version: 66.04
glider: 101
mission: 7
dive: 88
start: 11 19 108 23 17 16
data:
$ID,101
$MISSION,7
$DIVE,88
$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,-733616.88
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,230353,6223.144,-1013.836,36,1.9,52,-10.2
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-54.0
$GPS2,231657,6223.018,-1013.937,18,1.5,30,-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,323.5,18866,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.62,0.000,2,0.000,0.000,21,2539,3363
$GC,103,-1.51,-146.6,5.2,-6.1,4,125,10.45,2.10,-3.38,0.000,4,0.123,0.073,2037,3685,3514
$GC,340,-1.38,-146.6,43.0,-13.0,14,344,0.17,2.03,0.00,0.000,6,0.091,0.036,2071,2500,3515
$GC,657,-1.34,-146.6,76.6,-11.6,29,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2499,3515
$GC,965,-1.34,-146.6,108.8,-11.2,44,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2499,3515
$GC,1276,-1.34,-146.6,151.4,-13.6,59,1279,0.00,2.12,0.00,0.000,4,0.000,0.055,2072,3683,3515
$GC,1360,-1.29,-146.6,163.3,-12.8,62,1367,0.10,2.00,0.00,0.000,6,0.099,0.037,2090,2509,3515
$GC,1677,-1.29,-146.6,198.8,-10.4,78,1680,0.00,2.12,0.00,0.000,4,0.000,0.056,2091,3693,3515
$GC,1800,-1.29,-146.6,211.1,-10.7,83,1804,0.00,2.00,0.00,0.000,6,0.000,0.035,2090,2516,3515
$GC,2123,-1.29,-146.6,235.4,-7.7,99,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2516,3515
$GC,2431,-1.29,-146.6,269.0,-11.0,114,2435,0.00,2.10,0.00,0.000,4,0.000,0.058,2090,3692,3515
$GC,2505,-1.29,-146.6,277.0,-10.6,117,2508,0.00,2.00,0.00,0.000,6,0.000,0.035,2090,2512,3515
$GC,2832,-1.29,-146.6,308.0,-9.7,133,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2512,3515
$GC,3141,-1.29,-146.6,337.3,-10.1,148,3145,0.00,2.12,0.00,0.000,4,0.000,0.059,2090,3692,3515
$GC,3248,-1.29,-146.6,349.1,-10.4,152,3254,0.00,2.00,0.00,0.000,6,0.000,0.035,2090,2516,3515
$GC,3564,-1.29,-146.6,379.2,-9.0,168,3568,0.00,2.12,0.00,0.000,4,0.000,0.060,2090,3690,3515
$GC,3649,-1.29,-146.6,387.4,-9.3,171,3655,0.00,2.00,0.00,0.000,6,0.000,0.035,2091,2518,3515
$GC,3965,-1.29,-146.6,415.0,-8.9,187,3969,0.00,2.12,0.00,0.000,4,0.000,0.063,2090,3692,3514
$GC,4067,-1.29,-146.6,424.7,-9.7,191,4072,0.00,2.03,0.00,0.000,6,0.000,0.035,2091,2508,3515
$GC,4389,-1.29,-146.6,452.1,-8.1,207,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2508,3514
$GC,4698,-1.29,-146.6,475.0,-7.3,222,4703,0.00,2.17,0.00,0.000,4,0.000,0.071,2090,3686,3515
$GC,4834,-1.29,-146.6,486.9,-9.7,228,4838,0.00,2.03,0.00,0.000,6,0.000,0.041,2090,2519,3514
$GC,5167,-1.29,-146.6,516.1,-8.6,244,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2519,3514
$GC,5476,-1.29,-146.6,542.4,-8.6,259,5480,0.00,2.28,0.00,0.000,4,0.000,0.097,2090,3683,3515
$GC,5537,-1.29,-146.6,548.0,-8.8,261,5543,0.00,2.12,0.00,0.000,6,0.000,0.062,2091,2514,3515
$GC,5854,-1.29,-146.6,570.6,-6.3,277,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2514,3515
$GC,6163,-1.33,-146.6,591.2,-6.8,292,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2513,3514
$GC,6473,-1.38,-146.6,613.2,-7.1,307,6476,0.00,2.25,0.00,0.000,4,0.000,0.090,2090,3682,3514
$GC,6597,-1.38,-146.6,623.6,-8.8,312,6600,0.00,2.10,0.00,0.000,6,0.000,0.054,2091,2508,3514
$GC,6919,-1.43,-146.6,649.2,-7.5,328,6921,0.12,0.00,0.00,0.000,6,0.055,0.000,2056,2508,3513
$GC,7228,-1.43,-146.6,676.2,-9.0,343,7231,0.00,2.25,0.00,0.000,4,0.000,0.087,2056,3684,3513
$GC,7346,-1.37,-146.6,687.4,-9.3,348,7350,0.00,2.08,0.00,0.000,6,0.000,0.051,2055,2513,3512
$STATE,7354,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7355,begin apogee
$GC,7363,-0.45,0.0,688.6,9.1,348,7496,1.00,0.00,129.95,1.277,6,0.078,0.000,2268,2312,2915
$STATE,7497,end apogee,CONTROL_FINISHED_OK
$STATE,7497,begin climb
$GC,7501,1.51,146.6,692.9,0.0,355,7636,2.03,0.00,130.45,1.232,6,0.056,0.000,2704,2311,2317
$GC,7944,1.48,150.9,668.3,7.8,377,7951,0.00,0.00,5.25,0.904,6,0.000,0.000,2704,2311,2299
$GC,8250,1.44,150.9,642.7,8.4,392,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2312,2298
$GC,8559,1.44,151.5,617.2,8.0,407,8563,0.00,2.60,0.00,0.000,4,0.000,0.077,2704,3682,2298
$GC,8610,1.36,151.5,612.8,8.6,409,8615,0.17,2.45,0.00,0.000,6,0.105,0.048,2672,2314,2298
$GC,8926,1.36,151.5,588.1,8.0,424,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2314,2297
$GC,9236,1.39,180.2,563.5,6.9,439,9264,0.00,0.00,26.83,1.207,6,0.000,0.000,2672,2314,2180
$GC,9566,1.47,206.9,542.1,7.0,455,9596,0.10,2.62,24.88,1.185,4,0.062,0.071,2699,3685,2071
$GC,9690,1.42,206.9,530.2,10.4,460,9694,0.00,2.45,0.00,0.000,6,0.000,0.044,2699,2310,2071
$GC,10006,1.42,206.9,501.1,8.9,475,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2310,2071
$GC,10315,1.42,206.9,472.4,9.9,490,10319,0.00,2.53,0.00,0.000,4,0.000,0.059,2699,908,2070
$GC,10394,1.42,206.9,463.9,10.5,493,10398,0.00,2.50,0.00,0.000,6,0.000,0.046,2699,2309,2070
$GC,10710,1.42,206.9,432.4,9.8,508,10711,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2309,2070
$GC,11019,1.42,206.9,402.9,9.5,523,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2309,2070
$GC,11329,1.43,219.3,376.4,7.5,538,11347,0.00,0.00,12.12,1.005,6,0.000,0.000,2699,2308,2021
$GC,11658,1.43,219.3,348.7,8.9,554,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2309,2021
$GC,11967,1.43,219.3,320.2,8.8,569,11971,0.00,2.47,0.00,0.000,4,0.000,0.058,2699,3699,2021
$GC,12000,1.43,219.3,317.0,9.9,570,12004,0.00,2.40,0.00,0.000,6,0.000,0.035,2699,2306,2021
$GC,12316,1.43,219.3,291.9,8.7,585,12320,0.00,2.50,0.00,0.000,4,0.000,0.056,2699,3699,2022
$GC,12377,1.43,219.3,286.3,9.1,587,12383,0.00,2.38,0.00,0.000,6,0.000,0.035,2699,2316,2022
$GC,12694,1.43,219.3,257.0,9.8,603,12695,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2316,2022
$GC,13003,1.43,219.3,227.0,9.6,618,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2314,2022
$GC,13312,1.43,219.3,195.7,10.1,633,13316,0.00,2.47,0.00,0.000,4,0.000,0.055,2699,3695,2023
$GC,13368,1.43,219.3,189.5,10.8,635,13372,0.00,2.38,0.00,0.000,6,0.000,0.035,2699,2308,2023
$GC,13684,1.43,219.3,157.6,10.0,650,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2307,2023
$GC,13995,1.43,219.3,127.1,9.7,665,13996,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2307,2023
$GC,14303,1.43,219.3,97.0,10.2,680,14307,0.00,2.50,0.00,0.000,4,0.000,0.054,2699,3701,2024
$GC,14376,1.43,219.3,88.8,10.4,683,14381,0.00,2.38,0.00,0.000,6,0.000,0.035,2699,2313,2024
$GC,14693,1.43,219.3,60.4,9.3,698,14694,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2312,2024
$GC,15002,1.43,219.3,32.3,8.8,713,15006,0.00,2.47,0.00,0.000,4,0.000,0.052,2699,3699,2024
$GC,15048,1.43,219.3,27.7,10.3,715,15052,0.00,2.38,0.00,0.000,6,0.000,0.035,2699,2306,2024
$STATE,15325,end climb,SURFACE_DEPTH_REACHED
$STATE,15325,begin surface coast
$FINISH,1.0,1.027129
$STATE,15347,end surface coast,CONTROL_FINISHED_OK
$STATE,15347,begin surface
$SM_CCo,15372,71.40,0.747,4,0,1692,300.00
$SM_GC,1.69,0.00,0.00,71.40,0.000,0.000,0.747,26,2524,1692,-10.81,0.17,300.00
$IRIDIUM_FIX,6158.08,-1014.97,130298,232351
$TT8_MAMPS,0.028379
$HUMID,1989
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.8,47.7
$24V_AH,23.1,15.299
$10V_AH,10.1,6.334
$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,25.925,86.375,329.475,71.400,0.000,77.519,90.575,331.998,6.000,0.000,0.000,31.869,1347.887,11911.996,554.139,1620.021,813.978,0.000,1336.593,0.000,1571.234,0.000,43.777,0.000
$DEVICE_MAMPS,123.487,97.409,1277.055,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,545.234,498.710,434.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37944,730
$CAP_FILE_SIZE,110586,0
$CFSIZE,260165632,253882368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,4,0
$GPS,201108,033608,6224.027,-1018.012,25,1.6,25,-10.3