version: 66.04
glider: 101
mission: 7
dive: 86
start: 11 19 108 14 34 18
data:
$ID,101
$MISSION,7
$DIVE,86
$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,-733552
$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
$GPS1,142455,6225.056,-1006.462,24,1.0,42,-10.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-49.0
$GPS2,143359,6225.074,-1006.103,11,3.5,30,-10.2
$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,304.3,22379,-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,-60.85,0.000,2,0.000,0.000,25,2533,3013
$GC,83,-1.51,-146.6,3.9,-5.6,3,114,10.52,2.55,-13.77,0.000,4,0.127,0.057,2036,1120,3514
$GC,213,-1.40,-146.6,21.2,-12.0,8,220,0.15,2.45,0.00,0.000,6,0.096,0.038,2065,2519,3515
$GC,531,-1.40,-146.6,55.8,-7.1,24,535,0.00,2.08,0.00,0.000,4,0.000,0.057,2065,3688,3515
$GC,588,-1.35,-146.6,61.6,-9.5,26,591,0.00,2.00,0.00,0.000,6,0.000,0.035,2065,2513,3515
$GC,910,-1.35,-146.6,96.3,-8.8,42,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2513,3515
$GC,1220,-1.28,-146.6,135.0,-14.2,57,1225,0.15,2.42,0.00,0.000,4,0.088,0.043,2096,1119,3515
$GC,1261,-1.35,-146.6,140.5,-10.8,59,1265,0.00,2.45,0.00,0.000,6,0.000,0.039,2096,2527,3515
$GC,1595,-1.35,-146.6,175.9,-12.2,75,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2527,3515
$GC,1903,-1.35,-146.6,204.6,-10.7,90,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2527,3515
$GC,2212,-1.35,-146.6,239.9,-10.8,105,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2528,3515
$GC,2522,-1.39,-146.6,268.3,-8.7,120,2526,0.00,2.08,0.00,0.000,4,0.000,0.058,2096,3696,3515
$GC,2607,-1.39,-146.6,275.8,-7.3,123,2614,0.10,2.00,0.00,0.000,6,0.064,0.035,2069,2515,3515
$GC,2923,-1.39,-146.6,302.8,-8.5,139,2927,0.00,2.12,0.00,0.000,4,0.000,0.058,2069,3695,3515
$GC,2997,-1.34,-146.6,309.2,-8.6,142,3001,0.00,2.00,0.00,0.000,6,0.000,0.035,2069,2516,3515
$GC,3324,-1.34,-146.6,337.6,-8.6,158,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2514,3515
$GC,3633,-1.34,-146.6,362.0,-8.0,173,3637,0.00,2.12,0.00,0.000,4,0.000,0.060,2069,3689,3515
$GC,3735,-1.29,-146.6,371.4,-9.7,177,3739,0.12,2.00,0.00,0.000,6,0.091,0.036,2093,2515,3515
$GC,4057,-1.29,-146.6,401.2,-10.1,193,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2515,3515
$GC,4366,-1.29,-146.6,433.0,-9.8,208,4369,0.00,2.15,0.00,0.000,4,0.000,0.065,2093,3688,3515
$GC,4495,-1.29,-146.6,445.4,-9.4,213,4501,0.00,2.00,0.00,0.000,6,0.000,0.037,2093,2524,3515
$GC,4811,-1.29,-146.6,470.1,-7.0,229,4815,0.00,2.15,0.00,0.000,4,0.000,0.072,2093,3683,3515
$GC,4983,-1.29,-146.6,483.8,-7.7,236,4987,0.00,2.03,0.00,0.000,6,0.000,0.041,2093,2520,3515
$GC,5306,-1.33,-146.6,508.6,-7.6,252,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2520,3515
$GC,5615,-1.33,-146.6,532.0,-7.5,267,5619,0.00,2.28,0.00,0.000,4,0.000,0.094,2093,3689,3515
$GC,5775,-1.33,-146.6,542.0,-5.6,274,5779,0.00,2.12,0.00,0.000,6,0.000,0.062,2093,2517,3515
$GC,6103,-1.37,-146.6,567.5,-9.2,290,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2518,3515
$GC,6412,-1.43,-146.6,591.8,-6.9,305,6416,0.12,2.25,0.00,0.000,4,0.055,0.091,2057,3687,3515
$GC,6468,-1.37,-146.6,596.6,-9.5,307,6472,0.00,2.10,0.00,0.000,6,0.000,0.054,2057,2513,3515
$GC,6789,-1.37,-146.6,621.8,-8.4,323,6793,0.00,2.25,0.00,0.000,4,0.000,0.091,2057,3682,3514
$GC,6903,-1.31,-146.6,632.6,-9.6,328,6908,0.15,2.08,0.00,0.000,6,0.091,0.054,2085,2518,3514
$STATE,7021,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7021,begin apogee
$GC,7029,-0.45,0.0,642.6,8.3,334,7164,0.90,0.00,129.55,1.240,6,0.072,0.000,2277,2319,2915
$STATE,7165,end apogee,CONTROL_FINISHED_OK
$STATE,7165,begin climb
$GC,7169,1.51,146.6,647.1,0.0,341,7306,1.95,2.78,128.30,1.193,4,0.053,0.079,2704,909,2317
$GC,7368,1.45,152.2,637.6,7.8,350,7384,0.00,2.62,6.45,0.927,6,0.000,0.061,2704,2314,2294
$GC,7694,1.39,152.2,610.6,8.6,366,7699,0.15,2.60,0.00,0.000,4,0.110,0.077,2677,3695,2293
$GC,7762,1.39,152.2,604.5,9.2,369,7766,0.00,2.47,0.00,0.000,6,0.000,0.046,2677,2311,2292
$GC,8083,1.39,152.2,575.2,9.6,385,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2312,2292
$GC,8392,1.43,184.5,549.9,6.8,400,8427,0.00,2.70,29.20,1.180,4,0.000,0.074,2678,3693,2162
$GC,8474,1.43,184.5,543.6,8.1,403,8480,0.00,2.47,0.00,0.000,6,0.000,0.045,2677,2312,2161
$GC,8790,1.43,184.5,513.4,10.4,419,8794,0.00,2.60,0.00,0.000,4,0.000,0.070,2677,3699,2161
$GC,8920,1.43,184.5,501.4,9.3,425,8924,0.00,2.45,0.00,0.000,6,0.000,0.043,2677,2314,2160
$GC,9248,1.48,226.7,476.5,6.4,441,9290,0.00,2.67,37.25,1.151,4,0.000,0.060,2677,908,1990
$GC,9337,1.58,266.7,470.7,6.5,445,9381,0.20,2.58,36.28,1.120,6,0.065,0.048,2720,2332,1827
$GC,9694,1.58,266.7,435.7,10.9,462,9698,0.00,2.47,0.00,0.000,4,0.000,0.064,2720,3691,1827
$GC,9761,1.53,266.7,427.2,13.0,465,9766,0.00,2.42,0.00,0.000,6,0.000,0.039,2720,2307,1826
$GC,10083,1.53,266.7,394.8,8.8,481,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2306,1826
$GC,10392,1.53,266.7,366.1,9.3,496,10396,0.00,2.55,0.00,0.000,4,0.000,0.060,2720,3702,1827
$GC,10443,1.49,266.7,360.6,10.7,498,10447,0.00,2.42,0.00,0.000,6,0.000,0.037,2720,2305,1826
$GC,10759,1.49,266.7,326.8,11.2,513,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2305,1826
$GC,11068,1.49,266.7,292.7,11.2,528,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2304,1827
$GC,11377,1.49,266.7,259.4,10.6,543,11381,0.00,2.53,0.00,0.000,4,0.000,0.057,2720,3698,1826
$GC,11434,1.49,266.7,252.9,12.0,545,11438,0.00,2.40,0.00,0.000,6,0.000,0.035,2720,2304,1827
$GC,11750,1.49,266.7,220.2,9.9,560,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2304,1827
$GC,12059,1.49,266.7,188.5,10.3,575,12063,0.00,2.50,0.00,0.000,4,0.000,0.055,2720,3693,1827
$GC,12110,1.49,266.7,182.9,10.1,577,12114,0.00,2.38,0.00,0.000,6,0.000,0.035,2720,2309,1827
$GC,12432,1.49,266.7,148.0,10.4,593,12433,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2309,1828
$GC,12741,1.49,266.7,118.7,9.9,608,12745,0.00,2.50,0.00,0.000,4,0.000,0.054,2720,3699,1828
$GC,12837,1.49,266.7,106.5,12.4,612,12841,0.00,2.38,0.00,0.000,6,0.000,0.035,2720,2314,1828
$GC,13153,1.49,266.7,68.3,11.2,627,13155,0.12,0.00,0.00,0.000,6,0.105,0.000,2698,2314,1828
$GC,13463,1.49,266.7,41.7,8.5,642,13467,0.00,2.47,0.00,0.000,4,0.000,0.054,2697,3693,1828
$GC,13598,1.56,288.2,27.2,7.2,648,13623,0.00,2.35,19.80,0.811,6,0.000,0.034,2697,2316,1739
$STATE,13881,end climb,SURFACE_DEPTH_REACHED
$STATE,13881,begin surface coast
$FINISH,0.8,1.007379
$STATE,13906,end surface coast,CONTROL_FINISHED_OK
$STATE,13906,begin surface
$SM_CCo,13931,10.95,0.633,1,0,1692,300.00
$SM_GC,1.37,0.00,0.00,10.95,0.000,0.000,0.633,25,2529,1692,-10.81,0.34,300.00
$IRIDIUM_FIX,6158.08,-1006.66,130298,141444
$TT8_MAMPS,0.029146
$HUMID,2020
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.0,102.0
$24V_AH,23.1,14.991
$10V_AH,10.1,6.181
$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,26.475,103.750,386.825,10.950,0.000,50.358,64.106,217.822,4.500,0.000,0.000,32.571,1258.055,10522.593,476.827,1610.215,626.550,0.000,1291.500,0.000,1552.842,0.000,31.583,0.000
$DEVICE_MAMPS,127.322,94.341,1240.239,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.037,452.034,412.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34894,663
$CAP_FILE_SIZE,107053,0
$CFSIZE,260165632,253992960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,191108,182825,6224.453,-1007.792,56,2.0,56,-10.2