version: 66.04
glider: 101
mission: 7
dive: 122
start: 11 25 108 23 30 2
data:
$ID,101
$MISSION,7
$DIVE,122
$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,-734349.56
$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,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
$GPS1,232338,6258.819,-1311.265,34,1.0,34,-12.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-48.9
$GPS2,232939,6258.746,-1311.268,13,1.8,13,-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,29.4,31535,-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,16,-1.51,-146.6,0.0,0.0,0,79,0.00,0.00,-60.85,0.000,2,0.000,0.000,26,2529,2985
$GC,83,-1.51,-146.6,3.1,-3.7,3,118,10.45,2.55,-18.90,0.000,4,0.125,0.056,2037,1115,3513
$GC,373,-1.42,-146.6,37.4,-11.8,16,378,0.15,2.47,0.00,0.000,6,0.098,0.041,2066,2520,3514
$GC,701,-1.36,-146.6,88.6,-17.4,32,705,0.00,2.50,0.00,0.000,4,0.000,0.044,2066,1106,3514
$GC,796,-1.36,-146.6,99.2,-9.7,36,800,0.00,2.47,0.00,0.000,6,0.000,0.041,2066,2519,3514
$GC,1113,-1.36,-146.6,137.8,-11.8,51,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2519,3514
$GC,1422,-1.32,-146.6,172.9,-12.1,66,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2519,3514
$GC,1731,-1.32,-146.6,208.6,-9.3,81,1735,0.00,2.08,0.00,0.000,4,0.000,0.060,2066,3689,3514
$GC,1828,-1.26,-146.6,219.6,-12.0,85,1832,0.17,2.03,0.00,0.000,6,0.091,0.037,2101,2500,3514
$GC,2153,-1.30,-146.6,255.4,-12.8,101,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3514
$GC,2458,-1.30,-146.6,291.8,-11.8,116,2462,0.00,2.15,0.00,0.000,4,0.000,0.058,2101,3693,3514
$GC,2560,-1.30,-146.6,305.4,-12.7,120,2563,0.00,2.00,0.00,0.000,6,0.000,0.035,2101,2516,3515
$GC,2882,-1.30,-146.6,336.9,-9.0,136,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2516,3514
$GC,3192,-1.34,-146.6,367.5,-10.3,151,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2516,3514
$GC,3501,-1.34,-146.6,395.3,-9.3,166,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2516,3514
$GC,3810,-1.34,-146.6,421.4,-8.3,181,3813,0.00,2.15,0.00,0.000,4,0.000,0.065,2101,3691,3514
$GC,3928,-1.34,-146.6,431.6,-8.8,186,3931,0.00,2.00,0.00,0.000,6,0.000,0.037,2101,2524,3514
$GC,4256,-1.34,-146.6,457.1,-7.4,202,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2524,3514
$GC,4565,-1.34,-146.6,479.8,-7.8,217,4568,0.00,2.17,0.00,0.000,4,0.000,0.074,2101,3690,3514
$GC,4660,-1.34,-146.6,488.5,-8.9,221,4664,0.00,2.05,0.00,0.000,6,0.000,0.042,2101,2515,3514
$GC,4988,-1.38,-146.6,517.2,-8.8,237,4990,0.12,0.00,0.00,0.000,6,0.054,0.000,2065,2515,3514
$GC,5297,-1.38,-146.6,545.6,-8.3,252,5301,0.00,2.28,0.00,0.000,4,0.000,0.094,2064,3685,3514
$GC,5446,-1.33,-146.6,558.1,-9.4,258,5452,0.10,2.12,0.00,0.000,6,0.100,0.064,2083,2524,3514
$GC,5762,-1.33,-146.6,582.6,-8.2,274,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2522,3514
$GC,6071,-1.33,-146.6,609.3,-9.8,289,6076,0.00,2.62,0.00,0.000,4,0.000,0.075,2083,1105,3514
$GC,6161,-1.33,-146.6,617.6,-8.2,293,6166,0.00,2.60,0.00,0.000,6,0.000,0.067,2083,2510,3513
$GC,6483,-1.33,-146.6,640.7,-5.0,309,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2510,3514
$GC,6793,-1.33,-146.6,655.7,-5.0,324,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2510,3513
$GC,7102,-1.33,-146.6,676.5,-8.4,339,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2510,3513
$GC,7416,-1.33,-146.6,700.1,-7.0,354,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2510,3513
$GC,7720,-1.33,-146.6,727.2,-9.0,369,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2510,3512
$GC,8029,-1.33,-146.6,755.6,-8.9,384,8033,0.00,2.25,0.00,0.000,4,0.000,0.091,2083,3699,3512
$GC,8160,-1.33,-146.6,767.8,-12.0,390,8164,0.00,2.12,0.00,0.000,6,0.000,0.052,2083,2508,3511
$STATE,8325,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8325,begin apogee
$GC,8333,-0.45,0.0,781.5,9.0,398,8468,0.90,0.00,130.07,1.338,6,0.069,0.000,2275,2319,2915
$STATE,8469,end apogee,CONTROL_FINISHED_OK
$STATE,8469,begin climb
$GC,8472,1.51,146.6,785.3,0.0,405,8610,1.98,2.72,129.18,1.299,4,0.054,0.076,2711,910,2317
$GC,8794,1.42,146.6,763.0,9.5,419,8801,0.15,2.62,0.00,0.000,6,0.124,0.061,2685,2320,2316
$GC,9111,1.48,191.7,745.7,6.3,435,9154,0.00,0.00,41.12,1.277,6,0.000,0.000,2685,2320,2133
$GC,9459,1.48,191.7,712.6,10.6,452,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2321,2132
$GC,9769,1.48,191.7,677.3,10.7,467,9773,0.00,2.65,0.00,0.000,4,0.000,0.070,2685,911,2131
$GC,9865,1.48,191.7,668.9,8.9,471,9870,0.00,2.60,0.00,0.000,6,0.000,0.058,2685,2324,2131
$GC,10182,1.55,252.3,649.3,5.7,486,10241,0.12,0.00,53.85,1.268,6,0.064,0.000,2715,2324,1886
$GC,10551,1.55,252.3,620.6,9.9,504,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2324,1885
$GC,10860,1.60,289.0,595.7,6.6,519,10903,0.00,2.72,33.42,1.209,4,0.000,0.064,2715,916,1736
$GC,10943,1.61,298.9,589.3,7.6,522,10958,0.00,2.58,10.20,1.082,6,0.000,0.051,2715,2323,1696
$GC,11275,1.61,298.9,558.6,11.4,539,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2323,1696
$GC,11584,1.61,298.9,522.0,11.9,554,11585,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2324,1696
$GC,11893,1.61,298.9,488.8,10.0,569,11897,0.00,2.53,0.00,0.000,4,0.000,0.067,2715,3703,1696
$GC,11960,1.61,298.9,482.3,8.5,572,11964,0.00,2.45,0.00,0.000,6,0.000,0.040,2715,2305,1696
$GC,12281,1.61,304.6,456.3,7.8,588,12290,0.00,0.00,7.10,0.945,6,0.000,0.000,2715,2305,1673
$GC,12590,1.61,304.6,423.5,12.3,603,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2305,1673
$GC,12900,1.61,304.6,384.2,11.4,618,12904,0.00,2.55,0.00,0.000,4,0.000,0.061,2715,3703,1673
$GC,12963,1.61,304.6,376.1,13.0,621,12967,0.00,2.42,0.00,0.000,6,0.000,0.038,2715,2303,1673
$GC,13290,1.61,304.6,332.0,14.3,637,13291,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2303,1673
$GC,13599,1.61,304.6,293.5,11.3,652,13603,0.00,2.53,0.00,0.000,4,0.000,0.058,2715,3696,1673
$GC,13666,1.61,304.6,286.1,10.4,655,13670,0.00,2.38,0.00,0.000,6,0.000,0.036,2715,2315,1673
$GC,13988,1.61,304.6,254.7,9.9,671,13989,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2316,1673
$GC,14297,1.61,304.6,224.4,10.2,686,14301,0.00,2.50,0.00,0.000,4,0.000,0.056,2715,3701,1673
$GC,14365,1.61,304.6,216.3,11.6,689,14370,0.00,2.40,0.00,0.000,6,0.000,0.036,2715,2307,1673
$GC,14687,1.61,304.6,182.0,10.3,705,14688,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2306,1673
$GC,14997,1.61,304.6,146.5,11.1,720,15001,0.00,2.50,0.00,0.000,4,0.000,0.055,2715,3697,1674
$GC,15088,1.61,304.6,135.5,11.5,724,15092,0.00,2.38,0.00,0.000,6,0.000,0.036,2715,2313,1674
$GC,15416,1.61,304.6,95.6,13.0,740,15417,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2312,1674
$GC,15725,1.61,304.6,59.1,10.7,755,15726,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2312,1674
$GC,16035,1.69,335.4,26.2,6.8,770,16064,0.12,0.00,27.12,0.819,6,0.053,0.000,2753,2312,1546
$STATE,16215,end climb,SURFACE_DEPTH_REACHED
$STATE,16216,begin surface coast
$FINISH,0.9,1.017469
$STATE,16239,end surface coast,CONTROL_FINISHED_OK
$STATE,16239,begin surface
$SM_CCo,16325,0.00,0.000,0,0,1544,336.31
$SM_GC,1.60,12.07,0.00,0.00,0.037,0.000,0.000,25,2533,1544,-10.75,0.45,336.31
$IRIDIUM_FIX,6230.49,-1311.72,190298,191904
$TT8_MAMPS,0.029146
$HUMID,2011
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,700.1,90.8
$24V_AH,23.0,20.267
$10V_AH,10.1,8.731
$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,26.350,81.875,432.075,0.000,0.000,26.025,29.915,180.198,6.250,0.000,0.000,15.285,1422.752,12496.973,519.503,1720.529,529.704,0.000,1367.900,0.000,1684.312,0.000,41.254,0.000
$DEVICE_MAMPS,125.021,93.574,1338.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,581.300,533.671,429.919,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41164,780
$CAP_FILE_SIZE,108347,0
$CFSIZE,260165632,252104704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261108,040325,6259.701,-1316.561,39,1.7,39,-12.2