version: 66.04
glider: 101
mission: 7
dive: 91
start: 11 20 108 12 21 20
data:
$ID,101
$MISSION,7
$DIVE,91
$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,-733667.62
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,121538,6224.975,-1028.597,30,1.5,30,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-61.4
$GPS2,122059,6224.976,-1028.691,12,1.9,14,-10.4
$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,3.5,9372,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.58,0.000,2,0.000,0.000,23,2535,2979
$GC,82,-1.51,-146.6,3.3,-4.3,3,114,10.52,2.08,-16.83,0.000,4,0.127,0.072,2035,3694,3514
$GC,289,-1.37,-146.6,28.5,-12.3,12,293,0.20,2.03,0.00,0.000,6,0.088,0.036,2075,2510,3514
$GC,607,-1.37,-146.6,59.5,-9.5,27,610,0.00,2.12,0.00,0.000,4,0.000,0.057,2075,3689,3515
$GC,680,-1.31,-146.6,67.3,-10.8,30,684,0.00,2.00,0.00,0.000,6,0.000,0.037,2075,2518,3515
$GC,1010,-1.31,-146.6,99.2,-9.6,46,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2518,3515
$GC,1318,-1.31,-146.6,126.9,-9.1,61,1321,0.00,2.10,0.00,0.000,4,0.000,0.057,2075,3687,3514
$GC,1442,-1.26,-146.6,138.6,-8.9,66,1446,0.12,2.00,0.00,0.000,6,0.094,0.037,2099,2513,3514
$GC,1763,-1.26,-146.6,164.6,-8.3,82,1767,0.00,2.12,0.00,0.000,4,0.000,0.056,2099,3696,3515
$GC,1836,-1.26,-146.6,170.9,-8.2,85,1840,0.00,2.03,0.00,0.000,6,0.000,0.036,2099,2505,3515
$GC,2165,-1.26,-146.6,196.3,-7.8,101,2168,0.00,2.12,0.00,0.000,4,0.000,0.056,2099,3692,3515
$GC,2255,-1.26,-146.6,204.3,-8.8,105,2259,0.00,2.00,0.00,0.000,6,0.000,0.036,2099,2505,3515
$GC,2588,-1.26,-146.6,233.4,-9.2,121,2592,0.00,2.12,0.00,0.000,4,0.000,0.056,2099,3691,3515
$GC,2695,-1.26,-146.6,243.3,-9.2,125,2701,0.00,2.03,0.00,0.000,6,0.000,0.036,2100,2516,3514
$GC,3011,-1.26,-146.6,269.1,-8.4,141,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2516,3515
$GC,3321,-1.26,-146.6,294.9,-8.3,156,3324,0.00,2.10,0.00,0.000,4,0.000,0.058,2099,3686,3515
$GC,3422,-1.26,-146.6,304.4,-9.1,160,3426,0.00,2.00,0.00,0.000,6,0.000,0.036,2099,2509,3515
$GC,3745,-1.26,-146.6,330.0,-7.8,176,3748,0.00,2.12,0.00,0.000,4,0.000,0.058,2100,3689,3514
$GC,3823,-1.26,-146.6,337.1,-9.3,179,3827,0.00,2.00,0.00,0.000,6,0.000,0.036,2099,2513,3515
$GC,4145,-1.26,-146.6,362.9,-7.9,195,4149,0.00,2.12,0.00,0.000,4,0.000,0.060,2099,3691,3515
$GC,4225,-1.26,-146.6,369.4,-8.0,198,4228,0.00,2.00,0.00,0.000,6,0.000,0.036,2099,2516,3514
$GC,4547,-1.26,-146.6,394.8,-8.0,214,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2516,3515
$GC,4856,-1.26,-146.6,417.6,-6.9,229,4860,0.00,2.15,0.00,0.000,4,0.000,0.063,2099,3695,3515
$GC,4958,-1.26,-146.6,425.3,-7.2,233,4962,0.00,2.00,0.00,0.000,6,0.000,0.036,2098,2520,3515
$GC,5280,-1.26,-146.6,449.0,-7.4,249,5283,0.00,2.15,0.00,0.000,4,0.000,0.067,2099,3690,3514
$GC,5353,-1.26,-146.6,454.8,-7.9,252,5357,0.00,2.03,0.00,0.000,6,0.000,0.037,2099,2512,3515
$GC,5681,-1.30,-146.6,478.1,-7.6,268,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2512,3515
$GC,5990,-1.30,-146.6,503.4,-8.7,283,5993,0.00,2.22,0.00,0.000,4,0.000,0.080,2099,3692,3515
$GC,6136,-1.30,-146.6,516.3,-9.1,289,6140,0.00,2.08,0.00,0.000,6,0.000,0.051,2099,2524,3514
$GC,6458,-1.35,-146.6,542.9,-8.9,305,6462,0.00,2.28,0.00,0.000,4,0.000,0.097,2099,3686,3515
$GC,6537,-1.39,-146.6,551.1,-10.2,308,6544,0.12,2.15,0.00,0.000,6,0.059,0.066,2068,2516,3515
$GC,6853,-1.39,-146.6,580.5,-8.4,324,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2516,3515
$GC,7162,-1.39,-146.6,602.1,-6.5,339,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2513,3515
$GC,7472,-1.39,-146.6,626.0,-7.7,354,7476,0.00,2.25,0.00,0.000,4,0.000,0.092,2067,3683,3514
$GC,7573,-1.39,-146.6,634.7,-8.9,358,7576,0.00,2.10,0.00,0.000,6,0.000,0.055,2067,2513,3514
$STATE,7706,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7706,begin apogee
$GC,7714,-0.45,0.0,645.7,7.9,365,7849,0.98,0.00,129.32,1.227,6,0.073,0.000,2273,2312,2915
$STATE,7849,end apogee,CONTROL_FINISHED_OK
$STATE,7850,begin climb
$GC,7853,1.51,146.6,650.7,0.0,372,7989,2.00,0.00,129.10,1.187,6,0.051,0.000,2709,2313,2317
$GC,8299,1.45,146.6,620.8,8.9,394,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2312,2316
$GC,8609,1.40,148.5,593.6,7.9,409,8611,0.15,0.00,0.00,0.000,6,0.099,0.000,2680,2312,2315
$GC,8918,1.41,160.1,572.9,7.6,424,8936,0.00,0.00,12.82,1.121,6,0.000,0.000,2681,2312,2262
$GC,9247,1.46,202.1,550.3,6.4,440,9290,0.00,2.70,37.65,1.183,4,0.000,0.065,2680,908,2091
$GC,9400,1.47,206.5,539.3,7.8,446,9411,0.00,2.58,5.68,0.916,6,0.000,0.053,2680,2319,2073
$GC,9733,1.47,206.5,511.1,8.4,463,9737,0.00,2.53,0.00,0.000,4,0.000,0.068,2680,3692,2072
$GC,9818,1.47,206.5,503.5,8.8,467,9822,0.00,2.45,0.00,0.000,6,0.000,0.041,2680,2302,2072
$GC,10145,1.47,206.5,477.8,8.4,483,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2302,2072
$GC,10454,1.48,218.3,453.6,7.5,498,10468,0.00,0.00,11.70,1.044,6,0.000,0.000,2680,2302,2024
$GC,10764,1.53,218.3,427.4,8.7,513,10766,0.12,0.00,0.00,0.000,6,0.058,0.000,2713,2302,2024
$GC,11073,1.53,218.3,395.6,10.6,528,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2302,2024
$GC,11382,1.53,218.3,364.0,10.1,543,11383,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2301,2024
$GC,11691,1.53,218.3,333.5,9.6,558,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2301,2024
$GC,12001,1.53,218.3,303.7,9.5,573,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2302,2024
$GC,12310,1.53,218.3,275.9,9.0,588,12314,0.00,2.50,0.00,0.000,4,0.000,0.057,2714,3696,2025
$GC,12356,1.48,218.3,270.9,11.1,590,12361,0.00,2.40,0.00,0.000,6,0.000,0.036,2713,2300,2025
$GC,12690,1.48,218.3,238.1,9.3,606,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2300,2025
$GC,12999,1.48,218.3,209.8,9.5,621,13000,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2300,2026
$GC,13309,1.48,218.3,178.8,10.2,636,13312,0.00,2.53,0.00,0.000,4,0.000,0.055,2714,3700,2026
$GC,13382,1.44,218.3,171.4,9.1,639,13387,0.12,2.38,0.00,0.000,6,0.108,0.036,2690,2316,2026
$GC,13704,1.48,218.3,143.2,8.6,655,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2314,2026
$GC,14014,1.52,218.3,115.7,9.5,670,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2314,2026
$GC,14323,1.56,218.3,87.1,9.9,685,14328,0.10,2.47,0.00,0.000,4,0.060,0.054,2720,3695,2026
$GC,14396,1.50,218.3,79.9,9.9,688,14400,0.00,2.38,0.00,0.000,6,0.000,0.035,2720,2307,2026
$GC,14714,1.50,218.3,49.5,8.8,703,14715,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2306,2026
$GC,15022,1.50,218.3,17.4,10.2,718,15023,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2306,2026
$STATE,15183,end climb,SURFACE_DEPTH_REACHED
$STATE,15183,begin surface coast
$FINISH,1.1,1.027380
$STATE,15205,end surface coast,CONTROL_FINISHED_OK
$STATE,15205,begin surface
$SM_CCo,15230,73.70,0.720,6,0,1691,300.00
$SM_GC,1.50,0.00,0.00,73.70,0.000,0.000,0.720,25,2538,1691,-10.81,0.59,300.00
$IRIDIUM_FIX,6202.67,-1021.20,140298,080814
$TT8_MAMPS,0.029146
$HUMID,2004
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.8,53.7
$24V_AH,23.1,15.712
$10V_AH,10.1,6.549
$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,26.425,84.175,326.275,73.700,0.000,25.018,28.769,136.969,5.250,0.000,0.000,16.470,1346.153,11668.546,547.976,1620.942,476.139,0.000,1333.104,0.000,1586.861,0.000,34.687,0.000
$DEVICE_MAMPS,127.322,97.409,1227.200,720.213,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,544.256,497.009,455.580,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37959,727
$CAP_FILE_SIZE,104378,0
$CFSIZE,260165632,253722624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,201108,163808,6227.327,-1029.422,30,1.1,30,-10.4