version: 66.04
glider: 101
mission: 7
dive: 103
start: 11 22 108 14 55 6
data:
$ID,101
$MISSION,7
$DIVE,103
$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,-733913.94
$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,33
$R_STBD_OVSHOOT,38
$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
$GPS1,144902,6236.303,-1129.643,37,1.6,37,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-58.4
$GPS2,145445,6236.340,-1129.655,10,1.7,10,-11.0
$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,331.9,20653,-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,-60.17,0.000,2,0.000,0.000,25,2540,2994
$GC,82,-1.51,-146.6,3.5,-4.2,3,114,10.45,2.53,-16.23,0.000,4,0.123,0.055,2039,1110,3513
$GC,317,-1.43,-146.6,29.3,-10.2,13,324,0.12,2.45,0.00,0.000,6,0.103,0.041,2063,2508,3514
$GC,635,-1.38,-146.6,63.0,-10.5,29,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2508,3514
$GC,943,-1.32,-146.6,94.7,-10.0,44,948,0.12,2.10,0.00,0.000,4,0.094,0.057,2087,3689,3514
$GC,1061,-1.32,-146.6,106.4,-9.2,49,1065,0.00,2.03,0.00,0.000,6,0.000,0.036,2087,2501,3514
$GC,1384,-1.32,-146.6,135.0,-9.5,65,1388,0.00,2.15,0.00,0.000,4,0.000,0.056,2087,3698,3514
$GC,1441,-1.32,-146.6,140.2,-9.2,67,1444,0.00,2.03,0.00,0.000,6,0.000,0.035,2087,2507,3514
$GC,1763,-1.32,-146.6,168.7,-9.0,83,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2507,3514
$GC,2072,-1.32,-146.6,194.4,-8.4,98,2075,0.00,2.12,0.00,0.000,4,0.000,0.056,2087,3691,3514
$GC,2156,-1.32,-146.6,202.3,-8.9,101,2162,0.00,2.00,0.00,0.000,6,0.000,0.035,2087,2513,3514
$GC,2472,-1.32,-146.6,229.3,-8.8,117,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2513,3514
$GC,2782,-1.32,-146.6,259.6,-11.3,132,2785,0.00,2.12,0.00,0.000,4,0.000,0.057,2087,3696,3514
$GC,2895,-1.32,-146.6,274.1,-12.5,137,2899,0.00,2.00,0.00,0.000,6,0.000,0.036,2087,2512,3514
$GC,3228,-1.32,-146.6,306.5,-8.8,153,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2512,3514
$GC,3538,-1.32,-146.6,336.0,-8.9,168,3542,0.00,2.12,0.00,0.000,4,0.000,0.058,2087,3692,3514
$GC,3629,-1.32,-146.6,344.9,-9.5,172,3633,0.00,2.00,0.00,0.000,6,0.000,0.035,2087,2513,3514
$GC,3962,-1.32,-146.6,373.9,-8.6,188,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2512,3514
$GC,4272,-1.32,-146.6,401.0,-8.7,203,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2512,3514
$GC,4580,-1.32,-146.6,428.9,-8.8,218,4584,0.00,2.15,0.00,0.000,4,0.000,0.064,2087,3691,3514
$GC,4665,-1.32,-146.6,437.0,-9.7,221,4671,0.00,2.00,0.00,0.000,6,0.000,0.036,2087,2523,3514
$GC,4981,-1.32,-146.6,465.0,-9.0,237,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2523,3514
$GC,5291,-1.32,-146.6,489.3,-6.9,252,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2523,3514
$GC,5600,-1.32,-146.6,512.6,-8.5,267,5603,0.00,2.20,0.00,0.000,4,0.000,0.083,2087,3684,3514
$GC,5684,-1.32,-146.6,520.1,-8.9,270,5690,0.00,2.05,0.00,0.000,6,0.000,0.051,2087,2527,3514
$GC,6001,-1.32,-146.6,545.1,-8.4,286,6004,0.00,2.25,0.00,0.000,4,0.000,0.096,2087,3683,3514
$GC,6074,-1.32,-146.6,552.0,-9.4,289,6078,0.00,2.12,0.00,0.000,6,0.000,0.063,2087,2515,3514
$GC,6401,-1.32,-146.6,576.7,-6.9,305,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2512,3514
$GC,6710,-1.32,-146.6,600.0,-8.1,320,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2512,3514
$GC,7019,-1.32,-146.6,627.8,-8.7,335,7023,0.00,2.28,0.00,0.000,4,0.000,0.091,2087,3691,3513
$GC,7177,-1.32,-146.6,641.7,-9.2,342,7181,0.00,2.12,0.00,0.000,6,0.000,0.054,2087,2503,3513
$GC,7504,-1.32,-146.6,669.0,-8.3,358,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2503,3513
$STATE,7707,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7707,begin apogee
$GC,7716,-0.45,0.0,685.0,7.8,368,7850,0.88,0.00,129.43,1.255,6,0.072,0.000,2273,2319,2916
$STATE,7851,end apogee,CONTROL_FINISHED_OK
$STATE,7851,begin climb
$GC,7855,1.51,146.6,689.5,0.0,375,7989,1.92,0.00,129.45,1.217,6,0.045,0.000,2704,2319,2317
$GC,8290,1.48,150.0,671.0,7.9,396,8300,0.00,2.62,4.53,0.827,4,0.000,0.081,2704,3684,2303
$GC,8346,1.40,150.0,665.7,8.5,398,8352,0.12,2.47,0.00,0.000,6,0.112,0.049,2682,2315,2303
$GC,8662,1.43,176.7,640.8,7.0,414,8692,0.00,2.70,24.83,1.195,4,0.000,0.072,2681,907,2194
$GC,8760,1.43,176.7,633.2,8.2,418,8766,0.00,2.60,0.00,0.000,6,0.000,0.058,2682,2312,2194
$GC,9076,1.45,192.5,610.0,7.4,434,9098,0.00,2.65,15.12,1.165,4,0.000,0.076,2681,3696,2130
$GC,9200,1.45,192.5,599.5,9.7,439,9204,0.00,2.47,0.00,0.000,6,0.000,0.046,2682,2313,2129
$GC,9516,1.45,192.5,573.8,8.2,454,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2313,2128
$GC,9825,1.45,192.5,547.0,8.7,469,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2313,2128
$GC,10135,1.48,218.8,523.2,7.0,484,10161,0.00,0.00,23.92,1.154,6,0.000,0.000,2681,2313,2023
$GC,10464,1.52,218.8,496.8,8.8,500,10469,0.10,2.55,0.00,0.000,4,0.064,0.065,2709,3693,2023
$GC,10527,1.48,218.8,489.9,11.6,503,10532,0.00,2.42,0.00,0.000,6,0.000,0.040,2709,2311,2022
$GC,10855,1.48,218.8,454.5,11.0,519,10856,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2311,2022
$GC,11164,1.48,218.8,421.5,10.4,534,11168,0.00,2.50,0.00,0.000,4,0.000,0.054,2709,907,2022
$GC,11214,1.48,218.8,416.1,10.4,536,11219,0.00,2.53,0.00,0.000,6,0.000,0.043,2709,2332,2023
$GC,11531,1.48,218.8,384.6,10.0,551,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2332,2022
$GC,11840,1.48,218.8,354.6,9.8,566,11841,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2332,2023
$GC,12150,1.48,218.8,323.2,10.7,581,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2332,2023
$GC,12459,1.48,218.8,291.5,10.4,596,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2333,2023
$GC,12768,1.48,218.8,261.0,9.2,611,12769,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2332,2024
$GC,13077,1.48,218.8,231.0,9.8,626,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2332,2024
$GC,13386,1.48,218.8,202.6,9.4,641,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2332,2025
$GC,13696,1.48,218.8,173.8,9.2,656,13697,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2332,2025
$GC,14005,1.48,218.8,146.4,8.3,671,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2332,2026
$GC,14314,1.48,218.8,119.2,8.5,686,14318,0.00,2.42,0.00,0.000,4,0.000,0.055,2709,3700,2026
$GC,14378,1.48,218.8,111.9,10.4,689,14382,0.00,2.40,0.00,0.000,6,0.000,0.036,2709,2301,2026
$GC,14705,1.48,218.8,77.6,10.2,705,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2301,2026
$GC,15016,1.48,218.8,51.3,10.0,720,15020,0.00,2.50,0.00,0.000,4,0.000,0.054,2709,3695,2026
$GC,15080,1.48,218.8,44.4,10.6,723,15084,0.00,2.38,0.00,0.000,6,0.000,0.035,2709,2306,2026
$GC,15408,1.48,218.8,14.0,10.3,739,15409,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2304,2026
$STATE,15529,end climb,SURFACE_DEPTH_REACHED
$STATE,15529,begin surface coast
$FINISH,0.9,1.027601
$STATE,15550,end surface coast,CONTROL_FINISHED_OK
$STATE,15550,begin surface
$SM_CCo,15575,71.43,0.749,4,0,1692,300.00
$SM_GC,1.65,0.00,0.00,71.43,0.000,0.000,0.749,27,2535,1692,-10.80,0.51,300.00
$IRIDIUM_FIX,6211.90,-1121.34,160298,101016
$TT8_MAMPS,0.029146
$HUMID,2016
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.3,44.4
$24V_AH,23.1,17.402
$10V_AH,10.1,7.392
$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,25.575,78.800,327.275,71.425,0.000,33.040,39.750,144.147,5.500,0.000,0.000,12.389,1359.142,12020.169,536.710,1594.231,504.007,0.000,1309.419,0.000,1567.899,0.000,37.900,0.000
$DEVICE_MAMPS,123.487,95.875,1254.812,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.671,510.245,462.407,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38133,746
$CAP_FILE_SIZE,102591,0
$CFSIZE,260165632,253100032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,4,0
$GPS,221108,191732,6238.000,-1134.971,36,1.5,36,-11.1