version: 66.04
glider: 101
mission: 7
dive: 100
start: 11 22 108 1 36 57
data:
$ID,101
$MISSION,7
$DIVE,100
$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,-733873.81
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,013058,6234.688,-1108.338,26,3.1,45,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-55.4
$GPS2,013637,6234.669,-1108.384,13,1.3,29,-10.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$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,312.4,36471,-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,-61.08,0.000,2,0.000,0.000,23,2531,3037
$GC,83,-1.51,-146.6,3.4,-3.9,3,114,10.48,2.08,-15.65,0.000,4,0.124,0.071,2036,3695,3513
$GC,369,-1.39,-146.6,39.1,-12.0,16,374,0.17,2.03,0.00,0.000,6,0.089,0.035,2070,2506,3514
$GC,697,-1.39,-146.6,60.6,-5.9,32,700,0.00,2.15,0.00,0.000,4,0.000,0.056,2070,3699,3514
$GC,866,-1.31,-146.6,80.4,-15.2,39,870,0.00,2.00,0.00,0.000,6,0.000,0.036,2070,2515,3514
$GC,1188,-1.31,-146.6,107.9,-6.8,55,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2515,3514
$GC,1497,-1.31,-146.6,129.3,-9.7,70,1501,0.00,2.10,0.00,0.000,4,0.000,0.055,2070,3688,3514
$GC,1622,-1.26,-146.6,148.8,-14.5,75,1626,0.15,1.98,0.00,0.000,6,0.089,0.036,2100,2516,3514
$GC,1944,-1.26,-146.6,173.1,-6.5,91,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2516,3514
$GC,2253,-1.30,-146.6,193.7,-6.9,106,2257,0.00,2.10,0.00,0.000,4,0.000,0.055,2100,3691,3514
$GC,2372,-1.30,-146.6,204.3,-8.9,111,2375,0.00,2.00,0.00,0.000,6,0.000,0.035,2100,2510,3513
$GC,2699,-1.30,-146.6,227.2,-6.9,127,2703,0.00,2.12,0.00,0.000,4,0.000,0.054,2100,3699,3513
$GC,2778,-1.30,-146.6,234.0,-8.4,130,2782,0.00,2.03,0.00,0.000,6,0.000,0.035,2100,2505,3514
$GC,3101,-1.30,-146.6,258.8,-7.5,146,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2505,3514
$GC,3410,-1.30,-146.6,284.6,-8.7,161,3413,0.00,2.12,0.00,0.000,4,0.000,0.057,2100,3689,3514
$GC,3488,-1.30,-146.6,292.2,-9.8,164,3492,0.00,2.00,0.00,0.000,6,0.000,0.036,2100,2509,3514
$GC,3810,-1.30,-146.6,321.6,-8.8,180,3814,0.00,2.12,0.00,0.000,4,0.000,0.058,2100,3692,3514
$GC,3867,-1.30,-146.6,326.7,-8.8,182,3870,0.00,2.00,0.00,0.000,6,0.000,0.035,2100,2511,3514
$GC,4190,-1.30,-146.6,351.3,-7.8,198,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2509,3514
$GC,4499,-1.34,-146.6,374.9,-7.3,213,4504,0.00,2.12,0.00,0.000,4,0.000,0.060,2100,3688,3513
$GC,4599,-1.34,-146.6,383.2,-8.6,217,4603,0.00,2.00,0.00,0.000,6,0.000,0.035,2100,2513,3514
$GC,4921,-1.34,-146.6,408.5,-8.3,233,4925,0.00,2.12,0.00,0.000,4,0.000,0.061,2100,3686,3514
$GC,4983,-1.34,-146.6,414.2,-9.7,235,4989,0.00,2.03,0.00,0.000,6,0.000,0.036,2100,2499,3514
$GC,5300,-1.38,-146.6,441.4,-8.4,251,5304,0.12,2.17,0.00,0.000,4,0.053,0.064,2063,3691,3514
$GC,5406,-1.31,-146.6,452.2,-10.0,255,5414,0.12,2.03,0.00,0.000,6,0.091,0.037,2087,2508,3513
$GC,5724,-1.31,-146.6,477.1,-7.1,271,5728,0.00,2.17,0.00,0.000,4,0.000,0.071,2087,3686,3513
$GC,5793,-1.31,-146.6,481.8,-6.5,274,5796,0.00,2.03,0.00,0.000,6,0.000,0.040,2087,2516,3514
$GC,6126,-1.31,-146.6,506.8,-8.5,290,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2516,3514
$GC,6435,-1.31,-146.6,535.3,-9.6,305,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2516,3514
$GC,6744,-1.31,-146.6,561.2,-7.5,320,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2516,3514
$GC,7054,-1.31,-146.6,581.6,-6.2,335,7058,0.00,2.35,0.00,0.000,4,0.000,0.114,2086,3680,3513
$GC,7166,-1.31,-146.6,590.0,-8.5,340,7170,0.00,2.05,0.00,0.000,6,0.000,0.048,2087,2521,3513
$GC,7494,-1.31,-146.6,617.8,-8.7,356,7498,0.00,2.25,0.00,0.000,4,0.000,0.090,2087,3691,3513
$GC,7589,-1.31,-146.6,625.8,-8.4,360,7593,0.00,2.10,0.00,0.000,6,0.000,0.053,2087,2516,3513
$GC,7912,-1.31,-146.6,650.0,-7.4,376,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2515,3512
$STATE,8114,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8115,begin apogee
$GC,8123,-0.45,0.0,665.8,7.6,386,8257,0.88,0.00,128.93,1.243,6,0.073,0.000,2273,2315,2915
$STATE,8258,end apogee,CONTROL_FINISHED_OK
$STATE,8258,begin climb
$GC,8261,1.51,146.6,669.9,0.0,393,8395,1.95,0.00,128.88,1.201,6,0.054,0.000,2700,2315,2316
$GC,8698,1.54,167.5,643.4,7.2,414,8723,0.00,2.72,19.17,1.141,4,0.000,0.074,2700,912,2232
$GC,8825,1.54,167.5,632.1,8.7,419,8831,0.00,2.60,0.00,0.000,6,0.000,0.060,2700,2314,2233
$GC,9141,1.55,172.0,607.6,7.8,435,9152,0.00,2.67,5.78,0.939,4,0.000,0.068,2700,904,2212
$GC,9198,1.50,172.0,602.7,9.1,437,9204,0.00,2.60,0.00,0.000,6,0.000,0.055,2700,2323,2212
$GC,9514,1.50,172.0,574.1,9.6,453,9519,0.00,2.55,0.00,0.000,4,0.000,0.074,2700,3699,2212
$GC,9633,1.43,172.0,562.3,9.2,458,9637,0.00,2.47,0.00,0.000,6,0.000,0.045,2700,2306,2211
$GC,9954,1.43,172.0,535.5,8.1,474,9958,0.00,2.55,0.00,0.000,4,0.000,0.063,2700,901,2211
$GC,10023,1.43,174.8,529.9,7.9,477,10027,0.00,2.58,0.00,0.000,6,0.000,0.051,2700,2329,2210
$GC,10344,1.43,174.8,504.3,8.3,493,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2330,2210
$GC,10653,1.43,174.8,476.8,8.9,508,10657,0.00,2.58,0.00,0.000,4,0.000,0.056,2701,908,2210
$GC,10709,1.43,174.8,471.5,9.6,510,10715,0.00,2.53,0.00,0.000,6,0.000,0.046,2700,2326,2210
$GC,11025,1.43,174.8,445.7,8.3,526,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2326,2210
$GC,11335,1.43,174.8,420.8,8.1,541,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2326,2210
$GC,11644,1.43,174.8,395.3,8.3,556,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2326,2210
$GC,11953,1.43,174.8,369.1,8.6,571,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2325,2210
$GC,12262,1.43,174.8,343.2,8.0,586,12264,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2326,2210
$GC,12572,1.43,174.8,318.1,8.6,601,12577,0.00,0.00,3.85,0.660,6,0.000,0.000,2700,2326,2202
$GC,12881,1.43,174.8,290.8,9.1,616,12882,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2326,2202
$GC,13190,1.43,174.8,262.9,9.0,631,13194,0.00,2.53,0.00,0.000,4,0.000,0.048,2700,902,2202
$GC,13259,1.43,174.8,256.5,9.0,634,13263,0.00,2.47,0.00,0.000,6,0.000,0.040,2700,2322,2202
$GC,13586,1.43,174.8,226.4,9.8,650,13590,0.00,2.42,0.00,0.000,4,0.000,0.057,2700,3690,2202
$GC,13627,1.39,174.8,222.3,9.4,652,13632,0.10,2.38,0.00,0.000,6,0.111,0.036,2682,2301,2203
$GC,13954,1.39,174.8,192.8,8.9,668,13955,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2301,2203
$GC,14263,1.39,175.0,168.9,8.0,683,14268,0.00,2.50,0.00,0.000,4,0.000,0.055,2682,3694,2203
$GC,14332,1.39,175.0,162.5,9.2,686,14336,0.00,2.38,0.00,0.000,6,0.000,0.036,2682,2309,2203
$GC,14654,1.40,180.1,135.0,7.8,702,14663,0.00,0.00,6.90,0.769,6,0.000,0.000,2682,2307,2180
$GC,14965,1.48,206.9,114.3,7.0,717,14991,0.00,0.00,24.08,0.863,6,0.000,0.000,2682,2307,2071
$GC,15294,1.52,206.9,80.6,11.8,733,15299,0.10,2.50,0.00,0.000,4,0.060,0.054,2710,3693,2071
$GC,15350,1.52,206.9,72.7,13.0,735,15357,0.00,2.38,0.00,0.000,6,0.000,0.035,2711,2309,2071
$GC,15667,1.52,206.9,39.5,10.7,751,15671,0.00,2.50,0.00,0.000,4,0.000,0.055,2711,3697,2071
$GC,15730,1.55,236.7,34.6,6.9,754,15761,0.00,2.38,25.75,0.815,6,0.000,0.036,2711,2311,1949
$STATE,16056,end climb,SURFACE_DEPTH_REACHED
$STATE,16056,begin surface coast
$FINISH,0.9,1.003762
$STATE,16079,end surface coast,CONTROL_FINISHED_OK
$STATE,16079,begin surface
$SM_CCo,16105,57.60,0.685,6,0,1692,300.00
$SM_GC,1.72,0.00,0.00,57.60,0.000,0.000,0.685,27,2524,1692,-10.80,0.20,300.00
$IRIDIUM_FIX,6211.90,-1103.02,150298,212109
$TT8_MAMPS,0.029146
$HUMID,1993
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,575.2,99.5
$24V_AH,23.1,16.982
$10V_AH,10.1,7.179
$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,26.050,105.275,343.325,57.600,0.000,23.036,31.085,139.150,6.000,0.000,0.000,30.708,1441.101,12261.802,551.070,1783.634,498.820,0.000,1417.360,0.000,1727.545,0.000,33.203,0.000
$DEVICE_MAMPS,124.254,113.516,1243.307,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,574.505,527.245,474.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37986,771
$CAP_FILE_SIZE,114415,0
$CFSIZE,260165632,253251584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,221108,060808,6235.936,-1113.968,34,1.9,34,-10.9