version: 66.04
glider: 101
mission: 7
dive: 53
start: 11 14 108 4 25 6
data:
$ID,101
$MISSION,7
$DIVE,53
$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,-732866.88
$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,36
$R_STBD_OVSHOOT,29
$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
$GPS1,041402,6132.024,-903.705,36,1.7,36,-9.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-60.9
$GPS2,042445,6132.009,-903.687,12,1.5,12,-9.3
$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,355.0,40110,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.81,-146.6,0.0,0.0,0,82,0.00,0.00,-60.83,0.000,2,0.000,0.000,26,2532,3011
$GC,86,-1.81,-146.6,3.2,-4.4,3,117,10.15,2.50,-15.60,0.000,4,0.126,0.054,1972,1116,3513
$GC,350,-1.71,-146.6,38.5,-13.2,15,355,0.15,2.45,0.00,0.000,6,0.104,0.039,2000,2513,3514
$GC,680,-1.65,-146.6,80.3,-12.4,31,683,0.00,2.10,0.00,0.000,4,0.000,0.058,2000,3693,3513
$GC,759,-1.55,-146.6,90.9,-13.0,34,763,0.17,2.03,0.00,0.000,6,0.092,0.034,2034,2499,3513
$GC,1075,-1.55,-146.6,124.5,-10.5,49,1079,0.00,2.15,0.00,0.000,4,0.000,0.055,2034,3698,3513
$GC,1154,-1.55,-146.6,133.6,-11.5,52,1158,0.00,2.00,0.00,0.000,6,0.000,0.034,2034,2517,3513
$GC,1475,-1.55,-146.6,167.9,-10.6,68,1479,0.00,2.10,0.00,0.000,4,0.000,0.054,2034,3689,3513
$GC,1577,-1.55,-146.6,179.4,-11.3,72,1580,0.00,2.00,0.00,0.000,6,0.000,0.035,2034,2507,3513
$GC,1899,-1.55,-146.6,210.9,-9.8,88,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2507,3513
$GC,2208,-1.55,-146.6,243.6,-11.0,103,2211,0.00,2.12,0.00,0.000,4,0.000,0.056,2034,3690,3513
$GC,2303,-1.55,-146.6,254.8,-11.1,107,2307,0.00,2.00,0.00,0.000,6,0.000,0.035,2034,2505,3513
$GC,2631,-1.55,-146.6,288.7,-10.2,123,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2505,3513
$GC,2940,-1.55,-146.6,320.4,-10.3,138,2944,0.00,2.12,0.00,0.000,4,0.000,0.058,2034,3687,3513
$GC,3058,-1.55,-146.6,333.7,-11.5,143,3062,0.00,1.98,0.00,0.000,6,0.000,0.035,2034,2521,3513
$GC,3385,-1.55,-146.6,366.9,-10.4,159,3389,0.00,2.10,0.00,0.000,4,0.000,0.059,2034,3686,3513
$GC,3447,-1.55,-146.6,373.9,-11.1,161,3453,0.00,2.00,0.00,0.000,6,0.000,0.035,2034,2511,3513
$GC,3764,-1.55,-146.6,407.5,-11.2,177,3767,0.00,2.15,0.00,0.000,4,0.000,0.062,2034,3693,3513
$GC,3837,-1.55,-146.6,416.5,-12.0,180,3840,0.00,2.00,0.00,0.000,6,0.000,0.035,2034,2521,3513
$GC,4165,-1.55,-146.6,454.0,-11.4,196,4168,0.00,2.15,0.00,0.000,4,0.000,0.068,2034,3688,3513
$GC,4233,-1.55,-146.6,462.5,-12.2,199,4237,0.00,2.00,0.00,0.000,6,0.000,0.037,2034,2523,3513
$GC,4569,-1.55,-146.6,500.9,-11.5,215,4572,0.00,2.20,0.00,0.000,4,0.000,0.081,2034,3686,3513
$GC,4642,-1.55,-146.6,510.9,-12.8,218,4646,0.00,2.05,0.00,0.000,6,0.000,0.047,2034,2524,3513
$GC,4970,-1.55,-146.6,550.1,-11.9,234,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2524,3513
$GC,5279,-1.55,-146.6,585.6,-10.7,249,5283,0.00,2.35,0.00,0.000,4,0.000,0.114,2034,3682,3512
$GC,5369,-1.55,-146.6,596.2,-11.9,253,5373,0.00,2.20,0.00,0.000,6,0.000,0.080,2034,2518,3512
$GC,5690,-1.55,-146.6,629.9,-10.1,269,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2516,3512
$GC,6001,-1.59,-146.6,658.4,-9.6,284,6004,0.00,2.25,0.00,0.000,4,0.000,0.089,2034,3686,3512
$GC,6064,-1.59,-146.6,664.0,-8.9,286,6070,0.00,2.10,0.00,0.000,6,0.000,0.050,2034,2505,3512
$GC,6381,-1.64,-146.6,689.2,-7.2,302,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2504,3512
$STATE,6542,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6542,begin apogee
$GC,6550,-0.45,0.0,701.1,7.4,310,6685,1.12,0.00,129.48,1.221,6,0.074,0.000,2273,2315,2915
$STATE,6686,end apogee,CONTROL_FINISHED_OK
$STATE,6686,begin climb
$GC,6689,1.81,146.6,704.4,0.0,317,6829,2.28,2.70,128.85,1.174,4,0.050,0.074,2771,906,2317
$GC,6885,1.75,146.6,686.8,15.3,326,6890,0.00,2.60,0.00,0.000,6,0.000,0.058,2770,2310,2317
$GC,7202,1.70,146.6,637.9,14.7,341,7204,0.15,0.00,0.00,0.000,6,0.106,0.000,2744,2311,2316
$GC,7511,1.70,146.6,603.4,10.3,356,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2312,2316
$GC,7821,1.73,171.2,575.3,8.8,371,7846,0.00,0.00,22.80,1.091,6,0.000,0.000,2744,2312,2217
$GC,8149,1.82,248.5,550.7,6.4,387,8221,0.12,0.00,68.80,1.106,6,0.061,0.000,2775,2312,1902
$GC,8519,1.85,270.2,519.4,9.0,405,8544,0.00,2.60,20.33,1.044,4,0.000,0.070,2775,3693,1813
$GC,8602,1.85,270.2,510.7,11.0,409,8606,0.00,2.42,0.00,0.000,6,0.000,0.038,2775,2309,1813
$GC,8935,1.85,270.2,476.4,10.3,425,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2309,1813
$GC,9245,1.85,270.2,441.5,12.0,440,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2309,1813
$GC,9554,1.85,270.2,402.1,13.3,455,9558,0.00,2.55,0.00,0.000,4,0.000,0.059,2775,3705,1813
$GC,9616,1.85,270.2,392.9,15.5,458,9621,0.00,2.42,0.00,0.000,6,0.000,0.035,2775,2301,1813
$GC,9944,1.85,270.2,348.9,13.1,474,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2301,1813
$GC,10253,1.85,270.2,307.1,14.4,489,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2301,1813
$GC,10562,1.85,270.2,261.1,14.8,504,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2301,1813
$GC,10871,1.85,270.2,217.5,14.2,519,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2301,1812
$GC,11181,1.85,270.2,174.6,13.6,534,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2301,1813
$GC,11491,1.85,270.2,132.9,13.4,549,11495,0.00,2.53,0.00,0.000,4,0.000,0.054,2775,3707,1813
$GC,11546,1.85,270.2,124.7,14.6,551,11553,0.00,2.40,0.00,0.000,6,0.000,0.034,2775,2303,1813
$GC,11863,1.85,270.2,83.0,13.0,567,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2301,1813
$GC,12174,1.85,270.2,41.3,14.3,582,12175,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2301,1813
$STATE,12478,end climb,SURFACE_DEPTH_REACHED
$STATE,12478,begin surface coast
$FINISH,0.8,1.014878
$STATE,12500,end surface coast,CONTROL_FINISHED_OK
$STATE,12500,begin surface
$SM_CCo,12525,26.75,0.742,1,0,1692,300.00
$SM_GC,1.54,0.00,0.00,26.75,0.000,0.000,0.742,26,2534,1692,-10.81,0.48,300.00
$IRIDIUM_FIX,6108.28,-858.83,080298,040431
$TT8_MAMPS,0.028379
$HUMID,2014
$INTERNAL_PRESSURE,7.85186
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.7,107.8
$24V_AH,23.1,10.140
$10V_AH,10.1,4.002
$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,26.250,72.075,370.250,26.750,0.000,75.584,87.504,237.579,5.000,0.000,0.000,14.450,1109.962,9617.868,485.891,1343.977,653.420,0.000,1162.101,0.000,1315.204,0.000,34.841,0.000
$DEVICE_MAMPS,125.788,114.283,1221.064,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.815,410.931,364.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28577,598
$CAP_FILE_SIZE,89476,0
$CFSIZE,260165632,255623168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141108,075538,6134.462,-903.469,31,1.4,31,-9.3