version: 66.04
glider: 101
mission: 7
dive: 118
start: 11 25 108 6 28 12
data:
$ID,101
$MISSION,7
$DIVE,118
$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,-734269.81
$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,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
$GPS1,061927,6256.039,-1252.640,24,2.3,43,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-44.0
$GPS2,062753,6256.091,-1252.726,12,2.6,31,-11.9
$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,357.1,7488,-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,-146.6,0.0,0.0,0,142,0.00,0.00,-120.93,0.000,2,0.000,0.000,23,2535,3229
$GC,146,-1.51,-146.6,3.9,-2.9,6,169,10.45,2.58,-7.43,0.000,4,0.125,0.056,2037,1116,3515
$GC,271,-1.40,-146.6,26.5,-16.2,11,277,0.15,2.47,0.00,0.000,6,0.096,0.041,2066,2522,3515
$GC,589,-1.36,-146.6,56.1,-10.4,26,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2523,3514
$GC,898,-1.32,-146.6,88.1,-10.7,41,899,0.10,0.00,0.00,0.000,6,0.098,0.000,2085,2522,3514
$GC,1208,-1.32,-146.6,117.5,-9.7,56,1212,0.00,2.08,0.00,0.000,4,0.000,0.058,2085,3689,3513
$GC,1322,-1.32,-146.6,130.0,-12.0,61,1326,0.00,2.03,0.00,0.000,6,0.000,0.036,2085,2500,3513
$GC,1655,-1.32,-146.6,158.2,-7.8,77,1658,0.00,2.15,0.00,0.000,4,0.000,0.056,2085,3695,3513
$GC,1734,-1.32,-146.6,165.7,-9.6,80,1737,0.00,2.03,0.00,0.000,6,0.000,0.035,2085,2505,3514
$GC,2056,-1.32,-146.6,196.8,-9.4,96,2060,0.00,2.12,0.00,0.000,4,0.000,0.056,2085,3690,3514
$GC,2129,-1.32,-146.6,203.9,-9.6,99,2133,0.00,2.00,0.00,0.000,6,0.000,0.035,2085,2512,3513
$GC,2457,-1.32,-146.6,230.1,-7.0,115,2461,0.00,2.12,0.00,0.000,4,0.000,0.057,2085,3694,3513
$GC,2531,-1.32,-146.6,235.2,-6.8,118,2534,0.00,2.00,0.00,0.000,6,0.000,0.035,2085,2516,3514
$GC,2858,-1.32,-146.6,254.9,-6.0,134,2862,0.00,2.12,0.00,0.000,4,0.000,0.058,2085,3695,3513
$GC,2943,-1.32,-146.6,260.7,-7.0,137,2949,0.00,2.00,0.00,0.000,6,0.000,0.036,2085,2519,3514
$GC,3259,-1.32,-146.6,284.9,-8.2,153,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2519,3514
$GC,3568,-1.32,-146.6,313.8,-9.7,168,3572,0.00,2.12,0.00,0.000,4,0.000,0.058,2085,3693,3513
$GC,3670,-1.32,-146.6,324.4,-10.8,172,3673,0.00,2.03,0.00,0.000,6,0.000,0.036,2085,2506,3513
$GC,3992,-1.32,-146.6,362.8,-14.4,188,3995,0.00,2.15,0.00,0.000,4,0.000,0.059,2085,3693,3513
$GC,4031,-1.32,-146.6,368.9,-15.2,189,4037,0.00,2.03,0.00,0.000,6,0.000,0.037,2085,2509,3513
$GC,4347,-1.32,-146.6,419.3,-16.7,205,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2508,3513
$GC,4656,-1.32,-146.6,458.7,-11.1,220,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2508,3513
$GC,4966,-1.32,-146.6,484.4,-7.6,235,4970,0.00,2.20,0.00,0.000,4,0.000,0.074,2086,3685,3513
$GC,5137,-1.32,-146.6,497.3,-5.2,242,5141,0.00,2.03,0.00,0.000,6,0.000,0.044,2085,2532,3512
$GC,5459,-1.32,-146.6,510.8,-3.7,258,5463,0.00,2.20,0.00,0.000,4,0.000,0.082,2085,3689,3512
$GC,5540,-1.32,-146.6,516.0,-6.4,261,5544,0.00,2.10,0.00,0.000,6,0.000,0.050,2085,2510,3512
$GC,5862,-1.32,-146.6,537.0,-5.7,277,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2510,3513
$GC,6172,-1.32,-146.6,552.8,-4.4,292,6176,0.00,2.33,0.00,0.000,4,0.000,0.100,2085,3689,3512
$GC,6239,-1.32,-146.6,556.4,-5.2,295,6243,0.00,2.15,0.00,0.000,6,0.000,0.064,2085,2513,3512
$GC,6568,-1.36,-146.6,566.8,-2.5,311,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2512,3512
$GC,6877,-1.36,-146.6,579.4,-5.4,326,6881,0.00,2.28,0.00,0.000,4,0.000,0.092,2085,3685,3512
$GC,6945,-1.36,-146.6,583.7,-6.2,329,6949,0.00,2.10,0.00,0.000,6,0.000,0.055,2085,2517,3512
$GC,7279,-1.41,-146.6,613.1,-10.3,345,7283,0.00,2.62,0.00,0.000,4,0.000,0.077,2085,1106,3511
$GC,7369,-1.45,-146.6,620.9,-8.0,349,7374,0.12,2.60,0.00,0.000,6,0.070,0.069,2057,2506,3511
$STATE,7667,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7667,begin apogee
$GC,7675,-0.45,0.0,650.8,9.1,364,7810,1.02,0.00,127.78,1.259,6,0.072,0.000,2274,2308,2914
$STATE,7811,end apogee,CONTROL_FINISHED_OK
$STATE,7811,begin climb
$GC,7815,1.51,146.6,657.1,0.0,371,7952,1.98,2.72,127.43,1.214,4,0.056,0.074,2703,911,2317
$GC,8018,1.45,160.3,646.7,7.5,380,8038,0.00,2.62,13.80,1.111,6,0.000,0.061,2704,2320,2260
$GC,8362,1.38,160.3,619.4,8.8,397,8363,0.15,0.00,0.00,0.000,6,0.107,0.000,2676,2320,2260
$GC,8670,1.43,198.0,597.3,6.6,412,8712,0.00,2.67,33.80,1.199,4,0.000,0.078,2676,3693,2106
$GC,8775,1.50,256.6,590.7,5.8,416,8833,0.12,2.47,51.90,1.202,6,0.061,0.048,2707,2317,1868
$GC,9149,1.50,256.6,564.4,8.4,435,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2317,1867
$GC,9459,1.50,256.6,532.3,10.6,450,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2317,1867
$GC,9768,1.50,256.6,499.2,10.4,465,9769,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2316,1867
$GC,10077,1.50,256.6,464.0,10.4,480,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2316,1866
$GC,10387,1.50,256.6,433.5,10.4,495,10390,0.00,2.55,0.00,0.000,4,0.000,0.064,2707,3705,1866
$GC,10478,1.50,256.6,421.9,13.5,499,10482,0.00,2.45,0.00,0.000,6,0.000,0.040,2707,2299,1866
$GC,10804,1.50,256.6,375.7,15.0,515,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2299,1866
$GC,11114,1.50,256.6,336.3,11.0,530,11118,0.00,2.55,0.00,0.000,4,0.000,0.059,2708,3702,1866
$GC,11186,1.50,256.6,328.2,10.6,533,11191,0.00,2.40,0.00,0.000,6,0.000,0.037,2707,2313,1866
$GC,11502,1.50,256.6,301.0,8.4,548,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2313,1867
$GC,11812,1.50,256.6,272.6,10.0,563,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2313,1867
$GC,12121,1.50,256.6,242.0,10.2,578,12125,0.00,2.50,0.00,0.000,4,0.000,0.058,2708,3702,1868
$GC,12199,1.50,256.6,233.2,10.6,581,12203,0.00,2.40,0.00,0.000,6,0.000,0.036,2707,2307,1868
$GC,12516,1.50,256.6,205.4,8.1,596,12520,0.00,2.50,0.00,0.000,4,0.000,0.057,2708,3700,1868
$GC,12577,1.50,256.6,200.1,9.3,598,12583,0.00,2.38,0.00,0.000,6,0.000,0.036,2708,2318,1868
$GC,12893,1.50,256.6,172.7,9.2,614,12895,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2317,1868
$GC,13203,1.50,256.6,142.5,10.2,629,13208,0.00,2.50,0.00,0.000,4,0.000,0.056,2707,3711,1868
$GC,13271,1.50,256.6,134.9,11.4,632,13275,0.00,2.40,0.00,0.000,6,0.000,0.035,2707,2312,1868
$GC,13592,1.50,256.6,103.2,9.7,648,13594,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2311,1869
$GC,13903,1.50,256.6,67.6,12.6,663,13907,0.00,2.50,0.00,0.000,4,0.000,0.054,2707,3705,1869
$GC,13976,1.50,256.6,57.3,14.7,666,13981,0.00,2.38,0.00,0.000,6,0.000,0.035,2708,2314,1869
$GC,14293,1.50,256.6,22.6,10.7,681,14294,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2313,1869
$STATE,14497,end climb,SURFACE_DEPTH_REACHED
$STATE,14497,begin surface coast
$FINISH,0.9,1.015838
$STATE,14518,end surface coast,CONTROL_FINISHED_OK
$STATE,14518,begin surface
$SM_CCo,14543,38.30,0.759,2,0,1692,300.00
$SM_GC,1.64,0.00,0.00,38.30,0.000,0.000,0.759,23,2543,1692,-10.82,0.74,300.00
$IRIDIUM_FIX,6230.49,-1251.19,190298,060600
$TT8_MAMPS,0.029146
$HUMID,2041
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.1,110.3
$24V_AH,23.1,19.605
$10V_AH,10.1,8.442
$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,25.950,97.425,354.700,38.300,0.000,51.280,52.562,196.946,5.000,0.000,0.000,34.173,1288.416,11074.381,532.786,1619.271,590.109,0.000,1341.148,0.000,1564.333,0.000,31.600,0.000
$DEVICE_MAMPS,125.021,99.710,1258.647,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,510.496,472.232,428.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34860,692
$CAP_FILE_SIZE,105365,0
$CFSIZE,260165632,252317696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251108,103238,6258.311,-1301.306,31,1.0,31,-12.0