version: 66.04
glider: 101
mission: 7
dive: 84
start: 11 19 108 6 3 11
data:
$ID,101
$MISSION,7
$DIVE,84
$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,-733482.56
$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,39
$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
$GPS1,055708,6223.181,-1003.313,53,1.3,53,-10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-52.7
$GPS2,060250,6223.138,-1003.182,13,1.3,14,-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,309.1,26220,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.51,-146.6,0.0,0.0,0,98,0.00,0.00,-77.88,0.000,2,0.000,0.000,28,2538,3202
$GC,102,-1.51,-146.6,3.9,-4.1,4,125,10.52,2.12,-7.80,0.000,4,0.127,0.071,2038,3692,3515
$GC,195,-1.35,-146.6,23.6,-19.3,8,200,0.20,2.03,0.00,0.000,6,0.091,0.035,2078,2501,3515
$GC,523,-1.35,-146.6,53.9,-8.0,24,526,0.00,2.12,0.00,0.000,4,0.000,0.055,2078,3683,3515
$GC,664,-1.28,-146.6,67.2,-12.4,30,667,0.00,1.98,0.00,0.000,6,0.000,0.035,2078,2517,3515
$GC,993,-1.28,-146.6,93.6,-6.1,46,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2518,3515
$GC,1301,-1.28,-146.6,117.4,-8.4,61,1305,0.00,2.10,0.00,0.000,4,0.000,0.055,2078,3689,3516
$GC,1408,-1.24,-146.6,127.1,-9.6,65,1415,0.12,2.03,0.00,0.000,6,0.094,0.035,2102,2495,3515
$GC,1725,-1.24,-146.6,151.9,-7.9,81,1729,0.00,2.12,0.00,0.000,4,0.000,0.055,2102,3684,3515
$GC,1854,-1.24,-146.6,162.6,-8.2,86,1860,0.00,1.98,0.00,0.000,6,0.000,0.035,2102,2517,3515
$GC,2171,-1.24,-146.6,187.3,-7.2,102,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2517,3515
$GC,2480,-1.24,-146.6,205.5,-7.0,117,2483,0.00,2.10,0.00,0.000,4,0.000,0.055,2102,3690,3515
$GC,2576,-1.24,-146.6,213.0,-7.6,121,2579,0.00,2.00,0.00,0.000,6,0.000,0.035,2102,2507,3516
$GC,2903,-1.24,-146.6,239.4,-8.5,137,2907,0.00,2.12,0.00,0.000,4,0.000,0.055,2102,3694,3515
$GC,2981,-1.24,-146.6,246.8,-9.2,140,2985,0.00,2.00,0.00,0.000,6,0.000,0.035,2102,2510,3515
$GC,3303,-1.24,-146.6,274.3,-8.7,156,3307,0.00,2.10,0.00,0.000,4,0.000,0.055,2102,3684,3515
$GC,3382,-1.24,-146.6,281.5,-8.6,159,3386,0.00,1.98,0.00,0.000,6,0.000,0.035,2102,2513,3515
$GC,3704,-1.24,-146.6,309.3,-8.9,175,3708,0.00,2.10,0.00,0.000,4,0.000,0.057,2102,3685,3515
$GC,3773,-1.24,-146.6,315.8,-9.8,178,3776,0.00,1.98,0.00,0.000,6,0.000,0.035,2102,2516,3515
$GC,4106,-1.29,-146.6,346.9,-9.5,194,4110,0.00,2.10,0.00,0.000,4,0.000,0.058,2102,3690,3515
$GC,4207,-1.29,-146.6,356.7,-9.7,198,4211,0.00,2.00,0.00,0.000,6,0.000,0.035,2102,2511,3515
$GC,4529,-1.33,-146.6,384.9,-8.6,214,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2510,3515
$GC,4838,-1.37,-146.6,411.5,-9.0,229,4843,0.12,2.12,0.00,0.000,4,0.054,0.061,2066,3684,3515
$GC,4901,-1.31,-146.6,418.4,-11.7,232,4906,0.12,1.98,0.00,0.000,6,0.093,0.036,2089,2523,3515
$GC,5234,-1.31,-146.6,453.0,-10.5,248,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2522,3515
$GC,5544,-1.31,-146.6,482.0,-8.5,263,5548,0.00,2.15,0.00,0.000,4,0.000,0.074,2090,3683,3515
$GC,5680,-1.31,-146.6,494.5,-9.3,269,5684,0.00,2.03,0.00,0.000,6,0.000,0.043,2090,2521,3515
$GC,6013,-1.31,-146.6,515.4,-5.7,285,6017,0.00,2.20,0.00,0.000,4,0.000,0.085,2090,3679,3515
$GC,6115,-1.31,-146.6,522.0,-6.7,289,6119,0.00,2.08,0.00,0.000,6,0.000,0.053,2089,2516,3515
$GC,6437,-1.31,-146.6,549.3,-11.0,305,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2517,3515
$GC,6748,-1.35,-146.6,582.3,-9.8,320,6751,0.00,2.20,0.00,0.000,4,0.000,0.083,2090,3679,3515
$GC,6834,-1.35,-146.6,590.1,-8.3,323,6840,0.00,2.08,0.00,0.000,6,0.000,0.051,2090,2511,3515
$GC,7151,-1.39,-146.6,612.2,-6.6,339,7154,0.00,2.25,0.00,0.000,4,0.000,0.090,2090,3680,3515
$GC,7310,-1.39,-146.6,624.8,-8.0,346,7313,0.00,2.08,0.00,0.000,6,0.000,0.054,2090,2517,3515
$GC,7643,-1.39,-146.6,652.1,-8.4,362,7646,0.00,2.22,0.00,0.000,4,0.000,0.089,2090,3677,3514
$GC,7711,-1.39,-146.6,657.9,-8.7,365,7715,0.00,2.08,0.00,0.000,6,0.000,0.052,2090,2511,3514
$STATE,7720,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7720,begin apogee
$GC,7728,-0.45,0.0,659.0,8.3,365,7861,0.85,0.00,130.20,1.246,6,0.079,0.000,2272,2309,2915
$STATE,7862,end apogee,CONTROL_FINISHED_OK
$STATE,7862,begin climb
$GC,7866,1.51,146.6,663.7,0.0,372,8003,2.03,2.75,128.62,1.201,4,0.054,0.076,2709,911,2317
$GC,8055,1.43,146.6,654.6,8.8,381,8060,0.12,2.60,0.00,0.000,6,0.123,0.061,2689,2304,2317
$GC,8377,1.43,146.6,628.9,8.2,397,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2304,2314
$GC,8686,1.43,146.6,603.3,8.3,412,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2306,2314
$GC,8995,1.44,156.0,578.8,7.6,427,9010,0.00,2.65,9.20,1.077,4,0.000,0.075,2688,3698,2279
$GC,9120,1.41,175.1,569.4,7.3,432,9145,0.00,2.47,18.42,1.159,6,0.000,0.046,2688,2311,2201
$GC,9462,1.49,242.7,550.2,5.4,449,9528,0.00,2.67,59.92,1.195,4,0.000,0.066,2688,912,1925
$GC,9642,1.49,242.7,534.7,10.2,457,9646,0.00,2.58,0.00,0.000,6,0.000,0.051,2688,2327,1925
$GC,9963,1.49,242.7,503.3,8.3,473,9967,0.00,2.53,0.00,0.000,4,0.000,0.068,2688,3702,1924
$GC,10013,1.49,242.7,499.0,8.3,475,10018,0.00,2.45,0.00,0.000,6,0.000,0.042,2688,2314,1923
$GC,10329,1.49,242.7,473.3,8.6,490,10333,0.00,2.55,0.00,0.000,4,0.000,0.064,2689,3697,1923
$GC,10398,1.49,242.7,467.2,8.8,493,10402,0.00,2.42,0.00,0.000,6,0.000,0.039,2688,2312,1923
$GC,10725,1.54,242.7,438.5,9.5,509,10729,0.00,2.50,0.00,0.000,4,0.000,0.056,2688,914,1923
$GC,10775,1.54,242.7,433.6,10.0,511,10780,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2326,1923
$GC,11092,1.54,242.7,404.5,9.2,526,11096,0.00,2.45,0.00,0.000,4,0.000,0.061,2688,3689,1923
$GC,11137,1.54,242.7,399.7,10.1,528,11141,0.00,2.38,0.00,0.000,6,0.000,0.037,2688,2314,1923
$GC,11471,1.58,242.7,367.2,9.7,544,11473,0.12,0.00,0.00,0.000,6,0.056,0.000,2723,2314,1923
$GC,11780,1.58,242.7,334.9,10.1,559,11781,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2314,1923
$GC,12089,1.58,242.7,302.7,10.5,574,12093,0.00,2.50,0.00,0.000,4,0.000,0.057,2723,3697,1923
$GC,12140,1.53,242.7,296.9,11.5,576,12144,0.00,2.38,0.00,0.000,6,0.000,0.035,2723,2313,1923
$GC,12461,1.53,242.7,262.7,10.8,592,12462,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2313,1924
$GC,12771,1.53,242.7,229.4,10.3,607,12772,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2312,1924
$GC,13080,1.53,242.7,195.1,11.7,622,13084,0.00,2.47,0.00,0.000,4,0.000,0.054,2723,3692,1924
$GC,13125,1.48,242.7,190.1,11.7,624,13130,0.12,2.35,0.00,0.000,6,0.105,0.034,2699,2316,1924
$GC,13446,1.48,242.7,155.2,11.5,640,13447,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2314,1925
$GC,13758,1.54,293.9,125.2,6.1,655,13809,0.00,2.60,44.08,0.883,4,0.000,0.054,2699,3691,1716
$GC,13908,1.54,293.9,111.0,12.0,661,13915,0.00,2.38,0.00,0.000,6,0.000,0.034,2699,2312,1716
$GC,14227,1.60,293.9,83.6,9.2,677,14231,0.10,2.45,0.00,0.000,4,0.060,0.047,2729,917,1715
$GC,14255,1.60,293.9,80.0,12.8,678,14259,0.00,2.45,0.00,0.000,6,0.000,0.038,2729,2321,1715
$GC,14571,1.60,293.9,49.2,8.4,693,14572,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2321,1716
$GC,14881,1.60,293.9,10.9,16.1,708,14882,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2321,1715
$STATE,14960,end climb,SURFACE_DEPTH_REACHED
$STATE,14960,begin surface coast
$FINISH,0.8,1.027358
$STATE,14982,end surface coast,CONTROL_FINISHED_OK
$STATE,14982,begin surface
$SM_CCo,15007,6.78,0.702,0,0,1692,300.00
$SM_GC,2.02,0.00,0.00,6.78,0.000,0.000,0.702,29,2529,1692,-10.79,0.34,300.00
$IRIDIUM_FIX,6158.08,-1001.28,130298,010108
$TT8_MAMPS,0.029146
$HUMID,2023
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.3,67.6
$24V_AH,23.1,14.689
$10V_AH,10.1,6.040
$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,26.550,118.175,390.450,6.775,0.000,26.455,34.773,151.683,5.250,0.000,0.000,16.333,1365.952,11237.099,490.522,1747.147,520.007,0.000,1376.087,0.000,1702.430,0.000,37.658,0.000
$DEVICE_MAMPS,127.322,89.739,1246.375,701.805,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.768,486.805,450.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34731,713
$CAP_FILE_SIZE,114267,0
$CFSIZE,260165632,254099456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191108,101458,6223.436,-1006.409,29,2.3,48,-10.1