version: 66.04
glider: 101
mission: 7
dive: 110
start: 11 23 108 21 0 16
data:
$ID,101
$MISSION,7
$DIVE,110
$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,-734090.06
$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,35
$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
$GPS1,205425,6245.145,-1153.395,23,0.9,40,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-56.0
$GPS2,205956,6245.113,-1153.425,12,1.9,23,-11.3
$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,303.7,33422,-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,15,-1.51,-146.6,0.0,0.0,0,78,0.00,0.00,-60.22,0.000,2,0.000,0.000,26,2522,2975
$GC,82,-1.51,-146.6,3.1,-3.8,3,117,10.48,2.15,-17.60,0.000,4,0.125,0.071,2038,3689,3513
$GC,372,-1.37,-146.6,39.5,-11.8,16,376,0.17,2.03,0.00,0.000,6,0.089,0.036,2073,2505,3514
$GC,699,-1.32,-146.6,77.5,-10.3,32,703,0.00,2.15,0.00,0.000,4,0.000,0.056,2073,3698,3514
$GC,837,-1.25,-146.6,90.9,-9.6,38,841,0.12,2.03,0.00,0.000,6,0.096,0.036,2098,2510,3514
$GC,1172,-1.25,-146.6,116.8,-7.4,54,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2510,3514
$GC,1479,-1.25,-146.6,143.6,-8.4,69,1483,0.00,2.12,0.00,0.000,4,0.000,0.055,2098,3695,3514
$GC,1572,-1.25,-146.6,151.5,-9.4,73,1576,0.00,2.03,0.00,0.000,6,0.000,0.036,2099,2506,3514
$GC,1906,-1.25,-146.6,180.2,-7.0,89,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2506,3514
$GC,2215,-1.25,-146.6,205.4,-8.8,104,2218,0.00,2.12,0.00,0.000,4,0.000,0.056,2098,3689,3514
$GC,2338,-1.25,-146.6,216.5,-10.2,109,2342,0.00,2.00,0.00,0.000,6,0.000,0.036,2098,2512,3514
$GC,2660,-1.25,-146.6,246.9,-9.7,125,2664,0.00,2.12,0.00,0.000,4,0.000,0.057,2098,3695,3514
$GC,2711,-1.25,-146.6,252.1,-10.1,127,2715,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2519,3514
$GC,3038,-1.25,-146.6,283.8,-9.5,143,3042,0.00,2.10,0.00,0.000,4,0.000,0.057,2098,3687,3514
$GC,3113,-1.25,-146.6,291.2,-9.8,146,3117,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2508,3514
$GC,3440,-1.25,-146.6,320.6,-8.7,162,3444,0.00,2.12,0.00,0.000,4,0.000,0.058,2098,3692,3514
$GC,3498,-1.25,-146.6,325.8,-9.2,164,3502,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2515,3514
$GC,3820,-1.25,-146.6,354.8,-9.4,180,3823,0.00,2.12,0.00,0.000,4,0.000,0.059,2098,3692,3514
$GC,3888,-1.25,-146.6,361.3,-9.2,183,3892,0.00,2.00,0.00,0.000,6,0.000,0.035,2098,2516,3514
$GC,4221,-1.25,-146.6,391.9,-9.1,199,4225,0.00,2.12,0.00,0.000,4,0.000,0.061,2098,3692,3514
$GC,4315,-1.25,-146.6,400.3,-8.8,203,4319,0.00,2.00,0.00,0.000,6,0.000,0.036,2098,2520,3514
$GC,4648,-1.25,-146.6,430.5,-9.4,219,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2520,3514
$GC,4957,-1.25,-146.6,460.6,-8.9,234,4961,0.00,2.15,0.00,0.000,4,0.000,0.068,2098,3689,3514
$GC,5071,-1.25,-146.6,470.9,-9.3,239,5075,0.00,2.03,0.00,0.000,6,0.000,0.038,2098,2517,3514
$GC,5404,-1.25,-146.6,495.6,-7.4,255,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2516,3514
$GC,5714,-1.29,-146.6,518.5,-7.1,270,5718,0.00,2.22,0.00,0.000,4,0.000,0.084,2098,3686,3514
$GC,5883,-1.29,-146.6,532.5,-8.7,277,5886,0.00,2.10,0.00,0.000,6,0.000,0.055,2098,2517,3514
$GC,6205,-1.34,-146.6,556.9,-7.3,293,6209,0.00,2.28,0.00,0.000,4,0.000,0.099,2098,3686,3514
$GC,6296,-1.34,-146.6,564.9,-9.9,297,6300,0.00,2.10,0.00,0.000,6,0.000,0.053,2098,2507,3514
$GC,6630,-1.39,-146.6,594.7,-8.7,313,6634,0.12,2.25,0.00,0.000,4,0.054,0.088,2062,3682,3514
$GC,6737,-1.33,-146.6,604.7,-8.9,317,6743,0.10,2.10,0.00,0.000,6,0.097,0.052,2081,2506,3514
$GC,7053,-1.33,-146.6,629.7,-8.1,333,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2505,3514
$GC,7362,-1.33,-146.6,655.8,-8.2,348,7366,0.00,2.28,0.00,0.000,4,0.000,0.089,2080,3687,3514
$STATE,7494,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7494,begin apogee
$GC,7505,-0.45,0.0,666.8,8.1,354,7642,0.88,0.00,129.05,1.243,6,0.075,0.000,2269,2315,2915
$STATE,7642,end apogee,CONTROL_FINISHED_OK
$STATE,7643,begin climb
$GC,7646,1.51,146.6,673.7,0.0,361,7784,2.03,2.72,127.90,1.210,4,0.054,0.077,2709,907,2317
$GC,7805,1.42,150.2,664.7,7.9,368,7815,0.12,2.65,4.75,0.809,6,0.128,0.063,2689,2313,2303
$GC,8143,1.42,151.7,638.4,7.9,385,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2313,2301
$GC,8452,1.43,158.6,614.8,7.7,400,8467,0.00,2.67,8.90,1.064,4,0.000,0.078,2689,3693,2268
$GC,8558,1.37,158.6,605.4,8.8,404,8565,0.00,2.47,0.00,0.000,6,0.000,0.048,2689,2314,2268
$GC,8875,1.39,178.8,580.9,7.2,420,8901,0.00,2.70,18.83,1.170,4,0.000,0.074,2689,3698,2185
$GC,8976,1.37,195.9,573.5,7.3,424,8997,0.00,2.47,16.45,1.144,6,0.000,0.045,2689,2316,2116
$GC,9314,1.37,195.9,544.7,9.7,441,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2316,2115
$GC,9623,1.37,195.9,517.8,8.9,456,9627,0.00,2.58,0.00,0.000,4,0.000,0.069,2689,3696,2115
$GC,9735,1.37,195.9,507.3,9.3,461,9739,0.00,2.45,0.00,0.000,6,0.000,0.041,2689,2302,2115
$GC,10062,1.37,195.9,478.8,8.7,477,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2302,2114
$GC,10371,1.37,195.9,452.0,9.3,492,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2302,2114
$GC,10680,1.37,195.9,423.7,9.2,507,10685,0.00,2.55,0.00,0.000,4,0.000,0.060,2689,3699,2114
$GC,10748,1.37,195.9,416.9,11.0,510,10753,0.00,2.40,0.00,0.000,6,0.000,0.037,2689,2313,2114
$GC,11070,1.37,195.9,389.0,8.6,526,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2312,2114
$GC,11380,1.37,195.9,362.8,8.1,541,11384,0.00,2.50,0.00,0.000,4,0.000,0.058,2689,3699,2115
$GC,11426,1.37,195.9,358.9,8.6,543,11430,0.00,2.40,0.00,0.000,6,0.000,0.036,2689,2307,2115
$GC,11758,1.37,195.9,331.6,8.7,559,11759,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2306,2115
$GC,12067,1.37,195.9,306.3,8.2,574,12072,0.00,2.53,0.00,0.000,4,0.000,0.055,2689,3708,2115
$GC,12118,1.37,195.9,301.3,10.1,576,12122,0.00,2.40,0.00,0.000,6,0.000,0.035,2689,2308,2115
$GC,12440,1.39,213.5,277.0,7.3,592,12459,0.00,0.00,16.60,0.953,6,0.000,0.000,2689,2309,2044
$GC,12769,1.39,213.5,243.5,10.8,608,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2309,2044
$GC,13079,1.39,213.5,211.0,10.6,623,13083,0.00,2.50,0.00,0.000,4,0.000,0.054,2689,3698,2044
$GC,13152,1.39,213.5,202.8,10.8,626,13156,0.00,2.38,0.00,0.000,6,0.000,0.035,2689,2316,2044
$GC,13473,1.39,213.5,168.4,11.6,642,13474,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2314,2044
$GC,13785,1.44,213.5,140.4,8.4,657,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2314,2044
$GC,14093,1.56,275.5,122.0,5.6,672,14156,0.12,2.62,52.78,0.885,4,0.054,0.054,2726,3699,1790
$GC,14235,1.52,275.5,109.8,9.9,678,14239,0.00,2.40,0.00,0.000,6,0.000,0.035,2726,2313,1790
$GC,14557,1.52,275.5,71.5,13.0,694,14558,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2312,1790
$GC,14866,1.52,275.5,32.8,10.8,709,14870,0.00,2.53,0.00,0.000,4,0.000,0.054,2725,3709,1790
$GC,14899,1.52,275.5,29.3,10.0,710,14906,0.00,2.40,0.00,0.000,6,0.000,0.035,2725,2310,1790
$STATE,15193,end climb,SURFACE_DEPTH_REACHED
$STATE,15193,begin surface coast
$FINISH,0.9,1.022657
$STATE,15214,end surface coast,CONTROL_FINISHED_OK
$STATE,15214,begin surface
$SM_CCo,15239,22.83,0.700,2,0,1692,300.00
$SM_GC,1.75,0.00,0.00,22.83,0.000,0.000,0.700,27,2534,1692,-10.80,0.48,300.00
$IRIDIUM_FIX,6221.17,-1145.33,170298,171709
$TT8_MAMPS,0.029146
$HUMID,2030
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,576.2,100.5
$24V_AH,23.1,18.387
$10V_AH,10.1,7.887
$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,26.125,109.975,375.250,22.825,0.000,24.252,33.687,135.568,5.250,0.000,0.000,25.345,1376.128,11462.462,506.696,1769.356,492.907,0.000,1384.157,0.000,1718.640,0.000,33.200,0.000
$DEVICE_MAMPS,128.089,98.943,1242.540,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,540.051,496.080,452.116,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37967,726
$CAP_FILE_SIZE,110935,0
$CFSIZE,260165632,252731392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,241108,011628,6244.216,-1201.910,36,4.0,55,-11.4