version: 66.04
glider: 101
mission: 7
dive: 102
start: 11 22 108 10 31 6
data:
$ID,101
$MISSION,7
$DIVE,102
$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,-733900.94
$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,36
$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
$GPS1,102525,6235.749,-1121.448,41,1.1,41,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-59.2
$GPS2,103045,6235.717,-1121.508,11,1.9,11,-10.9
$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,321.7,26314,-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,-60.45,0.000,2,0.000,0.000,25,2529,2883
$GC,82,-1.51,-146.6,3.1,-3.3,3,125,10.48,2.12,-22.55,0.000,4,0.125,0.071,2035,3683,3513
$GC,276,-1.38,-146.6,26.2,-14.8,11,284,0.15,2.03,0.00,0.000,6,0.081,0.036,2069,2515,3513
$GC,593,-1.38,-146.6,66.4,-14.0,27,597,0.00,2.10,0.00,0.000,4,0.000,0.056,2069,3680,3514
$GC,663,-1.32,-146.6,75.7,-13.2,30,666,0.00,2.00,0.00,0.000,6,0.000,0.036,2069,2506,3513
$GC,998,-1.32,-146.6,109.6,-8.8,46,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2506,3514
$GC,1306,-1.28,-146.6,142.6,-10.8,61,1311,0.12,2.12,0.00,0.000,4,0.088,0.054,2095,3688,3513
$GC,1414,-1.28,-146.6,153.9,-10.2,66,1418,0.00,2.00,0.00,0.000,6,0.000,0.036,2096,2512,3514
$GC,1747,-1.28,-146.6,185.1,-8.3,82,1751,0.00,2.10,0.00,0.000,4,0.000,0.056,2095,3683,3514
$GC,1809,-1.28,-146.6,190.0,-8.3,84,1815,0.00,2.00,0.00,0.000,6,0.000,0.036,2095,2506,3514
$GC,2125,-1.28,-146.6,216.9,-9.0,100,2129,0.00,2.10,0.00,0.000,4,0.000,0.055,2095,3677,3513
$GC,2193,-1.28,-146.6,222.4,-8.9,103,2197,0.00,1.98,0.00,0.000,6,0.000,0.036,2096,2513,3514
$GC,2526,-1.28,-146.6,255.6,-11.1,119,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2513,3514
$GC,2835,-1.28,-146.6,285.0,-8.9,134,2839,0.00,2.10,0.00,0.000,4,0.000,0.058,2096,3682,3514
$GC,2959,-1.28,-146.6,296.6,-9.9,139,2963,0.00,1.98,0.00,0.000,6,0.000,0.037,2095,2519,3513
$GC,3281,-1.28,-146.6,323.3,-8.9,155,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2518,3513
$GC,3590,-1.28,-146.6,352.1,-9.5,170,3594,0.00,2.10,0.00,0.000,4,0.000,0.059,2095,3682,3513
$GC,3719,-1.28,-146.6,365.0,-9.8,175,3726,0.00,2.00,0.00,0.000,6,0.000,0.036,2096,2526,3513
$GC,4036,-1.28,-146.6,394.4,-9.4,191,4040,0.00,2.10,0.00,0.000,4,0.000,0.061,2095,3686,3513
$GC,4098,-1.28,-146.6,400.6,-9.7,193,4104,0.00,2.00,0.00,0.000,6,0.000,0.036,2095,2515,3513
$GC,4414,-1.28,-146.6,428.5,-8.7,209,4418,0.00,2.12,0.00,0.000,4,0.000,0.063,2095,3683,3513
$GC,4528,-1.28,-146.6,438.7,-8.8,214,4532,0.00,2.00,0.00,0.000,6,0.000,0.037,2096,2517,3513
$GC,4861,-1.28,-146.6,466.3,-8.2,230,4864,0.00,2.15,0.00,0.000,4,0.000,0.069,2095,3685,3513
$GC,4945,-1.28,-146.6,474.1,-8.9,233,4951,0.00,2.03,0.00,0.000,6,0.000,0.038,2096,2512,3513
$GC,5262,-1.28,-146.6,501.4,-8.7,249,5266,0.00,2.17,0.00,0.000,4,0.000,0.077,2096,3672,3513
$GC,5324,-1.28,-146.6,507.3,-9.4,251,5330,0.00,2.03,0.00,0.000,6,0.000,0.045,2095,2519,3513
$GC,5640,-1.28,-146.6,533.6,-8.5,267,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2519,3513
$GC,5950,-1.32,-146.6,563.6,-9.7,282,5954,0.00,2.22,0.00,0.000,4,0.000,0.091,2095,3672,3513
$GC,6110,-1.32,-146.6,577.0,-7.5,289,6114,0.00,2.08,0.00,0.000,6,0.000,0.053,2096,2511,3513
$GC,6439,-1.36,-146.6,601.2,-7.8,305,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2510,3513
$GC,6752,-1.41,-146.6,626.0,-8.2,320,6756,0.12,2.25,0.00,0.000,4,0.054,0.089,2057,3679,3513
$GC,6895,-1.35,-146.6,640.0,-10.2,326,6899,0.12,2.10,0.00,0.000,6,0.094,0.054,2081,2506,3512
$GC,7211,-1.35,-146.6,668.1,-8.9,341,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2505,3513
$STATE,7352,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7352,begin apogee
$GC,7361,-0.45,0.0,680.8,8.8,348,7495,0.93,0.00,129.98,1.246,6,0.075,0.000,2276,2306,2915
$STATE,7496,end apogee,CONTROL_FINISHED_OK
$STATE,7496,begin climb
$GC,7500,1.51,146.6,685.6,0.0,355,7636,1.98,0.00,128.95,1.210,6,0.053,0.000,2705,2306,2316
$GC,7951,1.48,150.6,658.9,7.8,377,7961,0.00,2.65,4.93,0.860,4,0.000,0.074,2705,907,2300
$GC,8029,1.40,150.6,651.1,10.6,380,8036,0.12,2.58,0.00,0.000,6,0.127,0.059,2684,2301,2300
$GC,8346,1.43,169.2,625.2,7.3,396,8368,0.00,2.72,17.40,1.168,4,0.000,0.077,2684,3692,2224
$GC,8476,1.43,169.2,614.7,9.3,401,8482,0.00,2.47,0.00,0.000,6,0.000,0.047,2683,2310,2224
$GC,8792,1.43,169.2,585.5,10.1,417,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2310,2223
$GC,9101,1.46,196.0,559.1,7.0,432,9131,0.00,2.65,24.52,1.178,4,0.000,0.065,2683,905,2116
$GC,9194,1.46,196.8,552.4,8.0,436,9198,0.00,2.58,0.00,0.000,6,0.000,0.052,2684,2318,2116
$GC,9515,1.46,196.8,525.6,8.9,452,9519,0.00,2.53,0.00,0.000,4,0.000,0.070,2684,3692,2115
$GC,9578,1.46,196.8,519.7,9.2,455,9582,0.00,2.42,0.00,0.000,6,0.000,0.041,2684,2313,2115
$GC,9911,1.46,197.7,491.2,8.0,471,9912,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2313,2114
$GC,10220,1.46,197.7,467.1,8.2,486,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2313,2115
$GC,10530,1.46,197.7,440.0,8.9,501,10534,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,3705,2115
$GC,10619,1.46,197.7,430.9,10.5,505,10623,0.00,2.42,0.00,0.000,6,0.000,0.038,2683,2309,2115
$GC,10941,1.46,197.7,401.2,9.2,521,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2308,2114
$GC,11250,1.46,197.7,372.1,9.4,536,11254,0.00,2.53,0.00,0.000,4,0.000,0.059,2684,3698,2115
$GC,11294,1.46,197.7,367.7,9.9,538,11299,0.00,2.40,0.00,0.000,6,0.000,0.036,2683,2306,2115
$GC,11616,1.46,197.7,339.8,8.6,554,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2306,2116
$GC,11926,1.52,208.0,315.1,7.6,569,11944,0.00,0.00,12.38,0.949,6,0.000,0.000,2684,2306,2066
$GC,12255,1.52,208.0,286.4,10.1,585,12256,0.10,0.00,0.00,0.000,6,0.061,0.000,2712,2305,2066
$GC,12564,1.52,208.0,253.7,10.6,600,12568,0.00,2.50,0.00,0.000,4,0.000,0.056,2712,3698,2066
$GC,12626,1.45,208.0,247.4,10.3,602,12632,0.00,2.38,0.00,0.000,6,0.000,0.035,2712,2314,2066
$GC,12942,1.45,208.0,214.9,10.5,618,12943,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2313,2066
$GC,13251,1.45,208.0,181.8,9.4,633,13252,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2313,2066
$GC,13560,1.45,208.0,154.8,9.0,648,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2313,2066
$GC,13870,1.45,208.0,127.2,9.1,663,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2313,2066
$GC,14180,1.45,208.0,99.8,9.9,678,14181,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2312,2067
$GC,14490,1.45,208.0,71.9,8.8,693,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2312,2067
$GC,14798,1.46,210.5,44.2,7.9,708,14804,0.00,0.00,4.32,0.611,6,0.000,0.000,2712,2312,2056
$GC,15109,1.46,210.5,17.1,8.8,723,15110,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2312,2056
$STATE,15270,end climb,SURFACE_DEPTH_REACHED
$STATE,15270,begin surface coast
$FINISH,1.1,1.027157
$STATE,15291,end surface coast,CONTROL_FINISHED_OK
$STATE,15291,begin surface
$SM_CCo,15316,74.53,0.790,1,0,1691,300.00
$SM_GC,1.71,0.00,0.00,74.53,0.000,0.000,0.790,25,2540,1691,-10.81,0.65,300.00
$IRIDIUM_FIX,6216.53,-1109.41,160298,060654
$TT8_MAMPS,0.029146
$HUMID,2021
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,626.0,63.9
$24V_AH,23.1,17.263
$10V_AH,10.1,7.320
$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,25.925,90.100,322.475,74.525,0.000,26.421,34.528,134.052,5.750,0.000,0.000,12.731,1354.963,11696.091,534.497,1646.451,488.560,0.000,1342.349,0.000,1613.907,0.000,36.335,0.000
$DEVICE_MAMPS,126.555,90.506,1246.375,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,543.882,500.359,453.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37969,732
$CAP_FILE_SIZE,106078,0
$CFSIZE,260165632,253149184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221108,144902,6236.303,-1129.643,37,1.6,37,-11.0