version: 66.04
glider: 101
mission: 7
dive: 111
start: 11 24 108 1 22 24
data:
$ID,101
$MISSION,7
$DIVE,111
$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,-734126.12
$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,36
$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
$GPS1,011628,6244.216,-1201.910,36,4.0,55,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-52.5
$GPS2,012205,6244.168,-1202.027,14,3.7,33,-11.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$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,312.9,27723,-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,-60.67,0.000,2,0.000,0.000,27,2535,3001
$GC,83,-1.51,-146.6,3.4,-4.1,3,115,10.43,2.08,-16.65,0.000,4,0.124,0.071,2038,3699,3513
$GC,370,-1.37,-146.6,39.8,-14.1,16,375,0.20,2.03,0.00,0.000,6,0.088,0.036,2077,2513,3513
$GC,698,-1.32,-146.6,73.4,-8.4,32,701,0.00,2.12,0.00,0.000,4,0.000,0.056,2077,3692,3513
$GC,835,-1.26,-146.6,87.6,-13.0,38,839,0.10,2.00,0.00,0.000,6,0.098,0.036,2097,2517,3513
$GC,1169,-1.26,-146.6,122.1,-11.1,54,1173,0.00,2.10,0.00,0.000,4,0.000,0.055,2097,3690,3513
$GC,1231,-1.26,-146.6,129.3,-10.3,56,1238,0.00,2.00,0.00,0.000,6,0.000,0.036,2097,2505,3513
$GC,1548,-1.26,-146.6,167.9,-11.0,72,1551,0.00,2.12,0.00,0.000,4,0.000,0.055,2097,3690,3513
$GC,1694,-1.26,-146.6,181.7,-9.7,78,1697,0.00,2.00,0.00,0.000,6,0.000,0.035,2097,2515,3513
$GC,2016,-1.26,-146.6,211.4,-8.7,94,2019,0.00,2.12,0.00,0.000,4,0.000,0.055,2097,3698,3513
$GC,2100,-1.26,-146.6,218.3,-8.3,97,2106,0.00,2.03,0.00,0.000,6,0.000,0.035,2097,2507,3513
$GC,2416,-1.26,-146.6,244.4,-8.3,113,2420,0.00,2.12,0.00,0.000,4,0.000,0.055,2097,3692,3513
$GC,2500,-1.26,-146.6,252.1,-8.4,116,2507,0.00,2.00,0.00,0.000,6,0.000,0.035,2097,2510,3513
$GC,2817,-1.26,-146.6,279.3,-8.7,132,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2510,3513
$GC,3126,-1.26,-146.6,305.4,-8.0,147,3130,0.00,2.12,0.00,0.000,4,0.000,0.057,2097,3692,3513
$GC,3240,-1.26,-146.6,314.7,-8.1,152,3244,0.00,2.00,0.00,0.000,6,0.000,0.035,2097,2509,3513
$GC,3573,-1.26,-146.6,341.3,-7.6,168,3577,0.00,2.12,0.00,0.000,4,0.000,0.058,2097,3689,3513
$GC,3629,-1.26,-146.6,346.1,-8.3,170,3633,0.00,2.00,0.00,0.000,6,0.000,0.035,2097,2509,3513
$GC,3951,-1.26,-146.6,371.9,-8.6,186,3955,0.00,2.12,0.00,0.000,4,0.000,0.059,2097,3688,3513
$GC,4009,-1.26,-146.6,377.5,-10.1,188,4013,0.00,2.00,0.00,0.000,6,0.000,0.035,2097,2513,3513
$GC,4331,-1.26,-146.6,408.2,-9.6,204,4335,0.00,2.12,0.00,0.000,4,0.000,0.061,2097,3686,3513
$GC,4389,-1.26,-146.6,414.0,-10.1,206,4393,0.00,2.00,0.00,0.000,6,0.000,0.036,2097,2516,3513
$GC,4711,-1.26,-146.6,443.6,-8.9,222,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2516,3513
$GC,5020,-1.26,-146.6,470.8,-8.9,237,5024,0.00,2.15,0.00,0.000,4,0.000,0.069,2097,3684,3513
$GC,5148,-1.26,-146.6,483.0,-9.2,242,5154,0.00,2.03,0.00,0.000,6,0.000,0.039,2097,2516,3513
$GC,5465,-1.26,-146.6,508.1,-7.6,258,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2516,3513
$GC,5774,-1.26,-146.6,534.2,-8.6,273,5777,0.00,2.25,0.00,0.000,4,0.000,0.087,2098,3688,3513
$GC,5914,-1.26,-146.6,547.1,-8.7,279,5918,0.00,2.10,0.00,0.000,6,0.000,0.058,2097,2526,3513
$GC,6243,-1.30,-146.6,572.0,-7.9,295,6246,0.00,2.22,0.00,0.000,4,0.000,0.087,2097,3691,3513
$GC,6356,-1.30,-146.6,581.6,-8.4,300,6360,0.00,2.10,0.00,0.000,6,0.000,0.052,2098,2512,3514
$GC,6690,-1.35,-146.6,606.4,-7.5,316,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2512,3513
$GC,6999,-1.40,-146.6,630.0,-7.8,331,7004,0.12,2.25,0.00,0.000,4,0.054,0.087,2061,3684,3513
$GC,7062,-1.34,-146.6,635.8,-9.9,334,7067,0.10,2.10,0.00,0.000,6,0.097,0.052,2079,2508,3513
$GC,7389,-1.34,-146.6,661.6,-8.0,350,7393,0.00,2.28,0.00,0.000,4,0.000,0.088,2079,3689,3513
$GC,7501,-1.34,-146.6,672.1,-11.1,355,7504,0.00,2.10,0.00,0.000,6,0.000,0.051,2079,2511,3513
$STATE,7743,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7743,begin apogee
$GC,7751,-0.45,0.0,692.7,9.3,367,7885,0.93,0.00,128.98,1.262,6,0.070,0.000,2276,2310,2915
$STATE,7886,end apogee,CONTROL_FINISHED_OK
$STATE,7886,begin climb
$GC,7890,1.51,146.6,697.6,0.0,374,8023,1.92,0.00,128.80,1.221,6,0.049,0.000,2703,2310,2317
$GC,8323,1.47,146.6,666.9,9.0,395,8327,0.00,2.65,0.00,0.000,4,0.000,0.079,2703,3689,2315
$GC,8379,1.38,146.6,661.7,9.7,397,8385,0.15,2.47,0.00,0.000,6,0.108,0.049,2676,2317,2315
$GC,8695,1.38,146.6,636.0,8.2,413,8699,0.00,2.62,0.00,0.000,4,0.000,0.077,2676,3692,2313
$GC,8773,1.38,146.6,629.2,8.3,416,8779,0.00,2.47,0.00,0.000,6,0.000,0.048,2676,2314,2313
$GC,9090,1.41,167.8,605.5,7.2,432,9111,0.00,0.00,19.38,1.185,6,0.000,0.000,2676,2314,2230
$GC,9419,1.43,187.3,580.3,7.3,448,9439,0.00,0.00,18.45,1.170,6,0.000,0.000,2676,2314,2151
$GC,9748,1.43,188.2,553.5,8.0,464,9753,0.00,2.58,0.00,0.000,4,0.000,0.070,2676,3692,2150
$GC,9805,1.44,196.2,548.9,7.7,466,9819,0.00,2.45,9.45,1.071,6,0.000,0.042,2676,2307,2114
$GC,10143,1.49,196.2,522.2,8.2,483,10148,0.10,2.55,0.00,0.000,4,0.062,0.066,2704,3686,2114
$GC,10188,1.43,196.2,517.9,9.1,485,10193,0.00,2.42,0.00,0.000,6,0.000,0.041,2704,2307,2114
$GC,10511,1.43,196.2,489.4,8.9,501,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2307,2114
$GC,10820,1.43,196.2,463.3,8.4,516,10824,0.00,2.53,0.00,0.000,4,0.000,0.062,2704,3686,2114
$GC,10882,1.39,196.2,457.7,9.3,518,10889,0.15,2.40,0.00,0.000,6,0.106,0.038,2677,2310,2114
$GC,11199,1.44,201.0,433.3,7.8,534,11207,0.00,0.00,6.07,0.890,6,0.000,0.000,2677,2310,2095
$GC,11508,1.49,201.0,407.7,8.3,549,11509,0.10,0.00,0.00,0.000,6,0.059,0.000,2709,2310,2095
$GC,11816,1.49,201.0,378.2,9.5,564,11820,0.00,2.50,0.00,0.000,4,0.000,0.058,2709,3686,2095
$GC,11879,1.44,201.0,371.7,10.3,566,11885,0.00,2.38,0.00,0.000,6,0.000,0.036,2708,2313,2095
$GC,12195,1.44,201.0,340.7,10.1,582,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2314,2096
$GC,12504,1.44,201.0,310.8,9.6,597,12508,0.00,2.47,0.00,0.000,4,0.000,0.057,2708,3690,2096
$GC,12567,1.39,201.0,304.5,10.1,599,12574,0.15,2.38,0.00,0.000,6,0.106,0.035,2681,2310,2096
$GC,12884,1.44,205.4,278.5,7.8,615,12891,0.00,0.00,5.97,0.804,6,0.000,0.000,2681,2310,2077
$GC,13193,1.49,205.4,253.6,8.4,630,13197,0.00,2.50,0.00,0.000,4,0.000,0.055,2680,3699,2077
$GC,13249,1.49,205.4,248.4,8.9,632,13253,0.00,2.38,0.00,0.000,6,0.000,0.035,2680,2314,2077
$GC,13565,1.54,205.4,221.8,8.4,647,13567,0.12,0.00,0.00,0.000,6,0.053,0.000,2717,2313,2077
$GC,13874,1.54,205.4,191.9,9.5,662,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2313,2077
$GC,14184,1.54,205.4,162.8,9.3,677,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2313,2077
$GC,14495,1.54,205.4,135.8,8.3,692,14496,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2312,2077
$GC,14803,1.54,205.4,110.5,8.9,707,14804,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2313,2078
$GC,15112,1.54,205.4,81.1,9.8,722,15113,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2312,2078
$GC,15421,1.54,205.4,50.8,10.9,737,15422,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2312,2078
$GC,15731,1.68,316.2,25.3,3.8,752,15829,0.10,2.60,91.20,0.813,4,0.059,0.054,2749,3692,1625
$GC,15875,1.60,316.2,7.8,14.2,758,15882,0.12,2.40,0.00,0.000,6,0.104,0.035,2726,2306,1624
$STATE,15920,end climb,SURFACE_DEPTH_REACHED
$STATE,15920,begin surface coast
$FINISH,1.2,1.027392
$STATE,15944,end surface coast,CONTROL_FINISHED_OK
$STATE,15944,begin surface
$SM_CCo,16029,0.00,0.000,0,0,1623,316.93
$SM_GC,1.69,12.00,0.00,0.00,0.037,0.000,0.000,25,2519,1623,-10.75,0.06,316.93
$IRIDIUM_FIX,6221.17,-1148.97,170298,212112
$TT8_MAMPS,0.028379
$HUMID,2006
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.3,77.1
$24V_AH,23.1,18.528
$10V_AH,10.1,7.962
$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,26.800,108.300,408.300,0.000,0.000,24.661,27.236,136.131,5.750,0.000,0.000,35.441,1428.147,12127.308,514.040,1796.711,498.215,0.000,1399.551,0.000,1735.723,0.000,39.315,0.000
$DEVICE_MAMPS,124.254,88.205,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.615,520.428,457.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38017,762
$CAP_FILE_SIZE,115856,0
$CFSIZE,260165632,252669952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241108,055037,6245.108,-1210.015,24,1.8,24,-11.4