version: 66.04
glider: 101
mission: 7
dive: 121
start: 11 25 108 19 9 42
data:
$ID,101
$MISSION,7
$DIVE,121
$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,-734333.62
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,185631,6257.309,-1307.494,67,1.2,67,-12.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-52.9
$GPS2,190921,6257.271,-1307.470,12,1.8,12,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$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,22.8,33418,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.51,-146.6,0.0,0.0,0,98,0.00,0.00,-77.72,0.000,2,0.000,0.000,24,2529,3086
$GC,102,-1.51,-146.6,3.2,-2.4,4,132,10.38,2.55,-12.98,0.000,4,0.121,0.057,2037,1119,3514
$GC,386,-1.42,-146.6,48.2,-18.7,16,393,0.12,2.47,0.00,0.000,6,0.102,0.041,2061,2528,3515
$GC,705,-1.36,-146.6,78.4,-8.1,32,709,0.00,2.50,0.00,0.000,4,0.000,0.043,2061,1108,3515
$GC,778,-1.30,-146.6,83.8,-9.4,35,783,0.15,2.47,0.00,0.000,6,0.097,0.041,2090,2519,3515
$GC,1095,-1.30,-146.6,111.8,-10.6,50,1098,0.00,2.10,0.00,0.000,4,0.000,0.059,2090,3698,3515
$GC,1201,-1.30,-146.6,121.6,-9.1,54,1208,0.00,2.03,0.00,0.000,6,0.000,0.038,2090,2513,3515
$GC,1517,-1.30,-146.6,153.1,-10.4,70,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2513,3515
$GC,1827,-1.30,-146.6,183.3,-7.6,85,1831,0.00,2.12,0.00,0.000,4,0.000,0.058,2090,3693,3515
$GC,1918,-1.30,-146.6,192.2,-9.2,89,1922,0.00,2.00,0.00,0.000,6,0.000,0.036,2090,2515,3515
$GC,2251,-1.30,-146.6,221.0,-10.1,105,2255,0.00,2.10,0.00,0.000,4,0.000,0.058,2090,3692,3515
$GC,2336,-1.30,-146.6,229.1,-10.3,108,2342,0.00,2.00,0.00,0.000,6,0.000,0.036,2090,2515,3515
$GC,2652,-1.30,-146.6,265.4,-12.2,124,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2515,3515
$GC,2961,-1.30,-146.6,304.4,-12.7,139,2965,0.00,2.12,0.00,0.000,4,0.000,0.059,2090,3692,3515
$GC,3075,-1.30,-146.6,319.6,-13.1,144,3079,0.00,2.00,0.00,0.000,6,0.000,0.037,2090,2518,3515
$GC,3408,-1.30,-146.6,361.8,-11.9,160,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2517,3514
$GC,3717,-1.30,-146.6,390.7,-8.6,175,3721,0.00,2.12,0.00,0.000,4,0.000,0.062,2090,3687,3515
$GC,3808,-1.30,-146.6,398.8,-8.5,179,3812,0.00,2.00,0.00,0.000,6,0.000,0.038,2090,2519,3515
$GC,4142,-1.30,-146.6,424.9,-7.4,195,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2519,3515
$GC,4451,-1.30,-146.6,447.1,-6.7,210,4455,0.00,2.15,0.00,0.000,4,0.000,0.067,2090,3692,3515
$GC,4570,-1.30,-146.6,456.0,-7.5,215,4573,0.00,2.03,0.00,0.000,6,0.000,0.038,2090,2516,3515
$GC,4898,-1.30,-146.6,479.6,-8.0,231,4902,0.00,2.17,0.00,0.000,4,0.000,0.072,2090,3688,3514
$GC,4977,-1.30,-146.6,486.9,-9.3,234,4981,0.00,2.05,0.00,0.000,6,0.000,0.041,2090,2510,3515
$GC,5299,-1.30,-146.6,518.4,-11.5,250,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2510,3515
$GC,5608,-1.30,-146.6,561.9,-14.5,265,5612,0.00,2.33,0.00,0.000,4,0.000,0.100,2090,3689,3515
$GC,5709,-1.30,-146.6,576.6,-14.8,269,5715,0.00,2.08,0.00,0.000,6,0.000,0.051,2090,2522,3515
$GC,6025,-1.30,-146.6,614.0,-11.4,285,6029,0.00,2.62,0.00,0.000,4,0.000,0.077,2090,1107,3514
$GC,6098,-1.34,-146.6,621.6,-10.1,288,6103,0.00,2.60,0.00,0.000,6,0.000,0.068,2090,2507,3515
$GC,6415,-1.38,-146.6,646.6,-7.8,303,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2507,3515
$GC,6724,-1.44,-146.6,668.3,-6.8,318,6726,0.12,0.00,0.00,0.000,6,0.058,0.000,2056,2507,3514
$GC,7033,-1.44,-146.6,693.4,-8.2,333,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2507,3514
$GC,7342,-1.44,-146.6,717.9,-7.9,348,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2507,3513
$STATE,7566,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7566,begin apogee
$GC,7574,-0.45,0.0,741.3,11.6,359,7709,1.02,0.00,130.48,1.308,6,0.074,0.000,2273,2311,2915
$STATE,7710,end apogee,CONTROL_FINISHED_OK
$STATE,7710,begin climb
$GC,7713,1.51,146.6,746.4,0.0,366,7847,1.98,0.00,128.52,1.274,6,0.053,0.000,2705,2312,2317
$GC,8147,1.48,167.0,716.9,7.2,387,8169,0.00,0.00,19.38,1.199,6,0.000,0.000,2705,2312,2234
$GC,8478,1.48,167.0,690.0,9.6,403,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2311,2233
$GC,8788,1.48,167.0,659.5,9.2,418,8792,0.00,2.65,0.00,0.000,4,0.000,0.080,2705,3700,2232
$GC,8861,1.38,167.0,652.1,9.7,421,8866,0.15,2.50,0.00,0.000,6,0.110,0.050,2678,2311,2232
$GC,9178,1.40,184.5,626.5,7.3,436,9200,0.00,2.65,16.27,1.200,4,0.000,0.067,2678,905,2163
$GC,9453,1.41,189.7,604.8,7.8,448,9469,0.00,2.60,6.40,1.015,6,0.000,0.055,2678,2328,2141
$GC,9779,1.41,189.7,578.9,8.0,464,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2328,2140
$GC,10088,1.41,189.7,553.8,8.2,479,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2329,2140
$GC,10397,1.41,189.7,528.9,8.2,494,10401,0.00,2.60,0.00,0.000,4,0.000,0.061,2678,907,2140
$GC,10453,1.41,189.7,524.3,8.4,496,10459,0.00,2.55,0.00,0.000,6,0.000,0.049,2678,2326,2140
$GC,10769,1.48,246.1,505.2,5.9,512,10821,0.00,0.00,50.20,1.157,6,0.000,0.000,2678,2326,1911
$GC,11118,1.58,281.7,482.8,6.6,529,11161,0.17,2.62,32.28,1.111,4,0.053,0.066,2725,3693,1766
$GC,11235,1.58,281.7,470.2,13.0,534,11239,0.00,2.45,0.00,0.000,6,0.000,0.040,2725,2304,1765
$GC,11556,1.58,281.7,435.5,10.4,550,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2304,1765
$GC,11865,1.58,281.7,403.3,10.5,565,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2304,1765
$GC,12175,1.58,281.7,370.1,10.9,580,12179,0.00,2.55,0.00,0.000,4,0.000,0.061,2725,3697,1765
$GC,12225,1.54,281.7,363.9,11.4,582,12230,0.00,2.42,0.00,0.000,6,0.000,0.038,2725,2301,1765
$GC,12542,1.54,281.7,326.4,12.2,597,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2301,1766
$GC,12851,1.54,281.7,287.5,12.4,612,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2300,1766
$GC,13160,1.54,281.7,248.7,12.7,627,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2300,1765
$GC,13469,1.54,281.7,209.5,14.0,642,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2300,1766
$GC,13779,1.54,281.7,164.1,14.2,657,13783,0.00,2.53,0.00,0.000,4,0.000,0.056,2725,3705,1766
$GC,13870,1.54,281.7,149.6,16.5,661,13874,0.00,2.40,0.00,0.000,6,0.000,0.037,2725,2313,1766
$GC,14204,1.54,281.7,103.6,14.3,677,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2311,1766
$GC,14513,1.54,281.7,70.7,12.9,692,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2311,1767
$GC,14824,1.48,281.7,27.7,13.9,707,14826,0.15,0.00,0.00,0.000,6,0.100,0.000,2697,2311,1767
$STATE,15087,end climb,SURFACE_DEPTH_REACHED
$STATE,15087,begin surface coast
$FINISH,0.9,1.027395
$STATE,15110,end surface coast,CONTROL_FINISHED_OK
$STATE,15110,begin surface
$SM_CCo,15135,17.62,0.732,1,0,1691,300.00
$SM_GC,1.53,0.00,0.00,17.62,0.000,0.000,0.732,26,2529,1691,-10.81,0.34,300.00
$IRIDIUM_FIX,6230.49,-1307.12,190298,191936
$TT8_MAMPS,0.029146
$HUMID,2030
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,650.9,99.3
$24V_AH,23.1,20.101
$10V_AH,10.1,8.657
$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,26.050,79.925,383.525,17.625,0.000,73.708,90.007,345.878,5.750,0.000,0.000,14.130,1319.167,11666.385,511.552,1625.925,810.928,0.000,1319.085,0.000,1592.329,0.000,38.053,0.000
$DEVICE_MAMPS,121.186,100.477,1307.735,731.718,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,541.956,492.664,426.435,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38034,721
$CAP_FILE_SIZE,108016,0
$CFSIZE,260165632,252157952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251108,232338,6258.819,-1311.265,34,1.0,34,-12.1