version: 66.04
glider: 101
mission: 7
dive: 85
start: 11 19 108 10 27 27
data:
$ID,101
$MISSION,7
$DIVE,85
$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,-733518.81
$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,32
$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
$GPS1,101458,6223.436,-1006.409,29,2.3,48,-10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-47.8
$GPS2,102705,6223.508,-1006.043,14,4.3,33,-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,310.5,23755,-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,-61.05,0.000,2,0.000,0.000,29,2529,3021
$GC,83,-1.51,-146.6,3.8,-5.5,3,110,10.70,0.00,-13.88,0.000,6,0.132,0.000,2040,2530,3514
$GC,410,-1.40,-146.6,52.0,-12.5,19,414,0.15,2.08,0.00,0.000,4,0.087,0.057,2070,3693,3514
$GC,566,-1.35,-146.6,68.5,-9.4,26,570,0.00,2.03,0.00,0.000,6,0.000,0.035,2070,2500,3514
$GC,901,-1.35,-146.6,97.3,-8.1,42,904,0.00,2.12,0.00,0.000,4,0.000,0.055,2070,3685,3514
$GC,957,-1.29,-146.6,102.9,-9.3,44,962,0.12,2.00,0.00,0.000,6,0.094,0.035,2094,2507,3514
$GC,1280,-1.29,-146.6,132.6,-8.2,60,1283,0.00,2.12,0.00,0.000,4,0.000,0.055,2094,3695,3514
$GC,1349,-1.29,-146.6,140.4,-12.6,63,1352,0.00,2.00,0.00,0.000,6,0.000,0.035,2094,2513,3514
$GC,1682,-1.29,-146.6,182.8,-13.6,79,1685,0.00,2.10,0.00,0.000,4,0.000,0.056,2094,3693,3514
$GC,1740,-1.29,-146.6,190.3,-11.3,81,1743,0.00,2.00,0.00,0.000,6,0.000,0.035,2094,2513,3514
$GC,2061,-1.29,-146.6,222.7,-9.7,97,2065,0.00,2.10,0.00,0.000,4,0.000,0.056,2094,3685,3515
$GC,2112,-1.29,-146.6,227.8,-9.6,99,2116,0.00,1.98,0.00,0.000,6,0.000,0.035,2094,2511,3514
$GC,2439,-1.29,-146.6,260.0,-9.0,115,2442,0.00,2.10,0.00,0.000,4,0.000,0.056,2094,3684,3514
$GC,2490,-1.29,-146.6,264.8,-9.0,117,2493,0.00,1.98,0.00,0.000,6,0.000,0.035,2094,2515,3514
$GC,2817,-1.29,-146.6,292.3,-7.8,133,2821,0.00,2.10,0.00,0.000,4,0.000,0.057,2094,3685,3514
$GC,2896,-1.29,-146.6,298.9,-8.1,136,2900,0.00,1.98,0.00,0.000,6,0.000,0.035,2094,2517,3514
$GC,3218,-1.29,-146.6,324.0,-7.6,152,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2516,3514
$GC,3527,-1.29,-146.6,349.2,-8.5,167,3531,0.00,2.10,0.00,0.000,4,0.000,0.058,2094,3685,3514
$GC,3619,-1.29,-146.6,356.5,-7.6,171,3623,0.00,1.98,0.00,0.000,6,0.000,0.035,2094,2519,3514
$GC,3952,-1.29,-146.6,383.1,-8.3,187,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2518,3514
$GC,4261,-1.29,-146.6,408.4,-8.1,202,4265,0.00,2.12,0.00,0.000,4,0.000,0.062,2094,3689,3514
$GC,4386,-1.29,-146.6,419.6,-9.0,207,4389,0.00,2.00,0.00,0.000,6,0.000,0.035,2094,2515,3514
$GC,4707,-1.29,-146.6,448.2,-8.8,223,4711,0.00,2.15,0.00,0.000,4,0.000,0.066,2094,3691,3514
$GC,4753,-1.29,-146.6,452.5,-9.0,225,4757,0.00,2.00,0.00,0.000,6,0.000,0.036,2094,2518,3514
$GC,5087,-1.29,-146.6,484.4,-9.5,241,5090,0.00,2.17,0.00,0.000,4,0.000,0.074,2094,3684,3515
$GC,5166,-1.29,-146.6,491.6,-8.9,244,5169,0.00,2.03,0.00,0.000,6,0.000,0.042,2094,2524,3515
$GC,5488,-1.29,-146.6,518.3,-8.0,260,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2524,3515
$GC,5797,-1.33,-146.6,537.1,-5.8,275,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2524,3515
$GC,6106,-1.38,-146.6,559.2,-8.2,290,6110,0.00,2.30,0.00,0.000,4,0.000,0.107,2094,3677,3514
$GC,6231,-1.38,-146.6,569.7,-7.8,295,6237,0.00,2.05,0.00,0.000,6,0.000,0.049,2094,2516,3514
$GC,6548,-1.43,-146.6,590.5,-6.6,311,6550,0.15,0.00,0.00,0.000,6,0.051,0.000,2052,2516,3514
$GC,6857,-1.43,-146.6,616.6,-9.1,326,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2515,3513
$GC,7166,-1.43,-146.6,644.9,-9.8,341,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2514,3513
$STATE,7203,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7203,begin apogee
$GC,7212,-0.45,0.0,648.5,8.9,343,7347,1.05,0.00,129.98,1.239,6,0.072,0.000,2274,2315,2915
$STATE,7347,end apogee,CONTROL_FINISHED_OK
$STATE,7347,begin climb
$GC,7351,1.51,146.6,652.9,0.0,350,7489,1.95,2.72,129.30,1.197,4,0.051,0.078,2703,911,2317
$GC,7613,1.45,153.0,639.4,7.8,362,7630,0.00,2.60,7.12,0.963,6,0.000,0.061,2703,2309,2291
$GC,7940,1.45,153.0,613.3,8.1,378,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2309,2290
$GC,8249,1.45,185.0,590.5,6.8,393,8284,0.00,2.70,29.30,1.182,4,0.000,0.068,2703,901,2160
$GC,8342,1.42,209.0,583.9,7.1,397,8372,0.00,2.62,23.17,1.155,6,0.000,0.055,2703,2327,2062
$GC,8689,1.42,209.0,554.0,11.1,414,8694,0.00,2.65,0.00,0.000,4,0.000,0.066,2703,907,2061
$GC,8730,1.42,209.0,549.4,11.9,416,8735,0.00,2.58,0.00,0.000,6,0.000,0.054,2703,2318,2061
$GC,9058,1.42,209.0,513.4,10.9,432,9062,0.00,2.55,0.00,0.000,4,0.000,0.071,2703,3697,2060
$GC,9137,1.37,209.0,503.9,12.6,435,9142,0.15,2.45,0.00,0.000,6,0.110,0.043,2676,2311,2059
$GC,9453,1.41,209.0,475.2,8.3,450,9457,0.00,2.53,0.00,0.000,4,0.000,0.060,2676,908,2059
$GC,9527,1.41,209.0,468.3,10.7,453,9531,0.00,2.55,0.00,0.000,6,0.000,0.047,2676,2331,2059
$GC,9848,1.48,218.9,442.6,7.6,469,9863,0.00,2.53,9.30,1.032,4,0.000,0.064,2675,3692,2022
$GC,9972,1.49,230.1,432.5,7.6,474,9989,0.10,2.42,11.25,1.043,6,0.066,0.038,2702,2306,1976
$GC,10314,1.49,230.1,402.5,8.9,491,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2306,1976
$GC,10621,1.49,230.1,374.6,9.3,506,10625,0.00,2.53,0.00,0.000,4,0.000,0.058,2701,3692,1976
$GC,10671,1.49,230.1,369.5,9.8,508,10675,0.00,2.40,0.00,0.000,6,0.000,0.036,2702,2304,1976
$GC,10987,1.49,230.1,341.0,9.2,523,10991,0.00,2.53,0.00,0.000,4,0.000,0.057,2701,3700,1976
$GC,11039,1.49,230.1,335.9,10.3,525,11043,0.00,2.40,0.00,0.000,6,0.000,0.035,2701,2308,1976
$GC,11361,1.49,230.1,305.8,9.4,541,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2309,1976
$GC,11670,1.49,230.1,274.2,10.5,556,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2309,1977
$GC,11979,1.49,230.1,242.0,10.7,571,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2309,1977
$GC,12288,1.49,230.1,206.4,11.2,586,12289,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2307,1978
$GC,12598,1.49,230.1,169.2,11.6,601,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2307,1978
$GC,12907,1.49,230.1,133.1,10.6,616,12911,0.00,2.50,0.00,0.000,4,0.000,0.054,2702,3701,1979
$GC,12963,1.49,230.1,126.1,12.1,618,12969,0.00,2.38,0.00,0.000,6,0.000,0.035,2701,2312,1979
$GC,13279,1.49,230.1,85.1,13.0,634,13280,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2310,1979
$GC,13590,1.49,230.1,47.8,12.3,649,13594,0.00,2.47,0.00,0.000,4,0.000,0.054,2701,3693,1979
$GC,13630,1.49,230.1,43.6,10.5,651,13635,0.00,2.35,0.00,0.000,6,0.000,0.035,2702,2314,1979
$GC,13959,1.58,307.0,13.3,5.1,667,14028,0.00,0.00,65.20,0.818,6,0.000,0.000,2702,2313,1662
$STATE,14060,end climb,SURFACE_DEPTH_REACHED
$STATE,14060,begin surface coast
$FINISH,0.9,1.027383
$STATE,14082,end surface coast,CONTROL_FINISHED_OK
$STATE,14082,begin surface
$SM_CCo,14167,0.00,0.000,0,0,1661,307.61
$SM_GC,1.52,11.82,0.00,0.00,0.032,0.000,0.000,25,2531,1661,-10.75,0.40,307.61
$IRIDIUM_FIX,6158.08,-1005.85,130298,101056
$TT8_MAMPS,0.028379
$HUMID,2011
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,575.9,82.0
$24V_AH,23.1,14.843
$10V_AH,10.1,6.111
$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,26.200,100.775,404.625,0.000,0.000,77.179,88.890,279.144,5.000,0.000,0.000,35.614,1263.849,10823.120,482.253,1575.080,750.416,0.000,1277.338,0.000,1520.873,0.000,35.804,0.000
$DEVICE_MAMPS,131.924,107.380,1239.472,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.086,459.601,411.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34733,673
$CAP_FILE_SIZE,108003,0
$CFSIZE,260165632,254046208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191108,142455,6225.056,-1006.462,24,1.0,42,-10.2