version: 66.04
glider: 101
mission: 7
dive: 60
start: 11 15 108 9 43 42
data:
$ID,101
$MISSION,7
$DIVE,60
$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,-733011.25
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,093758,6143.657,-916.175,31,2.1,50,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-49.8
$GPS2,094321,6143.668,-916.030,13,1.9,14,-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,12.4,17306,-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,-60.83,0.000,2,0.000,0.000,25,2536,3011
$GC,83,-1.81,-146.6,3.2,-3.9,3,113,10.15,2.10,-15.02,0.000,4,0.125,0.071,1973,3689,3513
$GC,150,-1.63,-146.6,13.6,-14.8,6,154,0.22,2.00,0.00,0.000,6,0.090,0.032,2017,2498,3513
$GC,482,-1.63,-146.6,51.1,-12.5,22,486,0.00,2.12,0.00,0.000,4,0.000,0.054,2017,3693,3514
$GC,741,-1.59,-146.6,82.5,-12.0,33,744,0.00,2.00,0.00,0.000,6,0.000,0.032,2017,2502,3514
$GC,1063,-1.59,-146.6,124.8,-9.8,49,1067,0.00,2.12,0.00,0.000,4,0.000,0.054,2017,3692,3514
$GC,1322,-1.54,-146.6,156.1,-12.5,60,1327,0.10,1.98,0.00,0.000,6,0.100,0.032,2035,2515,3513
$GC,1645,-1.54,-146.6,188.8,-10.2,76,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2515,3514
$GC,1954,-1.54,-146.6,220.0,-10.5,91,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2515,3514
$GC,2263,-1.54,-146.6,252.7,-10.0,106,2267,0.00,2.10,0.00,0.000,4,0.000,0.055,2036,3691,3513
$GC,2379,-1.54,-146.6,265.5,-12.1,111,2382,0.00,1.98,0.00,0.000,6,0.000,0.032,2036,2511,3514
$GC,2712,-1.54,-146.6,300.0,-10.3,127,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2511,3514
$GC,3021,-1.54,-146.6,333.6,-10.9,142,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2511,3514
$GC,3330,-1.54,-146.6,369.3,-10.7,157,3334,0.00,2.12,0.00,0.000,4,0.000,0.058,2036,3693,3514
$GC,3422,-1.54,-146.6,379.8,-12.0,161,3425,0.00,1.98,0.00,0.000,6,0.000,0.033,2036,2525,3514
$GC,3755,-1.54,-146.6,415.2,-10.5,177,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2525,3514
$GC,4064,-1.54,-146.6,447.4,-10.8,192,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2525,3514
$GC,4373,-1.54,-146.6,480.5,-10.6,207,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2524,3514
$GC,4682,-1.54,-146.6,513.6,-10.8,222,4686,0.00,2.20,0.00,0.000,4,0.000,0.086,2036,3679,3514
$GC,4755,-1.54,-146.6,522.1,-11.6,225,4759,0.00,2.03,0.00,0.000,6,0.000,0.050,2036,2535,3514
$GC,5084,-1.59,-146.6,561.1,-11.2,241,5088,0.00,2.70,0.00,0.000,4,0.000,0.089,2036,1111,3514
$GC,5228,-1.65,-146.6,575.2,-9.9,247,5233,0.00,2.67,0.00,0.000,6,0.000,0.088,2036,2498,3514
$GC,5545,-1.70,-146.6,608.4,-9.6,262,5547,0.15,0.00,0.00,0.000,6,0.054,0.000,1997,2498,3514
$GC,5854,-1.70,-146.6,638.5,-9.0,277,5858,0.00,2.58,0.00,0.000,4,0.000,0.070,1996,1108,3513
$GC,5940,-1.70,-146.6,646.1,-8.6,281,5944,0.00,2.62,0.00,0.000,6,0.000,0.067,1997,2530,3514
$GC,6272,-1.70,-146.6,676.7,-9.0,297,6277,0.00,2.65,0.00,0.000,4,0.000,0.072,1997,1106,3514
$GC,6403,-1.70,-146.6,687.1,-9.3,303,6407,0.00,2.62,0.00,0.000,6,0.000,0.068,1997,2521,3514
$GC,6730,-1.70,-146.6,722.8,-11.4,319,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2521,3512
$GC,7039,-1.70,-146.6,752.6,-9.1,334,7044,0.00,2.65,0.00,0.000,4,0.000,0.073,1996,1101,3512
$GC,7095,-1.70,-146.6,759.6,-11.8,336,7101,0.00,2.60,0.00,0.000,6,0.000,0.063,1996,2522,3512
$GC,7412,-2.21,-146.6,771.7,-0.0,352,7417,0.45,2.22,0.00,0.000,4,0.044,0.090,1890,3699,3511
$STATE,7465,end dive,NO_VERTICAL_VELOCITY
$STATE,7465,begin apogee
$GC,7475,-0.45,0.0,771.6,0.0,354,7611,1.73,0.00,131.60,1.338,6,0.061,0.000,2277,2304,2915
$STATE,7612,end apogee,CONTROL_FINISHED_OK
$STATE,7612,begin climb
$GC,7616,1.81,146.6,771.1,0.0,361,7756,2.22,2.72,131.25,1.282,4,0.051,0.080,2772,3692,2316
$GC,7956,1.59,146.6,751.2,15.1,375,7963,0.28,2.47,0.00,0.000,6,0.108,0.048,2722,2316,2315
$GC,8273,1.59,147.3,721.3,10.0,391,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2316,2314
$GC,8582,1.71,245.5,701.1,5.4,406,8674,0.12,0.00,88.85,1.293,6,0.056,0.000,2756,2316,1915
$GC,8971,1.71,245.5,654.8,12.7,425,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2316,1913
$GC,9280,1.71,245.5,614.6,12.8,440,9284,0.00,2.60,0.00,0.000,4,0.000,0.066,2755,899,1912
$GC,9503,1.71,245.5,588.0,11.1,450,9508,0.00,2.58,0.00,0.000,6,0.000,0.051,2756,2323,1911
$GC,9825,1.71,245.5,552.1,10.4,466,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2324,1911
$GC,10135,1.71,245.5,517.6,11.2,481,10139,0.00,2.58,0.00,0.000,4,0.000,0.056,2756,908,1911
$GC,10235,1.71,245.5,505.9,12.0,485,10242,0.00,2.50,0.00,0.000,6,0.000,0.044,2756,2324,1911
$GC,10552,1.71,245.5,468.9,12.7,501,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2324,1911
$GC,10861,1.71,245.5,428.1,12.8,516,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2324,1911
$GC,11171,1.71,245.5,388.2,12.5,531,11175,0.00,2.45,0.00,0.000,4,0.000,0.058,2755,3694,1912
$GC,11227,1.71,245.5,380.2,14.7,533,11231,0.00,2.40,0.00,0.000,6,0.000,0.034,2756,2297,1912
$GC,11544,1.75,245.5,340.0,12.5,548,11548,0.00,2.42,0.00,0.000,4,0.000,0.050,2755,918,1913
$GC,11616,1.75,245.5,330.3,12.5,551,11621,0.00,2.45,0.00,0.000,6,0.000,0.038,2755,2321,1913
$GC,11933,1.79,245.5,291.0,12.4,566,11934,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2321,1914
$GC,12242,1.84,245.5,251.4,12.8,581,12247,0.00,2.42,0.00,0.000,4,0.000,0.055,2756,3690,1914
$GC,12293,1.84,245.5,244.4,13.0,583,12297,0.00,2.35,0.00,0.000,6,0.000,0.033,2755,2313,1914
$GC,12610,1.88,245.5,205.4,11.4,598,12611,0.12,0.00,0.00,0.000,6,0.053,0.000,2792,2312,1914
$GC,12919,1.88,245.5,165.6,12.7,613,12923,0.00,2.47,0.00,0.000,4,0.000,0.053,2792,3693,1915
$GC,12965,1.82,245.5,159.4,13.4,615,12969,0.00,2.33,0.00,0.000,6,0.000,0.033,2791,2316,1915
$GC,13298,1.82,245.5,107.1,15.5,631,13299,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2315,1915
$GC,13607,1.82,245.5,61.1,13.3,646,13608,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2314,1915
$GC,13917,1.83,254.5,24.5,9.6,661,13928,0.00,0.00,9.85,0.754,6,0.000,0.000,2792,2315,1877
$STATE,14077,end climb,SURFACE_DEPTH_REACHED
$STATE,14077,begin surface coast
$FINISH,0.9,1.027307
$STATE,14101,end surface coast,CONTROL_FINISHED_OK
$STATE,14101,begin surface
$SM_CCo,14126,38.75,0.763,1,0,1691,300.00
$SM_GC,1.55,0.00,0.00,38.75,0.000,0.000,0.763,24,2528,1691,-10.81,0.31,300.00
$IRIDIUM_FIX,6117.23,-920.28,090298,050515
$TT8_MAMPS,0.029146
$HUMID,2022
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.7,105.3
$24V_AH,23.0,11.203
$10V_AH,10.1,4.485
$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,27.875,85.675,361.550,38.750,0.000,23.925,28.865,139.125,5.750,0.000,0.000,15.927,1258.676,10675.739,500.625,1595.529,466.942,0.000,1282.573,0.000,1555.635,0.000,39.684,0.000
$DEVICE_MAMPS,125.021,89.739,1337.648,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.817,458.394,380.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34837,670
$CAP_FILE_SIZE,100008,0
$CFSIZE,260165632,255250432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151108,134137,6145.812,-916.778,56,1.4,61,-9.5