version: 66.04
glider: 101
mission: 7
dive: 113
start: 11 24 108 10 29 54
data:
$ID,101
$MISSION,7
$DIVE,113
$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,-734179.38
$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,28
$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
$GPS1,102007,6246.939,-1214.563,25,1.5,25,-11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-56.6
$GPS2,102932,6246.913,-1214.478,14,1.2,19,-11.5
$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,317.2,16145,-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,-60.92,0.000,2,0.000,0.000,28,2541,2996
$GC,83,-1.51,-146.6,3.3,-3.5,3,113,10.45,0.00,-16.35,0.000,6,0.125,0.000,2037,2541,3512
$GC,437,-1.40,-146.6,43.7,-12.4,20,441,0.15,2.05,0.00,0.000,4,0.087,0.058,2067,3686,3513
$GC,499,-1.34,-146.6,49.9,-11.1,22,505,0.00,2.03,0.00,0.000,6,0.000,0.036,2067,2503,3513
$GC,816,-1.29,-146.6,80.3,-9.8,38,820,0.12,2.15,0.00,0.000,4,0.091,0.055,2093,3696,3513
$GC,883,-1.29,-146.6,87.3,-9.9,41,886,0.00,2.03,0.00,0.000,6,0.000,0.035,2093,2508,3513
$GC,1210,-1.29,-146.6,116.9,-9.3,57,1214,0.00,2.12,0.00,0.000,4,0.000,0.054,2093,3692,3512
$GC,1257,-1.29,-146.6,121.7,-10.2,59,1261,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2512,3513
$GC,1589,-1.29,-146.6,153.1,-8.4,75,1593,0.00,2.12,0.00,0.000,4,0.000,0.054,2093,3697,3513
$GC,1658,-1.29,-146.6,159.1,-8.7,78,1662,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2518,3513
$GC,1991,-1.29,-146.6,189.5,-8.9,94,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2517,3513
$GC,2300,-1.29,-146.6,216.1,-8.2,109,2304,0.00,2.10,0.00,0.000,4,0.000,0.057,2093,3689,3513
$GC,2430,-1.29,-146.6,226.7,-8.4,114,2436,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2513,3513
$GC,2747,-1.29,-146.6,250.8,-7.3,130,2751,0.00,2.10,0.00,0.000,4,0.000,0.056,2093,3685,3513
$GC,2821,-1.29,-146.6,256.7,-7.9,133,2824,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2505,3513
$GC,3148,-1.29,-146.6,284.3,-9.4,149,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2505,3513
$GC,3457,-1.29,-146.6,314.4,-9.5,164,3461,0.00,2.12,0.00,0.000,4,0.000,0.058,2093,3686,3513
$GC,3553,-1.29,-146.6,323.7,-9.2,168,3557,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2508,3513
$GC,3881,-1.29,-146.6,349.6,-7.7,184,3886,0.00,2.12,0.00,0.000,4,0.000,0.058,2093,3693,3513
$GC,3959,-1.29,-146.6,357.0,-9.3,187,3963,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2513,3513
$GC,4281,-1.29,-146.6,386.8,-9.2,203,4285,0.00,2.12,0.00,0.000,4,0.000,0.060,2093,3689,3513
$GC,4382,-1.29,-146.6,396.9,-10.3,207,4386,0.00,2.00,0.00,0.000,6,0.000,0.036,2093,2519,3513
$GC,4704,-1.29,-146.6,427.1,-9.0,223,4708,0.00,2.12,0.00,0.000,4,0.000,0.063,2093,3685,3513
$GC,4840,-1.29,-146.6,440.0,-9.5,229,4844,0.00,2.00,0.00,0.000,6,0.000,0.037,2093,2519,3513
$GC,5174,-1.29,-146.6,467.5,-7.7,245,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2519,3512
$GC,5483,-1.29,-146.6,491.3,-7.6,260,5486,0.00,2.17,0.00,0.000,4,0.000,0.074,2093,3685,3513
$GC,5612,-1.29,-146.6,502.3,-8.2,265,5619,0.00,2.03,0.00,0.000,6,0.000,0.044,2093,2525,3512
$GC,5929,-1.29,-146.6,528.4,-8.2,281,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2525,3512
$GC,6238,-1.29,-146.6,553.6,-8.2,296,6242,0.00,2.28,0.00,0.000,4,0.000,0.097,2093,3687,3512
$GC,6300,-1.29,-146.6,559.1,-8.8,299,6305,0.00,2.12,0.00,0.000,6,0.000,0.063,2093,2524,3513
$GC,6634,-1.29,-146.6,586.3,-8.1,315,6637,0.00,2.20,0.00,0.000,4,0.000,0.083,2093,3684,3512
$GC,6752,-1.29,-146.6,596.9,-9.0,320,6756,0.00,2.10,0.00,0.000,6,0.000,0.052,2093,2507,3512
$GC,7080,-1.29,-146.6,623.1,-7.6,336,7084,0.00,2.25,0.00,0.000,4,0.000,0.089,2093,3686,3512
$GC,7144,-1.29,-146.6,628.4,-8.3,338,7150,0.00,2.10,0.00,0.000,6,0.000,0.053,2093,2512,3512
$GC,7461,-1.33,-146.6,649.8,-7.0,354,7465,0.00,2.25,0.00,0.000,4,0.000,0.090,2093,3686,3512
$GC,7579,-1.33,-146.6,659.4,-9.3,359,7583,0.00,2.10,0.00,0.000,6,0.000,0.054,2093,2515,3512
$STATE,7862,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7862,begin apogee
$GC,7870,-0.45,0.0,683.1,9.3,373,8005,0.85,0.00,129.05,1.259,6,0.069,0.000,2274,2317,2915
$STATE,8006,end apogee,CONTROL_FINISHED_OK
$STATE,8006,begin climb
$GC,8009,1.51,146.6,688.9,0.0,380,8148,1.98,2.75,128.35,1.222,4,0.052,0.079,2705,907,2317
$GC,8266,1.44,146.6,674.9,8.5,392,8271,0.00,2.62,0.00,0.000,6,0.000,0.062,2706,2311,2316
$GC,8589,1.37,148.1,648.7,7.9,408,8594,0.17,2.65,0.00,0.000,4,0.107,0.069,2673,905,2315
$GC,8675,1.38,155.6,641.5,7.7,412,8689,0.00,2.60,9.05,1.071,6,0.000,0.058,2673,2322,2280
$GC,9007,1.40,173.3,616.6,7.3,428,9029,0.00,2.70,16.75,1.172,4,0.000,0.077,2673,3696,2208
$GC,9204,1.40,175.2,601.2,7.9,436,9210,0.00,2.50,0.00,0.000,6,0.000,0.048,2673,2303,2207
$GC,9521,1.43,197.3,579.7,7.2,452,9545,0.00,0.00,22.58,1.190,6,0.000,0.000,2673,2303,2110
$GC,9850,1.48,197.3,552.8,8.3,468,9855,0.10,2.60,0.00,0.000,4,0.066,0.071,2699,3699,2109
$GC,9984,1.48,197.3,539.2,9.9,474,9989,0.00,2.45,0.00,0.000,6,0.000,0.042,2699,2313,2108
$GC,10306,1.48,197.3,511.6,8.1,490,10311,0.00,2.55,0.00,0.000,4,0.000,0.060,2699,905,2108
$GC,10386,1.48,197.3,504.4,9.7,493,10393,0.00,2.55,0.00,0.000,6,0.000,0.048,2699,2323,2108
$GC,10703,1.48,197.3,475.7,9.5,509,10704,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2323,2108
$GC,11012,1.48,197.3,446.5,9.0,524,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2323,2108
$GC,11321,1.48,197.3,419.7,8.6,539,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2323,2108
$GC,11631,1.48,197.3,391.6,9.0,554,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2323,2108
$GC,11940,1.48,197.3,364.7,8.4,569,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2323,2108
$GC,12249,1.48,197.3,337.6,8.6,584,12250,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2323,2110
$GC,12558,1.48,197.3,309.5,9.5,599,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2323,2109
$GC,12867,1.48,197.3,278.3,10.5,614,12869,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2323,2110
$GC,13177,1.48,197.3,247.1,9.6,629,13181,0.00,2.53,0.00,0.000,4,0.000,0.048,2699,902,2110
$GC,13239,1.48,197.3,241.4,9.1,631,13245,0.00,2.47,0.00,0.000,6,0.000,0.039,2699,2324,2110
$GC,13555,1.48,197.3,216.1,8.0,647,13556,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2324,2111
$GC,13864,1.48,200.1,190.5,7.9,662,13871,0.00,0.00,4.55,0.683,6,0.000,0.000,2699,2324,2098
$GC,14173,1.48,200.1,164.3,9.2,677,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2324,2099
$GC,14483,1.48,200.1,136.5,8.6,692,14484,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2324,2099
$GC,14794,1.48,200.1,110.2,8.7,707,14795,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2324,2099
$GC,15102,1.48,200.1,81.9,9.3,722,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2324,2099
$GC,15411,1.48,200.1,58.6,8.3,737,15412,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2324,2099
$GC,15720,1.53,241.1,34.4,6.4,752,15759,0.00,0.00,35.08,0.825,6,0.000,0.000,2699,2324,1932
$GC,16071,1.53,241.1,2.7,9.1,769,16072,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2324,1932
$STATE,16086,end climb,SURFACE_DEPTH_REACHED
$STATE,16087,begin surface coast
$FINISH,1.1,1.027346
$STATE,16108,end surface coast,CONTROL_FINISHED_OK
$STATE,16109,begin surface
$SM_CCo,16134,50.15,0.757,2,0,1692,300.00
$SM_GC,2.01,0.00,0.00,50.15,0.000,0.000,0.757,27,2528,1692,-10.80,0.31,300.00
$IRIDIUM_FIX,6221.17,-1213.89,180298,101050
$TT8_MAMPS,0.029146
$HUMID,1995
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.1,67.3
$24V_AH,23.1,18.813
$10V_AH,10.1,8.114
$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,25.800,94.475,345.400,50.150,0.000,49.748,57.058,252.041,5.250,0.000,0.000,21.221,1423.774,12378.820,520.383,1761.865,679.283,0.000,1378.980,0.000,1721.032,0.000,36.350,0.000
$DEVICE_MAMPS,125.021,96.642,1258.647,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,578.505,527.459,484.748,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37970,771
$CAP_FILE_SIZE,113552,0
$CFSIZE,260165632,252559360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,241108,150107,6248.397,-1222.234,35,1.3,35,-11.6