version: 66.04
glider: 101
mission: 7
dive: 87
start: 11 19 108 18 35 16
data:
$ID,101
$MISSION,7
$DIVE,87
$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,-733584.38
$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,26
$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
$GPS1,182825,6224.453,-1007.792,56,2.0,56,-10.2
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-50.4
$GPS2,183454,6224.400,-1007.683,10,2.2,29,-10.2
$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,308.7,21720,-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,-61.08,0.000,2,0.000,0.000,25,2531,2987
$GC,83,-1.51,-146.6,3.5,-4.7,3,114,10.62,2.08,-15.07,0.000,4,0.131,0.075,2039,3686,3515
$GC,230,-1.36,-146.6,25.4,-14.9,9,234,0.20,2.03,0.00,0.000,6,0.086,0.035,2079,2500,3515
$GC,551,-1.36,-146.6,59.0,-9.2,25,555,0.00,2.15,0.00,0.000,4,0.000,0.056,2079,3695,3515
$GC,648,-1.31,-146.6,67.4,-6.6,29,651,0.00,2.00,0.00,0.000,6,0.000,0.035,2079,2516,3515
$GC,976,-1.31,-146.6,93.8,-9.0,45,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2516,3515
$GC,1287,-1.31,-146.6,124.0,-9.4,60,1290,0.00,2.10,0.00,0.000,4,0.000,0.055,2079,3688,3515
$GC,1405,-1.27,-146.6,136.5,-10.3,65,1409,0.00,2.00,0.00,0.000,6,0.000,0.036,2079,2510,3515
$GC,1733,-1.27,-146.6,168.1,-9.0,81,1737,0.00,2.12,0.00,0.000,4,0.000,0.056,2079,3695,3515
$GC,1795,-1.23,-146.6,174.8,-11.0,83,1802,0.12,2.00,0.00,0.000,6,0.093,0.035,2104,2515,3516
$GC,2111,-1.23,-146.6,205.7,-10.2,99,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2515,3515
$GC,2420,-1.23,-146.6,234.9,-9.2,114,2424,0.00,2.10,0.00,0.000,4,0.000,0.057,2104,3686,3515
$GC,2567,-1.23,-146.6,248.3,-8.6,120,2570,0.00,2.00,0.00,0.000,6,0.000,0.035,2104,2505,3515
$GC,2889,-1.23,-146.6,272.7,-7.3,136,2893,0.00,2.12,0.00,0.000,4,0.000,0.056,2104,3692,3516
$GC,2996,-1.23,-146.6,281.2,-7.5,140,3002,0.00,2.03,0.00,0.000,6,0.000,0.035,2104,2488,3516
$GC,3313,-1.23,-146.6,304.0,-7.4,156,3317,0.00,2.15,0.00,0.000,4,0.000,0.057,2104,3692,3516
$GC,3404,-1.23,-146.6,311.3,-8.5,160,3408,0.00,1.98,0.00,0.000,6,0.000,0.035,2104,2519,3516
$GC,3738,-1.27,-146.6,337.1,-7.9,176,3742,0.00,2.10,0.00,0.000,4,0.000,0.058,2104,3687,3516
$GC,3811,-1.27,-146.6,343.5,-9.1,179,3815,0.00,2.00,0.00,0.000,6,0.000,0.035,2103,2508,3515
$GC,4140,-1.31,-146.6,369.1,-7.4,195,4144,0.00,2.12,0.00,0.000,4,0.000,0.059,2104,3686,3516
$GC,4269,-1.31,-146.6,379.7,-7.9,200,4276,0.00,2.03,0.00,0.000,6,0.000,0.035,2104,2515,3515
$GC,4586,-1.36,-146.6,406.9,-8.7,216,4591,0.12,2.12,0.00,0.000,4,0.052,0.060,2067,3688,3515
$GC,4695,-1.29,-146.6,418.2,-10.6,221,4699,0.12,2.00,0.00,0.000,6,0.094,0.035,2091,2515,3515
$GC,5027,-1.29,-146.6,449.5,-9.1,237,5035,0.00,2.15,0.00,0.000,4,0.000,0.067,2091,3688,3516
$GC,5131,-1.29,-146.6,459.6,-9.7,241,5135,0.00,2.03,0.00,0.000,6,0.000,0.038,2091,2512,3516
$GC,5453,-1.29,-146.6,486.1,-6.8,257,5457,0.00,2.20,0.00,0.000,4,0.000,0.074,2091,3692,3515
$GC,5515,-1.29,-146.6,490.1,-6.6,259,5521,0.00,2.05,0.00,0.000,6,0.000,0.041,2091,2515,3516
$GC,5831,-1.29,-146.6,513.5,-8.3,275,5835,0.00,2.22,0.00,0.000,4,0.000,0.085,2091,3685,3516
$GC,5916,-1.29,-146.6,521.8,-10.2,278,5922,0.00,2.08,0.00,0.000,6,0.000,0.053,2091,2521,3516
$GC,6232,-1.29,-146.6,545.4,-6.4,294,6236,0.00,2.28,0.00,0.000,4,0.000,0.099,2091,3682,3516
$GC,6404,-1.29,-146.6,557.6,-7.1,301,6408,0.00,2.15,0.00,0.000,6,0.000,0.067,2091,2511,3516
$GC,6726,-1.29,-146.6,580.1,-6.8,317,6730,0.00,2.25,0.00,0.000,4,0.000,0.091,2091,3682,3515
$GC,6783,-1.29,-146.6,584.8,-8.4,319,6788,0.00,2.10,0.00,0.000,6,0.000,0.054,2091,2509,3515
$GC,7099,-1.33,-146.6,610.3,-7.6,335,7103,0.00,2.28,0.00,0.000,4,0.000,0.091,2091,3688,3515
$GC,7246,-1.33,-146.6,622.7,-9.0,341,7252,0.00,2.10,0.00,0.000,6,0.000,0.054,2091,2514,3515
$GC,7562,-1.38,-146.6,647.7,-8.1,357,7566,0.00,2.25,0.00,0.000,4,0.000,0.090,2091,3682,3514
$GC,7647,-1.38,-146.6,655.1,-8.8,360,7653,0.00,2.10,0.00,0.000,6,0.000,0.052,2091,2506,3513
$STATE,7815,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7815,begin apogee
$GC,7824,-0.45,0.0,668.5,8.2,369,7959,0.88,0.00,129.77,1.261,6,0.077,0.000,2275,2320,2915
$STATE,7959,end apogee,CONTROL_FINISHED_OK
$STATE,7960,begin climb
$GC,7963,1.51,146.6,673.2,0.0,376,8097,1.98,0.00,129.20,1.214,6,0.054,0.000,2715,2319,2316
$GC,8396,1.45,150.5,645.2,7.9,397,8404,0.12,0.00,4.90,0.858,6,0.101,0.000,2692,2319,2301
$GC,8705,1.48,171.8,622.6,7.2,412,8727,0.00,0.00,20.38,1.175,6,0.000,0.000,2693,2319,2214
$GC,9035,1.49,178.6,598.1,7.7,428,9044,0.00,0.00,7.78,1.043,6,0.000,0.000,2693,2319,2186
$GC,9344,1.49,178.6,572.4,8.4,443,9348,0.00,2.60,0.00,0.000,4,0.000,0.075,2692,3692,2186
$GC,9456,1.45,178.6,562.5,9.0,448,9460,0.00,2.47,0.00,0.000,6,0.000,0.045,2692,2301,2185
$GC,9777,1.45,178.6,535.1,8.8,464,9781,0.00,2.60,0.00,0.000,4,0.000,0.071,2692,3692,2184
$GC,9885,1.40,178.6,525.5,8.7,469,9889,0.00,2.42,0.00,0.000,6,0.000,0.043,2692,2316,2184
$GC,10218,1.40,178.6,500.3,8.1,485,10222,0.00,2.55,0.00,0.000,4,0.000,0.061,2692,909,2183
$GC,10307,1.40,178.6,492.7,8.2,489,10312,0.00,2.53,0.00,0.000,6,0.000,0.048,2692,2318,2183
$GC,10629,1.45,221.0,470.6,6.4,505,10668,0.00,0.00,37.65,1.147,6,0.000,0.000,2692,2318,2014
$GC,10978,1.45,221.0,441.6,8.6,522,10982,0.00,2.50,0.00,0.000,4,0.000,0.063,2692,3696,2014
$GC,11023,1.45,221.0,437.3,8.9,524,11027,0.00,2.42,0.00,0.000,6,0.000,0.038,2692,2301,2013
$GC,11356,1.45,221.0,405.8,10.0,540,11361,0.00,2.55,0.00,0.000,4,0.000,0.059,2692,3696,2013
$GC,11407,1.45,221.0,400.6,9.8,542,11411,0.00,2.40,0.00,0.000,6,0.000,0.036,2692,2312,2013
$GC,11728,1.45,221.0,370.8,8.5,558,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2311,2013
$GC,12037,1.45,221.0,341.1,10.4,573,12042,0.00,2.50,0.00,0.000,4,0.000,0.058,2692,3692,2014
$GC,12094,1.45,221.0,335.2,10.0,575,12101,0.00,2.38,0.00,0.000,6,0.000,0.035,2692,2311,2014
$GC,12410,1.45,221.0,304.0,9.5,591,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2311,2014
$GC,12720,1.45,221.0,276.1,9.2,606,12724,0.00,2.47,0.00,0.000,4,0.000,0.055,2692,3693,2015
$GC,12770,1.45,221.0,271.0,10.6,608,12774,0.00,2.38,0.00,0.000,6,0.000,0.035,2692,2310,2015
$GC,13086,1.47,235.3,245.5,7.5,623,13105,0.00,0.00,14.40,0.930,6,0.000,0.000,2692,2310,1955
$GC,13415,1.47,235.3,219.1,8.7,639,13419,0.00,2.50,0.00,0.000,4,0.000,0.054,2692,3702,1955
$GC,13484,1.47,235.3,213.3,8.7,642,13488,0.00,2.40,0.00,0.000,6,0.000,0.035,2692,2307,1954
$GC,13811,1.47,235.3,187.7,9.0,658,13812,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2306,1954
$GC,14121,1.52,275.5,166.4,6.5,673,14163,0.00,2.60,35.65,0.914,4,0.000,0.054,2692,3687,1791
$GC,14192,1.52,275.5,161.1,9.2,676,14196,0.00,2.40,0.00,0.000,6,0.000,0.035,2692,2309,1790
$GC,14511,1.58,280.9,136.7,7.8,691,14524,0.12,2.53,6.20,0.740,4,0.055,0.053,2728,3695,1768
$GC,14559,1.58,280.9,132.4,9.5,693,14563,0.00,2.40,0.00,0.000,6,0.000,0.035,2727,2307,1768
$GC,14887,1.64,325.6,110.5,6.3,709,14928,0.00,0.00,38.50,0.866,6,0.000,0.000,2727,2307,1587
$GC,15240,1.64,325.6,77.6,8.8,726,15244,0.00,2.53,0.00,0.000,4,0.000,0.056,2728,3699,1587
$GC,15296,1.58,325.6,71.7,11.7,728,15303,0.00,2.40,0.00,0.000,6,0.000,0.036,2728,2307,1587
$GC,15613,1.58,325.6,38.3,11.8,744,15614,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2307,1586
$STATE,15919,end climb,SURFACE_DEPTH_REACHED
$STATE,15919,begin surface coast
$FINISH,1.0,1.014842
$STATE,15941,end surface coast,CONTROL_FINISHED_OK
$STATE,15941,begin surface
$SM_CCo,16026,0.00,0.000,0,0,1585,326.25
$SM_GC,1.39,11.95,0.00,0.00,0.037,0.000,0.000,22,2538,1585,-10.76,0.59,326.25
$IRIDIUM_FIX,6202.67,-1007.48,130298,141455
$TT8_MAMPS,0.029146
$HUMID,2024
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,575.9,102.4
$24V_AH,23.1,15.142
$10V_AH,10.1,6.258
$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,26.250,126.725,424.425,0.000,0.000,25.888,41.456,177.988,5.000,0.000,0.000,31.743,1445.329,12009.711,552.240,1851.636,558.889,0.000,1473.326,0.000,1794.706,0.000,35.812,0.000
$DEVICE_MAMPS,131.157,98.943,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.726,518.664,464.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38041,760
$CAP_FILE_SIZE,120188,0
$CFSIZE,260165632,253923328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191108,230353,6223.144,-1013.836,36,1.9,52,-10.2