version: 66.04
glider: 101
mission: 7
dive: 97
start: 11 21 108 13 4 6
data:
$ID,101
$MISSION,7
$DIVE,97
$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,-733793.75
$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,29
$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
$GPS1,125455,6232.426,-1053.950,33,1.4,51,-10.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-53.9
$GPS2,130344,6232.454,-1053.936,16,1.4,33,-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,339.1,9877,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.85,0.000,2,0.000,0.000,26,2521,2951
$GC,83,-1.51,-146.6,3.3,-4.0,3,118,10.55,0.00,-17.75,0.000,6,0.124,0.000,2043,2521,3514
$GC,430,-1.42,-146.6,39.9,-10.3,20,432,0.10,0.00,0.00,0.000,6,0.094,0.000,2063,2521,3515
$GC,738,-1.36,-146.6,79.2,-11.2,35,741,0.00,2.08,0.00,0.000,4,0.000,0.058,2063,3684,3515
$GC,845,-1.28,-146.6,91.3,-10.1,39,852,0.15,2.03,0.00,0.000,6,0.093,0.037,2092,2498,3515
$GC,1162,-1.28,-146.6,115.8,-6.5,55,1166,0.00,2.15,0.00,0.000,4,0.000,0.056,2092,3693,3514
$GC,1224,-1.28,-146.6,121.0,-7.8,57,1231,0.00,2.03,0.00,0.000,6,0.000,0.036,2092,2506,3515
$GC,1541,-1.28,-146.6,147.6,-8.9,73,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2506,3515
$GC,1850,-1.28,-146.6,171.5,-6.3,88,1854,0.00,2.12,0.00,0.000,4,0.000,0.057,2092,3689,3515
$GC,1935,-1.28,-146.6,178.4,-8.7,91,1941,0.00,2.00,0.00,0.000,6,0.000,0.036,2092,2511,3515
$GC,2251,-1.28,-146.6,199.3,-6.2,107,2255,0.00,2.10,0.00,0.000,4,0.000,0.055,2093,3690,3514
$GC,2312,-1.28,-146.6,204.4,-8.8,109,2318,0.00,2.00,0.00,0.000,6,0.000,0.036,2092,2511,3514
$GC,2630,-1.28,-146.6,225.4,-6.9,125,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2511,3515
$GC,2938,-1.28,-146.6,246.3,-7.4,140,2942,0.00,2.10,0.00,0.000,4,0.000,0.057,2092,3686,3515
$GC,3017,-1.28,-146.6,252.6,-8.6,143,3021,0.00,1.98,0.00,0.000,6,0.000,0.036,2092,2517,3514
$GC,3339,-1.28,-146.6,277.2,-7.6,159,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2517,3515
$GC,3648,-1.28,-146.6,302.5,-7.9,174,3652,0.00,2.10,0.00,0.000,4,0.000,0.058,2092,3685,3515
$GC,3762,-1.28,-146.6,311.7,-8.4,179,3766,0.00,1.98,0.00,0.000,6,0.000,0.036,2092,2515,3515
$GC,4095,-1.28,-146.6,341.6,-9.2,195,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2513,3515
$GC,4404,-1.28,-146.6,371.8,-9.9,210,4408,0.00,2.10,0.00,0.000,4,0.000,0.060,2092,3684,3515
$GC,4527,-1.28,-146.6,383.3,-8.9,215,4531,0.00,2.00,0.00,0.000,6,0.000,0.037,2092,2511,3515
$GC,4849,-1.28,-146.6,412.0,-9.4,231,4853,0.00,2.12,0.00,0.000,4,0.000,0.062,2092,3683,3514
$GC,4918,-1.28,-146.6,418.9,-9.7,234,4922,0.00,2.00,0.00,0.000,6,0.000,0.036,2092,2509,3514
$GC,5251,-1.28,-146.6,449.5,-9.1,250,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2509,3515
$GC,5563,-1.28,-146.6,476.6,-8.6,265,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2509,3515
$GC,5870,-1.28,-146.6,505.8,-10.1,280,5874,0.00,2.22,0.00,0.000,4,0.000,0.081,2092,3687,3515
$GC,6004,-1.28,-146.6,519.9,-10.1,286,6008,0.00,2.08,0.00,0.000,6,0.000,0.051,2092,2519,3514
$GC,6332,-1.28,-146.6,547.7,-7.5,302,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2520,3514
$GC,6641,-1.28,-146.6,573.2,-8.4,317,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2517,3514
$GC,6951,-1.32,-146.6,595.8,-6.8,332,6955,0.00,2.25,0.00,0.000,4,0.000,0.092,2092,3685,3514
$GC,7024,-1.32,-146.6,601.1,-7.3,335,7028,0.00,2.10,0.00,0.000,6,0.000,0.054,2092,2513,3514
$GC,7346,-1.37,-146.6,625.9,-8.0,351,7350,0.00,2.25,0.00,0.000,4,0.000,0.091,2093,3680,3514
$GC,7432,-1.37,-146.6,633.0,-8.0,355,7436,0.00,2.10,0.00,0.000,6,0.000,0.054,2092,2506,3514
$STATE,7494,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7494,begin apogee
$GC,7502,-0.45,0.0,638.4,8.3,358,7637,0.85,0.00,129.55,1.216,6,0.072,0.000,2273,2307,2915
$STATE,7638,end apogee,CONTROL_FINISHED_OK
$STATE,7638,begin climb
$GC,7641,1.51,146.6,643.0,0.0,365,7777,2.00,0.00,128.98,1.176,6,0.054,0.000,2706,2307,2316
$GC,8087,1.51,146.6,613.7,8.1,387,8091,0.00,2.62,0.00,0.000,4,0.000,0.074,2705,901,2316
$GC,8143,1.45,146.6,608.6,9.0,389,8149,0.00,2.60,0.00,0.000,6,0.000,0.059,2706,2314,2316
$GC,8460,1.40,146.6,583.3,8.1,405,8461,0.15,0.00,0.00,0.000,6,0.109,0.000,2679,2314,2314
$GC,8769,1.40,146.6,554.8,8.3,420,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2315,2313
$GC,9078,1.45,192.6,534.5,6.2,435,9121,0.00,0.00,41.00,1.172,6,0.000,0.000,2678,2315,2129
$GC,9427,1.45,192.6,503.4,9.9,452,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2315,2128
$GC,9736,1.45,192.6,471.9,8.9,467,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2315,2128
$GC,10046,1.48,215.4,450.1,7.1,482,10069,0.00,0.00,21.12,1.088,6,0.000,0.000,2678,2315,2036
$GC,10375,1.53,215.4,421.5,9.7,498,10377,0.12,0.00,0.00,0.000,6,0.057,0.000,2712,2315,2036
$GC,10684,1.53,215.4,388.7,10.2,513,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2315,2036
$GC,10993,1.53,215.4,357.8,9.5,528,10995,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2314,2036
$GC,11303,1.53,215.4,330.2,8.8,543,11304,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2314,2036
$GC,11612,1.53,215.4,300.8,9.5,558,11613,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2314,2036
$GC,11921,1.53,215.4,273.9,8.4,573,11925,0.00,2.45,0.00,0.000,4,0.000,0.058,2712,3699,2037
$GC,11984,1.48,215.4,267.7,10.4,575,11990,0.00,2.40,0.00,0.000,6,0.000,0.036,2712,2298,2037
$GC,12300,1.48,215.4,239.0,9.4,591,12301,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2298,2037
$GC,12609,1.48,215.4,211.2,8.3,606,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2298,2038
$GC,12919,1.48,215.4,182.4,8.4,621,12923,0.00,2.50,0.00,0.000,4,0.000,0.056,2713,3698,2038
$GC,12975,1.48,215.4,177.4,8.6,623,12980,0.00,2.38,0.00,0.000,6,0.000,0.035,2712,2311,2038
$GC,13292,1.48,215.4,147.2,10.7,638,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2310,2038
$GC,13601,1.48,215.4,110.0,13.4,653,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2310,2038
$GC,13912,1.56,274.0,89.5,5.8,668,13968,0.00,2.60,50.38,0.857,4,0.000,0.055,2712,3695,1797
$GC,14063,1.56,274.0,74.2,13.1,674,14069,0.00,2.40,0.00,0.000,6,0.000,0.035,2712,2307,1797
$GC,14381,1.56,274.0,30.7,13.9,690,14382,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2306,1797
$STATE,14644,end climb,SURFACE_DEPTH_REACHED
$STATE,14644,begin surface coast
$FINISH,1.4,1.027378
$STATE,14667,end surface coast,CONTROL_FINISHED_OK
$STATE,14667,begin surface
$SM_CCo,14692,24.35,0.702,2,0,1692,300.00
$SM_GC,1.88,0.00,0.00,24.35,0.000,0.000,0.702,28,2537,1692,-10.80,0.57,300.00
$IRIDIUM_FIX,6211.90,-1052.96,150298,131330
$TT8_MAMPS,0.028379
$HUMID,1998
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,576.3,71.0
$24V_AH,23.1,16.561
$10V_AH,10.1,6.962
$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,25.900,66.600,371.025,24.350,0.000,47.925,61.203,209.111,5.000,0.000,0.000,34.720,1268.565,11389.064,525.875,1477.543,602.070,0.000,1236.772,0.000,1434.617,0.000,33.118,0.000
$DEVICE_MAMPS,124.254,92.040,1216.462,701.805,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.165,480.207,438.321,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34865,704
$CAP_FILE_SIZE,97969,0
$CFSIZE,260165632,253431808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,211108,171055,6235.353,-1056.346,39,1.1,39,-10.7