version: 66.04
glider: 101
mission: 7
dive: 63
start: 11 15 108 21 30 0
data:
$ID,101
$MISSION,7
$DIVE,63
$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,-733073.12
$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,19
$R_STBD_OVSHOOT,32
$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
$GPS1,212432,6150.303,-917.841,37,1.9,37,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-52.3
$GPS2,212939,6150.333,-917.720,14,1.9,14,-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,35.2,5481,-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,-60.70,0.000,2,0.000,0.000,27,2533,3048
$GC,83,-1.81,-146.6,4.1,-5.4,3,113,10.20,2.60,-12.10,0.000,4,0.128,0.054,1971,1094,3514
$GC,245,-1.70,-146.6,32.2,-14.4,10,251,0.15,2.50,0.00,0.000,6,0.097,0.040,1999,2520,3514
$GC,569,-1.70,-146.6,75.3,-15.9,26,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2520,3514
$GC,877,-1.66,-146.6,115.1,-11.8,41,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2520,3514
$GC,1187,-1.66,-146.6,150.0,-11.3,56,1191,0.00,2.08,0.00,0.000,4,0.000,0.058,2000,3691,3514
$GC,1294,-1.58,-146.6,164.1,-14.4,60,1302,0.10,2.05,0.00,0.000,6,0.090,0.035,2024,2497,3514
$GC,1612,-1.58,-146.6,201.0,-12.0,76,1615,0.00,2.15,0.00,0.000,4,0.000,0.057,2023,3692,3514
$GC,1668,-1.58,-146.6,208.7,-14.1,78,1672,0.00,2.00,0.00,0.000,6,0.000,0.034,2024,2506,3514
$GC,1990,-1.58,-146.6,247.6,-11.4,94,1993,0.00,2.12,0.00,0.000,4,0.000,0.056,2024,3692,3514
$GC,2085,-1.58,-146.6,258.2,-10.9,98,2089,0.00,1.98,0.00,0.000,6,0.000,0.034,2024,2518,3515
$GC,2413,-1.58,-146.6,292.8,-10.9,114,2416,0.00,2.10,0.00,0.000,4,0.000,0.058,2024,3688,3515
$GC,2497,-1.58,-146.6,302.7,-11.6,117,2503,0.00,1.98,0.00,0.000,6,0.000,0.034,2024,2516,3515
$GC,2813,-1.58,-146.6,338.0,-11.5,133,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2516,3515
$GC,3122,-1.58,-146.6,374.1,-11.7,148,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2517,3515
$GC,3432,-1.58,-146.6,408.5,-11.0,163,3435,0.00,2.12,0.00,0.000,4,0.000,0.064,2024,3686,3515
$GC,3538,-1.58,-146.6,420.8,-11.3,167,3544,0.00,1.98,0.00,0.000,6,0.000,0.035,2023,2527,3515
$GC,3855,-1.58,-146.6,455.3,-10.7,183,3859,0.00,2.53,0.00,0.000,4,0.000,0.058,2024,1110,3515
$GC,3963,-1.58,-146.6,466.6,-10.0,188,3967,0.00,2.53,0.00,0.000,6,0.000,0.054,2024,2516,3515
$GC,4290,-1.58,-146.6,498.7,-9.8,204,4294,0.00,2.20,0.00,0.000,4,0.000,0.086,2024,3693,3515
$GC,4442,-1.58,-146.6,515.2,-11.9,210,4448,0.00,2.10,0.00,0.000,6,0.000,0.054,2023,2521,3515
$GC,4759,-1.62,-146.6,549.3,-10.2,226,4763,0.00,2.65,0.00,0.000,4,0.000,0.082,2024,1101,3515
$GC,4944,-1.67,-146.6,566.6,-8.6,234,4949,0.00,2.65,0.00,0.000,6,0.000,0.074,2024,2518,3515
$GC,5261,-1.72,-146.6,595.4,-9.3,249,5266,0.00,2.65,0.00,0.000,4,0.000,0.077,2023,1108,3514
$GC,5330,-1.77,-146.6,602.0,-9.9,252,5335,0.15,2.62,0.00,0.000,6,0.069,0.071,1990,2517,3514
$GC,5651,-1.77,-146.6,640.1,-12.7,268,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2517,3514
$STATE,5813,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5813,begin apogee
$GC,5822,-0.45,0.0,661.1,11.9,276,5957,1.35,0.00,130.88,1.247,6,0.074,0.000,2275,2305,2915
$STATE,5957,end apogee,CONTROL_FINISHED_OK
$STATE,5957,begin climb
$GC,5961,1.81,146.6,664.4,0.0,283,6096,2.22,0.00,129.27,1.197,6,0.045,0.000,2776,2305,2317
$GC,6396,1.76,158.8,630.0,9.4,304,6414,0.00,0.00,12.40,1.098,6,0.000,0.000,2776,2305,2267
$GC,6725,1.75,180.1,600.6,9.0,320,6747,0.00,0.00,20.10,1.165,6,0.000,0.000,2776,2305,2180
$GC,7054,1.75,180.1,567.8,10.0,336,7058,0.00,2.58,0.00,0.000,4,0.000,0.068,2776,911,2179
$GC,7289,1.69,180.1,541.8,11.7,346,7296,0.17,2.58,0.00,0.000,6,0.130,0.055,2747,2322,2178
$GC,7606,1.69,180.1,508.9,10.6,362,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2322,2176
$GC,7915,1.69,180.1,477.3,10.7,377,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2322,2176
$GC,8225,1.71,201.7,446.3,9.0,392,8246,0.00,0.00,19.60,1.129,6,0.000,0.000,2747,2321,2092
$GC,8553,1.71,201.7,411.3,10.8,408,8558,0.00,2.55,0.00,0.000,4,0.000,0.052,2747,907,2092
$GC,8747,1.71,201.7,390.9,11.0,416,8753,0.00,2.50,0.00,0.000,6,0.000,0.041,2747,2324,2092
$GC,9064,1.72,210.5,359.7,9.6,432,9075,0.00,0.00,9.40,0.971,6,0.000,0.000,2747,2324,2057
$GC,9373,1.72,210.5,327.0,10.9,447,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2325,2057
$GC,9682,1.77,210.5,293.9,10.6,462,9686,0.00,2.53,0.00,0.000,4,0.000,0.046,2746,902,2057
$GC,9745,1.81,210.5,287.4,10.3,464,9751,0.00,2.47,0.00,0.000,6,0.000,0.038,2747,2320,2057
$GC,10061,1.81,212.3,256.3,9.9,480,10067,0.10,0.00,3.80,0.634,6,0.067,0.000,2771,2320,2049
$GC,10370,1.81,212.3,220.2,12.3,495,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2320,2049
$GC,10679,1.81,212.3,185.0,12.0,510,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2320,2049
$GC,10989,1.81,212.3,148.3,13.6,525,10990,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2321,2050
$GC,11300,1.81,212.3,106.3,14.0,540,11304,0.00,2.50,0.00,0.000,4,0.000,0.044,2770,901,2051
$GC,11355,1.81,212.3,98.7,12.3,542,11362,0.00,2.47,0.00,0.000,6,0.000,0.036,2771,2330,2051
$GC,11672,1.81,212.3,63.3,10.5,558,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2330,2051
$GC,11981,1.81,212.3,27.0,13.7,573,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2330,2052
$STATE,12185,end climb,SURFACE_DEPTH_REACHED
$STATE,12185,begin surface coast
$FINISH,1.0,1.015937
$STATE,12206,end surface coast,CONTROL_FINISHED_OK
$STATE,12206,begin surface
$SM_CCo,12231,77.53,0.691,8,0,1692,300.00
$SM_GC,1.67,0.00,0.00,77.53,0.000,0.000,0.691,30,2521,1692,-10.79,0.11,300.00
$IRIDIUM_FIX,6121.73,-917.27,090298,171704
$TT8_MAMPS,0.029146
$HUMID,1991
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.3,92.6
$24V_AH,23.1,11.632
$10V_AH,10.1,4.670
$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,26.825,66.475,325.450,77.525,0.000,26.209,39.635,120.623,4.750,0.000,0.000,16.535,1089.837,9252.320,543.951,1352.098,426.273,0.000,1210.131,0.000,1319.507,0.000,33.176,0.000
$DEVICE_MAMPS,130.390,85.904,1247.142,691.067,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.695,398.153,356.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28588,584
$CAP_FILE_SIZE,85648,0
$CFSIZE,260165632,255135744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,161108,005708,6152.639,-914.713,35,1.1,35,-9.5