version: 66.04
glider: 101
mission: 7
dive: 57
start: 11 14 108 21 10 24
data:
$ID,101
$MISSION,7
$DIVE,57
$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,-732945.56
$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,33
$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
$GPS1,210438,6139.164,-909.660,38,1.2,38,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-52.7
$GPS2,211003,6139.169,-909.489,14,1.7,14,-9.4
$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,358.8,26062,-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,-60.75,0.000,2,0.000,0.000,29,2526,3011
$GC,83,-1.81,-146.6,3.4,-4.8,3,113,10.27,2.10,-14.48,0.000,4,0.131,0.072,1975,3676,3513
$GC,131,-1.65,-146.6,11.3,-16.2,5,136,0.20,2.03,0.00,0.000,6,0.091,0.033,2014,2482,3514
$GC,453,-1.65,-146.6,51.3,-11.5,21,457,0.00,2.35,0.00,0.000,4,0.000,0.041,2014,1123,3514
$GC,672,-1.65,-146.6,76.2,-11.4,31,677,0.00,2.42,0.00,0.000,6,0.000,0.038,2014,2515,3514
$GC,1000,-1.65,-146.6,116.1,-11.7,47,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2515,3514
$GC,1309,-1.65,-146.6,152.7,-11.9,62,1313,0.00,2.08,0.00,0.000,4,0.000,0.056,2014,3690,3514
$GC,1393,-1.59,-146.6,163.8,-12.9,65,1400,0.00,2.00,0.00,0.000,6,0.000,0.033,2014,2517,3514
$GC,1711,-1.59,-146.6,201.5,-11.7,81,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2517,3514
$GC,2019,-1.59,-146.6,237.7,-11.9,96,2023,0.00,2.10,0.00,0.000,4,0.000,0.056,2014,3689,3514
$GC,2104,-1.54,-146.6,248.6,-12.9,99,2110,0.12,1.98,0.00,0.000,6,0.096,0.032,2038,2511,3514
$GC,2420,-1.54,-146.6,284.4,-11.7,115,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2511,3514
$GC,2729,-1.54,-146.6,316.8,-11.0,130,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2511,3514
$GC,3040,-1.54,-146.6,351.2,-10.9,145,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2511,3515
$GC,3348,-1.54,-146.6,381.0,-9.2,160,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2511,3514
$GC,3658,-1.54,-146.6,408.5,-8.9,175,3661,0.00,2.12,0.00,0.000,4,0.000,0.062,2038,3686,3514
$GC,3782,-1.54,-146.6,420.9,-10.0,180,3786,0.00,1.98,0.00,0.000,6,0.000,0.034,2038,2521,3514
$GC,4104,-1.54,-146.6,452.5,-10.4,196,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2521,3514
$GC,4413,-1.54,-146.6,485.4,-11.0,211,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2521,3514
$GC,4723,-1.54,-146.6,518.1,-10.3,226,4726,0.00,2.22,0.00,0.000,4,0.000,0.088,2038,3685,3514
$GC,4792,-1.54,-146.6,525.4,-10.2,229,4796,0.00,2.05,0.00,0.000,6,0.000,0.050,2038,2528,3514
$GC,5126,-1.58,-146.6,557.4,-9.2,245,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2528,3514
$GC,5435,-1.63,-146.6,589.2,-11.3,260,5439,0.00,2.35,0.00,0.000,4,0.000,0.117,2038,3683,3514
$GC,5507,-1.63,-146.6,597.6,-11.3,263,5511,0.00,2.05,0.00,0.000,6,0.000,0.043,2038,2508,3514
$GC,5830,-1.68,-146.6,632.3,-11.6,279,5832,0.15,0.00,0.00,0.000,6,0.051,0.000,1997,2507,3514
$GC,6139,-1.68,-146.6,675.5,-14.6,294,6144,0.00,2.58,0.00,0.000,4,0.000,0.074,1996,1106,3514
$GC,6225,-1.68,-146.6,687.6,-13.4,298,6229,0.00,2.60,0.00,0.000,6,0.000,0.068,1996,2511,3514
$GC,6552,-1.68,-146.6,730.7,-11.9,314,6556,0.00,2.60,0.00,0.000,4,0.000,0.070,1996,1109,3514
$GC,6719,-1.68,-146.6,744.9,-6.2,321,6723,0.00,2.62,0.00,0.000,6,0.000,0.068,1996,2525,3514
$GC,7035,-1.68,-146.6,772.4,-12.0,336,7039,0.00,2.22,0.00,0.000,4,0.000,0.096,1996,3702,3513
$GC,7143,-1.68,-146.6,788.3,-14.5,340,7149,0.00,2.10,0.00,0.000,6,0.000,0.052,1996,2518,3513
$GC,7460,-1.68,-146.6,825.4,-4.6,356,7464,0.00,2.25,0.00,0.000,4,0.000,0.089,1996,3693,3512
$STATE,7513,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7513,begin apogee
$GC,7524,-0.45,0.0,833.5,22.6,358,7660,1.33,0.00,132.57,1.369,6,0.089,0.000,2272,2316,2915
$STATE,7661,end apogee,CONTROL_FINISHED_OK
$STATE,7661,begin climb
$GC,7665,1.81,146.6,839.6,0.0,365,7810,2.25,2.75,131.62,1.320,4,0.054,0.085,2768,3696,2316
$GC,8066,1.75,217.5,815.6,6.7,383,8136,0.00,2.50,64.40,1.308,6,0.000,0.048,2768,2309,2027
$GC,8455,1.74,277.3,771.2,7.2,402,8517,0.00,2.72,54.55,1.304,4,0.000,0.081,2768,3699,1784
$GC,8589,1.69,277.3,753.7,15.2,408,8594,0.12,2.50,0.00,0.000,6,0.113,0.048,2747,2316,1783
$GC,8917,1.69,277.3,712.2,11.8,424,8921,0.00,2.62,0.00,0.000,4,0.000,0.070,2747,899,1782
$GC,9085,1.69,277.3,692.3,10.9,431,9091,0.00,2.60,0.00,0.000,6,0.000,0.054,2747,2322,1781
$GC,9401,1.69,277.3,659.8,10.3,447,9405,0.00,2.62,0.00,0.000,4,0.000,0.061,2747,899,1780
$GC,9541,1.69,277.3,642.3,14.6,453,9545,0.00,2.58,0.00,0.000,6,0.000,0.050,2746,2324,1780
$GC,9857,1.69,277.3,602.3,12.8,468,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2326,1780
$GC,10166,1.75,277.3,564.0,12.1,483,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2326,1780
$GC,10476,1.79,277.3,524.8,12.4,498,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2326,1780
$GC,10785,1.84,277.3,483.8,13.9,513,10787,0.12,0.00,0.00,0.000,6,0.061,0.000,2779,2326,1780
$GC,11094,1.84,277.3,439.1,13.9,528,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2326,1780
$GC,11403,1.84,277.3,396.2,14.5,543,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2326,1780
$GC,11712,1.84,277.3,355.7,12.3,558,11716,0.00,2.53,0.00,0.000,4,0.000,0.048,2779,906,1781
$GC,11769,1.84,277.3,348.2,12.8,560,11773,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,2324,1781
$GC,12085,1.84,277.3,307.0,12.8,575,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2324,1782
$GC,12394,1.84,277.3,265.2,13.2,590,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2324,1783
$GC,12704,1.84,277.3,223.0,13.9,605,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2324,1783
$GC,13013,1.84,277.3,182.8,12.9,620,13017,0.00,2.42,0.00,0.000,4,0.000,0.055,2779,3693,1784
$GC,13104,1.84,277.3,170.1,14.0,624,13108,0.00,2.38,0.00,0.000,6,0.000,0.032,2779,2291,1784
$GC,13437,1.84,277.3,123.2,14.6,640,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2290,1784
$GC,13746,1.84,277.3,81.7,13.6,655,13750,0.00,2.50,0.00,0.000,4,0.000,0.052,2779,3693,1785
$GC,13809,1.84,277.3,73.0,13.9,658,13813,0.00,2.33,0.00,0.000,6,0.000,0.031,2779,2319,1785
$GC,14136,1.84,277.3,24.6,16.4,674,14137,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2317,1785
$STATE,14298,end climb,SURFACE_DEPTH_REACHED
$STATE,14298,begin surface coast
$FINISH,1.0,1.027289
$STATE,14320,end surface coast,CONTROL_FINISHED_OK
$STATE,14320,begin surface
$SM_CCo,14345,22.23,0.683,2,0,1692,300.00
$SM_GC,1.61,0.00,0.00,22.23,0.000,0.000,0.683,22,2531,1692,-10.82,0.40,300.00
$IRIDIUM_FIX,6112.75,-909.88,080298,161641
$TT8_MAMPS,0.029146
$HUMID,2041
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,750.2,91.7
$24V_AH,23.0,10.745
$10V_AH,10.1,4.279
$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,26.700,85.200,383.150,22.225,0.000,24.516,30.815,143.389,6.750,0.000,0.000,15.997,1272.398,10856.218,489.973,1616.267,473.768,0.000,1298.943,0.000,1571.773,0.000,44.499,0.000
$DEVICE_MAMPS,131.157,117.351,1369.095,682.630,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.737,466.988,388.513,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34810,683
$CAP_FILE_SIZE,100202,0
$CFSIZE,260165632,255410176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,151108,011126,6140.371,-912.065,41,1.8,41,-9.4