version: 66.04
glider: 101
mission: 7
dive: 58
start: 11 15 108 1 16 54
data:
$ID,101
$MISSION,7
$DIVE,58
$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,330
$T_MISSION,350
$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,-732961.62
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,011126,6140.371,-912.065,41,1.8,41,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-54.8
$GPS2,011633,6140.305,-911.983,13,1.9,13,-9.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$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,3.0,23659,-17.9,-10.000
$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,-1.81,-146.6,0.0,0.0,0,79,0.00,0.00,-60.80,0.000,2,0.000,0.000,22,2531,3014
$GC,83,-1.81,-146.6,3.3,-3.8,3,113,10.23,2.53,-14.45,0.000,4,0.127,0.053,1975,1118,3514
$GC,294,-1.74,-146.6,35.9,-14.4,12,299,0.10,2.45,0.00,0.000,6,0.109,0.037,1993,2523,3514
$GC,612,-1.67,-146.6,77.2,-12.9,27,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2523,3514
$GC,920,-1.60,-146.6,120.6,-14.7,42,922,0.17,0.00,0.00,0.000,6,0.088,0.000,2028,2523,3514
$GC,1229,-1.60,-146.6,156.7,-11.1,57,1232,0.00,2.08,0.00,0.000,4,0.000,0.058,2028,3695,3514
$GC,1279,-1.60,-146.6,163.2,-12.8,59,1283,0.00,2.00,0.00,0.000,6,0.000,0.032,2028,2504,3514
$GC,1607,-1.60,-146.6,203.4,-12.4,75,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2504,3515
$GC,1916,-1.60,-146.6,243.3,-12.9,90,1920,0.00,2.12,0.00,0.000,4,0.000,0.055,2028,3689,3515
$GC,2034,-1.60,-146.6,259.4,-13.2,95,2038,0.00,1.98,0.00,0.000,6,0.000,0.032,2028,2511,3515
$GC,2362,-1.60,-146.6,299.5,-11.7,111,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2511,3515
$GC,2671,-1.60,-146.6,335.6,-11.7,126,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2511,3515
$GC,2980,-1.60,-146.6,371.4,-11.6,141,2984,0.00,2.12,0.00,0.000,4,0.000,0.060,2028,3686,3515
$GC,3059,-1.60,-146.6,380.9,-11.3,144,3063,0.00,1.98,0.00,0.000,6,0.000,0.032,2028,2516,3515
$GC,3381,-1.60,-146.6,416.2,-11.1,160,3384,0.00,2.12,0.00,0.000,4,0.000,0.063,2028,3686,3515
$GC,3443,-1.60,-146.6,423.6,-12.3,162,3449,0.00,1.98,0.00,0.000,6,0.000,0.033,2028,2521,3515
$GC,3759,-1.60,-146.6,456.6,-9.7,178,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2521,3515
$GC,4068,-1.60,-146.6,488.0,-10.4,193,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2521,3515
$GC,4377,-1.60,-146.6,519.9,-10.2,208,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2521,3515
$GC,4687,-1.60,-146.6,552.7,-10.9,223,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2521,3515
$GC,4996,-1.60,-146.6,587.4,-12.2,238,5000,0.00,2.35,0.00,0.000,4,0.000,0.116,2028,3679,3515
$GC,5081,-1.60,-146.6,597.2,-11.5,242,5084,0.00,2.03,0.00,0.000,6,0.000,0.044,2028,2524,3515
$GC,5414,-1.64,-146.6,635.1,-11.3,258,5419,0.00,2.60,0.00,0.000,4,0.000,0.074,2028,1111,3515
$GC,5500,-1.64,-146.6,642.1,-7.6,262,5505,0.00,2.58,0.00,0.000,6,0.000,0.067,2028,2504,3515
$GC,5828,-1.68,-146.6,671.1,-6.1,278,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2504,3515
$GC,6137,-1.73,-146.6,693.9,-8.9,293,6141,0.15,2.25,0.00,0.000,4,0.054,0.090,1989,3699,3515
$GC,6199,-1.65,-146.6,701.0,-12.1,295,6206,0.12,2.10,0.00,0.000,6,0.097,0.048,2012,2508,3515
$GC,6516,-1.65,-146.6,735.0,-8.2,311,6520,0.00,2.58,0.00,0.000,4,0.000,0.073,2012,1108,3514
$GC,6681,-1.65,-146.6,748.7,-9.3,318,6686,0.00,2.62,0.00,0.000,6,0.000,0.069,2012,2519,3514
$GC,6998,-1.65,-146.6,781.3,-13.0,333,7002,0.00,2.25,0.00,0.000,4,0.000,0.093,2012,3704,3513
$GC,7110,-1.65,-146.6,798.2,-17.4,338,7114,0.00,2.12,0.00,0.000,6,0.000,0.049,2012,2507,3513
$STATE,7331,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7331,begin apogee
$GC,7340,-0.45,0.0,824.7,9.3,349,7476,1.23,0.00,132.65,1.359,6,0.074,0.000,2273,2319,2915
$STATE,7477,end apogee,CONTROL_FINISHED_OK
$STATE,7477,begin climb
$GC,7480,1.81,146.6,825.1,0.0,356,7625,2.22,2.70,131.48,1.305,4,0.052,0.071,2769,908,2316
$GC,7752,1.74,146.6,794.4,12.7,368,7756,0.00,2.62,0.00,0.000,6,0.000,0.059,2769,2320,2315
$GC,8069,1.69,166.7,768.5,9.1,383,8091,0.15,0.00,19.08,1.249,6,0.114,0.000,2744,2320,2235
$GC,8398,1.72,187.1,740.2,9.0,399,8419,0.00,0.00,19.70,1.263,6,0.000,0.000,2744,2322,2152
$GC,8727,1.79,247.2,709.6,7.2,415,8790,0.00,2.72,54.72,1.305,4,0.000,0.067,2743,909,1907
$GC,9032,1.79,247.2,680.4,10.7,428,9038,0.00,2.58,0.00,0.000,6,0.000,0.053,2743,2322,1906
$GC,9348,1.79,247.2,634.8,15.4,444,9352,0.00,2.60,0.00,0.000,4,0.000,0.060,2743,903,1905
$GC,9482,1.79,247.2,612.6,15.3,450,9487,0.00,2.55,0.00,0.000,6,0.000,0.048,2743,2320,1905
$GC,9804,1.79,247.2,567.6,13.7,466,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2322,1904
$GC,10114,1.83,247.2,518.7,16.3,481,10116,0.12,0.00,0.00,0.000,6,0.059,0.000,2777,2322,1904
$GC,10423,1.83,247.2,477.4,10.6,496,10427,0.00,2.50,0.00,0.000,4,0.000,0.064,2777,3702,1905
$GC,10491,1.77,247.2,470.2,10.7,499,10495,0.00,2.42,0.00,0.000,6,0.000,0.035,2777,2300,1905
$GC,10812,1.80,272.7,441.4,8.8,515,10838,0.00,0.00,23.77,1.078,6,0.000,0.000,2777,2300,1803
$GC,11142,1.80,272.7,405.8,11.9,531,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2300,1803
$GC,11451,1.80,272.7,368.0,12.8,546,11452,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2300,1803
$GC,11760,1.80,272.7,326.1,13.6,561,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2300,1803
$GC,12069,1.80,272.7,286.2,12.6,576,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2300,1803
$GC,12379,1.80,272.7,250.7,10.9,591,12383,0.00,2.50,0.00,0.000,4,0.000,0.055,2777,3699,1803
$GC,12431,1.80,272.7,244.6,12.4,593,12435,0.00,2.38,0.00,0.000,6,0.000,0.031,2777,2300,1804
$GC,12752,1.80,272.7,206.2,12.5,609,12756,0.00,2.40,0.00,0.000,4,0.000,0.044,2777,919,1804
$GC,12814,1.80,272.7,198.1,12.3,612,12819,0.00,2.45,0.00,0.000,6,0.000,0.037,2777,2333,1804
$GC,13142,1.80,272.7,154.0,14.4,628,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2333,1804
$GC,13451,1.80,272.7,114.2,13.9,643,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2333,1805
$GC,13761,1.80,272.7,75.1,16.4,658,13762,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2333,1805
$GC,14071,1.80,272.7,33.9,11.7,673,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2333,1806
$STATE,14335,end climb,SURFACE_DEPTH_REACHED
$STATE,14335,begin surface coast
$FINISH,0.8,1.027269
$STATE,14358,end surface coast,CONTROL_FINISHED_OK
$STATE,14358,begin surface
$SM_CCo,14383,26.50,0.703,3,0,1692,300.25
$SM_GC,1.34,0.00,0.00,26.50,0.000,0.000,0.703,23,2537,1692,-10.82,0.57,300.25
$IRIDIUM_FIX,6117.23,-758.18,080298,212112
$TT8_MAMPS,0.029146
$HUMID,2011
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,751.4,82.2
$24V_AH,23.0,10.901
$10V_AH,10.1,4.345
$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,26.700,75.900,381.400,26.500,0.000,26.013,37.291,122.655,6.750,0.000,0.000,15.424,1267.738,10961.455,503.263,1553.943,452.602,0.000,1273.727,0.000,1515.840,0.000,44.476,0.000
$DEVICE_MAMPS,127.322,115.817,1359.124,703.339,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.006,469.757,390.227,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34866,687
$CAP_FILE_SIZE,97776,0
$CFSIZE,260165632,255361024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,151108,051838,6141.177,-915.627,35,1.4,35,-9.4