version: 66.04
glider: 101
mission: 7
dive: 96
start: 11 21 108 9 0 30
data:
$ID,101
$MISSION,7
$DIVE,96
$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,-733758.38
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,085507,6231.042,-1047.699,43,1.2,48,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-54.1
$GPS2,090009,6231.021,-1047.720,13,1.2,13,-10.6
$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,327.2,15232,-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,-60.53,0.000,2,0.000,0.000,26,2535,2998
$GC,82,-1.51,-146.6,3.4,-4.0,3,113,10.45,2.05,-16.10,0.000,4,0.124,0.071,2038,3686,3512
$GC,271,-1.36,-146.6,33.1,-15.5,11,278,0.20,2.03,0.00,0.000,6,0.087,0.036,2078,2502,3513
$GC,588,-1.36,-146.6,66.6,-9.9,27,591,0.00,2.12,0.00,0.000,4,0.000,0.055,2077,3687,3513
$GC,667,-1.30,-146.6,75.0,-10.7,30,671,0.00,2.00,0.00,0.000,6,0.000,0.035,2078,2512,3513
$GC,989,-1.30,-146.6,107.8,-11.4,46,993,0.00,2.12,0.00,0.000,4,0.000,0.055,2078,3695,3513
$GC,1063,-1.26,-146.6,117.0,-12.2,49,1067,0.10,2.00,0.00,0.000,6,0.095,0.035,2097,2516,3513
$GC,1391,-1.26,-146.6,146.4,-5.9,65,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2517,3513
$GC,1699,-1.26,-146.6,171.1,-7.9,80,1703,0.00,2.10,0.00,0.000,4,0.000,0.055,2097,3688,3512
$GC,1761,-1.26,-146.6,176.7,-7.8,82,1767,0.00,2.00,0.00,0.000,6,0.000,0.036,2097,2512,3513
$GC,2077,-1.26,-146.6,202.8,-8.0,98,2081,0.00,2.12,0.00,0.000,4,0.000,0.056,2097,3696,3513
$GC,2173,-1.26,-146.6,211.9,-10.1,102,2177,0.00,2.00,0.00,0.000,6,0.000,0.035,2097,2518,3512
$GC,2500,-1.26,-146.6,244.6,-10.5,118,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2518,3513
$GC,2810,-1.26,-146.6,275.2,-9.3,133,2814,0.00,2.10,0.00,0.000,4,0.000,0.057,2097,3690,3513
$GC,2934,-1.26,-146.6,286.9,-8.5,138,2938,0.00,2.00,0.00,0.000,6,0.000,0.036,2097,2512,3513
$GC,3256,-1.26,-146.6,311.5,-7.6,154,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2511,3513
$GC,3565,-1.26,-146.6,337.2,-8.6,169,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2511,3513
$GC,3874,-1.26,-146.6,364.5,-8.6,184,3878,0.00,2.12,0.00,0.000,4,0.000,0.060,2097,3689,3512
$GC,3976,-1.26,-146.6,374.3,-10.4,188,3979,0.00,2.00,0.00,0.000,6,0.000,0.036,2097,2514,3513
$GC,4299,-1.26,-146.6,400.9,-7.9,204,4302,0.00,2.12,0.00,0.000,4,0.000,0.061,2097,3686,3513
$GC,4383,-1.26,-146.6,408.3,-8.6,207,4389,0.00,2.00,0.00,0.000,6,0.000,0.036,2097,2518,3513
$GC,4699,-1.26,-146.6,431.7,-8.1,223,4703,0.00,2.12,0.00,0.000,4,0.000,0.064,2097,3685,3513
$GC,4783,-1.26,-146.6,439.9,-10.0,226,4789,0.00,2.00,0.00,0.000,6,0.000,0.037,2097,2519,3513
$GC,5099,-1.26,-146.6,467.0,-9.4,242,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2520,3513
$GC,5409,-1.26,-146.6,501.4,-11.3,257,5413,0.00,2.20,0.00,0.000,4,0.000,0.080,2097,3689,3513
$GC,5539,-1.26,-146.6,515.3,-9.4,262,5545,0.00,2.08,0.00,0.000,6,0.000,0.050,2097,2518,3513
$GC,5856,-1.31,-146.6,538.0,-7.3,278,5860,0.00,2.22,0.00,0.000,4,0.000,0.092,2097,3680,3513
$GC,5934,-1.31,-146.6,544.7,-8.7,281,5938,0.00,2.12,0.00,0.000,6,0.000,0.062,2097,2515,3513
$GC,6257,-1.36,-146.6,573.1,-8.9,297,6261,0.00,2.38,0.00,0.000,4,0.000,0.116,2097,3680,3513
$GC,6324,-1.36,-146.6,579.2,-8.7,300,6328,0.00,2.08,0.00,0.000,6,0.000,0.049,2097,2511,3512
$GC,6653,-1.41,-146.6,601.1,-6.0,316,6657,0.12,2.25,0.00,0.000,4,0.054,0.089,2061,3686,3513
$GC,6761,-1.36,-146.6,610.0,-8.9,320,6768,0.00,2.10,0.00,0.000,6,0.000,0.055,2061,2517,3512
$STATE,7054,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7054,begin apogee
$GC,7062,-0.45,0.0,638.5,9.6,335,7197,1.00,0.00,129.10,1.216,6,0.071,0.000,2274,2319,2915
$STATE,7197,end apogee,CONTROL_FINISHED_OK
$STATE,7197,begin climb
$GC,7201,1.51,146.6,643.7,0.0,342,7339,1.98,2.70,128.32,1.181,4,0.051,0.087,2705,3680,2317
$GC,7390,1.43,147.6,635.1,8.0,351,7394,0.00,2.50,0.00,0.000,6,0.000,0.054,2705,2315,2316
$GC,7717,1.43,147.6,608.5,8.6,367,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2314,2315
$GC,8027,1.43,178.9,584.9,6.8,382,8061,0.00,2.67,29.00,1.170,4,0.000,0.077,2705,3687,2185
$GC,8142,1.36,178.9,575.7,8.3,387,8147,0.17,2.47,0.00,0.000,6,0.104,0.048,2673,2312,2184
$GC,8464,1.40,178.9,552.7,8.3,403,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2312,2183
$GC,8774,1.51,234.9,529.6,5.9,418,8829,0.12,2.62,49.22,1.171,4,0.056,0.071,2708,3683,1957
$GC,8900,1.51,234.9,520.3,9.1,423,8906,0.00,2.45,0.00,0.000,6,0.000,0.044,2708,2310,1956
$GC,9216,1.51,234.9,491.5,9.9,439,9220,0.00,2.55,0.00,0.000,4,0.000,0.065,2708,3686,1956
$GC,9266,1.51,234.9,485.8,11.3,441,9271,0.00,2.42,0.00,0.000,6,0.000,0.041,2707,2309,1956
$GC,9588,1.51,234.9,455.8,8.9,457,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2309,1956
$GC,9897,1.51,234.9,425.2,10.3,472,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2309,1956
$GC,10207,1.51,234.9,394.2,10.0,487,10211,0.00,2.53,0.00,0.000,4,0.000,0.060,2708,3693,1956
$GC,10269,1.51,234.9,387.2,11.5,489,10275,0.00,2.40,0.00,0.000,6,0.000,0.037,2707,2309,1956
$GC,10585,1.51,234.9,353.1,10.8,505,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2308,1956
$GC,10894,1.51,234.9,322.9,9.4,520,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2309,1956
$GC,11204,1.51,234.9,292.9,10.4,535,11208,0.00,2.50,0.00,0.000,4,0.000,0.057,2708,3696,1956
$GC,11265,1.51,234.9,286.1,10.4,537,11271,0.00,2.38,0.00,0.000,6,0.000,0.036,2708,2314,1956
$GC,11581,1.51,234.9,254.9,9.9,553,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2314,1956
$GC,11890,1.51,234.9,222.1,11.0,568,11894,0.00,2.47,0.00,0.000,4,0.000,0.056,2708,3693,1957
$GC,11943,1.51,234.9,216.2,10.9,570,11947,0.00,2.38,0.00,0.000,6,0.000,0.035,2708,2307,1957
$GC,12265,1.57,284.9,192.9,6.1,586,12311,0.00,0.00,43.90,0.923,6,0.000,0.000,2708,2306,1753
$GC,12614,1.61,315.8,169.9,6.8,603,12648,0.00,2.62,27.12,0.887,4,0.000,0.054,2707,3692,1627
$GC,12705,1.61,315.8,159.1,13.6,607,12710,0.00,2.40,0.00,0.000,6,0.000,0.035,2707,2308,1626
$GC,13028,1.66,315.8,117.3,13.0,623,13030,0.12,0.00,0.00,0.000,6,0.053,0.000,2745,2307,1626
$GC,13337,1.66,315.8,73.5,13.1,638,13341,0.00,2.47,0.00,0.000,4,0.000,0.052,2744,3686,1626
$GC,13404,1.60,315.8,62.8,15.4,641,13409,0.10,2.38,0.00,0.000,6,0.109,0.035,2727,2305,1626
$GC,13728,1.60,315.8,15.7,14.4,657,13729,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2304,1626
$STATE,13867,end climb,SURFACE_DEPTH_REACHED
$STATE,13867,begin surface coast
$FINISH,1.0,1.010092
$STATE,13890,end surface coast,CONTROL_FINISHED_OK
$STATE,13890,begin surface
$SM_CCo,13975,0.00,0.000,0,0,1626,316.19
$SM_GC,1.82,11.88,0.00,0.00,0.035,0.000,0.000,26,2519,1626,-10.75,0.06,316.19
$IRIDIUM_FIX,6207.28,-1032.88,150298,050521
$TT8_MAMPS,0.028379
$HUMID,2023
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,550.8,96.0
$24V_AH,23.1,16.419
$10V_AH,10.1,6.893
$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,26.250,100.125,406.675,0.000,0.000,23.716,28.678,122.740,5.250,0.000,0.000,15.277,1247.297,10530.456,505.613,1542.488,452.799,0.000,1290.778,0.000,1508.311,0.000,31.570,0.000
$DEVICE_MAMPS,124.254,115.817,1216.462,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.181,453.125,393.374,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34752,665
$CAP_FILE_SIZE,101157,0
$CFSIZE,260165632,253476864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,211108,125455,6232.426,-1053.950,33,1.4,51,-10.6