version: 66.04
glider: 101
mission: 7
dive: 93
start: 11 20 108 20 48 30
data:
$ID,101
$MISSION,7
$DIVE,93
$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,-733695.31
$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,24
$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
$GPS1,204301,6227.930,-1031.506,39,1.4,39,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-61.9
$GPS2,204809,6227.892,-1031.562,12,1.6,12,-10.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,DW
$TGT_LATLONG,6237.000,-1100.000
$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,315.3,29518,-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,15,-1.51,-146.6,0.0,0.0,0,78,0.00,0.00,-60.25,0.000,2,0.000,0.000,26,2524,3017
$GC,82,-1.51,-146.6,3.5,-4.7,3,110,10.68,0.00,-15.23,0.000,6,0.130,0.000,2039,2524,3513
$GC,408,-1.38,-146.6,39.0,-11.8,19,410,0.17,0.00,0.00,0.000,6,0.087,0.000,2074,2524,3514
$GC,716,-1.38,-146.6,65.3,-8.4,34,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2524,3514
$GC,1025,-1.38,-146.6,92.3,-9.3,49,1028,0.00,2.08,0.00,0.000,4,0.000,0.059,2074,3685,3514
$GC,1104,-1.34,-146.6,100.0,-9.6,52,1108,0.00,2.03,0.00,0.000,6,0.000,0.036,2074,2498,3514
$GC,1426,-1.34,-146.6,133.1,-9.7,68,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2498,3514
$GC,1735,-1.34,-146.6,166.9,-12.7,83,1739,0.00,2.12,0.00,0.000,4,0.000,0.057,2074,3689,3514
$GC,1819,-1.29,-146.6,177.4,-12.0,86,1825,0.00,2.00,0.00,0.000,6,0.000,0.036,2074,2513,3514
$GC,2135,-1.29,-146.6,212.1,-11.0,102,2139,0.00,2.12,0.00,0.000,4,0.000,0.057,2074,3695,3514
$GC,2198,-1.25,-146.6,219.0,-10.4,104,2204,0.15,2.00,0.00,0.000,6,0.093,0.036,2103,2516,3514
$GC,2514,-1.25,-146.6,249.8,-10.4,120,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2516,3514
$GC,2823,-1.25,-146.6,281.2,-10.0,135,2827,0.00,2.10,0.00,0.000,4,0.000,0.058,2103,3685,3514
$GC,2941,-1.25,-146.6,293.9,-10.1,140,2945,0.00,2.00,0.00,0.000,6,0.000,0.036,2103,2508,3514
$GC,3269,-1.25,-146.6,324.4,-9.1,156,3273,0.00,2.12,0.00,0.000,4,0.000,0.058,2103,3688,3514
$GC,3338,-1.25,-146.6,330.9,-9.6,159,3341,0.00,2.00,0.00,0.000,6,0.000,0.036,2103,2510,3514
$GC,3671,-1.25,-146.6,359.1,-8.1,175,3675,0.00,2.12,0.00,0.000,4,0.000,0.059,2103,3686,3514
$GC,3739,-1.25,-146.6,365.2,-9.1,178,3743,0.00,1.98,0.00,0.000,6,0.000,0.037,2103,2518,3514
$GC,4073,-1.29,-146.6,392.5,-7.8,194,4077,0.00,2.12,0.00,0.000,4,0.000,0.061,2103,3691,3515
$GC,4152,-1.29,-146.6,399.2,-8.2,197,4156,0.00,2.00,0.00,0.000,6,0.000,0.035,2103,2519,3514
$GC,4474,-1.29,-146.6,422.1,-7.0,213,4478,0.00,2.12,0.00,0.000,4,0.000,0.064,2103,3686,3514
$GC,4732,-1.29,-146.6,441.5,-7.5,224,4736,0.00,2.00,0.00,0.000,6,0.000,0.038,2103,2521,3514
$GC,5054,-1.29,-146.6,468.8,-9.1,240,5058,0.00,2.15,0.00,0.000,4,0.000,0.070,2103,3686,3514
$GC,5312,-1.29,-146.6,494.9,-10.0,251,5316,0.00,2.05,0.00,0.000,6,0.000,0.044,2103,2517,3514
$GC,5635,-1.34,-146.6,522.0,-7.5,267,5638,0.00,2.22,0.00,0.000,4,0.000,0.085,2103,3686,3514
$GC,5894,-1.39,-146.6,542.0,-7.4,278,5899,0.15,2.12,0.00,0.000,6,0.058,0.060,2067,2515,3514
$GC,6210,-1.39,-146.6,568.2,-8.2,293,6214,0.00,2.28,0.00,0.000,4,0.000,0.093,2067,3688,3514
$GC,6468,-1.34,-146.6,591.4,-9.1,304,6474,0.00,2.12,0.00,0.000,6,0.000,0.055,2067,2505,3514
$GC,6784,-1.34,-146.6,617.1,-7.8,320,6788,0.00,2.28,0.00,0.000,4,0.000,0.091,2067,3685,3513
$GC,6920,-1.30,-146.6,628.9,-9.0,326,6924,0.12,2.10,0.00,0.000,6,0.098,0.054,2090,2513,3513
$STATE,6990,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6990,begin apogee
$GC,6999,-0.45,0.0,634.6,7.8,330,7133,0.88,0.00,129.25,1.216,6,0.074,0.000,2275,2313,2915
$STATE,7134,end apogee,CONTROL_FINISHED_OK
$STATE,7134,begin climb
$GC,7138,1.51,146.6,639.3,0.0,337,7271,1.95,0.00,128.18,1.174,6,0.054,0.000,2700,2313,2317
$GC,7588,1.52,154.3,610.3,7.7,359,7602,0.00,2.70,8.05,1.000,4,0.000,0.074,2700,911,2285
$GC,7683,1.49,156.3,602.7,7.9,363,7687,0.00,2.60,0.00,0.000,6,0.000,0.060,2701,2312,2285
$GC,8005,1.46,175.1,579.8,7.3,379,8029,0.00,2.67,19.52,1.144,4,0.000,0.077,2700,3700,2201
$GC,8104,1.39,175.1,570.9,9.6,383,8109,0.12,2.50,0.00,0.000,6,0.110,0.047,2679,2308,2200
$GC,8420,1.41,189.1,546.2,7.5,398,8442,0.00,2.67,13.45,1.114,4,0.000,0.074,2679,3687,2144
$GC,8499,1.42,200.0,540.1,7.6,401,8515,0.00,2.45,11.48,1.084,6,0.000,0.045,2679,2316,2099
$GC,8838,1.45,218.0,517.1,7.3,418,8857,0.00,0.00,16.92,1.121,6,0.000,0.000,2679,2316,2026
$GC,9167,1.45,218.0,485.2,10.1,434,9171,0.00,2.55,0.00,0.000,4,0.000,0.065,2678,3699,2025
$GC,9229,1.45,218.0,478.8,10.8,437,9233,0.00,2.45,0.00,0.000,6,0.000,0.040,2678,2304,2025
$GC,9556,1.45,218.0,448.3,8.8,453,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2303,2025
$GC,9865,1.45,221.8,423.1,7.9,468,9875,0.00,2.58,5.20,0.838,4,0.000,0.060,2679,3700,2010
$GC,9944,1.45,221.8,416.3,8.9,471,9950,0.00,2.42,0.00,0.000,6,0.000,0.038,2679,2310,2009
$GC,10260,1.50,221.8,389.0,8.9,487,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2310,2010
$GC,10569,1.54,221.8,362.3,8.5,502,10571,0.15,0.00,0.00,0.000,6,0.049,0.000,2718,2310,2009
$GC,10878,1.54,221.8,331.1,10.3,517,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2310,2009
$GC,11187,1.54,221.8,297.6,11.2,532,11191,0.00,2.53,0.00,0.000,4,0.000,0.058,2718,3705,2009
$GC,11234,1.48,221.8,292.1,12.2,534,11238,0.00,2.40,0.00,0.000,6,0.000,0.036,2718,2310,2010
$GC,11567,1.48,221.8,254.4,10.9,550,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2310,2010
$GC,11876,1.48,221.8,222.1,9.9,565,11880,0.00,2.50,0.00,0.000,4,0.000,0.055,2718,3699,2010
$GC,11939,1.42,221.8,215.6,10.0,568,11944,0.17,2.38,0.00,0.000,6,0.102,0.035,2685,2312,2011
$GC,12267,1.50,245.5,190.0,7.1,584,12290,0.00,0.00,22.05,0.910,6,0.000,0.000,2685,2312,1914
$GC,12596,1.55,245.5,160.2,8.9,600,12601,0.12,2.50,0.00,0.000,4,0.052,0.054,2721,3698,1914
$GC,12637,1.49,245.5,155.7,11.9,602,12642,0.12,2.38,0.00,0.000,6,0.107,0.035,2699,2318,1914
$GC,12964,1.49,245.5,125.6,8.3,618,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2317,1914
$GC,13274,1.49,245.5,98.2,8.8,633,13275,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2317,1914
$GC,13583,1.49,245.5,70.8,8.7,648,13587,0.00,2.47,0.00,0.000,4,0.000,0.055,2698,3697,1914
$GC,13655,1.49,245.5,62.1,12.3,651,13660,0.00,2.38,0.00,0.000,6,0.000,0.035,2698,2310,1914
$GC,13973,1.49,245.5,24.5,11.6,666,13978,0.00,2.50,0.00,0.000,4,0.000,0.054,2698,3703,1914
$GC,14007,1.52,275.3,22.1,6.9,667,14039,0.00,2.38,26.33,0.812,6,0.000,0.035,2698,2314,1792
$STATE,14235,end climb,SURFACE_DEPTH_REACHED
$STATE,14235,begin surface coast
$FINISH,1.0,1.012914
$STATE,14260,end surface coast,CONTROL_FINISHED_OK
$STATE,14260,begin surface
$SM_CCo,14285,22.23,0.684,2,0,1691,300.00
$SM_GC,2.00,0.00,0.00,22.23,0.000,0.000,0.684,23,2533,1691,-10.82,0.45,300.00
$IRIDIUM_FIX,6202.67,-1022.04,140298,171735
$TT8_MAMPS,0.028379
$HUMID,2018
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.3,92.8
$24V_AH,23.1,15.998
$10V_AH,10.1,6.689
$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,26.500,101.000,380.425,22.225,0.000,23.697,29.759,132.217,4.500,0.000,0.000,13.652,1309.631,10652.592,500.687,1699.085,470.725,0.000,1347.464,0.000,1662.003,0.000,31.558,0.000
$DEVICE_MAMPS,130.390,92.807,1215.695,684.164,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,506.196,464.388,441.763,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34838,680
$CAP_FILE_SIZE,108370,0
$CFSIZE,260165632,253628416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,211108,004832,6228.067,-1038.127,35,1.3,41,-10.5