version: 66.04
glider: 101
mission: 7
dive: 61
start: 11 15 108 13 47 37
data:
$ID,101
$MISSION,7
$DIVE,61
$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,-733043.75
$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,35
$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
$GPS1,134137,6145.812,-916.778,56,1.4,61,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-47.9
$GPS2,134717,6145.769,-916.640,10,2.1,29,-9.5
$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,15.6,13469,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.05,0.000,2,0.000,0.000,24,2528,3486
$GC,103,-1.81,-146.6,5.3,-5.5,4,119,10.15,2.50,-0.57,0.000,4,0.126,0.054,1971,1113,3514
$GC,351,-1.73,-146.6,41.1,-12.1,14,356,0.12,2.45,0.00,0.000,6,0.103,0.038,1994,2514,3515
$GC,673,-1.69,-146.6,85.8,-13.0,30,674,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2514,3515
$GC,982,-1.64,-146.6,120.9,-12.3,45,984,0.10,0.00,0.00,0.000,6,0.097,0.000,2014,2514,3515
$GC,1291,-1.64,-146.6,157.8,-11.7,60,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2515,3515
$GC,1600,-1.64,-146.6,193.9,-12.1,75,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2514,3515
$GC,1909,-1.64,-146.6,234.7,-12.3,90,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2514,3515
$GC,2219,-1.64,-146.6,273.3,-12.9,105,2222,0.00,2.10,0.00,0.000,4,0.000,0.058,2014,3698,3515
$GC,2282,-1.60,-146.6,282.1,-14.3,107,2288,0.00,2.03,0.00,0.000,6,0.000,0.034,2014,2497,3515
$GC,2598,-1.60,-146.6,321.0,-11.8,123,2602,0.00,2.15,0.00,0.000,4,0.000,0.058,2014,3692,3514
$GC,2683,-1.60,-146.6,332.0,-12.9,126,2689,0.00,1.98,0.00,0.000,6,0.000,0.034,2014,2519,3515
$GC,2999,-1.60,-146.6,368.3,-11.2,142,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2518,3515
$GC,3308,-1.60,-146.6,403.4,-11.1,157,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2518,3515
$GC,3617,-1.60,-146.6,437.8,-11.0,172,3621,0.00,2.12,0.00,0.000,4,0.000,0.067,2014,3689,3515
$GC,3702,-1.60,-146.6,447.7,-11.7,175,3708,0.00,2.00,0.00,0.000,6,0.000,0.035,2014,2508,3515
$GC,4018,-1.60,-146.6,483.9,-11.6,191,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2508,3515
$GC,4328,-1.60,-146.6,519.5,-11.7,206,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2508,3515
$GC,4637,-1.60,-146.6,555.6,-11.3,221,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2508,3515
$GC,4946,-1.60,-146.6,589.3,-10.7,236,4950,0.00,2.55,0.00,0.000,4,0.000,0.069,2014,1109,3515
$GC,5092,-1.60,-146.6,605.4,-10.8,242,5098,0.00,2.60,0.00,0.000,6,0.000,0.067,2014,2515,3515
$GC,5408,-1.60,-146.6,640.6,-11.1,258,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2515,3515
$GC,5717,-1.60,-146.6,674.7,-11.5,273,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2515,3515
$GC,6026,-1.60,-146.6,707.3,-11.3,288,6031,0.00,2.60,0.00,0.000,4,0.000,0.074,2013,1116,3515
$GC,6139,-1.60,-146.6,718.0,-8.3,293,6144,0.00,2.62,0.00,0.000,6,0.000,0.071,2013,2524,3515
$GC,6461,-1.60,-146.6,756.7,-13.7,309,6465,0.00,2.22,0.00,0.000,4,0.000,0.096,2014,3692,3514
$STATE,6474,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6475,begin apogee
$GC,6485,-0.45,0.0,758.4,10.0,309,6621,1.20,0.00,132.07,1.309,6,0.077,0.000,2270,2326,2915
$STATE,6622,end apogee,CONTROL_FINISHED_OK
$STATE,6622,begin climb
$GC,6625,1.81,146.6,763.2,0.0,316,6761,2.25,0.00,130.80,1.262,6,0.051,0.000,2772,2326,2317
$GC,7062,1.77,157.6,734.6,9.5,337,7075,0.00,0.00,11.32,1.141,6,0.000,0.000,2772,2326,2271
$GC,7394,1.67,179.1,700.2,9.0,353,7417,0.17,0.00,20.20,1.230,6,0.097,0.000,2740,2326,2185
$GC,7723,1.69,196.9,669.3,9.2,369,7746,0.00,2.75,17.50,1.228,4,0.000,0.072,2739,910,2111
$GC,7864,1.69,196.9,653.7,11.2,375,7869,0.00,2.60,0.00,0.000,6,0.000,0.057,2739,2323,2111
$GC,8186,1.69,196.9,612.7,13.9,391,8191,0.00,2.62,0.00,0.000,4,0.000,0.065,2739,899,2110
$GC,8259,1.69,196.9,602.5,13.7,394,8264,0.00,2.58,0.00,0.000,6,0.000,0.053,2740,2319,2110
$GC,8575,1.69,196.9,563.3,11.3,409,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2320,2109
$GC,8885,1.74,197.9,531.2,10.0,424,8890,0.00,2.60,0.00,0.000,4,0.000,0.058,2739,895,2108
$GC,9145,1.80,247.6,508.5,7.7,435,9196,0.12,2.53,44.92,1.175,6,0.077,0.046,2766,2322,1905
$GC,9524,1.80,247.6,468.4,10.8,454,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2323,1905
$GC,9833,1.80,247.6,433.7,11.1,469,9838,0.00,2.55,0.00,0.000,4,0.000,0.051,2766,904,1904
$GC,9890,1.80,247.6,427.2,11.2,471,9896,0.00,2.50,0.00,0.000,6,0.000,0.041,2766,2320,1905
$GC,10206,1.80,247.6,393.0,10.6,487,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2320,1905
$GC,10515,1.80,247.6,357.9,12.3,502,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2321,1905
$GC,10824,1.80,247.6,319.4,12.6,517,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2320,1905
$GC,11133,1.80,247.6,279.3,13.1,532,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2320,1906
$GC,11443,1.80,247.6,237.8,14.0,547,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2320,1906
$GC,11752,1.80,247.6,197.7,13.2,562,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2320,1906
$GC,12061,1.80,247.6,160.0,12.9,577,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2320,1907
$GC,12371,1.80,247.6,118.7,14.0,592,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2320,1908
$GC,12680,1.80,247.6,79.8,11.9,607,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2320,1909
$GC,12990,1.85,247.6,32.5,14.3,622,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2320,1909
$STATE,13213,end climb,SURFACE_DEPTH_REACHED
$STATE,13213,begin surface coast
$FINISH,0.8,1.027403
$STATE,13236,end surface coast,CONTROL_FINISHED_OK
$STATE,13237,begin surface
$SM_CCo,13262,49.97,0.691,5,0,1691,300.00
$SM_GC,1.70,0.00,0.00,49.97,0.000,0.000,0.691,27,2533,1691,-10.80,0.45,300.00
$IRIDIUM_FIX,6117.23,-915.81,090298,090939
$TT8_MAMPS,0.029146
$HUMID,2005
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.8,91.1
$24V_AH,23.0,11.351
$10V_AH,10.1,4.547
$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,26.200,53.475,356.825,49.975,0.000,33.255,27.726,141.449,5.750,0.000,0.000,31.901,1142.451,10204.280,531.512,1361.398,443.504,0.000,1187.547,0.000,1316.522,0.000,39.652,0.000
$DEVICE_MAMPS,125.788,95.875,1309.269,691.067,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,472.396,433.206,368.902,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31631,634
$CAP_FILE_SIZE,84752,0
$CFSIZE,260165632,255221760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,151108,173128,6147.282,-918.890,30,2.1,49,-9.5