version: 66.04
glider: 101
mission: 7
dive: 69
start: 11 16 108 16 55 29
data:
$ID,101
$MISSION,7
$DIVE,69
$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,-733185.19
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,165007,6158.374,-936.670,39,1.4,39,-9.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-54.3
$GPS2,165508,6158.323,-936.704,9,1.4,14,-9.7
$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,353.8,41743,-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,-60.88,0.000,2,0.000,0.000,29,2531,3039
$GC,83,-1.81,-146.6,3.6,-4.2,3,113,10.25,2.55,-13.77,0.000,4,0.130,0.054,1974,1109,3514
$GC,294,-1.74,-146.6,39.7,-15.7,12,299,0.10,2.47,0.00,0.000,6,0.110,0.039,1992,2523,3514
$GC,612,-1.67,-146.6,82.2,-10.3,27,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2523,3515
$GC,920,-1.61,-146.6,119.6,-12.6,42,922,0.15,0.00,0.00,0.000,6,0.093,0.000,2021,2523,3515
$GC,1229,-1.61,-146.6,156.0,-11.6,57,1232,0.00,2.08,0.00,0.000,4,0.000,0.058,2022,3692,3514
$GC,1313,-1.61,-146.6,166.2,-11.7,60,1319,0.00,2.03,0.00,0.000,6,0.000,0.035,2021,2499,3515
$GC,1630,-1.61,-146.6,203.4,-11.5,76,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2499,3515
$GC,1939,-1.61,-146.6,238.2,-11.4,91,1943,0.00,2.15,0.00,0.000,4,0.000,0.057,2021,3695,3515
$GC,2053,-1.61,-146.6,251.9,-12.5,96,2057,0.00,2.00,0.00,0.000,6,0.000,0.035,2021,2511,3515
$GC,2386,-1.61,-146.6,289.8,-11.7,112,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2511,3515
$GC,2695,-1.61,-146.6,324.8,-11.6,127,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2511,3515
$GC,3004,-1.61,-146.6,361.5,-12.0,142,3008,0.00,2.12,0.00,0.000,4,0.000,0.059,2021,3690,3515
$GC,3066,-1.61,-146.6,369.3,-12.0,144,3072,0.00,2.00,0.00,0.000,6,0.000,0.035,2021,2514,3515
$GC,3382,-1.61,-146.6,403.2,-10.5,160,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2513,3515
$GC,3691,-1.61,-146.6,436.5,-10.9,175,3695,0.00,2.15,0.00,0.000,4,0.000,0.066,2021,3694,3515
$GC,3855,-1.61,-146.6,456.4,-12.7,182,3858,0.00,2.03,0.00,0.000,6,0.000,0.038,2021,2519,3515
$GC,4182,-1.61,-146.6,498.0,-13.0,198,4186,0.00,2.55,0.00,0.000,4,0.000,0.068,2021,1116,3515
$GC,4255,-1.61,-146.6,507.1,-12.5,201,4259,0.00,2.58,0.00,0.000,6,0.000,0.064,2021,2517,3515
$GC,4571,-1.61,-146.6,543.4,-10.6,216,4575,0.00,2.28,0.00,0.000,4,0.000,0.098,2021,3698,3515
$GC,4689,-1.61,-146.6,555.9,-10.6,221,4693,0.00,2.15,0.00,0.000,6,0.000,0.065,2022,2528,3515
$GC,5010,-1.61,-146.6,592.9,-12.1,237,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2525,3515
$GC,5320,-1.61,-146.6,624.1,-8.5,252,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2525,3515
$GC,5629,-1.61,-146.6,651.9,-10.3,267,5633,0.00,2.28,0.00,0.000,4,0.000,0.094,2021,3701,3515
$GC,5864,-1.61,-146.6,676.2,-10.5,277,5870,0.00,2.15,0.00,0.000,6,0.000,0.054,2021,2502,3514
$STATE,6094,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6094,begin apogee
$GC,6103,-0.45,0.0,702.1,12.6,289,6238,1.20,0.00,131.40,1.263,6,0.071,0.000,2277,2316,2915
$STATE,6239,end apogee,CONTROL_FINISHED_OK
$STATE,6239,begin climb
$GC,6242,1.81,146.6,707.0,0.0,296,6381,2.28,2.80,129.98,1.218,4,0.054,0.078,2768,899,2317
$GC,6424,1.73,159.7,696.8,9.4,304,6444,0.00,2.67,13.20,1.097,6,0.000,0.062,2768,2327,2264
$GC,6762,1.69,159.7,662.6,11.4,321,6764,0.12,0.00,0.00,0.000,6,0.113,0.000,2747,2327,2262
$GC,7071,1.78,231.7,638.1,6.6,336,7142,0.00,2.67,63.95,1.215,4,0.000,0.077,2747,3694,1970
$GC,7395,1.78,231.7,606.9,10.4,350,7402,0.00,2.47,0.00,0.000,6,0.000,0.047,2747,2305,1968
$GC,7712,1.78,231.7,569.0,12.3,366,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2304,1967
$GC,8022,1.84,242.7,538.6,9.5,381,8039,0.12,0.00,10.98,1.089,6,0.061,0.000,2779,2304,1925
$GC,8349,1.84,242.7,496.2,13.3,397,8353,0.00,2.55,0.00,0.000,4,0.000,0.064,2779,3696,1925
$GC,8457,1.79,242.7,480.6,14.4,402,8461,0.00,2.42,0.00,0.000,6,0.000,0.039,2779,2310,1924
$GC,8784,1.79,242.7,435.2,14.5,418,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2310,1924
$GC,9093,1.79,242.7,388.8,14.7,433,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2310,1925
$GC,9402,1.79,242.7,345.9,14.0,448,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2310,1925
$GC,9711,1.79,242.7,304.3,13.2,463,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2310,1925
$GC,10021,1.79,242.7,263.6,13.3,478,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2310,1925
$GC,10330,1.79,242.7,224.0,11.8,493,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2310,1926
$GC,10639,1.79,242.7,185.8,13.2,508,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2309,1927
$GC,10949,1.79,242.7,148.1,14.1,523,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2309,1927
$GC,11260,1.79,242.7,103.3,15.7,538,11261,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2309,1928
$GC,11568,1.79,242.7,61.4,13.6,553,11569,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2309,1928
$GC,11877,1.79,242.7,21.0,11.4,568,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2309,1928
$STATE,12038,end climb,SURFACE_DEPTH_REACHED
$STATE,12038,begin surface coast
$FINISH,1.0,1.017755
$STATE,12060,end surface coast,CONTROL_FINISHED_OK
$STATE,12060,begin surface
$SM_CCo,12086,50.03,0.779,1,0,1692,300.00
$SM_GC,1.86,0.00,0.00,50.03,0.000,0.000,0.779,26,2540,1692,-10.81,0.65,300.00
$IRIDIUM_FIX,6130.75,-934.51,100298,131317
$TT8_MAMPS,0.028379
$HUMID,2029
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.8,85.3
$24V_AH,23.1,12.466
$10V_AH,10.1,5.005
$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,26.475,51.900,349.500,50.025,0.000,22.794,27.216,134.137,5.250,0.000,0.000,16.174,1059.029,9189.784,487.551,1302.368,413.331,0.000,1129.405,0.000,1271.442,0.000,36.395,0.000
$DEVICE_MAMPS,130.390,98.176,1263.249,778.505,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.009,393.226,347.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28536,577
$CAP_FILE_SIZE,80348,0
$CFSIZE,260165632,254889984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161108,201907,6159.798,-943.168,33,1.3,33,-9.8