version: 66.04
glider: 101
mission: 7
dive: 66
start: 11 16 108 7 21 14
data:
$ID,101
$MISSION,7
$DIVE,66
$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,-733134.75
$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,34
$R_STBD_OVSHOOT,26
$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
$GPS1,071608,6153.342,-923.619,32,1.5,32,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-57.3
$GPS2,072051,6153.355,-923.664,14,1.6,14,-9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$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,344.9,54294,-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,15,-1.81,-146.6,0.0,0.0,0,78,0.00,0.00,-60.38,0.000,2,0.000,0.000,25,2532,3028
$GC,82,-1.81,-146.6,3.5,-3.6,3,109,10.25,0.00,-14.88,0.000,6,0.125,0.000,1973,2532,3513
$GC,409,-1.72,-146.6,48.8,-11.3,19,411,0.12,0.00,0.00,0.000,6,0.094,0.000,1997,2532,3514
$GC,717,-1.66,-146.6,86.5,-15.2,34,720,0.00,2.05,0.00,0.000,4,0.000,0.058,1997,3686,3514
$GC,768,-1.59,-146.6,94.7,-14.0,36,772,0.15,2.00,0.00,0.000,6,0.095,0.035,2026,2508,3513
$GC,1095,-1.59,-146.6,136.1,-12.0,52,1098,0.00,2.12,0.00,0.000,4,0.000,0.055,2026,3692,3514
$GC,1157,-1.59,-146.6,143.2,-11.6,54,1163,0.00,2.03,0.00,0.000,6,0.000,0.035,2026,2495,3514
$GC,1473,-1.59,-146.6,177.9,-11.5,70,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2495,3514
$GC,1782,-1.59,-146.6,213.6,-11.1,85,1786,0.00,2.15,0.00,0.000,4,0.000,0.056,2026,3693,3514
$GC,1890,-1.59,-146.6,226.6,-12.3,89,1896,0.00,2.00,0.00,0.000,6,0.000,0.035,2027,2508,3514
$GC,2206,-1.59,-146.6,263.8,-11.8,105,2210,0.00,2.12,0.00,0.000,4,0.000,0.056,2026,3693,3514
$GC,2268,-1.59,-146.6,271.9,-12.8,107,2274,0.00,2.00,0.00,0.000,6,0.000,0.034,2026,2507,3515
$GC,2585,-1.59,-146.6,310.7,-12.5,123,2589,0.00,2.10,0.00,0.000,4,0.000,0.058,2026,3686,3515
$GC,2647,-1.59,-146.6,318.9,-13.1,125,2653,0.00,2.00,0.00,0.000,6,0.000,0.035,2027,2521,3515
$GC,2964,-1.59,-146.6,355.5,-11.3,141,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2521,3515
$GC,3273,-1.59,-146.6,388.6,-10.3,156,3276,0.00,2.10,0.00,0.000,4,0.000,0.061,2026,3686,3515
$GC,3413,-1.59,-146.6,403.8,-10.4,162,3417,0.00,1.98,0.00,0.000,6,0.000,0.035,2026,2526,3515
$GC,3741,-1.59,-146.6,439.6,-11.4,178,3744,0.00,2.12,0.00,0.000,4,0.000,0.066,2026,3687,3515
$GC,3810,-1.59,-146.6,447.9,-11.7,181,3814,0.00,2.00,0.00,0.000,6,0.000,0.036,2027,2519,3515
$GC,4143,-1.59,-146.6,490.7,-11.4,197,4147,0.00,2.55,0.00,0.000,4,0.000,0.067,2026,1114,3515
$GC,4251,-1.64,-146.6,499.5,-7.1,202,4258,0.00,2.55,0.00,0.000,6,0.000,0.063,2026,2512,3514
$GC,4586,-1.64,-146.6,528.6,-9.3,218,4590,0.00,2.28,0.00,0.000,4,0.000,0.100,2026,3694,3515
$GC,4761,-1.64,-146.6,548.8,-11.4,225,4767,0.00,2.15,0.00,0.000,6,0.000,0.071,2026,2528,3515
$GC,5078,-1.69,-146.6,578.7,-8.9,241,5082,0.00,2.65,0.00,0.000,4,0.000,0.079,2026,1104,3515
$STATE,5274,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5274,begin apogee
$GC,5284,-0.45,0.0,600.0,11.1,250,5418,1.20,0.00,130.07,1.180,6,0.083,0.000,2276,2322,2915
$STATE,5418,end apogee,CONTROL_FINISHED_OK
$STATE,5418,begin climb
$GC,5422,1.81,146.6,599.7,0.0,257,5560,2.20,2.65,128.88,1.143,4,0.044,0.076,2773,3700,2317
$GC,5638,1.71,178.4,596.4,8.5,267,5673,0.15,2.53,28.98,1.103,6,0.108,0.054,2747,2313,2186
$GC,5992,1.71,178.4,561.7,12.4,284,5997,0.00,2.62,0.00,0.000,4,0.000,0.071,2747,898,2185
$GC,6250,1.71,183.0,536.0,9.8,295,6261,0.00,2.62,5.32,0.877,6,0.000,0.057,2747,2331,2169
$GC,6584,1.72,191.4,503.2,9.6,312,6598,0.00,2.60,8.82,1.030,4,0.000,0.072,2747,3708,2134
$GC,6737,1.68,191.4,486.9,11.0,318,6743,0.00,2.47,0.00,0.000,6,0.000,0.044,2747,2310,2133
$GC,7053,1.68,191.4,454.1,10.8,334,7057,0.00,2.53,0.00,0.000,4,0.000,0.058,2746,908,2133
$GC,7272,1.68,191.4,430.1,10.0,343,7278,0.00,2.53,0.00,0.000,6,0.000,0.045,2747,2327,2133
$GC,7588,1.68,191.4,395.9,10.9,359,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2328,2133
$GC,7897,1.68,191.4,361.5,12.1,374,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2328,2133
$GC,8207,1.68,191.4,321.5,13.4,389,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2327,2133
$GC,8516,1.68,191.4,281.0,12.9,404,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2327,2133
$GC,8826,1.68,191.4,245.5,10.5,419,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2327,2133
$GC,9135,1.68,196.3,213.6,9.8,434,9143,0.00,0.00,6.35,0.784,6,0.000,0.000,2747,2327,2114
$GC,9444,1.68,196.3,179.2,11.8,449,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2327,2114
$GC,9753,1.68,196.3,145.6,10.3,464,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2327,2114
$GC,10063,1.73,229.7,116.1,8.4,479,10094,0.00,0.00,29.40,0.864,6,0.000,0.000,2747,2327,1978
$GC,10394,1.78,229.7,77.3,13.6,495,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2327,1978
$GC,10702,1.84,229.7,40.7,12.1,510,10704,0.12,0.00,0.00,0.000,6,0.058,0.000,2782,2327,1978
$GC,11011,1.84,229.7,2.1,12.6,525,11015,0.00,2.22,0.00,0.000,3,0.000,0.044,2782,1061,1978
$STATE,11015,end climb,SURFACE_DEPTH_REACHED
$STATE,11015,begin surface coast
$FINISH,1.1,1.027326
$STATE,11019,end surface coast,CONTROL_FINISHED_OK
$STATE,11019,begin surface
$SM_CCo,11047,65.10,0.680,7,0,1692,300.00
$SM_GC,1.98,0.00,0.00,65.10,0.000,0.000,0.680,26,2531,1692,-10.81,0.40,300.00
$IRIDIUM_FIX,6126.23,-923.24,100298,040430
$TT8_MAMPS,0.028379
$HUMID,1982
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.1,109.8
$24V_AH,23.1,12.052
$10V_AH,10.1,4.839
$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,26.575,68.650,337.825,65.100,0.000,23.541,28.200,120.435,4.000,0.000,0.000,16.336,1000.963,8222.424,526.073,1295.310,399.033,0.000,1172.712,0.000,1265.144,0.000,28.390,0.000
$DEVICE_MAMPS,125.021,99.710,1180.413,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.936,357.397,346.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25467,525
$CAP_FILE_SIZE,80081,0
$CFSIZE,260165632,255016960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,161108,102845,6156.115,-926.896,39,2.3,58,-9.6