version: 66.04
glider: 101
mission: 7
dive: 109
start: 11 23 108 16 56 30
data:
$ID,101
$MISSION,7
$DIVE,109
$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,-734064.06
$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,38
$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
$GPS1,164744,6244.733,-1148.732,36,1.0,54,-11.2
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-57.3
$GPS2,165609,6244.734,-1148.712,14,1.5,14,-11.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$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,302.3,37379,-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,-61.08,0.000,2,0.000,0.000,28,2531,2982
$GC,83,-1.51,-146.6,3.2,-3.8,3,115,10.48,2.08,-16.42,0.000,4,0.125,0.073,2039,3683,3512
$GC,370,-1.36,-146.6,45.0,-15.4,16,375,0.17,2.00,0.00,0.000,6,0.091,0.036,2074,2511,3513
$GC,698,-1.32,-146.6,92.4,-13.7,32,702,0.00,2.12,0.00,0.000,4,0.000,0.055,2073,3690,3512
$GC,816,-1.27,-146.6,108.2,-11.0,37,821,0.12,2.00,0.00,0.000,6,0.094,0.035,2098,2517,3513
$GC,1145,-1.27,-146.6,133.2,-7.5,53,1148,0.00,2.10,0.00,0.000,4,0.000,0.056,2098,3686,3513
$GC,1207,-1.27,-146.6,138.3,-7.6,55,1213,0.00,2.03,0.00,0.000,6,0.000,0.036,2098,2500,3513
$GC,1524,-1.27,-146.6,160.8,-7.8,71,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2500,3513
$GC,1833,-1.27,-146.6,189.0,-10.5,86,1837,0.00,2.15,0.00,0.000,4,0.000,0.056,2098,3693,3513
$GC,1924,-1.27,-146.6,201.2,-14.0,90,1928,0.00,2.00,0.00,0.000,6,0.000,0.036,2098,2516,3513
$GC,2258,-1.27,-146.6,232.2,-10.6,106,2261,0.00,2.10,0.00,0.000,4,0.000,0.056,2097,3684,3513
$GC,2304,-1.27,-146.6,237.6,-10.9,108,2307,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2505,3513
$GC,2637,-1.27,-146.6,273.3,-9.3,124,2640,0.00,2.12,0.00,0.000,4,0.000,0.057,2098,3686,3513
$GC,2689,-1.27,-146.6,277.4,-8.6,126,2692,0.00,2.00,0.00,0.000,6,0.000,0.035,2099,2509,3512
$GC,3016,-1.27,-146.6,302.5,-8.6,142,3020,0.00,2.12,0.00,0.000,4,0.000,0.057,2098,3690,3513
$GC,3101,-1.27,-146.6,310.4,-8.9,145,3107,0.00,2.03,0.00,0.000,6,0.000,0.035,2098,2494,3513
$GC,3417,-1.27,-146.6,338.0,-9.0,161,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2493,3513
$GC,3726,-1.27,-146.6,363.9,-8.3,176,3730,0.00,2.15,0.00,0.000,4,0.000,0.059,2098,3683,3513
$GC,3843,-1.27,-146.6,375.1,-9.7,181,3846,0.00,1.98,0.00,0.000,6,0.000,0.036,2098,2522,3513
$GC,4176,-1.27,-146.6,402.5,-8.0,197,4180,0.00,2.12,0.00,0.000,4,0.000,0.061,2098,3692,3513
$GC,4237,-1.27,-146.6,407.7,-8.4,199,4243,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2520,3513
$GC,4554,-1.27,-146.6,429.8,-6.6,215,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2520,3513
$GC,4865,-1.27,-146.6,450.6,-6.9,230,4869,0.00,2.15,0.00,0.000,4,0.000,0.066,2098,3690,3513
$GC,4983,-1.27,-146.6,460.8,-9.1,235,4987,0.00,2.03,0.00,0.000,6,0.000,0.037,2098,2514,3513
$GC,5311,-1.27,-146.6,488.8,-8.8,251,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2513,3513
$GC,5621,-1.27,-146.6,514.6,-7.5,266,5624,0.00,2.22,0.00,0.000,4,0.000,0.083,2098,3685,3513
$GC,5793,-1.27,-146.6,527.6,-7.6,273,5797,0.00,2.08,0.00,0.000,6,0.000,0.054,2098,2526,3513
$GC,6116,-1.32,-146.6,552.8,-8.1,289,6120,0.00,2.28,0.00,0.000,4,0.000,0.101,2098,3679,3513
$GC,6235,-1.32,-146.6,562.1,-7.8,294,6238,0.00,2.15,0.00,0.000,6,0.000,0.067,2098,2508,3513
$GC,6558,-1.37,-146.6,584.6,-7.4,310,6562,0.00,2.28,0.00,0.000,4,0.000,0.091,2098,3686,3513
$GC,6659,-1.37,-146.6,592.3,-7.2,314,6665,0.00,2.10,0.00,0.000,6,0.000,0.054,2098,2516,3513
$GC,6976,-1.42,-146.6,616.3,-8.2,330,6978,0.15,0.00,0.00,0.000,6,0.051,0.000,2056,2516,3512
$GC,7285,-1.37,-146.6,643.5,-8.7,345,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2514,3511
$STATE,7384,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7385,begin apogee
$GC,7393,-0.45,0.0,653.4,10.3,350,7527,1.02,0.00,128.60,1.247,6,0.071,0.000,2274,2317,2915
$STATE,7528,end apogee,CONTROL_FINISHED_OK
$STATE,7528,begin climb
$GC,7532,1.51,146.6,659.0,0.0,357,7671,1.98,2.75,128.02,1.210,4,0.045,0.081,2711,909,2317
$GC,7706,1.50,252.7,657.7,4.0,365,7804,0.00,2.62,92.50,1.192,6,0.000,0.063,2712,2303,1884
$GC,8127,1.50,252.7,613.1,10.5,386,8131,0.00,2.65,0.00,0.000,4,0.000,0.071,2711,901,1883
$GC,8205,1.50,252.7,603.4,12.7,389,8211,0.00,2.62,0.00,0.000,6,0.000,0.059,2711,2319,1883
$GC,8521,1.50,252.7,570.0,10.3,405,8525,0.00,2.58,0.00,0.000,4,0.000,0.077,2711,3693,1882
$GC,8612,1.45,252.7,559.5,11.4,409,8616,0.00,2.47,0.00,0.000,6,0.000,0.047,2711,2312,1881
$GC,8933,1.45,252.7,525.7,10.6,425,8937,0.00,2.60,0.00,0.000,4,0.000,0.071,2711,3696,1881
$GC,9000,1.40,252.7,517.8,11.4,428,9005,0.15,2.45,0.00,0.000,6,0.104,0.044,2683,2307,1879
$GC,9322,1.45,252.7,486.7,9.7,444,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2307,1880
$GC,9632,1.50,252.7,457.8,9.2,459,9636,0.00,2.58,0.00,0.000,4,0.000,0.064,2682,3702,1879
$GC,9672,1.50,252.7,453.7,9.8,461,9677,0.00,2.45,0.00,0.000,6,0.000,0.040,2683,2302,1879
$GC,10000,1.56,252.7,422.3,9.4,477,10005,0.15,2.55,0.00,0.000,4,0.053,0.061,2721,3696,1879
$GC,10051,1.51,252.7,416.6,11.7,479,10055,0.00,2.40,0.00,0.000,6,0.000,0.038,2721,2316,1879
$GC,10367,1.51,252.7,382.1,10.8,494,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2316,1879
$GC,10677,1.51,252.7,347.4,11.5,509,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2316,1879
$GC,10986,1.51,252.7,311.1,11.7,524,10990,0.00,2.53,0.00,0.000,4,0.000,0.058,2721,3706,1879
$GC,11036,1.46,252.7,304.4,13.0,526,11041,0.15,2.40,0.00,0.000,6,0.104,0.036,2693,2312,1879
$GC,11358,1.50,252.7,270.0,9.8,542,11363,0.00,2.50,0.00,0.000,4,0.000,0.056,2693,3697,1879
$GC,11399,1.50,252.7,266.0,10.4,544,11403,0.00,2.38,0.00,0.000,6,0.000,0.035,2693,2316,1879
$GC,11726,1.54,252.7,233.2,9.5,560,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2314,1880
$GC,12036,1.58,252.7,203.5,8.9,575,12037,0.12,0.00,0.00,0.000,6,0.054,0.000,2729,2314,1880
$GC,12344,1.58,252.7,171.3,9.9,590,12348,0.00,2.47,0.00,0.000,4,0.000,0.051,2729,3702,1880
$GC,12401,1.52,252.7,166.3,8.7,592,12408,0.12,2.38,0.00,0.000,6,0.108,0.035,2707,2316,1880
$GC,12718,1.52,252.7,132.8,10.5,608,12722,0.00,2.45,0.00,0.000,4,0.000,0.048,2706,916,1881
$GC,12773,1.52,252.7,127.0,9.8,610,12780,0.00,2.47,0.00,0.000,6,0.000,0.038,2706,2339,1881
$GC,13090,1.52,252.7,105.0,9.0,626,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2339,1881
$GC,13399,1.52,252.7,74.0,9.4,641,13400,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2339,1881
$GC,13708,1.52,252.7,40.5,9.6,656,13713,0.00,2.40,0.00,0.000,4,0.000,0.055,2706,3693,1881
$GC,13754,1.52,252.7,35.9,9.7,658,13758,0.00,2.38,0.00,0.000,6,0.000,0.035,2706,2307,1881
$GC,14075,1.52,252.7,4.2,8.9,674,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2306,1881
$STATE,14092,end climb,SURFACE_DEPTH_REACHED
$STATE,14093,begin surface coast
$FINISH,0.9,1.008568
$STATE,14114,end surface coast,CONTROL_FINISHED_OK
$STATE,14115,begin surface
$SM_CCo,14139,41.33,0.757,2,0,1692,300.00
$SM_GC,1.74,0.00,0.00,41.33,0.000,0.000,0.757,25,2522,1692,-10.81,0.14,300.00
$IRIDIUM_FIX,6221.17,-1144.37,170298,161620
$TT8_MAMPS,0.028379
$HUMID,2023
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.1,111.1
$24V_AH,23.1,18.249
$10V_AH,10.1,7.813
$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,26.500,110.200,349.125,41.325,0.000,51.682,51.726,214.148,4.500,0.000,0.000,16.435,1284.532,10674.473,498.475,1636.608,608.787,0.000,1322.945,0.000,1594.281,0.000,31.612,0.000
$DEVICE_MAMPS,125.021,101.244,1247.142,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.344,460.950,426.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34872,676
$CAP_FILE_SIZE,109665,0
$CFSIZE,260165632,252792832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,231108,205425,6245.145,-1153.395,23,0.9,40,-11.3