version: 66.04
glider: 101
mission: 7
dive: 59
start: 11 15 108 5 24 23
data:
$ID,101
$MISSION,7
$DIVE,59
$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,-732994.69
$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,38
$R_STBD_OVSHOOT,38
$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
$GPS1,051838,6141.177,-915.627,35,1.4,35,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-54.2
$GPS2,052403,6141.128,-915.608,12,1.3,30,-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,10.8,21993,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.00,0.000,2,0.000,0.000,23,2540,3493
$GC,103,-1.81,-146.6,5.6,-6.3,4,119,10.30,2.50,-0.43,0.000,4,0.132,0.053,1971,1114,3515
$GC,241,-1.73,-146.6,34.8,-18.3,9,246,0.12,2.42,0.00,0.000,6,0.104,0.038,1994,2509,3515
$GC,563,-1.67,-146.6,77.9,-12.0,25,566,0.00,2.10,0.00,0.000,4,0.000,0.057,1994,3695,3515
$GC,625,-1.57,-146.6,86.0,-13.0,27,632,0.20,2.03,0.00,0.000,6,0.088,0.032,2034,2486,3515
$GC,942,-1.64,-146.6,118.2,-9.1,43,946,0.00,2.35,0.00,0.000,4,0.000,0.041,2034,1119,3515
$GC,1039,-1.70,-146.6,127.6,-8.9,47,1044,0.15,2.45,0.00,0.000,6,0.062,0.037,1999,2530,3515
$GC,1361,-1.63,-146.6,165.3,-13.5,63,1365,0.00,2.03,0.00,0.000,4,0.000,0.055,2000,3689,3515
$GC,1569,-1.55,-146.6,196.2,-15.3,72,1574,0.17,1.98,0.00,0.000,6,0.091,0.032,2033,2511,3515
$GC,1891,-1.62,-146.6,234.8,-11.7,88,1894,0.00,2.12,0.00,0.000,4,0.000,0.055,2033,3699,3515
$GC,1992,-1.69,-146.6,248.0,-13.3,92,1997,0.12,2.00,0.00,0.000,6,0.058,0.031,2002,2505,3515
$GC,2314,-1.69,-146.6,290.2,-12.2,108,2318,0.00,2.38,0.00,0.000,4,0.000,0.042,2002,1126,3515
$GC,2557,-1.69,-146.6,320.3,-12.1,119,2562,0.00,2.42,0.00,0.000,6,0.000,0.040,2002,2517,3515
$GC,2885,-1.63,-146.6,358.4,-11.5,135,2890,0.00,2.45,0.00,0.000,4,0.000,0.044,2002,1119,3515
$GC,2914,-1.58,-146.6,362.0,-11.9,136,2919,0.15,2.45,0.00,0.000,6,0.101,0.040,2029,2523,3515
$GC,3231,-1.58,-146.6,394.1,-10.0,151,3234,0.00,2.08,0.00,0.000,4,0.000,0.061,2029,3687,3515
$GC,3489,-1.58,-146.6,422.2,-11.0,162,3493,0.00,1.98,0.00,0.000,6,0.000,0.032,2028,2519,3515
$GC,3811,-1.58,-146.6,453.7,-9.8,178,3815,0.00,2.12,0.00,0.000,4,0.000,0.067,2028,3686,3515
$GC,3907,-1.58,-146.6,463.1,-9.4,182,3911,0.00,2.00,0.00,0.000,6,0.000,0.035,2029,2515,3515
$GC,4235,-1.58,-146.6,493.9,-9.8,198,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2514,3515
$GC,4544,-1.58,-146.6,522.2,-9.3,213,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2515,3515
$GC,4853,-1.58,-146.6,552.4,-10.4,228,4857,0.00,2.28,0.00,0.000,4,0.000,0.097,2029,3682,3515
$GC,4948,-1.58,-146.6,563.8,-11.7,232,4952,0.00,2.10,0.00,0.000,6,0.000,0.063,2029,2531,3515
$GC,5270,-1.58,-146.6,598.1,-10.0,248,5273,0.00,2.20,0.00,0.000,4,0.000,0.081,2029,3692,3515
$GC,5377,-1.58,-146.6,610.4,-11.7,252,5383,0.00,2.10,0.00,0.000,6,0.000,0.048,2029,2505,3515
$GC,5694,-1.63,-146.6,643.0,-9.8,268,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2505,3515
$GC,6002,-1.63,-146.6,669.1,-6.1,283,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2504,3515
$GC,6312,-1.68,-146.6,696.1,-10.8,298,6316,0.00,2.58,0.00,0.000,4,0.000,0.071,2029,1103,3515
$GC,6402,-1.76,-146.6,706.8,-10.9,302,6407,0.17,2.60,0.00,0.000,6,0.065,0.064,1990,2516,3515
$GC,6726,-1.76,-146.6,738.0,-9.3,318,6731,0.00,2.62,0.00,0.000,4,0.000,0.072,1989,1105,3515
$GC,6850,-1.76,-146.6,749.8,-13.2,323,6857,0.00,2.62,0.00,0.000,6,0.000,0.071,1989,2515,3515
$GC,7166,-1.76,-146.6,792.7,-14.0,339,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2515,3515
$STATE,7431,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7431,begin apogee
$GC,7440,-0.45,0.0,827.6,12.9,352,7576,1.35,0.00,132.40,1.351,6,0.077,0.000,2274,2314,2915
$STATE,7577,end apogee,CONTROL_FINISHED_OK
$STATE,7577,begin climb
$GC,7580,1.81,146.6,831.1,0.0,359,7726,2.25,2.75,131.50,1.302,4,0.050,0.071,2773,906,2317
$GC,7910,1.70,146.6,800.4,11.1,374,7915,0.15,2.62,0.00,0.000,6,0.129,0.058,2749,2330,2317
$GC,8238,1.67,164.0,764.7,9.2,390,8257,0.00,0.00,16.90,1.239,6,0.000,0.000,2749,2330,2246
$GC,8568,1.70,182.0,735.0,9.2,406,8587,0.00,0.00,17.55,1.256,6,0.000,0.000,2749,2330,2172
$GC,8896,1.74,215.0,704.7,8.5,422,8933,0.00,2.72,30.92,1.291,4,0.000,0.066,2748,902,2038
$GC,9185,1.75,224.1,681.5,9.6,434,9202,0.00,2.58,9.25,1.157,6,0.000,0.052,2748,2319,2001
$GC,9512,1.75,224.1,643.9,11.5,450,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2320,2000
$GC,9821,1.75,224.1,608.2,10.6,465,9825,0.00,2.58,0.00,0.000,4,0.000,0.059,2748,908,2000
$GC,9889,1.75,224.1,601.3,10.4,468,9893,0.00,2.53,0.00,0.000,6,0.000,0.048,2748,2319,2000
$GC,10216,1.75,224.1,569.2,10.0,484,10220,0.00,2.53,0.00,0.000,4,0.000,0.068,2748,3699,2000
$GC,10283,1.75,224.1,561.4,12.1,487,10287,0.00,2.42,0.00,0.000,6,0.000,0.038,2748,2304,1999
$GC,10610,1.75,224.1,524.6,11.1,503,10611,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2304,1999
$GC,10919,1.75,224.1,491.3,10.7,518,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2303,2000
$GC,11229,1.75,224.1,455.7,11.8,533,11233,0.00,2.53,0.00,0.000,4,0.000,0.060,2748,3692,2002
$GC,11301,1.75,224.1,446.1,13.9,536,11306,0.00,2.38,0.00,0.000,6,0.000,0.034,2748,2311,2001
$GC,11618,1.75,224.1,408.5,11.3,551,11619,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2311,2002
$GC,11928,1.79,224.1,373.2,11.2,566,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2311,2002
$GC,12237,1.84,224.1,339.3,10.8,581,12242,0.12,2.47,0.00,0.000,4,0.054,0.055,2785,3693,2003
$GC,12304,1.76,224.1,330.6,12.4,584,12309,0.15,2.35,0.00,0.000,6,0.098,0.032,2757,2310,2003
$GC,12626,1.76,224.1,295.5,11.0,600,12627,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2310,2003
$GC,12935,1.76,224.1,262.3,11.0,615,12939,0.00,2.47,0.00,0.000,4,0.000,0.054,2757,3699,2004
$GC,13103,1.76,224.1,241.5,11.8,622,13107,0.00,2.35,0.00,0.000,6,0.000,0.032,2757,2314,2003
$GC,13419,1.76,224.1,206.4,11.7,637,13423,0.00,2.45,0.00,0.000,4,0.000,0.053,2757,3694,2004
$GC,13533,1.76,224.1,193.8,11.3,642,13537,0.00,2.35,0.00,0.000,6,0.000,0.031,2757,2308,2004
$GC,13854,1.76,224.1,158.7,11.3,658,13859,0.00,2.47,0.00,0.000,4,0.000,0.052,2757,3696,2005
$GC,13995,1.83,280.2,146.8,7.4,664,14049,0.00,2.35,49.38,0.881,6,0.000,0.031,2757,2309,1772
$GC,14363,1.89,280.2,107.3,11.7,682,14368,0.12,2.50,0.00,0.000,4,0.051,0.051,2794,3699,1772
$GC,14442,1.83,280.2,95.0,17.3,685,14448,0.00,2.38,0.00,0.000,6,0.000,0.031,2795,2307,1772
$GC,14760,1.83,280.2,46.9,15.2,701,14761,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2306,1772
$STATE,15045,end climb,SURFACE_DEPTH_REACHED
$STATE,15045,begin surface coast
$FINISH,0.9,1.027351
$STATE,15066,end surface coast,CONTROL_FINISHED_OK
$STATE,15066,begin surface
$SM_CCo,15091,19.30,0.657,2,0,1692,300.00
$SM_GC,1.81,0.00,0.00,19.30,0.000,0.000,0.657,25,2536,1692,-10.81,0.54,300.00
$IRIDIUM_FIX,6117.23,-924.02,090298,010113
$TT8_MAMPS,0.029146
$HUMID,2019
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,726.6,109.7
$24V_AH,23.0,11.052
$10V_AH,10.1,4.418
$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,27.850,109.525,387.900,19.300,0.000,26.068,29.223,129.820,6.500,0.000,0.000,32.429,1385.705,11213.072,512.503,1857.872,482.055,0.000,1427.882,0.000,1795.248,0.000,42.934,0.000
$DEVICE_MAMPS,131.924,97.409,1351.454,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,528.822,493.703,397.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34843,716
$CAP_FILE_SIZE,114296,0
$CFSIZE,260165632,255295488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,151108,093758,6143.657,-916.175,31,2.1,50,-9.4