version: 66.04
glider: 101
mission: 7
dive: 24
start: 11 11 108 7 34 46
data:
$ID,101
$MISSION,7
$DIVE,24
$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,330
$T_MISSION,350
$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,-732217.56
$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,18
$R_STBD_OVSHOOT,30
$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
$GPS1,072921,6132.032,-828.580,35,2.3,54,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-54.1
$GPS2,073426,6132.019,-828.620,13,1.5,30,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$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,240.3,35675,-17.9,-10.000
$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,-1.81,-146.6,0.0,0.0,0,99,0.00,0.00,-80.88,0.000,2,0.000,0.000,30,2529,3500
$GC,103,-1.81,-146.6,5.3,-5.8,4,118,10.35,2.05,-0.28,0.000,4,0.135,0.072,1974,3682,3514
$GC,372,-1.67,-146.6,51.7,-14.6,15,377,0.17,2.03,0.00,0.000,6,0.097,0.035,2007,2494,3514
$GC,694,-1.67,-146.6,93.0,-12.5,31,697,0.00,2.15,0.00,0.000,4,0.000,0.056,2007,3683,3514
$GC,879,-1.62,-146.6,116.9,-13.3,39,882,0.00,2.00,0.00,0.000,6,0.000,0.035,2007,2505,3514
$GC,1212,-1.62,-146.6,159.8,-12.9,55,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2506,3514
$GC,1521,-1.62,-146.6,199.4,-13.2,70,1526,0.00,2.12,0.00,0.000,4,0.000,0.057,2007,3693,3514
$GC,1560,-1.56,-146.6,204.6,-13.2,71,1567,0.12,2.00,0.00,0.000,6,0.095,0.035,2031,2513,3514
$GC,1877,-1.56,-146.6,241.2,-11.6,87,1880,0.00,2.12,0.00,0.000,4,0.000,0.058,2031,3692,3514
$GC,1933,-1.56,-146.6,248.2,-12.3,89,1937,0.00,2.00,0.00,0.000,6,0.000,0.035,2031,2506,3514
$GC,2255,-1.56,-146.6,285.4,-11.8,105,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2505,3514
$GC,2564,-1.56,-146.6,318.9,-10.3,120,2568,0.00,2.12,0.00,0.000,4,0.000,0.059,2031,3686,3515
$GC,2603,-1.56,-146.6,323.4,-11.3,121,2609,0.00,1.98,0.00,0.000,6,0.000,0.035,2031,2519,3515
$GC,2919,-1.56,-146.6,356.8,-10.4,137,2924,0.00,2.45,0.00,0.000,4,0.000,0.049,2031,1120,3515
$GC,2948,-1.61,-146.6,360.0,-10.9,138,2952,0.00,2.45,0.00,0.000,6,0.000,0.043,2031,2512,3515
$GC,3264,-1.61,-146.6,393.2,-10.4,153,3268,0.00,2.10,0.00,0.000,4,0.000,0.064,2031,3692,3515
$GC,3316,-1.61,-146.6,398.8,-11.0,155,3319,0.00,2.00,0.00,0.000,6,0.000,0.035,2030,2519,3515
$GC,3644,-1.61,-146.6,432.7,-10.2,171,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2519,3515
$GC,3953,-1.61,-146.6,463.9,-10.2,186,3956,0.00,2.17,0.00,0.000,4,0.000,0.072,2031,3690,3515
$GC,3992,-1.61,-146.6,468.4,-10.4,187,3998,0.00,2.03,0.00,0.000,6,0.000,0.038,2031,2516,3515
$GC,4308,-1.61,-146.6,502.5,-11.0,203,4312,0.00,2.58,0.00,0.000,4,0.000,0.069,2031,1106,3515
$GC,4332,-1.65,-146.6,505.0,-10.9,204,4336,0.00,2.58,0.00,0.000,6,0.000,0.062,2031,2510,3515
$GC,4653,-1.65,-146.6,540.3,-11.0,220,4657,0.00,2.28,0.00,0.000,4,0.000,0.096,2031,3696,3516
$GC,4687,-1.65,-146.6,544.1,-10.7,221,4693,0.00,2.12,0.00,0.000,6,0.000,0.057,2031,2519,3515
$GC,5004,-1.65,-146.6,575.5,-9.3,237,5009,0.00,2.62,0.00,0.000,4,0.000,0.074,2031,1098,3516
$GC,5033,-1.70,-146.6,578.3,-9.2,238,5038,0.12,2.62,0.00,0.000,6,0.067,0.067,2002,2516,3515
$GC,5349,-1.70,-146.6,612.8,-10.9,253,5353,0.00,2.25,0.00,0.000,4,0.000,0.094,2002,3695,3515
$GC,5446,-1.64,-146.6,624.4,-12.4,257,5449,0.00,2.10,0.00,0.000,6,0.000,0.051,2002,2516,3515
$GC,5767,-1.64,-146.6,663.2,-12.7,273,5771,0.00,2.28,0.00,0.000,4,0.000,0.091,2002,3693,3515
$GC,6026,-1.57,-146.6,692.9,-8.8,284,6031,0.15,2.10,0.00,0.000,6,0.094,0.051,2030,2515,3515
$GC,6342,-1.62,-146.6,719.6,-10.2,299,6346,0.00,2.28,0.00,0.000,4,0.000,0.093,2029,3698,3515
$GC,6601,-1.62,-146.6,746.7,-12.7,310,6607,0.00,2.12,0.00,0.000,6,0.000,0.055,2030,2517,3515
$GC,6918,-1.62,-146.6,787.2,-14.1,326,6922,0.00,2.62,0.00,0.000,4,0.000,0.079,2030,1109,3514
$GC,7026,-1.67,-146.6,792.1,-2.1,331,7031,0.00,2.65,0.00,0.000,6,0.000,0.072,2030,2524,3514
$GC,7354,-1.77,-146.6,831.1,-18.3,347,7358,0.20,2.25,0.00,0.000,4,0.054,0.094,1977,3701,3513
$STATE,7413,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7413,begin apogee
$GC,7424,-0.45,0.0,838.3,9.2,350,7560,1.45,0.00,132.32,1.368,6,0.090,0.000,2275,2313,2915
$STATE,7561,end apogee,CONTROL_FINISHED_OK
$STATE,7561,begin climb
$GC,7564,1.81,146.6,844.4,0.0,357,7709,2.22,2.80,131.30,1.317,4,0.049,0.077,2773,900,2317
$GC,7965,1.88,329.7,826.2,1.4,375,8137,0.00,2.65,162.88,1.311,6,0.000,0.064,2773,2319,1569
$GC,8453,1.88,329.7,761.6,13.5,399,8458,0.00,2.70,0.00,0.000,4,0.000,0.074,2773,906,1568
$GC,8606,1.88,329.7,740.3,13.5,406,8611,0.00,2.62,0.00,0.000,6,0.000,0.061,2773,2320,1567
$GC,8933,1.88,329.7,694.3,13.0,422,8937,0.00,2.62,0.00,0.000,4,0.000,0.083,2773,3700,1567
$GC,8989,1.88,329.7,686.3,14.5,424,8995,0.00,2.50,0.00,0.000,6,0.000,0.050,2773,2313,1566
$GC,9305,1.88,329.7,643.9,13.9,440,9309,0.00,2.62,0.00,0.000,4,0.000,0.077,2773,3694,1565
$GC,9338,1.88,329.7,639.7,12.2,441,9344,0.00,2.47,0.00,0.000,6,0.000,0.045,2773,2309,1564
$GC,9654,1.88,329.7,595.4,16.4,457,9658,0.00,2.62,0.00,0.000,4,0.000,0.072,2773,3702,1564
$GC,9772,1.88,329.7,574.5,17.1,462,9776,0.00,2.45,0.00,0.000,6,0.000,0.041,2773,2314,1564
$GC,10093,1.88,329.7,526.9,14.1,478,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2314,1564
$GC,10403,1.88,329.7,480.9,15.4,493,10407,0.00,2.53,0.00,0.000,4,0.000,0.059,2773,912,1564
$GC,10443,1.88,329.7,474.6,15.8,495,10447,0.00,2.53,0.00,0.000,6,0.000,0.046,2773,2327,1564
$GC,10770,1.88,329.7,423.7,15.7,511,10774,0.00,2.47,0.00,0.000,4,0.000,0.064,2773,3694,1564
$GC,10797,1.88,329.7,418.9,17.1,512,10802,0.00,2.40,0.00,0.000,6,0.000,0.037,2773,2311,1565
$GC,11114,1.88,329.7,371.2,15.0,527,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2311,1565
$GC,11423,1.88,329.7,325.6,15.0,542,11424,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2311,1565
$GC,11732,1.88,329.7,279.6,14.1,557,11736,0.00,2.53,0.00,0.000,4,0.000,0.058,2773,3700,1566
$GC,11765,1.88,329.7,274.4,14.9,558,11771,0.00,2.40,0.00,0.000,6,0.000,0.035,2773,2304,1566
$GC,12081,1.88,329.7,229.0,14.4,574,12085,0.00,2.45,0.00,0.000,4,0.000,0.048,2773,910,1567
$GC,12110,1.88,329.7,224.5,14.8,575,12114,0.00,2.47,0.00,0.000,6,0.000,0.039,2773,2324,1567
$GC,12431,1.88,329.7,178.1,14.2,591,12435,0.00,2.45,0.00,0.000,4,0.000,0.058,2773,3699,1568
$GC,12459,1.88,329.7,173.7,15.2,592,12463,0.00,2.38,0.00,0.000,6,0.000,0.035,2773,2312,1567
$GC,12775,1.88,329.7,123.5,17.3,607,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2310,1568
$GC,13085,1.88,329.7,74.9,16.1,622,13089,0.00,2.47,0.00,0.000,4,0.000,0.054,2773,3689,1568
$GC,13113,1.88,329.7,70.0,16.6,623,13117,0.00,2.35,0.00,0.000,6,0.000,0.034,2773,2313,1569
$GC,13429,1.88,329.7,22.9,16.0,638,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2311,1569
$STATE,13570,end climb,SURFACE_DEPTH_REACHED
$STATE,13570,begin surface coast
$FINISH,0.9,1.015463
$STATE,13592,end surface coast,CONTROL_FINISHED_OK
$STATE,13592,begin surface
$SM_CCo,13678,0.00,0.000,0,0,1569,330.17
$SM_GC,1.47,12.20,0.00,0.00,0.041,0.000,0.000,25,2524,1569,-10.75,0.20,330.17
$IRIDIUM_FIX,6108.28,-826.94,050298,040429
$TT8_MAMPS,0.028379
$HUMID,2031
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.2,97.6
$24V_AH,23.0,6.871
$10V_AH,10.0,2.711
$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,27.000,127.675,426.500,0.000,0.000,23.978,26.220,127.354,6.500,0.000,0.000,31.757,1245.965,10096.266,520.442,1668.055,458.091,0.000,1377.095,0.000,1605.672,0.000,44.522,0.000
$DEVICE_MAMPS,134.992,95.875,1367.561,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.880,440.496,353.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31737,646
$CAP_FILE_SIZE,106978,0
$CFSIZE,260165632,256602112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111108,112402,6131.606,-834.367,39,1.2,39,-9.0