.00,2.58,0.00,0.000,6,0.000,0.054,2682,2326,2099
$GC,9390,1.45,199.8,543.1,10.0,448,9394,0.00,2.53,0.00,0.000,4,0.000,0.072,2682,3692,2098
$GC,9526,1.45,199.8,529.1,10.3,454,9531,0.00,2.45,0.00,0.000,6,0.000,0.043,2682,2302,2098
$GC,9854,1.45,199.8,500.4,8.9,470,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2302,2098
$GC,10163,1.45,199.8,467.9,11.4,485,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2302,2097
$GC,10472,1.45,199.8,433.4,10.7,500,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2301,2097
$GC,10781,1.45,199.8,401.9,9.6,515,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2301,2097
$GC,11091,1.46,207.5,376.4,7.7,530,11101,0.00,0.00,7.97,0.940,6,0.000,0.000,2682,2301,2069
$GC,11401,1.51,209.3,351.9,7.9,545,11405,0.00,2.50,0.00,0.000,4,0.000,0.058,2682,3695,2069
$GC,11451,1.51,209.3,347.3,9.2,547,11456,0.00,2.40,0.00,0.000,6,0.000,0.035,2682,2297,2069
$GC,11774,1.55,210.9,321.4,7.9,563,11781,0.12,0.00,4.88,0.768,6,0.058,0.000,2715,2297,2055
$GC,12083,1.55,210.9,292.0,9.8,578,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2297,2055
$GC,12392,1.55,210.9,260.9,10.3,593,12393,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2297,2055
$GC,12701,1.55,210.9,232.1,10.1,608,12702,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2297,2056
$GC,13010,1.55,210.9,202.7,8.4,623,13014,0.00,2.53,0.00,0.000,4,0.000,0.054,2715,3703,2056
$GC,13090,1.52,236.1,196.6,7.0,626,13122,0.00,2.38,22.83,0.917,6,0.000,0.035,2715,2311,1952
$GC,13431,1.52,236.1,163.2,10.4,643,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2311,1951
$GC,13743,1.57,282.8,141.2,6.2,658,13789,0.00,2.58,40.12,0.884,4,0.000,0.053,2714,3690,1761
$GC,13835,1.57,282.8,132.9,11.7,662,13839,0.00,2.38,0.00,0.000,6,0.000,0.033,2715,2313,1761
$GC,14157,1.57,282.8,93.1,13.6,678,14159,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2312,1761
$GC,14468,1.59,293.5,62.7,7.6,693,14484,0.00,2.53,10.70,0.780,4,0.000,0.052,2715,3700,1717
$GC,14547,1.55,294.2,58.1,8.0,695,14553,0.00,2.38,0.00,0.000,6,0.000,0.035,2715,2316,1717
$GC,14865,1.55,294.2,23.6,8.3,711,14869,0.00,2.45,0.00,0.000,4,0.000,0.047,2715,918,1717
$GC,14915,1.55,294.2,18.2,11.1,713,14919,0.00,2.45,0.00,0.000,6,0.000,0.036,2715,2330,1717
$STATE,15044,end climb,SURFACE_DEPTH_REACHED
$STATE,15044,begin surface coast
$FINISH,0.8,1.027354
$STATE,15064,end surface coast,CONTROL_FINISHED_OK
$STATE,15065,begin surface
$SM_CCo,15090,5.90,0.667,0,0,1692,300.00
$SM_GC,2.26,0.00,0.00,5.90,0.000,0.000,0.667,29,2521,1692,-10.79,0.11,300.00
$IRIDIUM_FIX,6158.08,-956.72,120298,212142
$TT8_MAMPS,0.029146
$HUMID,2004
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.2,80.3
$24V_AH,23.1,14.394
$10V_AH,10.1,5.895
$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,25.850,105.075,397.150,5.900,0.000,48.489,55.087,265.739,5.250,0.000,0.000,33.842,1348.922,11499.685,487.778,1672.364,673.515,0.000,1328.760,0.000,1614.883,0.000,34.761,0.000
$DEVICE_MAMPS,128.856,105.079,1256.346,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,533.950,491.478,438.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34872,720
$CAP_FILE_SIZE,112697,0
$CFSIZE,260165632,254210048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191108,014207,6222.378,-1002.392,41,1.0,47,-10.1