version: 66.04
glider: 101
mission: 7
dive: 62
start: 11 15 108 17 39 39
data:
$ID,101
$MISSION,7
$DIVE,62
$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,-733055.94
$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,17
$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
$GPS1,173128,6147.282,-918.890,30,2.1,49,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-52.7
$GPS2,173915,6147.245,-918.817,10,1.7,10,-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,26.9,11167,-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,-61.22,0.000,2,0.000,0.000,27,2534,3030
$GC,83,-1.81,-146.6,3.2,-3.6,3,113,10.23,2.58,-13.52,0.000,4,0.128,0.053,1974,1096,3514
$GC,288,-1.74,-146.6,36.6,-19.5,12,293,0.10,2.47,0.00,0.000,6,0.109,0.039,1992,2509,3515
$GC,610,-1.67,-146.6,83.6,-19.2,28,612,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2510,3515
$GC,919,-1.67,-146.6,132.7,-12.6,43,920,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2510,3515
$GC,1228,-1.62,-146.6,170.3,-12.5,58,1230,0.15,0.00,0.00,0.000,6,0.091,0.000,2022,2509,3515
$GC,1537,-1.62,-146.6,206.7,-11.7,73,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2509,3515
$GC,1846,-1.62,-146.6,246.1,-14.0,88,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2509,3515
$GC,2156,-1.62,-146.6,288.2,-12.6,103,2160,0.00,2.10,0.00,0.000,4,0.000,0.060,2021,3692,3515
$GC,2234,-1.62,-146.6,298.1,-12.2,106,2238,0.00,2.03,0.00,0.000,6,0.000,0.035,2021,2494,3515
$GC,2556,-1.62,-146.6,336.1,-12.4,122,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2492,3515
$GC,2865,-1.62,-146.6,374.8,-12.1,137,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2492,3515
$GC,3175,-1.62,-146.6,410.0,-11.6,152,3178,0.00,2.17,0.00,0.000,4,0.000,0.064,2021,3688,3515
$GC,3321,-1.62,-146.6,427.6,-11.8,158,3325,0.00,2.00,0.00,0.000,6,0.000,0.035,2021,2516,3515
$GC,3643,-1.62,-146.6,462.4,-10.1,174,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2516,3515
$GC,3952,-1.62,-146.6,494.3,-10.9,189,3956,0.00,2.20,0.00,0.000,4,0.000,0.080,2021,3685,3515
$GC,4066,-1.62,-146.6,508.0,-12.4,194,4069,0.00,2.05,0.00,0.000,6,0.000,0.047,2021,2518,3515
$GC,4399,-1.62,-146.6,544.7,-10.3,210,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2518,3515
$GC,4708,-1.62,-146.6,573.8,-9.5,225,4712,0.00,2.58,0.00,0.000,4,0.000,0.071,2021,1110,3515
$GC,4804,-1.67,-146.6,584.0,-11.1,229,4809,0.00,2.58,0.00,0.000,6,0.000,0.068,2021,2507,3515
$GC,5120,-1.67,-146.6,619.4,-11.2,244,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2507,3515
$GC,5430,-1.72,-146.6,647.9,-9.0,259,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2507,3515
$GC,5740,-1.77,-146.6,676.8,-8.6,274,5742,0.15,0.00,0.00,0.000,6,0.054,0.000,1982,2507,3515
$GC,6048,-1.77,-146.6,712.0,-11.8,289,6052,0.00,2.60,0.00,0.000,4,0.000,0.073,1982,1111,3514
$GC,6126,-1.77,-146.6,720.6,-11.0,292,6132,0.00,2.60,0.00,0.000,6,0.000,0.068,1982,2518,3513
$STATE,6315,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6316,begin apogee
$GC,6324,-0.45,0.0,743.5,11.5,302,6459,1.38,0.00,131.50,1.310,6,0.073,0.000,2274,2319,2915
$STATE,6460,end apogee,CONTROL_FINISHED_OK
$STATE,6460,begin climb
$GC,6463,1.81,146.6,747.8,0.0,309,6603,2.28,2.72,130.68,1.258,4,0.049,0.083,2768,3695,2316
$GC,6795,1.71,146.6,719.1,14.0,324,6800,0.12,2.50,0.00,0.000,6,0.115,0.050,2748,2309,2315
$GC,7112,1.71,146.6,692.9,11.1,339,7116,0.00,2.62,0.00,0.000,4,0.000,0.080,2748,3695,2314
$GC,7201,1.64,146.6,682.3,11.2,343,7206,0.00,2.47,0.00,0.000,6,0.000,0.048,2748,2315,2313
$GC,7523,1.64,146.6,647.4,10.1,359,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2315,2312
$GC,7833,1.66,168.5,618.0,9.0,374,7858,0.00,2.67,19.77,1.234,4,0.000,0.071,2747,911,2228
$GC,8002,1.66,168.5,601.8,10.1,381,8009,0.00,2.60,0.00,0.000,6,0.000,0.058,2747,2327,2227
$GC,8319,1.72,212.4,574.1,7.9,397,8361,0.00,0.00,40.20,1.242,6,0.000,0.000,2747,2328,2048
$GC,8668,1.72,212.4,535.9,10.8,414,8672,0.00,2.62,0.00,0.000,4,0.000,0.061,2748,902,2048
$GC,8880,1.72,212.4,512.5,11.8,423,8886,0.00,2.55,0.00,0.000,6,0.000,0.048,2748,2323,2048
$GC,9196,1.72,212.4,477.4,10.6,439,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2323,2048
$GC,9505,1.72,212.4,442.7,11.3,454,9510,0.00,2.55,0.00,0.000,4,0.000,0.052,2747,905,2048
$GC,9619,1.72,212.4,430.1,11.0,459,9624,0.00,2.50,0.00,0.000,6,0.000,0.042,2747,2322,2047
$GC,9941,1.72,212.4,395.7,10.8,475,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2322,2048
$GC,10251,1.76,212.4,363.1,10.4,490,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2322,2049
$GC,10560,1.80,212.4,329.8,11.1,505,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2322,2049
$GC,10869,1.84,212.4,293.2,12.3,520,10871,0.12,0.00,0.00,0.000,6,0.056,0.000,2780,2322,2050
$GC,11178,1.84,212.4,255.5,11.0,535,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2322,2051
$GC,11487,1.84,212.4,217.1,13.3,550,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2322,2051
$GC,11797,1.84,212.4,176.3,13.0,565,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2322,2052
$GC,12106,1.84,212.4,132.8,13.8,580,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2322,2052
$GC,12417,1.84,212.4,97.3,10.7,595,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2322,2053
$GC,12725,1.84,212.4,67.9,12.1,610,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2321,2054
$GC,13034,1.84,212.4,28.9,13.5,625,13035,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2322,2054
$STATE,13238,end climb,SURFACE_DEPTH_REACHED
$STATE,13239,begin surface coast
$FINISH,1.0,1.003303
$STATE,13259,end surface coast,CONTROL_FINISHED_OK
$STATE,13259,begin surface
$SM_CCo,13284,82.50,0.680,9,0,1692,300.00
$SM_GC,1.73,0.00,0.00,82.50,0.000,0.000,0.680,27,2532,1692,-10.80,0.42,300.00
$IRIDIUM_FIX,6121.73,-925.50,090298,171703
$TT8_MAMPS,0.029146
$HUMID,1999
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,651.6,101.1
$24V_AH,23.0,11.497
$10V_AH,10.1,4.611
$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,26.875,54.500,322.150,82.500,0.000,50.448,67.571,161.475,6.000,0.000,0.000,11.552,1156.970,10269.487,537.016,1389.913,537.931,0.000,1210.991,0.000,1363.227,0.000,38.055,0.000
$DEVICE_MAMPS,128.089,82.836,1310.036,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.874,434.807,372.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31666,636
$CAP_FILE_SIZE,87704,0
$CFSIZE,260165632,255172608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,9,0
$GPS,151108,212432,6150.303,-917.841,37,1.9,37,-9.5