version: 66.04
glider: 101
mission: 7
dive: 26
start: 11 11 108 15 48 49
data:
$ID,101
$MISSION,7
$DIVE,26
$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,-732266.12
$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,35
$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
$GPS1,154138,6129.261,-837.277,44,1.8,44,-9.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-54.3
$GPS2,154826,6129.214,-837.325,13,1.8,30,-9.0
$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,238.7,26401,-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,15,-1.81,-146.6,0.0,0.0,0,78,0.00,0.00,-60.35,0.000,2,0.000,0.000,26,2526,3003
$GC,82,-1.81,-146.6,3.2,-3.8,3,114,10.38,2.08,-16.38,0.000,4,0.135,0.072,1974,3683,3513
$GC,368,-1.68,-146.6,44.3,-15.8,16,373,0.17,2.00,0.00,0.000,6,0.096,0.035,2007,2508,3513
$GC,695,-1.68,-146.6,89.8,-12.1,32,699,0.00,2.12,0.00,0.000,4,0.000,0.056,2007,3686,3514
$GC,948,-1.63,-146.6,123.1,-13.3,43,952,0.00,2.00,0.00,0.000,6,0.000,0.035,2007,2511,3514
$GC,1276,-1.63,-146.6,164.2,-12.8,59,1280,0.00,2.12,0.00,0.000,4,0.000,0.056,2007,3694,3514
$GC,1316,-1.57,-146.6,169.7,-13.2,60,1323,0.12,2.03,0.00,0.000,6,0.097,0.035,2031,2502,3514
$GC,1632,-1.57,-146.6,206.7,-12.2,76,1636,0.00,2.12,0.00,0.000,4,0.000,0.056,2031,3683,3513
$GC,1672,-1.57,-146.6,211.6,-12.9,77,1678,0.00,2.00,0.00,0.000,6,0.000,0.035,2031,2504,3514
$GC,1989,-1.57,-146.6,250.5,-11.3,93,1993,0.00,2.40,0.00,0.000,4,0.000,0.044,2031,1122,3514
$GC,2034,-1.62,-146.6,255.5,-10.8,95,2038,0.00,2.42,0.00,0.000,6,0.000,0.040,2031,2511,3514
$GC,2355,-1.62,-146.6,290.3,-11.0,111,2359,0.00,2.10,0.00,0.000,4,0.000,0.058,2031,3695,3513
$GC,2424,-1.62,-146.6,298.4,-11.5,114,2428,0.00,1.98,0.00,0.000,6,0.000,0.035,2031,2517,3514
$GC,2757,-1.62,-146.6,337.4,-12.1,130,2761,0.00,2.12,0.00,0.000,4,0.000,0.059,2031,3693,3514
$GC,2796,-1.62,-146.6,342.6,-13.3,131,2802,0.00,2.00,0.00,0.000,6,0.000,0.035,2031,2515,3513
$GC,3112,-1.62,-146.6,380.3,-12.1,147,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2513,3514
$GC,3422,-1.62,-146.6,416.0,-11.2,162,3425,0.00,2.15,0.00,0.000,4,0.000,0.064,2031,3690,3514
$GC,3491,-1.62,-146.6,424.0,-11.8,165,3494,0.00,2.00,0.00,0.000,6,0.000,0.035,2031,2522,3514
$GC,3824,-1.62,-146.6,460.9,-11.4,181,3828,0.00,2.15,0.00,0.000,4,0.000,0.070,2031,3686,3514
$GC,3875,-1.62,-146.6,467.0,-12.2,183,3878,0.00,2.03,0.00,0.000,6,0.000,0.038,2031,2512,3513
$GC,4202,-1.62,-146.6,504.7,-11.5,199,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2512,3514
$GC,4511,-1.62,-146.6,539.2,-11.2,214,4515,0.00,2.28,0.00,0.000,4,0.000,0.094,2031,3685,3513
$GC,4579,-1.62,-146.6,547.3,-12.2,217,4583,0.00,2.10,0.00,0.000,6,0.000,0.059,2031,2527,3513
$GC,4906,-1.62,-146.6,585.3,-11.7,233,4911,0.00,2.62,0.00,0.000,4,0.000,0.071,2031,1097,3513
$GC,4941,-1.67,-146.6,589.3,-11.2,234,4947,0.00,2.60,0.00,0.000,6,0.000,0.064,2031,2509,3513
$GC,5257,-1.71,-146.6,624.3,-11.1,250,5259,0.12,0.00,0.00,0.000,6,0.058,0.000,1997,2509,3514
$STATE,5460,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5460,begin apogee
$GC,5468,-0.45,0.0,650.3,13.1,260,5603,1.30,0.00,128.98,1.180,6,0.076,0.000,2273,2311,2915
$STATE,5603,end apogee,CONTROL_FINISHED_OK
$STATE,5604,begin climb
$GC,5607,1.81,146.6,656.2,0.0,267,5741,2.22,0.00,128.02,1.139,6,0.050,0.000,2773,2311,2317
$GC,6041,1.76,146.6,622.9,10.1,288,6046,0.00,2.62,0.00,0.000,4,0.000,0.076,2773,3697,2317
$GC,6093,1.65,146.6,617.2,11.8,290,6098,0.20,2.47,0.00,0.000,6,0.101,0.044,2736,2308,2316
$GC,6409,1.70,182.2,589.4,8.3,305,6451,0.00,2.70,32.17,1.095,4,0.000,0.067,2736,911,2171
$GC,6479,1.72,204.8,583.4,8.9,308,6506,0.00,2.60,21.05,1.055,6,0.000,0.054,2736,2323,2080
$GC,6825,1.77,204.8,548.5,10.5,325,6830,0.10,2.65,0.00,0.000,4,0.068,0.063,2761,899,2080
$GC,6859,1.77,204.8,544.1,12.3,326,6865,0.00,2.58,0.00,0.000,6,0.000,0.051,2761,2319,2080
$GC,7175,1.77,204.8,506.0,11.9,342,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2319,2080
$GC,7484,1.77,204.8,470.8,11.1,357,7489,0.00,2.58,0.00,0.000,4,0.000,0.058,2761,908,2080
$GC,7552,1.77,204.8,463.0,11.3,360,7556,0.00,2.53,0.00,0.000,6,0.000,0.045,2761,2323,2080
$GC,7874,1.77,204.8,426.4,12.0,376,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2323,2080
$GC,8183,1.77,204.8,390.5,11.3,391,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2323,2079
$GC,8492,1.77,204.8,356.0,11.5,406,8496,0.00,2.55,0.00,0.000,4,0.000,0.049,2761,898,2079
$GC,8519,1.77,204.8,352.7,11.9,407,8524,0.00,2.50,0.00,0.000,6,0.000,0.039,2761,2324,2080
$GC,8836,1.77,204.8,317.6,11.2,422,8840,0.00,2.45,0.00,0.000,4,0.000,0.058,2761,3692,2079
$GC,8881,1.73,204.8,312.2,12.1,424,8885,0.00,2.40,0.00,0.000,6,0.000,0.035,2761,2295,2079
$GC,9202,1.73,204.8,275.9,11.5,440,9206,0.00,2.42,0.00,0.000,4,0.000,0.049,2761,916,2079
$GC,9297,1.73,204.8,264.4,12.5,444,9301,0.00,2.45,0.00,0.000,6,0.000,0.038,2761,2318,2079
$GC,9613,1.73,204.8,226.6,12.0,459,9617,0.00,2.45,0.00,0.000,4,0.000,0.057,2761,3695,2079
$GC,9641,1.73,204.8,222.7,13.8,460,9646,0.00,2.38,0.00,0.000,6,0.000,0.034,2761,2307,2079
$GC,9958,1.73,204.8,185.4,10.9,475,9962,0.00,2.42,0.00,0.000,4,0.000,0.048,2761,919,2079
$GC,9986,1.73,204.8,182.0,12.3,476,9990,0.00,2.45,0.00,0.000,6,0.000,0.038,2761,2327,2079
$GC,10302,1.77,233.2,147.8,8.7,491,10329,0.00,0.00,24.85,0.864,6,0.000,0.000,2761,2327,1964
$GC,10633,1.77,233.2,106.8,11.9,507,10637,0.00,2.50,0.00,0.000,4,0.000,0.045,2761,919,1964
$GC,10673,1.77,233.2,101.0,14.6,509,10678,0.00,2.45,0.00,0.000,6,0.000,0.037,2761,2326,1964
$GC,11001,1.80,257.7,68.8,8.9,525,11025,0.00,0.00,22.08,0.811,6,0.000,0.000,2761,2326,1864
$GC,11332,1.84,257.7,29.3,14.2,541,11337,0.00,2.50,0.00,0.000,4,0.000,0.045,2761,919,1864
$GC,11366,1.84,257.7,24.1,13.5,542,11372,0.00,2.45,0.00,0.000,6,0.000,0.037,2761,2326,1864
$STATE,11535,end climb,SURFACE_DEPTH_REACHED
$STATE,11535,begin surface coast
$FINISH,0.8,1.015437
$STATE,11557,end surface coast,CONTROL_FINISHED_OK
$STATE,11557,begin surface
$SM_CCo,11582,37.92,0.724,2,0,1691,300.00
$SM_GC,1.36,0.00,0.00,37.92,0.000,0.000,0.724,26,2528,1691,-10.81,0.31,300.00
$IRIDIUM_FIX,6108.28,-836.53,050298,111150
$TT8_MAMPS,0.029146
$HUMID,1997
$INTERNAL_PRESSURE,7.85186
$TCM_TEMP,17.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,601.3,58.7
$24V_AH,23.1,7.150
$10V_AH,10.1,2.843
$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,27.000,103.250,357.150,37.925,0.000,25.615,39.030,200.101,5.250,0.000,0.000,32.148,1055.672,8636.892,503.027,1324.468,525.027,0.000,1184.683,0.000,1272.831,0.000,34.704,0.000
$DEVICE_MAMPS,134.992,93.574,1179.646,724.048,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.318,376.098,347.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28511,552
$CAP_FILE_SIZE,91763,0
$CFSIZE,260165632,256512000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111108,190401,6127.786,-838.860,38,1.7,38,-9.0