version: 66.04
glider: 101
mission: 7
dive: 54
start: 11 14 108 8 5 10
data:
$ID,101
$MISSION,7
$DIVE,54
$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,-732898.81
$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,35
$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
$GPS1,075538,6134.462,-903.469,31,1.4,31,-9.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-61.5
$GPS2,080450,6134.496,-903.377,12,1.6,29,-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,352.8,35739,-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,-60.95,0.000,2,0.000,0.000,26,2535,2997
$GC,83,-1.81,-146.6,3.1,-4.4,3,115,10.12,2.05,-16.62,0.000,4,0.125,0.071,1974,3683,3512
$GC,369,-1.66,-146.6,45.2,-15.0,16,374,0.20,2.00,0.00,0.000,6,0.094,0.035,2013,2505,3512
$GC,697,-1.66,-146.6,83.5,-11.2,32,700,0.00,2.10,0.00,0.000,4,0.000,0.055,2013,3684,3512
$GC,856,-1.59,-146.6,102.5,-11.8,39,860,0.00,1.98,0.00,0.000,6,0.000,0.035,2013,2516,3512
$GC,1191,-1.59,-146.6,141.7,-12.2,55,1195,0.00,2.10,0.00,0.000,4,0.000,0.054,2013,3687,3512
$GC,1260,-1.53,-146.6,151.0,-13.2,58,1265,0.12,2.00,0.00,0.000,6,0.095,0.035,2038,2505,3512
$GC,1593,-1.53,-146.6,190.2,-12.2,74,1597,0.00,2.12,0.00,0.000,4,0.000,0.055,2038,3692,3512
$GC,1655,-1.53,-146.6,198.6,-13.0,76,1661,0.00,2.00,0.00,0.000,6,0.000,0.035,2038,2509,3512
$GC,1972,-1.53,-146.6,235.1,-10.9,92,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2508,3513
$GC,2281,-1.53,-146.6,269.2,-11.4,107,2284,0.00,2.12,0.00,0.000,4,0.000,0.056,2038,3692,3512
$GC,2372,-1.53,-146.6,280.0,-12.1,111,2376,0.00,2.00,0.00,0.000,6,0.000,0.035,2038,2506,3512
$GC,2706,-1.53,-146.6,314.2,-9.5,127,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2505,3512
$GC,3015,-1.53,-146.6,344.9,-10.0,142,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2505,3512
$GC,3325,-1.53,-146.6,376.0,-10.4,157,3328,0.00,2.12,0.00,0.000,4,0.000,0.058,2038,3685,3513
$GC,3443,-1.53,-146.6,389.7,-11.7,162,3446,0.00,1.98,0.00,0.000,6,0.000,0.033,2038,2519,3512
$GC,3771,-1.53,-146.6,423.8,-10.0,178,3774,0.00,2.12,0.00,0.000,4,0.000,0.063,2038,3684,3512
$GC,3855,-1.53,-146.6,433.1,-11.1,181,3861,0.00,1.98,0.00,0.000,6,0.000,0.033,2038,2521,3512
$GC,4171,-1.58,-146.6,465.5,-10.2,197,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2521,3512
$GC,4481,-1.58,-146.6,492.8,-8.9,212,4484,0.00,2.17,0.00,0.000,4,0.000,0.076,2038,3683,3512
$GC,4550,-1.58,-146.6,498.9,-8.3,215,4553,0.00,2.03,0.00,0.000,6,0.000,0.041,2038,2520,3512
$GC,4884,-1.58,-146.6,526.7,-8.8,231,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2520,3512
$GC,5193,-1.62,-146.6,556.7,-9.8,246,5197,0.00,2.28,0.00,0.000,4,0.000,0.099,2038,3678,3512
$GC,5306,-1.62,-146.6,569.3,-11.5,251,5310,0.00,2.12,0.00,0.000,6,0.000,0.065,2038,2522,3512
$GC,5634,-1.66,-146.6,603.8,-10.9,267,5636,0.12,0.00,0.00,0.000,6,0.055,0.000,2002,2523,3512
$GC,5942,-1.66,-146.6,641.0,-12.3,282,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2519,3512
$GC,6253,-1.66,-146.6,676.9,-11.5,297,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2519,3512
$GC,6561,-1.66,-146.6,712.5,-11.7,312,6565,0.00,2.60,0.00,0.000,4,0.000,0.071,2002,1104,3511
$GC,6617,-1.66,-146.6,719.0,-11.5,314,6623,0.00,2.58,0.00,0.000,6,0.000,0.065,2002,2501,3512
$GC,6933,-1.66,-146.6,750.1,-9.4,330,6938,0.00,2.60,0.00,0.000,4,0.000,0.071,2002,1104,3511
$GC,7064,-1.66,-146.6,763.8,-11.4,336,7068,0.00,2.62,0.00,0.000,6,0.000,0.068,2002,2518,3511
$GC,7391,-1.66,-146.6,801.6,-12.6,352,7395,0.00,2.65,0.00,0.000,4,0.000,0.074,2003,1103,3512
$GC,7469,-1.66,-146.6,811.5,-9.3,355,7476,0.00,2.65,0.00,0.000,6,0.000,0.071,2002,2524,3511
$STATE,7556,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7556,begin apogee
$GC,7564,-0.45,0.0,821.6,11.5,360,7699,1.30,0.00,131.27,1.334,6,0.081,0.000,2274,2302,2915
$STATE,7700,end apogee,CONTROL_FINISHED_OK
$STATE,7700,begin climb
$GC,7704,1.81,146.6,825.9,0.0,367,7843,2.28,2.75,130.75,1.289,4,0.047,0.074,2774,901,2317
$GC,7912,1.71,146.6,808.2,13.5,377,7917,0.15,2.65,0.00,0.000,6,0.127,0.061,2750,2321,2317
$GC,8240,1.70,181.0,776.4,8.4,393,8277,0.00,0.00,31.65,1.269,6,0.000,0.000,2750,2322,2177
$GC,8588,1.70,181.0,733.7,12.6,410,8592,0.00,2.67,0.00,0.000,4,0.000,0.069,2749,903,2176
$GC,8846,1.66,181.0,706.3,13.5,421,8852,0.00,2.60,0.00,0.000,6,0.000,0.054,2749,2322,2175
$GC,9163,1.69,199.6,672.7,9.1,437,9187,0.00,2.75,17.58,1.238,4,0.000,0.060,2749,897,2101
$GC,9391,1.69,199.6,647.0,12.1,447,9395,0.00,2.58,0.00,0.000,6,0.000,0.048,2749,2322,2100
$GC,9712,1.69,199.6,613.2,10.0,463,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2323,2101
$GC,10022,1.70,209.1,583.3,9.6,478,10034,0.00,0.00,10.30,1.095,6,0.000,0.000,2749,2323,2062
$GC,10331,1.72,229.7,554.6,9.0,493,10352,0.00,0.00,19.35,1.135,6,0.000,0.000,2749,2324,1978
$GC,10660,1.72,229.7,520.2,10.8,509,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2324,1978
$GC,10969,1.72,229.7,486.9,10.8,524,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2324,1978
$GC,11279,1.72,229.7,452.0,11.9,539,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2324,1979
$GC,11588,1.72,229.7,414.9,12.5,554,11592,0.00,2.45,0.00,0.000,4,0.000,0.060,2749,3696,1979
$GC,11649,1.72,229.7,406.7,12.9,556,11655,0.00,2.40,0.00,0.000,6,0.000,0.034,2750,2300,1979
$GC,11965,1.72,229.7,368.3,12.3,572,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2300,1979
$GC,12275,1.72,229.7,330.4,12.6,587,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2300,1979
$GC,12584,1.72,229.7,291.9,12.0,602,12588,0.00,2.50,0.00,0.000,4,0.000,0.055,2750,3696,1980
$GC,12640,1.72,229.7,284.6,12.5,604,12645,0.00,2.38,0.00,0.000,6,0.000,0.031,2749,2304,1980
$GC,12957,1.76,229.7,244.8,12.5,619,12958,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2304,1981
$GC,13266,1.81,229.7,203.8,13.1,634,13271,0.00,2.50,0.00,0.000,4,0.000,0.053,2749,3698,1981
$GC,13352,1.81,229.7,191.7,13.9,638,13356,0.00,2.35,0.00,0.000,6,0.000,0.031,2749,2316,1981
$GC,13680,1.86,229.7,147.5,12.1,654,13682,0.12,0.00,0.00,0.000,6,0.053,0.000,2788,2315,1982
$GC,13989,1.86,229.7,107.3,13.2,669,13990,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2315,1981
$GC,14298,1.86,229.7,66.5,13.2,684,14299,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2314,1982
$GC,14607,1.86,229.7,27.2,12.9,699,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2315,1983
$STATE,14810,end climb,SURFACE_DEPTH_REACHED
$STATE,14810,begin surface coast
$FINISH,0.6,1.013204
$STATE,14832,end surface coast,CONTROL_FINISHED_OK
$STATE,14832,begin surface
$SM_CCo,14858,60.72,0.706,5,0,1691,300.00
$SM_GC,1.56,0.00,0.00,60.72,0.000,0.000,0.706,25,2531,1691,-10.81,0.40,300.00
$IRIDIUM_FIX,6108.28,-903.99,080298,080812
$TT8_MAMPS,0.029146
$HUMID,2031
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,726.2,104.4
$24V_AH,23.0,10.295
$10V_AH,10.1,4.073
$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,26.550,84.375,340.900,60.725,0.000,51.148,60.288,220.201,6.500,0.000,0.000,31.308,1313.445,11361.556,536.071,1664.588,627.769,0.000,1339.308,0.000,1608.621,0.000,42.921,0.000
$DEVICE_MAMPS,127.322,98.943,1333.813,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,528.353,485.380,402.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34860,710
$CAP_FILE_SIZE,104869,0
$CFSIZE,260165632,255553536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,141108,121537,6136.174,-904.361,40,1.0,40,-9.3