version: 66.04
glider: 101
mission: 7
dive: 52
start: 11 14 108 1 1 56
data:
$ID,101
$MISSION,7
$DIVE,52
$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,-732851.81
$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,12
$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
$GPS1,005701,6131.287,-902.010,36,1.1,36,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-62.6
$GPS2,010132,6131.271,-901.984,10,1.2,10,-9.2
$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,353.4,41816,-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,-61.15,0.000,2,0.000,0.000,30,2523,3033
$GC,83,-1.81,-146.6,3.4,-4.8,3,113,10.32,2.58,-14.20,0.000,4,0.133,0.055,1974,1097,3513
$GC,367,-1.71,-146.6,43.5,-14.6,15,374,0.12,2.50,0.00,0.000,6,0.110,0.040,1997,2521,3514
$GC,686,-1.64,-146.6,85.7,-13.4,31,687,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2522,3514
$GC,993,-1.58,-146.6,129.3,-14.7,46,998,0.17,2.10,0.00,0.000,4,0.092,0.058,2036,3699,3514
$GC,1060,-1.58,-146.6,138.6,-13.7,49,1064,0.00,2.08,0.00,0.000,6,0.000,0.034,2036,2474,3514
$GC,1389,-1.58,-146.6,176.0,-11.2,65,1392,0.00,2.20,0.00,0.000,4,0.000,0.056,2036,3699,3513
$GC,1462,-1.58,-146.6,184.5,-12.3,68,1466,0.00,2.00,0.00,0.000,6,0.000,0.035,2036,2518,3514
$GC,1790,-1.58,-146.6,217.1,-9.1,84,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2518,3513
$GC,2099,-1.58,-146.6,246.8,-9.0,99,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2518,3514
$GC,2409,-1.58,-146.6,276.9,-10.8,114,2412,0.00,2.12,0.00,0.000,4,0.000,0.058,2036,3699,3514
$GC,2493,-1.58,-146.6,286.3,-11.1,117,2499,0.00,2.00,0.00,0.000,6,0.000,0.035,2036,2516,3514
$GC,2809,-1.58,-146.6,324.2,-12.8,133,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2515,3514
$GC,3118,-1.58,-146.6,365.1,-12.8,148,3122,0.00,2.12,0.00,0.000,4,0.000,0.060,2036,3690,3514
$GC,3220,-1.58,-146.6,378.8,-13.1,152,3223,0.00,2.00,0.00,0.000,6,0.000,0.035,2036,2515,3513
$GC,3541,-1.58,-146.6,418.5,-12.2,168,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2515,3514
$GC,3851,-1.58,-146.6,453.8,-11.2,183,3854,0.00,2.17,0.00,0.000,4,0.000,0.069,2036,3694,3514
$GC,3969,-1.58,-146.6,468.4,-12.9,188,3973,0.00,2.00,0.00,0.000,6,0.000,0.038,2036,2526,3513
$GC,4297,-1.62,-146.6,507.3,-11.9,204,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2526,3514
$GC,4605,-1.62,-146.6,541.1,-10.7,219,4609,0.00,2.28,0.00,0.000,4,0.000,0.096,2036,3691,3514
$GC,4701,-1.62,-146.6,551.8,-10.9,223,4705,0.00,2.12,0.00,0.000,6,0.000,0.062,2036,2527,3513
$GC,5023,-1.66,-146.6,584.8,-10.6,239,5025,0.10,0.00,0.00,0.000,6,0.061,0.000,2007,2527,3513
$STATE,5226,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5226,begin apogee
$GC,5234,-0.45,0.0,608.5,11.3,249,5369,1.25,0.00,128.23,1.156,6,0.074,0.000,2273,2308,2916
$STATE,5370,end apogee,CONTROL_FINISHED_OK
$STATE,5370,begin climb
$GC,5373,1.81,146.6,613.9,0.0,256,5511,2.22,2.72,127.45,1.115,4,0.050,0.074,2770,911,2317
$GC,5656,1.75,146.6,594.0,10.2,269,5660,0.00,2.58,0.00,0.000,6,0.000,0.056,2770,2310,2317
$GC,5983,1.72,149.2,561.6,9.9,285,5990,0.12,0.00,3.92,0.674,6,0.111,0.000,2749,2311,2306
$GC,6292,1.73,162.6,532.7,9.4,300,6311,0.00,0.00,13.32,1.010,6,0.000,0.000,2749,2312,2252
$GC,6622,1.75,175.5,500.6,9.4,316,6640,0.00,0.00,13.07,1.001,6,0.000,0.000,2749,2312,2199
$GC,6951,1.75,175.5,468.6,10.3,332,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2312,2198
$GC,7260,1.75,175.5,436.4,10.5,347,7264,0.00,2.55,0.00,0.000,4,0.000,0.054,2749,907,2198
$GC,7322,1.75,175.5,429.8,10.6,350,7327,0.00,2.53,0.00,0.000,6,0.000,0.043,2749,2332,2198
$GC,7650,1.76,185.5,398.1,9.5,366,7662,0.00,0.00,10.30,0.937,6,0.000,0.000,2748,2332,2158
$GC,7959,1.77,192.1,368.4,9.7,381,7968,0.00,0.00,7.40,0.864,6,0.000,0.000,2749,2332,2131
$GC,8268,1.78,198.0,338.7,9.7,396,8277,0.00,0.00,7.12,0.844,6,0.000,0.000,2749,2332,2107
$GC,8577,1.78,198.0,305.9,11.1,411,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2332,2107
$GC,8887,1.78,198.0,271.1,11.2,426,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2332,2107
$GC,9196,1.78,198.0,238.2,10.2,441,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2332,2107
$GC,9505,1.78,201.3,206.4,9.8,456,9512,0.00,0.00,4.55,0.665,6,0.000,0.000,2749,2332,2094
$GC,9814,1.78,201.3,176.2,10.6,471,9818,0.00,2.53,0.00,0.000,4,0.000,0.046,2748,902,2094
$GC,9871,1.78,201.3,169.9,10.4,473,9875,0.00,2.47,0.00,0.000,6,0.000,0.037,2748,2325,2094
$GC,10188,1.82,201.3,134.2,11.1,488,10193,0.10,2.42,0.00,0.000,4,0.066,0.054,2774,3692,2094
$GC,10261,1.76,201.3,124.8,13.6,491,10265,0.00,2.38,0.00,0.000,6,0.000,0.034,2774,2301,2094
$GC,10578,1.76,201.3,86.3,11.9,506,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2301,2094
$GC,10888,1.76,201.3,49.6,12.0,521,10890,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2300,2094
$GC,11196,1.76,201.3,14.0,11.2,536,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2300,2094
$STATE,11317,end climb,SURFACE_DEPTH_REACHED
$STATE,11317,begin surface coast
$FINISH,0.7,1.012792
$STATE,11339,end surface coast,CONTROL_FINISHED_OK
$STATE,11339,begin surface
$SM_CCo,11364,77.60,0.771,1,0,1692,300.00
$SM_GC,1.56,0.00,0.00,77.60,0.000,0.000,0.771,26,2530,1692,-10.81,0.37,300.00
$IRIDIUM_FIX,6103.81,-902.57,070298,222238
$TT8_MAMPS,0.029146
$HUMID,2000
$INTERNAL_PRESSURE,7.85186
$TCM_TEMP,18.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.7,91.1
$24V_AH,23.1,9.992
$10V_AH,10.1,3.939
$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,26.600,51.250,315.375,77.600,0.000,22.876,29.913,112.401,4.750,0.000,0.000,12.019,1009.646,8668.646,485.780,1189.545,378.764,0.000,1078.697,0.000,1168.072,0.000,29.937,0.000
$DEVICE_MAMPS,133.458,95.875,1155.869,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.261,371.499,345.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25420,543
$CAP_FILE_SIZE,77041,0
$CFSIZE,260165632,255668224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141108,041402,6132.024,-903.705,36,1.7,36,-9.3