version: 66.04
glider: 101
mission: 7
dive: 72
start: 11 17 108 4 17 31
data:
$ID,101
$MISSION,7
$DIVE,72
$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,-733271.94
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,040134,6204.139,-949.299,61,1.4,63,-9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-52.2
$GPS2,041711,6204.022,-949.344,11,2.3,30,-9.9
$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,8.8,29597,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.81,-146.6,0.0,0.0,0,82,0.00,0.00,-60.95,0.000,2,0.000,0.000,28,2535,3031
$GC,86,-1.81,-146.6,3.3,-4.2,3,116,10.10,2.10,-15.18,0.000,4,0.123,0.073,1975,3708,3514
$GC,185,-1.67,-146.6,18.6,-17.7,7,189,0.17,2.05,0.00,0.000,6,0.090,0.036,2009,2508,3514
$GC,503,-1.67,-146.6,58.7,-10.2,22,507,0.00,2.42,0.00,0.000,4,0.000,0.044,2009,1115,3514
$GC,760,-1.67,-146.6,85.1,-10.6,33,767,0.00,2.45,0.00,0.000,6,0.000,0.040,2009,2518,3514
$GC,1077,-1.67,-146.6,119.4,-10.5,49,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2518,3514
$GC,1385,-1.67,-146.6,154.9,-11.4,64,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2518,3514
$GC,1695,-1.67,-146.6,190.1,-12.2,79,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2518,3514
$GC,2004,-1.67,-146.6,229.9,-13.2,94,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2518,3514
$GC,2313,-1.67,-146.6,269.0,-12.2,109,2317,0.00,2.08,0.00,0.000,4,0.000,0.058,2009,3688,3514
$GC,2405,-1.62,-146.6,280.2,-12.3,113,2408,0.00,2.00,0.00,0.000,6,0.000,0.035,2009,2505,3514
$GC,2738,-1.62,-146.6,320.9,-11.8,129,2741,0.00,2.12,0.00,0.000,4,0.000,0.058,2009,3687,3514
$GC,2840,-1.56,-146.6,334.5,-13.0,133,2844,0.12,1.98,0.00,0.000,6,0.097,0.035,2032,2512,3514
$GC,3161,-1.56,-146.6,372.4,-11.9,149,3164,0.00,2.12,0.00,0.000,4,0.000,0.061,2033,3686,3514
$GC,3245,-1.56,-146.6,383.1,-12.6,152,3251,0.00,2.00,0.00,0.000,6,0.000,0.035,2032,2513,3514
$GC,3561,-1.56,-146.6,419.8,-11.3,168,3565,0.00,2.15,0.00,0.000,4,0.000,0.064,2033,3690,3514
$GC,3630,-1.56,-146.6,428.1,-12.3,171,3634,0.00,2.00,0.00,0.000,6,0.000,0.035,2033,2520,3515
$GC,3963,-1.56,-146.6,467.6,-11.7,187,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2519,3515
$GC,4273,-1.60,-146.6,503.3,-11.2,202,4276,0.00,2.22,0.00,0.000,4,0.000,0.084,2033,3692,3515
$GC,4335,-1.60,-146.6,510.8,-11.7,204,4341,0.00,2.08,0.00,0.000,6,0.000,0.048,2033,2517,3514
$GC,4651,-1.65,-146.6,543.7,-10.3,220,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2518,3515
$GC,4962,-1.69,-146.6,575.3,-10.0,235,4964,0.12,0.00,0.00,0.000,6,0.054,0.000,1998,2518,3514
$GC,5270,-1.69,-146.6,604.8,-7.9,250,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2518,3514
$GC,5579,-1.69,-146.6,633.0,-9.9,265,5583,0.00,2.25,0.00,0.000,4,0.000,0.093,1998,3682,3515
$GC,5720,-1.65,-146.6,647.6,-10.9,271,5724,0.00,2.10,0.00,0.000,6,0.000,0.055,1997,2512,3514
$GC,6042,-1.65,-146.6,682.9,-11.2,287,6046,0.00,2.28,0.00,0.000,4,0.000,0.093,1998,3687,3514
$GC,6149,-1.65,-146.6,695.8,-12.7,292,6153,0.00,2.10,0.00,0.000,6,0.000,0.054,1998,2516,3514
$STATE,6438,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6439,begin apogee
$GC,6447,-0.45,0.0,728.1,11.5,306,6583,1.30,0.00,131.93,1.280,6,0.076,0.000,2273,2317,2915
$STATE,6583,end apogee,CONTROL_FINISHED_OK
$STATE,6583,begin climb
$GC,6587,1.81,146.6,731.8,0.0,313,6723,2.25,0.00,130.93,1.233,6,0.054,0.000,2769,2316,2316
$GC,7022,1.73,146.6,697.5,12.1,334,7026,0.00,2.62,0.00,0.000,4,0.000,0.072,2768,909,2315
$GC,7101,1.73,189.8,688.8,8.0,337,7148,0.00,2.60,39.20,1.208,6,0.000,0.059,2768,2317,2140
$GC,7458,1.73,189.8,649.1,10.9,355,7462,0.00,2.58,0.00,0.000,4,0.000,0.079,2769,3693,2138
$GC,7600,1.66,189.8,632.9,12.3,361,7605,0.17,2.47,0.00,0.000,6,0.102,0.048,2737,2312,2138
$GC,7917,1.66,191.8,603.3,9.9,376,7921,0.00,2.62,0.00,0.000,4,0.000,0.074,2737,3703,2137
$GC,8034,1.66,191.8,589.4,11.6,381,8039,0.00,2.47,0.00,0.000,6,0.000,0.046,2737,2314,2136
$GC,8352,1.71,197.8,556.9,9.7,396,8366,0.00,2.62,8.07,1.057,4,0.000,0.063,2736,915,2108
$GC,8412,1.71,197.8,550.7,10.0,398,8418,0.00,2.55,0.00,0.000,6,0.000,0.049,2737,2322,2108
$GC,8728,1.71,197.8,518.5,10.2,414,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2323,2107
$GC,9038,1.76,207.9,488.6,9.5,429,9054,0.00,2.62,10.77,1.056,4,0.000,0.055,2737,906,2066
$GC,9164,1.81,211.6,476.4,9.8,433,9175,0.15,2.53,5.05,0.849,6,0.069,0.045,2769,2320,2052
$GC,9497,1.81,211.6,440.3,10.9,450,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2320,2051
$GC,9806,1.81,211.6,405.6,11.4,465,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2320,2052
$GC,10116,1.81,211.6,368.8,12.3,480,10120,0.00,2.45,0.00,0.000,4,0.000,0.059,2769,3690,2052
$GC,10179,1.77,211.6,360.4,13.0,483,10183,0.00,2.40,0.00,0.000,6,0.000,0.035,2769,2295,2052
$GC,10506,1.77,211.6,320.3,11.8,499,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2295,2053
$GC,10815,1.77,211.6,282.6,12.2,514,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2295,2053
$GC,11124,1.77,211.6,245.7,11.9,529,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2294,2053
$GC,11434,1.77,211.6,210.3,11.2,544,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2294,2053
$GC,11743,1.77,211.6,172.4,13.3,559,11744,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2294,2054
$GC,12053,1.77,211.6,135.2,11.8,574,12057,0.00,2.53,0.00,0.000,4,0.000,0.054,2769,3700,2054
$GC,12103,1.72,211.6,128.6,13.7,576,12107,0.00,2.38,0.00,0.000,6,0.000,0.035,2769,2313,2054
$GC,12420,1.72,211.6,93.0,10.1,591,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2312,2055
$GC,12729,1.72,211.6,53.9,14.2,606,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2312,2055
$GC,13038,1.72,211.6,15.7,12.5,621,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2312,2055
$STATE,13200,end climb,SURFACE_DEPTH_REACHED
$STATE,13200,begin surface coast
$FINISH,1.1,1.027298
$STATE,13223,end surface coast,CONTROL_FINISHED_OK
$STATE,13223,begin surface
$SM_CCo,13249,82.62,0.683,9,0,1692,300.00
$SM_GC,1.71,0.00,0.00,82.62,0.000,0.000,0.683,29,2523,1692,-10.79,0.20,300.00
$IRIDIUM_FIX,6139.81,-950.38,110298,040412
$TT8_MAMPS,0.029146
$HUMID,1988
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.7,110.6
$24V_AH,23.1,12.920
$10V_AH,10.1,5.201
$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,26.575,74.700,325.950,82.625,0.000,72.869,86.354,509.528,5.250,0.000,0.000,33.113,1172.295,10209.674,560.913,1440.325,938.517,0.000,1259.561,0.000,1395.043,0.000,36.465,0.000
$DEVICE_MAMPS,122.720,92.807,1280.123,683.397,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.867,429.968,386.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31701,630
$CAP_FILE_SIZE,101030,0
$CFSIZE,260165632,254730240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,171108,080155,6205.322,-954.558,26,1.4,43,-9.9