version: 66.04
glider: 101
mission: 7
dive: 90
start: 11 20 108 8 1 12
data:
$ID,101
$MISSION,7
$DIVE,90
$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,-733650.5
$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,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
$GPS1,075531,6224.157,-1022.788,36,1.7,42,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-61.0
$GPS2,080051,6224.143,-1022.817,13,1.8,13,-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,340.8,12465,-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,-60.58,0.000,2,0.000,0.000,25,2543,2996
$GC,82,-1.51,-146.6,3.4,-4.1,3,114,10.45,2.05,-16.60,0.000,4,0.124,0.072,2037,3692,3514
$GC,369,-1.37,-146.6,38.4,-13.0,16,374,0.17,2.03,0.00,0.000,6,0.092,0.035,2071,2502,3514
$GC,697,-1.37,-146.6,70.8,-8.8,32,701,0.00,2.12,0.00,0.000,4,0.000,0.056,2071,3686,3514
$GC,956,-1.31,-146.6,94.7,-9.7,43,959,0.00,2.00,0.00,0.000,6,0.000,0.035,2071,2511,3514
$GC,1278,-1.31,-146.6,124.8,-9.2,59,1281,0.00,2.12,0.00,0.000,4,0.000,0.055,2071,3693,3515
$GC,1363,-1.25,-146.6,133.1,-9.5,62,1370,0.15,2.00,0.00,0.000,6,0.092,0.035,2100,2507,3514
$GC,1679,-1.25,-146.6,161.5,-10.0,78,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2508,3514
$GC,1988,-1.25,-146.6,187.8,-8.0,93,1992,0.00,2.12,0.00,0.000,4,0.000,0.055,2100,3695,3514
$GC,2074,-1.25,-146.6,195.6,-9.5,96,2080,0.00,2.00,0.00,0.000,6,0.000,0.036,2100,2517,3514
$GC,2390,-1.25,-146.6,224.3,-9.2,112,2394,0.00,2.10,0.00,0.000,4,0.000,0.056,2100,3692,3514
$GC,2459,-1.25,-146.6,231.1,-9.9,115,2462,0.00,2.00,0.00,0.000,6,0.000,0.035,2100,2510,3514
$GC,2792,-1.25,-146.6,262.6,-9.0,131,2796,0.00,2.10,0.00,0.000,4,0.000,0.056,2100,3685,3514
$GC,2866,-1.25,-146.6,269.4,-8.9,134,2869,0.00,2.00,0.00,0.000,6,0.000,0.035,2100,2505,3514
$GC,3193,-1.25,-146.6,295.8,-8.6,150,3197,0.00,2.12,0.00,0.000,4,0.000,0.057,2100,3690,3514
$GC,3255,-1.25,-146.6,301.3,-8.3,152,3261,0.00,2.00,0.00,0.000,6,0.000,0.035,2100,2508,3514
$GC,3571,-1.25,-146.6,324.0,-6.8,168,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2508,3514
$GC,3881,-1.25,-146.6,345.7,-7.3,183,3885,0.00,2.12,0.00,0.000,4,0.000,0.058,2100,3690,3514
$GC,3974,-1.25,-146.6,353.0,-7.9,187,3977,0.00,2.00,0.00,0.000,6,0.000,0.036,2100,2512,3514
$GC,4306,-1.25,-146.6,379.5,-8.6,203,4310,0.00,2.12,0.00,0.000,4,0.000,0.060,2100,3686,3514
$GC,4409,-1.25,-146.6,389.4,-9.5,207,4413,0.00,2.00,0.00,0.000,6,0.000,0.036,2100,2513,3514
$GC,4731,-1.29,-146.6,417.2,-8.5,223,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2514,3514
$GC,5040,-1.29,-146.6,441.7,-8.1,238,5043,0.00,2.15,0.00,0.000,4,0.000,0.066,2100,3691,3515
$GC,5153,-1.29,-146.6,452.0,-9.2,243,5157,0.00,2.03,0.00,0.000,6,0.000,0.037,2100,2513,3514
$GC,5486,-1.29,-146.6,482.0,-8.8,259,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2513,3514
$GC,5796,-1.34,-146.6,509.3,-9.1,274,5800,0.00,2.20,0.00,0.000,4,0.000,0.082,2100,3679,3514
$GC,5932,-1.34,-146.6,523.9,-11.2,280,5936,0.00,2.08,0.00,0.000,6,0.000,0.054,2101,2517,3514
$GC,6266,-1.40,-146.6,554.8,-8.1,296,6271,0.15,2.30,0.00,0.000,4,0.050,0.103,2058,3680,3514
$GC,6451,-1.34,-146.6,572.0,-8.1,304,6456,0.12,2.08,0.00,0.000,6,0.094,0.051,2081,2513,3514
$GC,6767,-1.34,-146.6,597.6,-8.3,319,6771,0.00,2.25,0.00,0.000,4,0.000,0.091,2081,3680,3514
$GC,6863,-1.34,-146.6,606.9,-10.1,323,6867,0.00,2.10,0.00,0.000,6,0.000,0.055,2082,2508,3514
$GC,7191,-1.34,-146.6,634.6,-7.8,339,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2508,3514
$GC,7500,-1.34,-146.6,658.8,-7.4,354,7504,0.00,2.25,0.00,0.000,4,0.000,0.091,2082,3679,3513
$STATE,7526,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7526,begin apogee
$GC,7536,-0.45,0.0,661.4,9.5,355,7669,0.88,0.00,129.07,1.243,6,0.080,0.000,2268,2317,2915
$STATE,7669,end apogee,CONTROL_FINISHED_OK
$STATE,7670,begin climb
$GC,7673,1.51,146.6,666.1,0.0,362,7807,1.98,0.00,129.05,1.200,6,0.057,0.000,2704,2317,2316
$GC,8107,1.46,146.6,638.7,8.3,383,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2317,2316
$GC,8416,1.41,146.6,613.4,8.2,398,8421,0.10,2.62,0.00,0.000,4,0.107,0.071,2685,905,2314
$GC,8472,1.41,146.6,608.7,8.4,400,8479,0.00,2.58,0.00,0.000,6,0.000,0.059,2685,2306,2314
$GC,8789,1.41,146.6,583.5,8.4,416,8793,0.00,2.60,0.00,0.000,4,0.000,0.078,2685,3695,2313
$GC,8901,1.37,156.9,574.1,7.6,421,8918,0.00,2.47,9.77,1.092,6,0.000,0.047,2685,2307,2275
$GC,9228,1.37,156.9,550.4,8.0,437,9232,0.00,2.58,0.00,0.000,4,0.000,0.066,2685,901,2275
$GC,9339,1.37,156.9,540.4,9.2,442,9344,0.00,2.58,0.00,0.000,6,0.000,0.053,2685,2320,2275
$GC,9661,1.47,238.0,517.8,4.9,458,9738,0.00,2.60,71.78,1.181,4,0.000,0.071,2685,3692,1942
$GC,9822,1.47,238.0,505.4,9.7,464,9829,0.00,2.45,0.00,0.000,6,0.000,0.041,2685,2310,1942
$GC,10139,1.47,238.0,475.2,9.5,480,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2310,1942
$GC,10448,1.52,238.0,447.9,8.7,495,10452,0.00,2.55,0.00,0.000,4,0.000,0.064,2685,3693,1942
$GC,10545,1.52,238.0,439.1,8.7,499,10550,0.00,2.42,0.00,0.000,6,0.000,0.039,2685,2306,1941
$GC,10867,1.52,238.0,413.3,8.3,515,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2306,1941
$GC,11177,1.56,238.0,387.5,8.0,530,11179,0.12,0.00,0.00,0.000,6,0.056,0.000,2718,2306,1941
$GC,11486,1.56,238.0,356.7,10.2,545,11490,0.00,2.53,0.00,0.000,4,0.000,0.059,2718,3693,1942
$GC,11554,1.51,238.0,349.2,10.8,548,11559,0.00,2.40,0.00,0.000,6,0.000,0.037,2718,2304,1942
$GC,11881,1.51,238.0,315.2,10.6,564,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2304,1942
$GC,12190,1.51,238.0,282.2,10.4,579,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2304,1942
$GC,12500,1.51,238.0,251.9,9.1,594,12504,0.00,2.53,0.00,0.000,4,0.000,0.057,2718,3702,1942
$GC,12556,1.46,238.0,246.3,9.7,596,12563,0.15,2.40,0.00,0.000,6,0.104,0.037,2690,2307,1943
$GC,12872,1.46,238.0,217.6,8.9,612,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2307,1943
$GC,13182,1.51,238.0,191.5,8.4,627,13186,0.00,2.50,0.00,0.000,4,0.000,0.055,2690,3697,1943
$GC,13250,1.51,238.0,185.1,9.1,630,13254,0.00,2.38,0.00,0.000,6,0.000,0.036,2690,2314,1943
$GC,13573,1.51,238.0,155.7,8.9,646,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2312,1943
$GC,13882,1.55,238.0,126.1,9.4,661,13887,0.10,2.50,0.00,0.000,4,0.060,0.055,2719,3702,1943
$GC,13961,1.51,238.0,117.6,10.8,664,13968,0.00,2.40,0.00,0.000,6,0.000,0.037,2719,2307,1943
$GC,14278,1.51,238.0,84.5,10.0,680,14279,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2307,1943
$GC,14587,1.51,238.0,53.6,10.2,695,14591,0.00,2.50,0.00,0.000,4,0.000,0.055,2719,3699,1943
$GC,14665,1.51,238.0,44.7,10.0,698,14672,0.00,2.38,0.00,0.000,6,0.000,0.036,2719,2310,1943
$GC,14982,1.51,238.0,12.5,9.7,714,14983,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2309,1944
$STATE,15082,end climb,SURFACE_DEPTH_REACHED
$STATE,15082,begin surface coast
$FINISH,0.8,1.009997
$STATE,15103,end surface coast,CONTROL_FINISHED_OK
$STATE,15104,begin surface
$SM_CCo,15128,53.45,0.771,2,0,1692,300.00
$SM_GC,1.69,0.00,0.00,53.45,0.000,0.000,0.771,23,2535,1692,-10.82,0.54,300.00
$IRIDIUM_FIX,6158.08,-1020.37,140298,030351
$TT8_MAMPS,0.028379
$HUMID,2022
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.5,44.7
$24V_AH,23.1,15.576
$10V_AH,10.1,6.478
$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,26.250,109.300,339.675,53.450,0.000,24.029,40.739,131.300,5.750,0.000,0.000,15.111,1374.385,11360.784,503.763,1787.279,491.796,0.000,1387.899,0.000,1740.720,0.000,42.135,0.000
$DEVICE_MAMPS,124.254,102.778,1242.540,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,531.421,491.292,444.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34785,720
$CAP_FILE_SIZE,111532,0
$CFSIZE,260165632,253775872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,201108,121538,6224.975,-1028.597,30,1.5,30,-10.4