version: 66.04
glider: 101
mission: 7
dive: 92
start: 11 20 108 16 54 54
data:
$ID,101
$MISSION,7
$DIVE,92
$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,-733681.06
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,163808,6227.327,-1029.422,30,1.1,30,-10.4
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-54.6
$GPS2,165433,6227.213,-1029.456,11,1.2,11,-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,5.2,5182,-17.3,-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,-1.71,-108.1,0.0,0.0,0,78,0.00,0.00,-60.47,0.000,2,0.000,0.000,25,2538,3005
$GC,82,-1.76,-146.6,3.2,-3.3,3,113,10.32,2.08,-15.35,0.000,4,0.130,0.071,1985,3692,3514
$GC,344,-1.63,-146.6,44.3,-16.3,14,351,0.17,2.03,0.00,0.000,6,0.095,0.036,2019,2506,3514
$GC,661,-1.58,-146.6,85.5,-12.2,30,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2507,3514
$GC,970,-1.58,-146.6,119.7,-11.2,45,973,0.00,2.12,0.00,0.000,4,0.000,0.055,2019,3688,3514
$GC,1032,-1.52,-146.6,126.2,-10.1,47,1039,0.12,2.03,0.00,0.000,6,0.096,0.036,2042,2498,3515
$GC,1348,-1.52,-146.6,158.6,-11.0,63,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2498,3515
$GC,1657,-1.52,-146.6,192.0,-10.4,78,1661,0.00,2.12,0.00,0.000,4,0.000,0.057,2042,3685,3515
$GC,1787,-1.52,-146.6,207.1,-11.8,83,1793,0.00,2.00,0.00,0.000,6,0.000,0.036,2042,2510,3514
$GC,2103,-1.52,-146.6,243.4,-11.8,99,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2510,3514
$GC,2412,-1.52,-146.6,277.6,-11.0,114,2416,0.00,2.12,0.00,0.000,4,0.000,0.058,2043,3690,3515
$GC,2474,-1.52,-146.6,285.0,-11.5,116,2480,0.00,2.00,0.00,0.000,6,0.000,0.035,2043,2511,3514
$GC,2790,-1.52,-146.6,319.5,-10.7,132,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2510,3515
$GC,3102,-1.52,-146.6,352.1,-10.5,147,3106,0.00,2.12,0.00,0.000,4,0.000,0.059,2043,3687,3514
$GC,3186,-1.52,-146.6,361.7,-10.9,150,3193,0.00,2.03,0.00,0.000,6,0.000,0.036,2043,2498,3514
$GC,3503,-1.52,-146.6,393.4,-9.8,166,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2497,3514
$GC,3812,-1.52,-146.6,423.4,-9.6,181,3816,0.00,2.17,0.00,0.000,4,0.000,0.064,2043,3687,3514
$GC,3904,-1.52,-146.6,433.1,-10.5,185,3907,0.00,2.00,0.00,0.000,6,0.000,0.037,2043,2520,3514
$GC,4237,-1.52,-146.6,468.2,-11.0,201,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2520,3514
$GC,4547,-1.52,-146.6,499.5,-9.5,216,4551,0.00,2.20,0.00,0.000,4,0.000,0.080,2043,3684,3515
$GC,4637,-1.52,-146.6,508.0,-9.3,220,4641,0.00,2.05,0.00,0.000,6,0.000,0.048,2043,2525,3514
$GC,4971,-1.52,-146.6,536.7,-8.4,236,4974,0.00,2.25,0.00,0.000,4,0.000,0.094,2043,3685,3514
$GC,5055,-1.52,-146.6,544.9,-9.6,239,5061,0.00,2.12,0.00,0.000,6,0.000,0.062,2043,2519,3514
$GC,5372,-1.57,-146.6,575.4,-9.6,255,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2516,3514
$GC,5681,-1.62,-146.6,604.4,-8.7,270,5685,0.00,2.25,0.00,0.000,4,0.000,0.094,2043,3679,3514
$GC,5834,-1.62,-146.6,619.1,-10.0,277,5838,0.00,2.10,0.00,0.000,6,0.000,0.056,2043,2509,3513
$STATE,5957,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5957,begin apogee
$GC,5965,-0.45,0.0,631.7,9.9,283,6100,1.10,0.00,128.57,1.210,6,0.074,0.000,2275,2307,2915
$STATE,6101,end apogee,CONTROL_FINISHED_OK
$STATE,6101,begin climb
$GC,6104,1.76,146.6,634.3,0.0,290,6243,2.22,2.72,127.88,1.173,4,0.051,0.085,2761,3682,2317
$GC,6384,1.67,146.6,616.1,10.3,303,6389,0.12,2.50,0.00,0.000,6,0.104,0.052,2738,2306,2317
$GC,6706,1.67,146.6,589.4,8.3,319,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2306,2315
$GC,7015,1.67,146.6,563.0,8.6,334,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2306,2313
$GC,7324,1.67,146.6,532.7,11.0,349,7329,0.00,2.60,0.00,0.000,4,0.000,0.071,2738,3692,2312
$GC,7578,1.63,146.6,505.8,10.1,360,7582,0.00,2.45,0.00,0.000,6,0.000,0.043,2738,2306,2311
$GC,7894,1.63,146.6,477.6,8.9,375,7898,0.00,2.53,0.00,0.000,4,0.000,0.059,2738,909,2310
$GC,7985,1.63,146.6,469.6,9.0,379,7989,0.00,2.53,0.00,0.000,6,0.000,0.047,2738,2319,2310
$GC,8312,1.63,146.6,441.2,8.6,395,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2318,2310
$GC,8621,1.64,155.2,416.5,7.6,410,8631,0.00,0.00,7.80,0.964,6,0.000,0.000,2738,2319,2282
$GC,8930,1.64,155.2,391.3,8.4,425,8934,0.00,2.55,0.00,0.000,4,0.000,0.051,2738,905,2282
$GC,9003,1.64,155.2,384.5,9.5,428,9008,0.00,2.50,0.00,0.000,6,0.000,0.041,2738,2323,2282
$GC,9325,1.64,155.2,355.8,8.9,444,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2323,2282
$GC,9634,1.64,155.2,328.4,8.8,459,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2323,2283
$GC,9944,1.64,155.2,301.4,8.7,474,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2323,2283
$GC,10253,1.64,155.2,275.5,8.0,489,10257,0.00,2.53,0.00,0.000,4,0.000,0.048,2738,901,2283
$GC,10360,1.64,155.2,266.4,8.8,494,10365,0.00,2.50,0.00,0.000,6,0.000,0.040,2738,2329,2283
$GC,10688,1.64,155.2,237.3,8.9,510,10689,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2330,2283
$GC,10997,1.64,155.2,211.2,8.3,525,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2330,2283
$GC,11306,1.64,155.2,184.4,8.8,540,11307,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2329,2283
$GC,11615,1.64,155.2,157.6,8.7,555,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2330,2284
$GC,11925,1.67,182.5,132.7,6.6,570,11952,0.00,0.00,24.73,0.881,6,0.000,0.000,2738,2330,2171
$GC,12256,1.67,182.5,105.7,8.8,586,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2330,2171
$GC,12564,1.67,182.5,80.0,9.2,601,12565,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2330,2171
$GC,12873,1.67,182.5,53.2,9.1,616,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2330,2171
$GC,13182,1.67,182.5,24.5,10.1,631,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2330,2171
$STATE,13447,end climb,SURFACE_DEPTH_REACHED
$STATE,13447,begin surface coast
$FINISH,0.8,1.014315
$STATE,13469,end surface coast,CONTROL_FINISHED_OK
$STATE,13469,begin surface
$SM_CCo,13494,98.82,0.778,2,0,1691,300.00
$SM_GC,1.60,0.00,0.00,98.82,0.000,0.000,0.778,26,2523,1691,-10.81,0.17,300.00
$IRIDIUM_FIX,6202.67,-1026.61,140298,161631
$TT8_MAMPS,0.029146
$HUMID,1981
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,551.1,89.9
$24V_AH,23.1,15.862
$10V_AH,10.1,6.619
$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,26.200,63.875,288.975,98.825,0.000,101.695,277.606,292.110,4.750,0.000,0.000,12.839,1180.170,10515.906,507.483,1455.106,935.905,0.000,1210.319,0.000,1430.139,0.000,31.567,0.000
$DEVICE_MAMPS,129.623,93.574,1210.326,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.064,440.719,421.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31664,645
$CAP_FILE_SIZE,94739,0
$CFSIZE,260165632,253685760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,201108,204301,6227.930,-1031.506,39,1.4,39,-10.4