version: 66.04
glider: 101
mission: 7
dive: 107
start: 11 23 108 8 44 17
data:
$ID,101
$MISSION,7
$DIVE,107
$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,-734012.19
$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,18
$R_STBD_OVSHOOT,32
$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
$GPS1,083808,6242.860,-1149.562,31,1.6,31,-11.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-45.2
$GPS2,084356,6242.788,-1149.615,9,1.8,14,-11.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$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,54.9,5666,-15.5,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.57,-133.7,0.0,0.0,0,78,0.00,0.00,-60.58,0.000,2,0.000,0.000,26,2534,3014
$GC,82,-1.59,-146.6,3.2,-4.3,3,117,10.70,0.00,-16.95,0.000,6,0.134,0.000,2024,2534,3513
$GC,428,-1.45,-146.6,45.9,-11.3,20,430,0.17,0.00,0.00,0.000,6,0.091,0.000,2058,2534,3514
$GC,736,-1.45,-146.6,80.2,-9.8,35,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2534,3514
$GC,1045,-1.41,-146.6,108.4,-8.5,50,1050,0.00,2.55,0.00,0.000,4,0.000,0.044,2058,1090,3514
$GC,1101,-1.41,-146.6,113.9,-9.4,52,1108,0.00,2.50,0.00,0.000,6,0.000,0.040,2058,2518,3514
$GC,1419,-1.36,-146.6,143.8,-12.1,68,1422,0.00,2.10,0.00,0.000,4,0.000,0.059,2058,3698,3514
$GC,1488,-1.29,-146.6,151.7,-11.1,71,1493,0.17,2.05,0.00,0.000,6,0.088,0.036,2093,2496,3514
$GC,1815,-1.29,-146.6,183.3,-8.9,87,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2496,3514
$GC,2124,-1.29,-146.6,213.6,-11.0,102,2128,0.00,2.15,0.00,0.000,4,0.000,0.058,2093,3690,3514
$GC,2220,-1.29,-146.6,223.6,-10.5,106,2223,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2513,3514
$GC,2547,-1.29,-146.6,254.2,-9.2,122,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2514,3514
$GC,2857,-1.34,-146.6,280.3,-8.5,137,2860,0.00,2.12,0.00,0.000,4,0.000,0.058,2094,3692,3514
$GC,2964,-1.34,-146.6,290.1,-9.0,141,2970,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2512,3514
$GC,3280,-1.38,-146.6,318.6,-9.1,157,3284,0.00,2.12,0.00,0.000,4,0.000,0.059,2094,3690,3514
$GC,3342,-1.38,-146.6,324.7,-9.2,159,3349,0.00,2.00,0.00,0.000,6,0.000,0.035,2093,2510,3513
$GC,3658,-1.38,-146.6,354.6,-9.5,175,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2509,3514
$GC,3968,-1.43,-146.6,382.7,-8.7,190,3972,0.15,2.12,0.00,0.000,4,0.049,0.060,2050,3686,3514
$GC,4097,-1.36,-146.6,396.5,-10.9,195,4104,0.15,2.03,0.00,0.000,6,0.091,0.036,2078,2503,3514
$GC,4415,-1.36,-146.6,425.6,-9.5,211,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2503,3514
$GC,4723,-1.36,-146.6,454.2,-8.8,226,4726,0.00,2.17,0.00,0.000,4,0.000,0.067,2078,3685,3514
$GC,4792,-1.36,-146.6,460.8,-9.7,229,4795,0.00,2.00,0.00,0.000,6,0.000,0.038,2078,2523,3514
$GC,5125,-1.36,-146.6,491.6,-9.2,245,5128,0.00,2.17,0.00,0.000,4,0.000,0.076,2078,3687,3514
$GC,5226,-1.36,-146.6,501.7,-10.0,249,5229,0.00,2.05,0.00,0.000,6,0.000,0.045,2079,2522,3514
$GC,5548,-1.36,-146.6,529.9,-8.9,265,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2522,3513
$GC,5857,-1.36,-146.6,557.3,-9.1,280,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2519,3514
$GC,6166,-1.40,-146.6,587.0,-9.8,295,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2519,3514
$GC,6476,-1.45,-146.6,613.9,-8.2,310,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2519,3514
$GC,6785,-1.50,-146.6,640.5,-8.9,325,6787,0.15,0.00,0.00,0.000,6,0.051,0.000,2036,2520,3513
$GC,7094,-1.50,-146.6,671.8,-9.2,340,7098,0.00,2.25,0.00,0.000,4,0.000,0.091,2036,3686,3512
$STATE,7102,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7102,begin apogee
$GC,7113,-0.45,0.0,673.0,9.7,340,7246,1.10,0.00,129.45,1.253,6,0.076,0.000,2272,2313,2914
$STATE,7246,end apogee,CONTROL_FINISHED_OK
$STATE,7247,begin climb
$GC,7250,1.59,146.6,678.8,0.0,347,7388,2.03,2.75,127.70,1.217,4,0.050,0.077,2723,911,2317
$GC,7504,1.52,146.6,661.5,9.5,358,7510,0.00,2.60,0.00,0.000,6,0.000,0.062,2723,2306,2317
$GC,7820,1.46,146.6,635.0,8.2,374,7822,0.15,0.00,0.00,0.000,6,0.109,0.000,2696,2306,2316
$GC,8130,1.52,194.3,615.7,6.0,389,8174,0.00,0.00,42.60,1.216,6,0.000,0.000,2696,2306,2122
$GC,8479,1.52,194.3,585.1,9.0,406,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2306,2121
$GC,8789,1.54,209.5,560.0,7.4,421,8807,0.00,0.00,14.50,1.150,6,0.000,0.000,2696,2307,2061
$GC,9117,1.54,209.5,534.3,8.4,437,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2307,2060
$GC,9426,1.54,209.5,507.3,9.1,452,9431,0.00,2.58,0.00,0.000,4,0.000,0.060,2696,905,2060
$GC,9512,1.54,209.5,498.9,10.1,456,9517,0.00,2.55,0.00,0.000,6,0.000,0.049,2696,2322,2060
$GC,9840,1.54,209.5,469.2,9.1,472,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2322,2060
$GC,10149,1.58,209.5,439.1,10.2,487,10151,0.10,0.00,0.00,0.000,6,0.066,0.000,2723,2323,2060
$GC,10458,1.58,209.5,406.0,10.5,502,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2323,2059
$GC,10767,1.58,209.5,372.5,10.8,517,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2323,2060
$GC,11077,1.58,209.5,341.5,10.4,532,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2323,2060
$GC,11386,1.58,209.5,308.2,10.5,547,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2323,2060
$GC,11695,1.58,209.5,274.4,11.4,562,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2322,2060
$GC,12005,1.58,209.5,239.7,11.6,577,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2322,2061
$GC,12314,1.60,222.1,208.0,7.5,592,12335,0.00,2.53,12.43,0.894,4,0.000,0.056,2723,3693,2009
$GC,12382,1.55,222.1,202.2,9.2,595,12387,0.00,2.42,0.00,0.000,6,0.000,0.035,2723,2293,2009
$GC,12710,1.55,222.1,169.2,9.4,611,12711,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2291,2009
$GC,13019,1.55,222.1,137.1,12.1,626,13020,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2291,2009
$GC,13328,1.62,277.8,116.4,5.7,641,13383,0.00,2.62,47.80,0.883,4,0.000,0.055,2723,3704,1781
$GC,13492,1.62,279.7,101.9,7.9,648,13496,0.00,2.40,0.00,0.000,6,0.000,0.035,2723,2316,1780
$GC,13814,1.62,279.7,68.2,10.5,664,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2314,1780
$GC,14123,1.62,279.7,36.6,10.7,679,14127,0.00,2.50,0.00,0.000,4,0.000,0.054,2723,3700,1780
$GC,14195,1.62,279.7,27.3,13.4,682,14200,0.00,2.40,0.00,0.000,6,0.000,0.035,2723,2304,1780
$STATE,14405,end climb,SURFACE_DEPTH_REACHED
$STATE,14405,begin surface coast
$FINISH,0.8,1.027633
$STATE,14427,end surface coast,CONTROL_FINISHED_OK
$STATE,14427,begin surface
$SM_CCo,14452,21.08,0.686,2,0,1692,300.00
$SM_GC,1.72,0.00,0.00,21.08,0.000,0.000,0.686,29,2532,1692,-10.79,0.42,300.00
$IRIDIUM_FIX,6216.53,-1152.60,170298,040421
$TT8_MAMPS,0.029146
$HUMID,2017
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.2,82.4
$24V_AH,23.1,17.960
$10V_AH,10.1,7.675
$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,26.825,64.675,374.475,21.075,0.000,25.603,38.098,162.194,5.250,0.000,0.000,15.874,1236.022,11166.165,498.037,1454.057,484.131,0.000,1218.614,0.000,1422.406,0.000,37.722,0.000
$DEVICE_MAMPS,134.225,91.273,1253.278,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.554,473.187,434.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34763,693
$CAP_FILE_SIZE,93482,0
$CFSIZE,260165632,252907520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,231108,124704,6243.556,-1149.857,39,2.0,39,-11.2