version: 66.04
glider: 101
mission: 7
dive: 71
start: 11 17 108 0 18 34
data:
$ID,101
$MISSION,7
$DIVE,71
$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,-733238.19
$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,30
$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
$GPS1,000938,6202.898,-945.515,37,1.5,37,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-54.6
$GPS2,001814,6202.934,-945.461,27,1.0,34,-9.8
$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,2.8,31846,-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,-60.95,0.000,2,0.000,0.000,28,2521,3046
$GC,83,-1.81,-146.6,3.6,-4.6,3,113,10.23,2.53,-13.35,0.000,4,0.129,0.054,1973,1114,3514
$GC,266,-1.73,-146.6,28.9,-9.2,11,271,0.12,2.47,0.00,0.000,6,0.104,0.041,1996,2525,3514
$GC,589,-1.66,-146.6,70.2,-15.2,27,590,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2525,3514
$GC,898,-1.62,-146.6,112.3,-10.9,42,900,0.12,0.00,0.00,0.000,6,0.097,0.000,2021,2525,3514
$GC,1208,-1.62,-146.6,144.1,-10.3,57,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2526,3514
$GC,1516,-1.62,-146.6,185.9,-14.6,72,1519,0.00,2.08,0.00,0.000,4,0.000,0.058,2020,3696,3515
$GC,1577,-1.62,-146.6,193.4,-12.5,74,1584,0.00,2.03,0.00,0.000,6,0.000,0.035,2021,2499,3515
$GC,1894,-1.62,-146.6,233.8,-12.9,90,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2499,3514
$GC,2203,-1.62,-146.6,270.7,-11.1,105,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2500,3514
$GC,2512,-1.62,-146.6,305.7,-11.2,120,2516,0.00,2.12,0.00,0.000,4,0.000,0.058,2020,3691,3514
$GC,2585,-1.62,-146.6,314.6,-12.3,123,2588,0.00,2.00,0.00,0.000,6,0.000,0.034,2021,2506,3514
$GC,2912,-1.62,-146.6,353.2,-12.0,139,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2505,3515
$GC,3221,-1.62,-146.6,389.8,-11.9,154,3225,0.00,2.15,0.00,0.000,4,0.000,0.061,2021,3695,3514
$GC,3317,-1.62,-146.6,401.7,-12.8,158,3321,0.00,2.00,0.00,0.000,6,0.000,0.035,2021,2521,3515
$GC,3644,-1.62,-146.6,437.9,-11.0,174,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2521,3514
$GC,3954,-1.62,-146.6,474.1,-12.2,189,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2521,3514
$GC,4263,-1.62,-146.6,509.8,-10.9,204,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2521,3514
$GC,4572,-1.62,-146.6,541.4,-9.5,219,4576,0.00,2.28,0.00,0.000,4,0.000,0.097,2020,3686,3514
$GC,4770,-1.62,-146.6,560.6,-10.0,228,4774,0.00,2.10,0.00,0.000,6,0.000,0.070,2020,2540,3514
$GC,5103,-1.62,-146.6,592.3,-9.7,244,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2537,3514
$GC,5412,-1.62,-146.6,622.5,-10.7,259,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2536,3514
$GC,5722,-1.62,-146.6,653.9,-9.1,274,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2536,3514
$GC,6031,-1.62,-146.6,683.6,-9.9,289,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2536,3514
$GC,6340,-1.62,-146.6,717.2,-11.2,304,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2536,3513
$STATE,6419,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6419,begin apogee
$GC,6427,-0.45,0.0,726.0,10.6,308,6563,1.20,0.00,131.15,1.284,6,0.075,0.000,2274,2310,2915
$STATE,6563,end apogee,CONTROL_FINISHED_OK
$STATE,6563,begin climb
$GC,6567,1.81,146.6,730.6,0.0,315,6706,2.22,2.72,129.98,1.239,4,0.048,0.077,2772,906,2317
$GC,6828,1.75,164.5,713.3,9.2,326,6852,0.00,2.62,17.35,1.151,6,0.000,0.061,2772,2318,2244
$GC,7175,1.70,164.5,679.5,10.4,343,7177,0.15,0.00,0.00,0.000,6,0.112,0.000,2746,2318,2243
$GC,7484,1.70,164.5,648.9,10.2,358,7489,0.00,2.60,0.00,0.000,4,0.000,0.080,2745,3699,2242
$GC,7692,1.65,167.5,626.3,9.9,367,7697,0.00,2.50,0.00,0.000,6,0.000,0.048,2746,2303,2240
$GC,8009,1.65,167.5,591.8,12.1,382,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2303,2240
$GC,8318,1.65,167.5,556.6,10.4,397,8322,0.00,2.55,0.00,0.000,4,0.000,0.064,2746,908,2239
$GC,8536,1.70,212.5,536.9,7.9,406,8585,0.00,2.55,42.42,1.189,6,0.000,0.051,2746,2322,2048
$GC,8897,1.71,220.0,503.5,9.6,424,8911,0.00,2.58,8.20,1.009,4,0.000,0.067,2746,3686,2018
$GC,9015,1.71,220.0,490.8,10.9,429,9019,0.00,2.42,0.00,0.000,6,0.000,0.040,2746,2308,2017
$GC,9336,1.71,220.0,455.0,11.4,445,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2308,2017
$GC,9645,1.71,220.0,420.4,11.1,460,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2307,2017
$GC,9954,1.71,220.0,385.7,11.3,475,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2307,2018
$GC,10264,1.75,220.0,351.3,11.0,490,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2307,2018
$GC,10573,1.80,220.0,317.6,10.8,505,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2307,2019
$GC,10883,1.85,220.0,285.0,11.1,520,10888,0.12,2.53,0.00,0.000,4,0.057,0.057,2782,3700,2018
$GC,10962,1.79,220.0,274.5,13.9,523,10968,0.00,2.40,0.00,0.000,6,0.000,0.035,2782,2305,2018
$GC,11278,1.79,220.0,231.7,14.4,539,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2304,2019
$GC,11587,1.79,220.0,191.4,12.1,554,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2304,2019
$GC,11896,1.79,220.0,153.2,13.7,569,11897,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2304,2020
$GC,12206,1.79,220.0,112.1,13.7,584,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2304,2020
$GC,12517,1.79,220.0,72.9,12.1,599,12518,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2303,2020
$GC,12825,1.79,220.0,34.7,12.8,614,12826,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2303,2020
$STATE,13110,end climb,SURFACE_DEPTH_REACHED
$STATE,13110,begin surface coast
$FINISH,0.9,1.015940
$STATE,13132,end surface coast,CONTROL_FINISHED_OK
$STATE,13132,begin surface
$SM_CCo,13157,75.43,0.688,8,0,1692,300.00
$SM_GC,1.67,0.00,0.00,75.43,0.000,0.000,0.688,28,2535,1692,-10.80,0.51,300.00
$IRIDIUM_FIX,6139.81,-940.56,110298,000009
$TT8_MAMPS,0.029146
$HUMID,1994
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,627.0,108.3
$24V_AH,23.1,12.753
$10V_AH,10.1,5.130
$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,26.400,48.050,329.100,75.425,0.000,48.911,54.211,205.427,5.250,0.000,0.000,36.064,1140.824,10184.734,508.545,1402.848,559.618,0.000,1187.850,0.000,1350.391,0.000,36.456,0.000
$DEVICE_MAMPS,128.856,97.409,1283.958,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.451,429.727,378.858,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31609,629
$CAP_FILE_SIZE,86766,0
$CFSIZE,260165632,254787584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,171108,040134,6204.139,-949.299,61,1.4,63,-9.9