version: 66.04
glider: 101
mission: 7
dive: 56
start: 11 14 108 16 37 35
data:
$ID,101
$MISSION,7
$DIVE,56
$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,-732928.94
$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,39
$R_STBD_OVSHOOT,38
$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
$GPS1,163208,6136.789,-908.616,30,1.1,30,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-54.8
$GPS2,163714,6136.767,-908.581,8,1.3,13,-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,358.7,30582,-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,-60.83,0.000,2,0.000,0.000,26,2532,3002
$GC,83,-1.81,-146.6,3.0,-3.8,3,114,10.18,2.50,-15.82,0.000,4,0.127,0.053,1974,1110,3513
$GC,369,-1.71,-146.6,43.5,-15.1,16,374,0.15,2.45,0.00,0.000,6,0.100,0.038,2002,2517,3513
$GC,697,-1.65,-146.6,85.3,-12.3,32,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2517,3513
$GC,1006,-1.60,-146.6,124.1,-12.6,47,1008,0.12,0.00,0.00,0.000,6,0.094,0.000,2026,2517,3513
$GC,1315,-1.60,-146.6,159.9,-12.0,62,1318,0.00,2.08,0.00,0.000,4,0.000,0.057,2026,3690,3513
$GC,1416,-1.60,-146.6,172.6,-12.6,66,1419,0.00,2.00,0.00,0.000,6,0.000,0.032,2026,2498,3513
$GC,1738,-1.60,-146.6,209.0,-11.1,82,1741,0.00,2.12,0.00,0.000,4,0.000,0.055,2026,3688,3513
$GC,1799,-1.60,-146.6,216.5,-12.0,84,1805,0.00,1.98,0.00,0.000,6,0.000,0.031,2026,2508,3513
$GC,2116,-1.60,-146.6,252.8,-11.5,100,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2508,3513
$GC,2425,-1.60,-146.6,282.6,-8.9,115,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2508,3514
$GC,2734,-1.60,-146.6,310.5,-9.0,130,2738,0.00,2.10,0.00,0.000,4,0.000,0.057,2026,3691,3513
$GC,2825,-1.60,-146.6,319.4,-10.2,134,2829,0.00,1.98,0.00,0.000,6,0.000,0.032,2026,2512,3513
$GC,3159,-1.60,-146.6,349.9,-9.0,150,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2510,3514
$GC,3468,-1.60,-146.6,376.9,-8.8,165,3472,0.00,2.12,0.00,0.000,4,0.000,0.060,2026,3690,3513
$GC,3537,-1.60,-146.6,383.7,-10.2,168,3541,0.00,1.98,0.00,0.000,6,0.000,0.033,2026,2519,3514
$GC,3870,-1.60,-146.6,418.4,-11.3,184,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2519,3513
$GC,4179,-1.60,-146.6,452.4,-11.1,199,4183,0.00,2.15,0.00,0.000,4,0.000,0.070,2026,3685,3513
$GC,4270,-1.60,-146.6,462.9,-11.9,203,4274,0.00,2.00,0.00,0.000,6,0.000,0.035,2026,2516,3513
$GC,4603,-1.60,-146.6,496.0,-9.7,219,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2516,3514
$GC,4914,-1.60,-146.6,526.8,-11.1,234,4918,0.00,2.25,0.00,0.000,4,0.000,0.090,2026,3686,3513
$GC,4999,-1.60,-146.6,537.8,-13.1,237,5005,0.00,2.08,0.00,0.000,6,0.000,0.054,2026,2528,3513
$GC,5315,-1.60,-146.6,574.6,-11.3,253,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2528,3513
$GC,5625,-1.60,-146.6,603.0,-9.0,268,5629,0.00,2.40,0.00,0.000,4,0.000,0.125,2026,3685,3513
$GC,5710,-1.60,-146.6,611.1,-8.6,272,5714,0.00,2.05,0.00,0.000,6,0.000,0.044,2026,2512,3514
$GC,6044,-1.60,-146.6,641.3,-9.1,288,6048,0.00,2.58,0.00,0.000,4,0.000,0.073,2026,1106,3513
$GC,6162,-1.64,-146.6,655.5,-12.9,293,6166,0.00,2.58,0.00,0.000,6,0.000,0.066,2026,2504,3513
$GC,6478,-1.64,-146.6,688.9,-8.9,308,6482,0.00,2.25,0.00,0.000,4,0.000,0.090,2026,3696,3513
$GC,6625,-1.64,-146.6,706.1,-11.3,314,6628,0.00,2.08,0.00,0.000,6,0.000,0.048,2026,2518,3513
$GC,6947,-1.69,-146.6,740.4,-9.9,330,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2518,3513
$GC,7256,-1.73,-146.6,770.4,-10.3,345,7261,0.12,2.60,0.00,0.000,4,0.056,0.074,1992,1105,3513
$GC,7402,-1.73,-146.6,787.7,-12.3,351,7408,0.00,2.62,0.00,0.000,6,0.000,0.071,1992,2516,3512
$GC,7718,-1.73,-146.6,824.6,-10.9,367,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2516,3512
$STATE,7921,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7922,begin apogee
$GC,7930,-0.45,0.0,843.3,7.7,377,8066,1.35,0.00,132.23,1.362,6,0.083,0.000,2273,2319,2915
$STATE,8067,end apogee,CONTROL_FINISHED_OK
$STATE,8067,begin climb
$GC,8070,1.81,146.6,842.9,0.0,384,8207,2.22,0.00,130.80,1.312,6,0.051,0.000,2770,2319,2317
$GC,8505,1.73,146.6,802.2,11.3,405,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2319,2315
$GC,8814,1.66,157.0,775.5,9.5,420,8831,0.17,2.67,10.68,1.200,4,0.104,0.071,2738,910,2274
$GC,8957,1.66,157.0,758.6,15.4,425,8962,0.00,2.60,0.00,0.000,6,0.000,0.058,2738,2321,2273
$GC,9274,1.69,178.4,727.7,9.0,440,9299,0.00,2.72,20.17,1.290,4,0.000,0.067,2738,903,2187
$GC,9541,1.70,182.6,700.8,9.8,452,9552,0.00,2.58,5.32,1.005,6,0.000,0.052,2738,2321,2170
$GC,9862,1.70,182.6,672.5,10.4,467,9863,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2321,2168
$GC,10172,1.70,182.6,640.3,10.1,482,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2322,2168
$GC,10481,1.70,182.6,608.1,10.7,497,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2322,2168
$GC,10790,1.70,182.6,575.2,11.0,512,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2321,2168
$GC,11100,1.70,182.6,541.3,10.5,527,11104,0.00,2.58,0.00,0.000,4,0.000,0.058,2738,905,2168
$GC,11178,1.70,182.6,532.6,11.3,530,11184,0.00,2.53,0.00,0.000,6,0.000,0.047,2738,2322,2169
$GC,11494,1.71,196.2,501.6,9.4,546,11513,0.00,0.00,13.75,1.078,6,0.000,0.000,2738,2323,2114
$GC,11823,1.71,196.2,469.5,10.2,562,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2323,2114
$GC,12132,1.71,196.2,435.1,12.0,577,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2323,2115
$GC,12442,1.71,196.2,398.0,11.9,592,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2323,2116
$GC,12751,1.71,196.2,361.2,12.6,607,12752,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2323,2116
$GC,13060,1.71,196.2,323.7,11.6,622,13064,0.00,2.50,0.00,0.000,4,0.000,0.046,2738,901,2116
$GC,13117,1.71,196.2,317.0,12.4,624,13121,0.00,2.47,0.00,0.000,6,0.000,0.038,2738,2326,2117
$GC,13433,1.71,196.2,284.0,10.2,639,13434,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2326,2116
$GC,13742,1.76,196.2,250.4,10.8,654,13744,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2326,2117
$GC,14052,1.84,226.7,221.3,8.6,669,14082,0.17,0.00,27.75,0.926,6,0.053,0.000,2782,2326,1990
$GC,14381,1.84,226.7,185.6,11.4,685,14382,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2326,1990
$GC,14690,1.84,226.7,147.5,13.1,700,14691,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2326,1990
$GC,15001,1.84,226.7,106.6,12.8,715,15002,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2326,1990
$GC,15309,1.84,226.7,69.4,12.5,730,15310,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2326,1990
$GC,15618,1.84,226.7,27.6,15.2,745,15619,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2326,1990
$STATE,15822,end climb,SURFACE_DEPTH_REACHED
$STATE,15822,begin surface coast
$FINISH,0.8,1.015867
$STATE,15843,end surface coast,CONTROL_FINISHED_OK
$STATE,15843,begin surface
$SM_CCo,15868,62.58,0.760,2,0,1692,300.00
$SM_GC,1.44,0.00,0.00,62.58,0.000,0.000,0.760,30,2525,1692,-10.79,0.23,300.00
$IRIDIUM_FIX,6112.75,-1010.19,080298,121210
$TT8_MAMPS,0.029146
$HUMID,2014
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,775.1,76.9
$24V_AH,23.0,10.585
$10V_AH,10.1,4.212
$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,26.850,70.275,340.700,62.575,0.000,24.690,29.853,129.742,7.000,0.000,0.000,14.853,1379.277,12234.896,504.580,1668.487,467.186,0.000,1316.362,0.000,1631.930,0.000,46.080,0.000
$DEVICE_MAMPS,126.555,125.021,1362.192,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,560.191,517.531,414.539,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38101,756
$CAP_FILE_SIZE,103492,0
$CFSIZE,260165632,255447040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,141108,210438,6139.164,-909.660,38,1.2,38,-9.4