version: 66.04
glider: 101
mission: 7
dive: 89
start: 11 20 108 3 42 0
data:
$ID,101
$MISSION,7
$DIVE,89
$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,-733634.75
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,033608,6224.027,-1018.012,25,1.6,25,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-59.6
$GPS2,034139,6224.023,-1017.985,15,1.9,15,-10.3
$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,327.4,15103,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.51,-146.6,0.0,0.0,0,78,0.00,0.00,-60.47,0.000,2,0.000,0.000,26,2524,2980
$GC,82,-1.51,-146.6,3.2,-4.0,3,114,10.52,2.08,-16.88,0.000,4,0.126,0.069,2039,3686,3513
$GC,369,-1.38,-146.6,40.2,-13.8,16,374,0.17,2.00,0.00,0.000,6,0.090,0.036,2074,2512,3514
$GC,697,-1.38,-146.6,73.9,-9.9,32,700,0.00,2.12,0.00,0.000,4,0.000,0.055,2074,3693,3514
$GC,766,-1.32,-146.6,81.1,-10.2,35,770,0.00,2.00,0.00,0.000,6,0.000,0.035,2074,2516,3514
$GC,1100,-1.32,-146.6,114.9,-9.3,51,1103,0.00,2.10,0.00,0.000,4,0.000,0.055,2074,3686,3514
$GC,1191,-1.27,-146.6,123.4,-9.6,55,1196,0.12,2.00,0.00,0.000,6,0.094,0.035,2098,2509,3514
$GC,1526,-1.27,-146.6,150.1,-8.0,71,1530,0.00,2.12,0.00,0.000,4,0.000,0.054,2098,3693,3514
$GC,1610,-1.27,-146.6,158.5,-10.2,74,1616,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2515,3514
$GC,1926,-1.27,-146.6,186.9,-9.3,90,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2515,3514
$GC,2236,-1.27,-146.6,216.7,-10.1,105,2239,0.00,2.10,0.00,0.000,4,0.000,0.056,2098,3685,3514
$GC,2376,-1.27,-146.6,228.9,-9.7,111,2380,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2505,3514
$GC,2704,-1.27,-146.6,256.9,-8.7,127,2707,0.00,2.12,0.00,0.000,4,0.000,0.055,2098,3692,3514
$GC,2822,-1.27,-146.6,266.7,-8.7,132,2825,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2508,3514
$GC,3149,-1.27,-146.6,294.1,-8.5,148,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2508,3514
$GC,3458,-1.27,-146.6,320.2,-8.4,163,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2508,3514
$GC,3767,-1.27,-146.6,346.1,-8.0,178,3771,0.00,2.12,0.00,0.000,4,0.000,0.058,2098,3686,3514
$GC,3869,-1.27,-146.6,354.8,-8.9,182,3873,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2511,3514
$GC,4191,-1.27,-146.6,382.6,-9.1,198,4194,0.00,2.12,0.00,0.000,4,0.000,0.060,2098,3686,3514
$GC,4241,-1.27,-146.6,387.7,-10.0,200,4245,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2513,3514
$GC,4569,-1.27,-146.6,419.3,-9.7,216,4573,0.00,2.12,0.00,0.000,4,0.000,0.062,2098,3683,3514
$GC,4642,-1.27,-146.6,427.1,-10.7,219,4646,0.00,2.00,0.00,0.000,6,0.000,0.036,2098,2513,3514
$GC,4970,-1.27,-146.6,454.0,-6.9,235,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2513,3514
$GC,5282,-1.27,-146.6,475.1,-6.9,250,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2513,3514
$GC,5588,-1.27,-146.6,499.9,-8.6,265,5593,0.00,2.20,0.00,0.000,4,0.000,0.079,2098,3682,3514
$GC,5679,-1.27,-146.6,508.1,-9.3,269,5683,0.00,2.05,0.00,0.000,6,0.000,0.048,2098,2520,3514
$GC,6013,-1.31,-146.6,535.4,-7.6,285,6017,0.00,2.25,0.00,0.000,4,0.000,0.094,2098,3679,3514
$GC,6244,-1.31,-146.6,554.5,-8.4,295,6248,0.00,2.10,0.00,0.000,6,0.000,0.055,2098,2512,3514
$GC,6567,-1.36,-146.6,580.0,-8.1,311,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2512,3514
$GC,6876,-1.43,-146.6,607.7,-9.2,326,6881,0.15,2.25,0.00,0.000,4,0.051,0.090,2057,3679,3514
$GC,6944,-1.37,-146.6,614.8,-10.2,329,6947,0.00,2.10,0.00,0.000,6,0.000,0.054,2057,2507,3514
$GC,7271,-1.37,-146.6,643.3,-9.2,345,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2505,3513
$STATE,7371,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7371,begin apogee
$GC,7379,-0.45,0.0,653.8,10.6,350,7514,1.02,0.00,129.48,1.233,6,0.071,0.000,2275,2306,2915
$STATE,7515,end apogee,CONTROL_FINISHED_OK
$STATE,7515,begin climb
$GC,7518,1.51,146.6,659.1,0.0,357,7657,2.00,2.72,128.75,1.197,4,0.054,0.078,2708,905,2317
$GC,7709,1.42,148.7,651.0,7.9,366,7715,0.12,2.62,0.00,0.000,6,0.122,0.063,2688,2304,2317
$GC,8032,1.44,169.3,626.9,7.2,382,8055,0.00,0.00,21.23,1.151,6,0.000,0.000,2687,2304,2224
$GC,8360,1.44,169.3,598.9,9.1,398,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2304,2223
$GC,8670,1.47,190.6,575.3,7.2,413,8695,0.00,2.67,19.42,1.163,4,0.000,0.077,2687,3693,2138
$GC,8782,1.47,190.6,565.9,9.3,418,8786,0.00,2.47,0.00,0.000,6,0.000,0.046,2687,2310,2137
$GC,9108,1.47,190.6,537.4,9.4,434,9113,0.00,2.60,0.00,0.000,4,0.000,0.071,2687,3695,2136
$GC,9171,1.47,190.6,531.0,10.2,437,9176,0.00,2.45,0.00,0.000,6,0.000,0.044,2687,2316,2136
$GC,9499,1.49,209.0,505.5,7.3,453,9521,0.00,2.70,17.42,1.132,4,0.000,0.067,2687,3699,2063
$GC,9636,1.49,211.8,494.8,7.9,459,9645,0.00,2.45,4.45,0.816,6,0.000,0.041,2687,2313,2051
$GC,9968,1.50,215.0,469.4,7.9,475,9974,0.00,0.00,4.43,0.803,6,0.000,0.000,2687,2313,2038
$GC,10277,1.50,218.9,444.1,7.9,490,10284,0.00,0.00,5.28,0.862,6,0.000,0.000,2687,2313,2022
$GC,10586,1.50,218.9,418.4,8.3,505,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2313,2022
$GC,10896,1.50,218.9,393.4,8.3,520,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2313,2022
$GC,11205,1.50,218.9,366.7,8.8,535,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2313,2022
$GC,11514,1.50,218.9,340.8,8.0,550,11518,0.00,2.53,0.00,0.000,4,0.000,0.058,2687,3705,2022
$GC,11576,1.50,218.9,335.6,8.1,552,11582,0.00,2.42,0.00,0.000,6,0.000,0.036,2687,2297,2022
$GC,11892,1.51,227.7,311.9,7.7,568,11904,0.00,0.00,9.50,0.918,6,0.000,0.000,2687,2297,1986
$GC,12202,1.51,227.7,286.7,8.4,583,12203,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2297,1986
$GC,12511,1.55,227.7,259.4,8.7,598,12513,0.12,0.00,0.00,0.000,6,0.056,0.000,2722,2297,1986
$GC,12820,1.55,227.7,227.3,10.4,613,12821,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2297,1986
$GC,13129,1.55,227.7,194.6,10.8,628,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2296,1986
$GC,13439,1.55,227.7,159.7,11.6,643,13442,0.00,2.53,0.00,0.000,4,0.000,0.054,2722,3699,1987
$GC,13496,1.50,227.7,152.9,12.2,645,13500,0.00,2.38,0.00,0.000,6,0.000,0.035,2722,2313,1987
$GC,13812,1.50,227.7,117.9,10.9,660,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2311,1987
$GC,14121,1.50,227.7,85.5,10.4,675,14123,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2311,1987
$GC,14431,1.50,227.7,55.3,10.1,690,14435,0.00,2.50,0.00,0.000,4,0.000,0.054,2722,3707,1987
$GC,14494,1.44,227.7,48.2,12.3,693,14499,0.17,2.38,0.00,0.000,6,0.100,0.035,2688,2315,1987
$GC,14822,1.50,227.7,17.4,9.4,709,14823,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2313,1987
$STATE,15004,end climb,SURFACE_DEPTH_REACHED
$STATE,15004,begin surface coast
$FINISH,0.9,1.014297
$STATE,15027,end surface coast,CONTROL_FINISHED_OK
$STATE,15027,begin surface
$SM_CCo,15052,62.70,0.772,2,0,1692,300.00
$SM_GC,1.56,0.00,0.00,62.70,0.000,0.000,0.772,25,2543,1692,-10.81,0.74,300.00
$IRIDIUM_FIX,6158.08,-1015.80,130298,232327
$TT8_MAMPS,0.029146
$HUMID,2004
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.6,86.6
$24V_AH,23.1,15.437
$10V_AH,10.1,6.405
$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,26.000,86.175,339.950,62.700,0.000,23.048,27.666,147.834,4.750,0.000,0.000,17.267,1340.631,11469.884,508.528,1658.689,482.652,0.000,1316.588,0.000,1618.743,0.000,35.785,0.000
$DEVICE_MAMPS,125.788,93.574,1233.336,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,531.174,491.472,443.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34858,719
$CAP_FILE_SIZE,105035,0
$CFSIZE,260165632,253837312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,201108,075531,6224.157,-1022.788,36,1.7,42,-10.3