version: 66.04
glider: 101
mission: 7
dive: 83
start: 11 19 108 1 50 13
data:
$ID,101
$MISSION,7
$DIVE,83
$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,-733465.62
$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,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
$GPS1,014207,6222.378,-1002.392,41,1.0,47,-10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-52.6
$GPS2,014950,6222.465,-1002.063,9,1.1,14,-10.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$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,310.4,27667,-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,-60.92,0.000,2,0.000,0.000,29,2523,3036
$GC,83,-1.51,-146.6,3.2,-3.4,3,114,10.48,0.00,-17.83,0.000,6,0.125,0.000,2039,2523,3513
$GC,416,-1.43,-146.6,45.8,-14.1,19,421,0.12,2.08,0.00,0.000,4,0.094,0.056,2064,3691,3513
$GC,467,-1.35,-146.6,53.0,-10.5,21,471,0.00,2.00,0.00,0.000,6,0.000,0.035,2064,2511,3513
$GC,790,-1.29,-146.6,80.8,-7.5,37,794,0.12,2.10,0.00,0.000,4,0.091,0.054,2089,3685,3513
$GC,879,-1.29,-146.6,89.4,-9.1,41,883,0.00,1.98,0.00,0.000,6,0.000,0.035,2090,2517,3513
$GC,1207,-1.29,-146.6,124.0,-11.3,57,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2517,3513
$GC,1517,-1.29,-146.6,148.5,-6.6,72,1520,0.00,2.10,0.00,0.000,4,0.000,0.055,2090,3693,3513
$GC,1596,-1.29,-146.6,155.3,-9.3,75,1599,0.00,2.00,0.00,0.000,6,0.000,0.034,2090,2508,3513
$GC,1918,-1.29,-146.6,182.0,-8.8,91,1921,0.00,2.10,0.00,0.000,4,0.000,0.055,2089,3685,3513
$GC,2032,-1.29,-146.6,192.7,-9.1,96,2035,0.00,1.98,0.00,0.000,6,0.000,0.035,2090,2513,3513
$GC,2365,-1.29,-146.6,220.8,-8.3,112,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2513,3513
$GC,2674,-1.29,-146.6,249.3,-9.4,127,2678,0.00,2.10,0.00,0.000,4,0.000,0.056,2090,3687,3513
$GC,2775,-1.29,-146.6,259.8,-10.7,131,2779,0.00,1.98,0.00,0.000,6,0.000,0.035,2090,2515,3513
$GC,3097,-1.29,-146.6,291.6,-9.4,147,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2513,3513
$GC,3406,-1.29,-146.6,321.0,-9.2,162,3410,0.00,2.10,0.00,0.000,4,0.000,0.057,2090,3686,3513
$GC,3508,-1.29,-146.6,330.5,-9.4,166,3512,0.00,1.98,0.00,0.000,6,0.000,0.035,2090,2508,3513
$GC,3829,-1.29,-146.6,360.6,-9.3,182,3833,0.00,2.12,0.00,0.000,4,0.000,0.058,2089,3690,3513
$GC,3904,-1.29,-146.6,368.1,-10.7,185,3908,0.00,2.00,0.00,0.000,6,0.000,0.035,2090,2509,3514
$GC,4234,-1.29,-146.6,400.2,-9.3,201,4238,0.00,2.12,0.00,0.000,4,0.000,0.061,2090,3686,3514
$GC,4313,-1.29,-146.6,407.8,-9.4,204,4317,0.00,2.00,0.00,0.000,6,0.000,0.035,2089,2508,3513
$GC,4635,-1.29,-146.6,434.3,-8.2,220,4638,0.00,2.15,0.00,0.000,4,0.000,0.063,2090,3690,3514
$GC,4708,-1.29,-146.6,440.6,-8.8,223,4712,0.00,2.00,0.00,0.000,6,0.000,0.035,2090,2509,3513
$GC,5036,-1.29,-146.6,467.2,-8.0,239,5039,0.00,2.15,0.00,0.000,4,0.000,0.068,2090,3680,3514
$GC,5086,-1.29,-146.6,471.8,-8.9,241,5090,0.00,2.00,0.00,0.000,6,0.000,0.038,2090,2518,3514
$GC,5414,-1.29,-146.6,500.7,-9.3,257,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2518,3513
$GC,5723,-1.29,-146.6,524.0,-6.2,272,5727,0.00,2.22,0.00,0.000,4,0.000,0.090,2090,3681,3513
$GC,5837,-1.29,-146.6,531.8,-6.8,277,5840,0.00,2.08,0.00,0.000,6,0.000,0.058,2089,2527,3513
$GC,6170,-1.29,-146.6,555.7,-7.4,293,6174,0.00,2.30,0.00,0.000,4,0.000,0.107,2089,3680,3513
$GC,6234,-1.29,-146.6,560.5,-8.1,296,6238,0.00,2.10,0.00,0.000,6,0.000,0.058,2090,2511,3513
$GC,6567,-1.29,-146.6,584.3,-6.7,312,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2510,3513
$GC,6877,-1.33,-146.6,608.9,-8.7,327,6881,0.00,2.25,0.00,0.000,4,0.000,0.091,2090,3682,3513
$GC,6968,-1.33,-146.6,617.4,-8.9,331,6972,0.00,2.08,0.00,0.000,6,0.000,0.053,2089,2510,3513
$GC,7302,-1.38,-146.6,645.8,-9.3,347,7306,0.00,2.25,0.00,0.000,4,0.000,0.089,2090,3685,3512
$STATE,7355,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7355,begin apogee
$GC,7366,-0.45,0.0,651.0,8.5,349,7500,0.85,0.00,130.75,1.243,6,0.076,0.000,2272,2318,2915
$STATE,7501,end apogee,CONTROL_FINISHED_OK
$STATE,7501,begin climb
$GC,7504,1.51,146.6,656.0,0.0,356,7638,1.95,0.00,128.48,1.200,6,0.054,0.000,2707,2318,2317
$GC,7939,1.45,146.6,626.2,8.1,377,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2318,2315
$GC,8248,1.39,146.6,601.8,8.1,392,8253,0.15,2.58,0.00,0.000,4,0.102,0.075,2680,3681,2314
$GC,8305,1.36,160.9,597.4,7.5,394,8324,0.00,2.45,13.85,1.124,6,0.000,0.046,2679,2307,2258
$GC,8643,1.42,209.7,576.8,6.1,411,8693,0.00,2.67,43.78,1.197,4,0.000,0.067,2679,913,2060
$GC,8774,1.42,211.2,566.7,7.9,417,8779,0.00,2.55,0.00,0.000,6,0.000,0.054,2679,2306,2060
$GC,9102,1.46,211.2,535.8,10.4,433,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2307,2059
$GC,9411,1.51,251.2,511.8,6.5,448,9454,0.10,2.67,36.83,1.165,4,0.068,0.067,2705,3694,1891
$GC,9528,1.51,251.2,501.8,9.9,453,9532,0.00,2.45,0.00,0.000,6,0.000,0.041,2705,2309,1890
$GC,9849,1.51,251.2,472.1,10.3,469,9853,0.00,2.53,0.00,0.000,4,0.000,0.058,2705,902,1890
$GC,9921,1.51,251.2,463.4,12.7,472,9926,0.00,2.55,0.00,0.000,6,0.000,0.045,2706,2331,1890
$GC,10243,1.51,251.2,427.7,10.7,488,10247,0.00,2.47,0.00,0.000,4,0.000,0.062,2705,3701,1890
$GC,10316,1.51,251.2,419.4,11.6,491,10321,0.00,2.40,0.00,0.000,6,0.000,0.038,2705,2313,1890
$GC,10638,1.51,251.2,387.8,9.5,507,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2313,1890
$GC,10947,1.51,251.2,359.5,9.1,522,10952,0.00,2.50,0.00,0.000,4,0.000,0.058,2705,3692,1890
$GC,10992,1.51,251.2,354.9,10.6,524,10997,0.00,2.38,0.00,0.000,6,0.000,0.035,2705,2311,1890
$GC,11314,1.51,251.2,324.6,9.4,540,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2311,1890
$GC,11623,1.51,251.2,294.2,10.1,555,11628,0.00,2.50,0.00,0.000,4,0.000,0.056,2705,3696,1890
$GC,11709,1.51,251.2,285.1,11.2,559,11713,0.00,2.38,0.00,0.000,6,0.000,0.035,2705,2311,1890
$GC,12036,1.51,251.2,253.7,9.1,575,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2310,1891
$GC,12345,1.51,251.2,225.7,8.7,590,12349,0.00,2.47,0.00,0.000,4,0.000,0.054,2705,3693,1891
$GC,12413,1.51,251.2,219.3,10.0,593,12417,0.00,2.38,0.00,0.000,6,0.000,0.035,2705,2303,1891
$GC,12740,1.51,251.2,188.9,9.2,609,12741,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2301,1892
$GC,13049,1.51,251.2,160.7,8.9,624,13053,0.00,2.50,0.00,0.000,4,0.000,0.054,2705,3697,1892
$GC,13116,1.51,251.2,154.3,9.5,627,13120,0.00,2.35,0.00,0.000,6,0.000,0.034,2705,2317,1892
$GC,13444,1.51,251.2,125.3,9.3,643,13445,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2316,1893
$GC,13753,1.51,251.2,95.8,9.5,658,13757,0.00,2.47,0.00,0.000,4,0.000,0.054,2705,3699,1893
$GC,13808,1.51,251.2,89.4,11.3,660,13815,0.00,2.38,0.00,0.000,6,0.000,0.035,2705,2309,1893
$GC,14125,1.61,334.1,60.7,4.8,676,14202,0.00,2.60,69.57,0.844,4,0.000,0.052,2705,3696,1552
$GC,14243,1.61,334.1,48.7,15.5,681,14247,0.00,2.40,0.00,0.000,6,0.000,0.034,2705,2309,1552
$GC,14560,1.67,334.1,8.8,13.6,696,14565,0.15,2.50,0.00,0.000,4,0.048,0.051,2747,3699,1552
$GC,14605,1.58,334.1,3.6,16.6,698,14610,0.15,2.38,0.00,0.000,6,0.104,0.034,2720,2307,1551
$STATE,14614,end climb,SURFACE_DEPTH_REACHED
$STATE,14614,begin surface coast
$FINISH,0.7,1.015442
$STATE,14636,end surface coast,CONTROL_FINISHED_OK
$STATE,14636,begin surface
$SM_CCo,14722,0.00,0.000,0,0,1551,334.59
$SM_GC,1.43,12.00,0.00,0.00,0.040,0.000,0.000,28,2536,1551,-10.74,0.57,334.59
$IRIDIUM_FIX,6158.08,-1001.28,130298,010143
$TT8_MAMPS,0.029146
$HUMID,2007
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.2,109.4
$24V_AH,23.1,14.546
$10V_AH,10.1,5.967
$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,26.075,118.700,423.250,0.000,0.000,43.601,86.554,143.651,4.500,0.000,0.000,15.756,1322.243,11125.806,488.621,1678.312,572.796,0.000,1356.681,0.000,1642.200,0.000,31.609,0.000
$DEVICE_MAMPS,125.021,107.380,1242.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,521.066,478.320,435.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34768,700
$CAP_FILE_SIZE,111057,0
$CFSIZE,260165632,254152704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191108,055708,6223.181,-1003.313,53,1.3,53,-10.1