version: 66.04
glider: 101
mission: 7
dive: 116
start: 11 24 108 23 47 36
data:
$ID,101
$MISSION,7
$DIVE,116
$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,-734220.69
$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,39
$R_STBD_OVSHOOT,20
$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
$GPS1,234137,6252.943,-1232.428,35,0.9,35,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-52.4
$GPS2,234715,6252.952,-1232.446,9,1.4,9,-11.7
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,GW
$TGT_LATLONG,6300.000,-1255.000
$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,316.2,23021,-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,-146.6,0.0,0.0,0,88,0.00,0.00,-70.40,0.000,2,0.000,0.000,24,2504,3261
$GC,92,-1.51,-146.6,4.2,-3.7,4,114,10.43,0.00,-6.43,0.000,6,0.123,0.000,2038,2504,3513
$GC,426,-1.43,-146.6,50.3,-14.8,20,427,0.12,0.00,0.00,0.000,6,0.091,0.000,2064,2505,3513
$GC,733,-1.39,-146.6,92.9,-13.6,35,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2505,3513
$GC,1043,-1.32,-146.6,128.4,-10.7,50,1047,0.10,2.15,0.00,0.000,4,0.094,0.057,2084,3693,3513
$GC,1110,-1.32,-146.6,135.5,-11.1,53,1113,0.00,2.03,0.00,0.000,6,0.000,0.035,2085,2507,3513
$GC,1437,-1.32,-146.6,169.9,-12.1,69,1441,0.00,2.15,0.00,0.000,4,0.000,0.056,2084,3699,3513
$GC,1488,-1.32,-146.6,175.2,-9.9,71,1492,0.00,2.03,0.00,0.000,6,0.000,0.035,2084,2510,3513
$GC,1815,-1.32,-146.6,206.8,-10.1,87,1819,0.00,2.12,0.00,0.000,4,0.000,0.057,2084,3694,3513
$GC,1872,-1.32,-146.6,212.7,-10.7,89,1875,0.00,2.00,0.00,0.000,6,0.000,0.035,2084,2517,3513
$GC,2193,-1.32,-146.6,245.5,-10.5,105,2197,0.00,2.12,0.00,0.000,4,0.000,0.057,2084,3698,3513
$GC,2268,-1.32,-146.6,253.7,-11.3,108,2272,0.00,2.03,0.00,0.000,6,0.000,0.035,2084,2505,3513
$GC,2596,-1.32,-146.6,288.4,-10.5,124,2600,0.00,2.15,0.00,0.000,4,0.000,0.057,2084,3699,3513
$GC,2675,-1.32,-146.6,297.3,-10.9,127,2678,0.00,2.03,0.00,0.000,6,0.000,0.035,2084,2509,3513
$GC,2996,-1.32,-146.6,328.1,-8.9,143,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2509,3513
$GC,3306,-1.32,-146.6,354.6,-8.6,158,3309,0.00,2.15,0.00,0.000,4,0.000,0.058,2084,3699,3513
$GC,3442,-1.32,-146.6,367.5,-9.8,164,3446,0.00,2.00,0.00,0.000,6,0.000,0.035,2084,2522,3513
$GC,3775,-1.32,-146.6,396.3,-8.1,180,3778,0.00,2.12,0.00,0.000,4,0.000,0.061,2084,3693,3513
$GC,3866,-1.32,-146.6,404.1,-9.1,184,3870,0.00,2.03,0.00,0.000,6,0.000,0.036,2084,2509,3513
$GC,4199,-1.32,-146.6,431.1,-8.1,200,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2509,3513
$GC,4508,-1.32,-146.6,459.0,-9.5,215,4512,0.00,2.17,0.00,0.000,4,0.000,0.067,2084,3691,3513
$GC,4615,-1.32,-146.6,470.5,-12.1,219,4621,0.00,2.03,0.00,0.000,6,0.000,0.038,2084,2519,3513
$GC,4931,-1.32,-146.6,501.8,-8.4,235,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2519,3513
$GC,5240,-1.32,-146.6,527.4,-8.1,250,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2517,3513
$GC,5550,-1.32,-146.6,552.2,-9.2,265,5554,0.00,2.25,0.00,0.000,4,0.000,0.087,2084,3696,3513
$GC,5656,-1.32,-146.6,563.7,-10.4,269,5662,0.00,2.10,0.00,0.000,6,0.000,0.051,2084,2518,3512
$GC,5973,-1.32,-146.6,588.9,-7.7,285,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2518,3512
$GC,6282,-1.32,-146.6,609.1,-6.4,300,6286,0.00,2.25,0.00,0.000,4,0.000,0.087,2085,3696,3512
$GC,6351,-1.32,-146.6,614.9,-8.7,303,6354,0.00,2.10,0.00,0.000,6,0.000,0.052,2084,2517,3512
$GC,6684,-1.37,-146.6,645.6,-10.6,319,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2516,3512
$STATE,6784,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6784,begin apogee
$GC,6792,-0.45,0.0,654.8,8.4,324,6927,0.90,0.00,128.82,1.249,6,0.071,0.000,2277,2314,2914
$STATE,6928,end apogee,CONTROL_FINISHED_OK
$STATE,6928,begin climb
$GC,6931,1.51,146.6,656.9,0.0,331,7065,1.95,0.00,129.18,1.210,6,0.056,0.000,2701,2314,2316
$GC,7366,2.16,354.7,657.1,0.1,352,7551,0.60,0.00,180.75,1.219,6,0.031,0.000,2855,2313,1468
$GC,7861,1.91,354.7,584.0,22.4,376,7863,0.30,0.00,0.00,0.000,6,0.087,0.000,2794,2313,1467
$GC,8170,1.76,354.7,540.9,13.1,391,8172,0.17,0.00,0.00,0.000,6,0.089,0.000,2759,2313,1466
$GC,8479,1.69,354.7,491.4,18.5,406,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2313,1466
$GC,8789,1.62,354.7,436.8,16.7,421,8794,0.15,2.55,0.00,0.000,4,0.097,0.064,2730,3690,1465
$GC,8839,1.62,354.7,428.4,15.9,423,8844,0.00,2.42,0.00,0.000,6,0.000,0.040,2730,2308,1464
$GC,9155,1.62,354.7,390.2,10.4,438,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2308,1464
$GC,9465,1.62,354.7,360.6,9.7,453,9469,0.00,2.53,0.00,0.000,4,0.000,0.060,2731,3693,1464
$GC,9504,1.62,354.7,356.3,10.5,454,9510,0.00,2.40,0.00,0.000,6,0.000,0.037,2730,2312,1464
$GC,9820,1.62,354.7,319.2,12.8,470,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2312,1464
$GC,10129,1.62,354.7,277.1,13.2,485,10134,0.00,2.50,0.00,0.000,4,0.000,0.057,2730,3692,1464
$GC,10180,1.62,354.7,269.9,14.7,487,10185,0.00,2.38,0.00,0.000,6,0.000,0.035,2730,2309,1465
$GC,10502,1.62,354.7,224.5,14.6,503,10503,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2308,1464
$GC,10811,1.62,354.7,178.6,14.2,518,10816,0.00,2.50,0.00,0.000,4,0.000,0.055,2730,3694,1465
$GC,10875,1.62,354.7,169.3,14.3,521,10879,0.00,2.38,0.00,0.000,6,0.000,0.035,2730,2312,1464
$GC,11203,1.62,354.7,124.3,13.4,537,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2310,1465
$GC,11514,1.62,354.7,84.6,13.2,552,11518,0.00,2.50,0.00,0.000,4,0.000,0.054,2730,3700,1465
$GC,11587,1.62,354.7,73.4,17.3,555,11591,0.00,2.38,0.00,0.000,6,0.000,0.035,2730,2316,1465
$GC,11903,1.62,354.7,32.9,12.2,570,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2314,1465
$STATE,12147,end climb,SURFACE_DEPTH_REACHED
$STATE,12147,begin surface coast
$FINISH,1.0,1.013914
$STATE,12171,end surface coast,CONTROL_FINISHED_OK
$STATE,12171,begin surface
$SM_CCo,12256,0.00,0.000,0,0,1465,355.68
$SM_GC,1.71,11.88,0.00,0.00,0.036,0.000,0.000,28,2529,1465,-10.74,0.31,355.68
$IRIDIUM_FIX,6225.82,-1226.10,180298,191953
$TT8_MAMPS,0.028379
$HUMID,2034
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,576.4,88.0
$24V_AH,23.1,19.248
$10V_AH,10.1,8.315
$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,26.600,67.275,438.750,0.000,0.000,24.684,35.696,149.872,5.000,0.000,0.000,11.212,1067.491,9289.860,512.654,1260.708,464.363,0.000,1159.135,0.000,1241.622,0.000,33.165,0.000
$DEVICE_MAMPS,122.720,87.438,1249.443,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.665,397.379,358.306,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28560,583
$CAP_FILE_SIZE,83297,0
$CFSIZE,260165632,252440576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251108,031308,6253.931,-1242.436,35,1.5,36,-11.8