version: 66.04
glider: 101
mission: 7
dive: 67
start: 11 16 108 10 34 5
data:
$ID,101
$MISSION,7
$DIVE,67
$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,-733151.88
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,102845,6156.115,-926.896,39,2.3,58,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-59.4
$GPS2,103344,6156.155,-926.888,10,1.6,15,-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,345.4,48427,-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,-146.6,0.0,0.0,0,69,0.00,0.00,-50.83,0.000,2,0.000,0.000,26,2532,2836
$GC,73,-1.81,-146.6,3.1,-2.9,3,110,10.38,0.00,-23.85,0.000,6,0.130,0.000,1973,2532,3513
$GC,421,-1.71,-146.6,50.0,-12.9,20,426,0.12,2.53,0.00,0.000,4,0.095,0.042,1998,1097,3514
$GC,493,-1.71,-146.6,58.9,-11.9,23,498,0.00,2.47,0.00,0.000,6,0.000,0.038,1998,2517,3514
$GC,810,-1.66,-146.6,96.5,-10.9,38,812,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2517,3514
$GC,1120,-1.61,-146.6,128.3,-11.2,53,1122,0.12,0.00,0.00,0.000,6,0.097,0.000,2022,2517,3514
$GC,1428,-1.61,-146.6,163.9,-11.0,68,1432,0.00,2.08,0.00,0.000,4,0.000,0.058,2022,3688,3514
$GC,1507,-1.61,-146.6,174.3,-13.4,71,1511,0.00,2.03,0.00,0.000,6,0.000,0.035,2022,2494,3514
$GC,1828,-1.61,-146.6,221.3,-15.4,87,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2494,3514
$GC,2137,-1.61,-146.6,265.1,-13.6,102,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2494,3514
$GC,2447,-1.61,-146.6,299.4,-9.1,117,2454,0.00,2.15,0.00,0.000,4,0.000,0.058,2022,3690,3514
$GC,2556,-1.61,-146.6,310.0,-9.5,121,2562,0.00,2.00,0.00,0.000,6,0.000,0.035,2022,2505,3514
$GC,2872,-1.61,-146.6,341.2,-10.8,137,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2505,3514
$GC,3182,-1.61,-146.6,368.2,-8.8,152,3186,0.00,2.12,0.00,0.000,4,0.000,0.059,2022,3687,3514
$GC,3255,-1.61,-146.6,378.8,-16.4,155,3259,0.00,1.98,0.00,0.000,6,0.000,0.035,2022,2523,3514
$GC,3583,-1.61,-146.6,429.0,-11.9,171,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2521,3514
$GC,3893,-1.61,-146.6,460.3,-10.6,186,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2521,3514
$GC,4202,-1.61,-146.6,497.2,-15.2,201,4205,0.00,2.22,0.00,0.000,4,0.000,0.090,2022,3680,3514
$GC,4393,-1.61,-146.6,524.7,-9.9,209,4397,0.00,2.10,0.00,0.000,6,0.000,0.064,2022,2528,3514
$GC,4715,-1.61,-146.6,552.8,-7.9,225,4719,0.00,2.65,0.00,0.000,4,0.000,0.077,2022,1098,3514
$GC,4788,-1.67,-146.6,560.4,-9.6,228,4793,0.00,2.65,0.00,0.000,6,0.000,0.073,2022,2512,3514
$GC,5105,-1.67,-146.6,592.9,-12.5,243,5109,0.00,2.65,0.00,0.000,4,0.000,0.077,2022,1104,3513
$STATE,5129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5129,begin apogee
$GC,5139,-0.45,0.0,596.7,13.1,244,5273,1.17,0.00,130.02,1.185,6,0.082,0.000,2271,2324,2915
$STATE,5274,end apogee,CONTROL_FINISHED_OK
$STATE,5274,begin climb
$GC,5277,1.81,146.6,603.4,0.0,251,5411,2.33,0.00,128.52,1.145,6,0.058,0.000,2768,2324,2317
$GC,5721,1.75,146.6,569.4,10.4,273,5726,0.00,2.70,0.00,0.000,4,0.000,0.071,2768,895,2315
$GC,5981,1.71,173.1,543.0,8.8,284,6012,0.00,2.62,24.48,1.121,6,0.000,0.058,2768,2326,2209
$GC,6341,1.73,189.5,508.9,9.2,302,6363,0.00,2.70,15.40,1.091,4,0.000,0.063,2768,901,2142
$GC,6477,1.73,189.5,496.0,10.4,308,6481,0.00,2.58,0.00,0.000,6,0.000,0.052,2769,2319,2142
$GC,6803,1.73,189.5,455.4,13.8,324,6808,0.00,2.53,0.00,0.000,4,0.000,0.069,2768,3693,2141
$GC,6964,1.68,189.5,432.5,15.5,331,6969,0.15,2.45,0.00,0.000,6,0.102,0.041,2741,2297,2140
$GC,7286,1.76,256.4,403.8,6.9,347,7347,0.00,0.00,58.95,1.090,6,0.000,0.000,2741,2297,1869
$GC,7655,1.83,256.4,365.9,12.1,365,7657,0.15,0.00,0.00,0.000,6,0.050,0.000,2783,2297,1869
$GC,7964,1.83,256.4,322.4,13.0,380,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2297,1869
$GC,8273,1.83,256.4,283.0,13.1,395,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2297,1869
$GC,8583,1.83,256.4,243.6,12.6,410,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2297,1869
$GC,8892,1.83,256.4,204.5,12.5,425,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2297,1869
$GC,9201,1.83,256.4,165.2,13.3,440,9205,0.00,2.53,0.00,0.000,4,0.000,0.056,2783,3705,1869
$GC,9252,1.83,256.4,158.0,14.5,442,9256,0.00,2.40,0.00,0.000,6,0.000,0.035,2783,2304,1869
$GC,9574,1.83,256.4,112.7,14.2,458,9575,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2304,1870
$GC,9883,1.83,256.4,70.7,13.2,473,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2303,1870
$GC,10192,1.83,256.4,29.1,13.9,488,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2303,1871
$STATE,10415,end climb,SURFACE_DEPTH_REACHED
$STATE,10415,begin surface coast
$FINISH,1.1,1.002164
$STATE,10437,end surface coast,CONTROL_FINISHED_OK
$STATE,10437,begin surface
$SM_CCo,10463,41.45,0.695,4,0,1692,300.00
$SM_GC,1.80,0.00,0.00,41.45,0.000,0.000,0.695,25,2537,1692,-10.81,0.57,300.00
$IRIDIUM_FIX,6130.75,-923.99,100298,070731
$TT8_MAMPS,0.029146
$HUMID,2002
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,500.4,106.1
$24V_AH,23.1,12.185
$10V_AH,10.1,4.891
$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,26.675,52.850,357.375,41.450,0.000,25.758,28.143,122.799,4.250,0.000,0.000,16.525,925.856,7880.546,513.047,1121.017,393.268,0.000,1063.337,0.000,1098.413,0.000,28.384,0.000
$DEVICE_MAMPS,129.623,89.739,1185.015,694.902,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.823,340.307,332.439,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25451,500
$CAP_FILE_SIZE,72044,0
$CFSIZE,260165632,254976000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,161108,133055,6158.121,-930.127,25,1.4,42,-9.7