version: 66.04
glider: 101
mission: 7
dive: 112
start: 11 24 108 5 56 42
data:
$ID,101
$MISSION,7
$DIVE,112
$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,-734157.5
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,055037,6245.108,-1210.015,24,1.8,24,-11.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-52.7
$GPS2,055623,6245.138,-1210.010,9,7.1,28,-11.4
$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,318.4,21132,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.51,-146.6,0.0,0.0,0,79,0.00,0.00,-58.08,0.000,2,0.000,0.000,25,2519,2917
$GC,83,-1.51,-146.6,3.4,-3.7,3,118,10.40,2.12,-18.88,0.000,4,0.121,0.071,2038,3684,3515
$GC,374,-1.37,-146.6,39.6,-13.1,16,378,0.17,2.00,0.00,0.000,6,0.092,0.035,2072,2509,3514
$GC,701,-1.37,-146.6,80.3,-9.9,32,704,0.00,2.12,0.00,0.000,4,0.000,0.055,2073,3692,3514
$GC,927,-1.31,-146.6,104.2,-11.7,42,930,0.00,2.00,0.00,0.000,6,0.000,0.035,2073,2513,3514
$GC,1261,-1.31,-146.6,140.3,-11.0,58,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2513,3515
$GC,1569,-1.31,-146.6,171.6,-9.8,73,1573,0.00,2.10,0.00,0.000,4,0.000,0.055,2073,3686,3514
$GC,1639,-1.26,-146.6,178.8,-10.3,76,1643,0.15,2.00,0.00,0.000,6,0.087,0.036,2103,2509,3515
$GC,1971,-1.26,-146.6,208.4,-8.7,92,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2509,3515
$GC,2280,-1.26,-146.6,235.0,-8.3,107,2284,0.00,2.12,0.00,0.000,4,0.000,0.056,2102,3692,3514
$GC,2383,-1.26,-146.6,243.8,-8.6,111,2387,0.00,2.00,0.00,0.000,6,0.000,0.035,2102,2512,3514
$GC,2705,-1.26,-146.6,272.0,-9.3,127,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2512,3515
$GC,3014,-1.26,-146.6,299.7,-8.7,142,3019,0.00,2.12,0.00,0.000,4,0.000,0.058,2102,3695,3514
$GC,3109,-1.26,-146.6,308.2,-8.9,146,3113,0.00,2.00,0.00,0.000,6,0.000,0.035,2103,2514,3514
$GC,3437,-1.26,-146.6,335.9,-8.6,162,3441,0.00,2.10,0.00,0.000,4,0.000,0.058,2103,3686,3514
$GC,3510,-1.26,-146.6,342.5,-9.7,165,3514,0.00,2.00,0.00,0.000,6,0.000,0.035,2102,2509,3514
$GC,3838,-1.32,-146.6,371.2,-8.5,181,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2508,3514
$GC,4147,-1.45,-146.6,396.8,-8.3,196,4152,0.20,2.15,0.00,0.000,4,0.043,0.059,2042,3698,3514
$GC,4406,-1.36,-146.6,423.1,-10.3,207,4413,0.17,2.03,0.00,0.000,6,0.089,0.036,2076,2513,3514
$GC,4723,-1.36,-146.6,451.4,-9.0,223,4726,0.00,2.15,0.00,0.000,4,0.000,0.065,2076,3687,3514
$GC,4982,-1.31,-146.6,475.8,-10.0,234,4986,0.00,2.03,0.00,0.000,6,0.000,0.039,2076,2519,3514
$GC,5304,-1.31,-146.6,506.6,-9.4,250,5307,0.00,2.20,0.00,0.000,4,0.000,0.078,2076,3690,3514
$GC,5562,-1.31,-146.6,529.6,-8.1,261,5566,0.00,2.08,0.00,0.000,6,0.000,0.051,2076,2525,3514
$GC,5884,-1.31,-146.6,557.9,-9.5,277,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2525,3514
$GC,6193,-1.31,-146.6,587.2,-9.7,292,6197,0.00,2.22,0.00,0.000,4,0.000,0.090,2076,3680,3514
$GC,6358,-1.31,-146.6,603.7,-9.9,299,6362,0.00,2.10,0.00,0.000,6,0.000,0.054,2076,2508,3514
$GC,6686,-1.31,-146.6,629.2,-8.0,315,6690,0.00,2.25,0.00,0.000,4,0.000,0.087,2076,3682,3514
$GC,6800,-1.31,-146.6,639.4,-9.5,320,6804,0.00,2.10,0.00,0.000,6,0.000,0.053,2076,2506,3514
$GC,7134,-1.31,-146.6,667.8,-9.3,336,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2505,3514
$STATE,7315,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7315,begin apogee
$GC,7324,-0.45,0.0,684.3,8.5,345,7458,0.93,0.00,129.23,1.253,6,0.072,0.000,2273,2304,2915
$STATE,7459,end apogee,CONTROL_FINISHED_OK
$STATE,7459,begin climb
$GC,7462,1.51,146.6,689.6,0.0,352,7599,1.95,2.72,128.57,1.218,4,0.052,0.077,2712,901,2317
$GC,7685,1.43,146.6,676.8,9.2,362,7690,0.12,2.62,0.00,0.000,6,0.126,0.062,2692,2305,2317
$GC,8001,1.43,146.6,648.5,8.8,377,8005,0.00,2.65,0.00,0.000,4,0.000,0.071,2691,899,2315
$GC,8098,1.39,146.6,640.1,8.8,381,8102,0.00,2.62,0.00,0.000,6,0.000,0.059,2691,2320,2315
$GC,8415,1.42,175.9,616.6,6.9,396,8448,0.00,2.65,26.55,1.196,4,0.000,0.077,2692,3696,2196
$GC,8502,1.37,175.9,609.6,8.7,400,8507,0.00,2.47,0.00,0.000,6,0.000,0.047,2691,2312,2195
$GC,8830,1.37,175.9,582.8,8.6,416,8835,0.00,2.62,0.00,0.000,4,0.000,0.074,2691,3702,2195
$GC,8894,1.32,175.9,576.5,10.3,419,8899,0.15,2.45,0.00,0.000,6,0.107,0.045,2664,2317,2195
$GC,9221,1.37,175.9,548.9,8.2,435,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2317,2194
$GC,9531,1.43,177.5,524.3,7.9,450,9536,0.10,2.58,0.00,0.000,4,0.062,0.068,2692,3703,2193
$GC,9594,1.39,177.5,518.9,8.4,453,9598,0.00,2.45,0.00,0.000,6,0.000,0.042,2692,2313,2194
$GC,9921,1.39,177.5,492.6,8.0,469,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2313,2194
$GC,10230,1.39,181.2,468.1,7.9,484,10237,0.00,0.00,5.53,0.896,6,0.000,0.000,2692,2312,2176
$GC,10539,1.39,182.1,443.5,8.0,499,10541,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2312,2176
$GC,10849,1.39,182.1,417.7,8.4,514,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2312,2176
$GC,11158,1.39,182.1,392.6,8.0,529,11159,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2312,2177
$GC,11467,1.41,199.7,369.4,7.3,544,11492,0.00,2.62,17.88,1.019,4,0.000,0.058,2692,3699,2100
$GC,11561,1.41,199.7,361.6,9.2,548,11565,0.00,2.42,0.00,0.000,6,0.000,0.035,2692,2304,2099
$GC,11882,1.43,213.8,336.4,7.5,564,11901,0.00,0.00,13.73,0.968,6,0.000,0.000,2692,2304,2042
$GC,12211,1.43,213.8,308.2,8.7,580,12212,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2304,2042
$GC,12521,1.43,213.8,280.8,9.6,595,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2304,2042
$GC,12830,1.43,213.8,248.9,10.0,610,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2304,2042
$GC,13139,1.43,213.8,217.5,10.8,625,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2304,2042
$GC,13448,1.43,213.8,188.1,8.7,640,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2304,2043
$GC,13758,1.44,217.2,162.7,7.9,655,13764,0.00,0.00,4.97,0.700,6,0.000,0.000,2692,2303,2029
$GC,14069,1.44,217.2,137.3,9.0,670,14073,0.00,2.53,0.00,0.000,4,0.000,0.054,2692,3705,2029
$GC,14136,1.44,217.2,131.1,8.2,673,14141,0.00,2.40,0.00,0.000,6,0.000,0.035,2692,2306,2028
$GC,14459,1.44,217.2,104.9,8.8,689,14460,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2304,2028
$GC,14770,1.44,217.2,80.4,8.1,704,14774,0.00,2.50,0.00,0.000,4,0.000,0.054,2692,3699,2029
$GC,14820,1.44,217.2,75.6,8.8,706,14824,0.00,2.38,0.00,0.000,6,0.000,0.035,2692,2310,2028
$GC,15139,1.55,278.2,48.7,5.7,721,15196,0.00,0.00,51.83,0.835,6,0.000,0.000,2692,2309,1779
$GC,15508,1.65,304.7,16.9,7.0,739,15539,0.17,2.60,23.30,0.789,4,0.047,0.053,2742,3699,1671
$GC,15598,1.57,304.7,6.9,11.5,743,15603,0.12,2.40,0.00,0.000,6,0.105,0.035,2720,2312,1671
$STATE,15633,end climb,SURFACE_DEPTH_REACHED
$STATE,15633,begin surface coast
$FINISH,1.1,1.006011
$STATE,15655,end surface coast,CONTROL_FINISHED_OK
$STATE,15655,begin surface
$SM_CCo,15741,0.00,0.000,0,0,1669,305.40
$SM_GC,1.80,11.90,0.00,0.00,0.035,0.000,0.000,28,2540,1669,-10.74,0.65,305.40
$IRIDIUM_FIX,6216.53,-1207.32,180298,010111
$TT8_MAMPS,0.028379
$HUMID,2004
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.5,93.3
$24V_AH,23.1,18.667
$10V_AH,10.1,8.037
$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,26.550,92.475,401.575,0.000,0.000,24.343,25.976,149.472,5.000,0.000,0.000,30.769,1412.017,11834.020,490.934,1844.777,502.077,0.000,1386.163,0.000,1786.855,0.000,34.806,0.000
$DEVICE_MAMPS,125.788,89.739,1253.278,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,553.770,510.711,457.252,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37979,746
$CAP_FILE_SIZE,111802,0
$CFSIZE,260165632,252616704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241108,102007,6246.939,-1214.563,25,1.5,25,-11.5