version: 66.04
glider: 101
mission: 7
dive: 74
start: 11 17 108 12 2 30
data:
$ID,101
$MISSION,7
$DIVE,74
$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,-733301.69
$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,31
$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
$GPS1,115237,6208.781,-955.084,40,1.0,40,-9.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-53.4
$GPS2,120209,6208.837,-954.927,13,1.8,13,-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,21.5,21103,-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,-61.00,0.000,2,0.000,0.000,28,2528,2997
$GC,86,-1.81,-146.6,3.2,-4.1,3,118,10.25,2.50,-16.12,0.000,4,0.130,0.054,1974,1108,3512
$GC,373,-1.74,-146.6,42.5,-13.3,16,378,0.10,2.47,0.00,0.000,6,0.109,0.040,1992,2520,3512
$GC,701,-1.69,-146.6,87.9,-11.9,32,702,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2520,3512
$GC,1010,-1.63,-146.6,125.9,-12.5,47,1012,0.12,0.00,0.00,0.000,6,0.095,0.000,2016,2520,3512
$GC,1319,-1.63,-146.6,164.1,-12.4,62,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2520,3512
$GC,1629,-1.63,-146.6,200.4,-11.3,77,1632,0.00,2.08,0.00,0.000,4,0.000,0.059,2016,3690,3512
$GC,1698,-1.63,-146.6,208.7,-12.2,80,1701,0.00,2.03,0.00,0.000,6,0.000,0.035,2016,2495,3512
$GC,2031,-1.63,-146.6,244.8,-10.6,96,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2495,3512
$GC,2341,-1.63,-146.6,274.1,-8.9,111,2344,0.00,2.15,0.00,0.000,4,0.000,0.058,2017,3692,3512
$GC,2426,-1.63,-146.6,282.0,-9.0,114,2431,0.00,2.00,0.00,0.000,6,0.000,0.035,2016,2510,3512
$GC,2742,-1.63,-146.6,309.1,-9.1,130,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2509,3512
$GC,3051,-1.63,-146.6,338.3,-9.5,145,3055,0.00,2.12,0.00,0.000,4,0.000,0.059,2017,3688,3512
$GC,3142,-1.63,-146.6,348.4,-11.1,149,3146,0.00,2.00,0.00,0.000,6,0.000,0.036,2016,2511,3513
$GC,3475,-1.63,-146.6,389.0,-13.0,165,3479,0.00,2.15,0.00,0.000,4,0.000,0.061,2017,3695,3512
$GC,3576,-1.63,-146.6,402.6,-13.0,169,3580,0.00,2.00,0.00,0.000,6,0.000,0.035,2016,2523,3512
$GC,3898,-1.63,-146.6,440.4,-11.0,185,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2522,3512
$GC,4207,-1.63,-146.6,471.5,-9.9,200,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2522,3513
$GC,4517,-1.63,-146.6,502.1,-9.3,215,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2522,3512
$GC,4826,-1.63,-146.6,534.0,-11.8,230,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2522,3513
$GC,5135,-1.63,-146.6,568.0,-10.8,245,5139,0.00,2.33,0.00,0.000,4,0.000,0.110,2017,3681,3512
$GC,5214,-1.63,-146.6,576.0,-9.1,248,5220,0.00,2.15,0.00,0.000,6,0.000,0.076,2016,2535,3512
$GC,5530,-1.63,-146.6,606.6,-12.0,264,5533,0.00,2.20,0.00,0.000,4,0.000,0.087,2016,3685,3512
$GC,5631,-1.63,-146.6,619.1,-12.1,268,5635,0.00,2.10,0.00,0.000,6,0.000,0.053,2016,2510,3512
$GC,5953,-1.63,-146.6,651.1,-8.2,284,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2509,3512
$GC,6262,-1.63,-146.6,681.6,-10.1,299,6266,0.00,2.60,0.00,0.000,4,0.000,0.077,2017,1108,3512
$GC,6329,-1.63,-146.6,688.3,-9.7,302,6334,0.00,2.60,0.00,0.000,6,0.000,0.071,2017,2505,3512
$GC,6650,-1.63,-146.6,721.2,-10.5,318,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2506,3512
$STATE,6709,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6709,begin apogee
$GC,6718,-0.45,0.0,728.1,11.3,321,6853,1.23,0.00,131.38,1.279,6,0.075,0.000,2275,2306,2915
$STATE,6853,end apogee,CONTROL_FINISHED_OK
$STATE,6853,begin climb
$GC,6857,1.81,146.6,732.2,0.0,328,6992,2.22,0.00,130.18,1.233,6,0.052,0.000,2771,2307,2316
$GC,7291,1.76,146.6,699.0,10.1,349,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2307,2315
$GC,7600,1.70,146.6,666.9,10.6,364,7605,0.15,2.58,0.00,0.000,4,0.100,0.067,2744,912,2314
$GC,7857,1.70,146.6,640.8,10.5,375,7864,0.00,2.60,0.00,0.000,6,0.000,0.058,2744,2331,2313
$GC,8174,1.73,170.0,611.7,8.9,391,8198,0.00,0.00,21.48,1.198,6,0.000,0.000,2743,2332,2221
$GC,8503,1.75,187.5,581.7,9.2,407,8522,0.00,0.00,16.80,1.164,6,0.000,0.000,2744,2332,2150
$GC,8832,1.75,187.5,547.4,10.3,423,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2332,2149
$GC,9142,1.76,199.7,516.5,9.4,438,9163,0.00,2.70,12.27,1.088,4,0.000,0.056,2744,899,2100
$GC,9248,1.76,199.7,506.0,10.1,442,9254,0.00,2.55,0.00,0.000,6,0.000,0.046,2744,2323,2100
$GC,9564,1.77,202.2,475.7,9.9,458,9570,0.00,0.00,4.18,0.759,6,0.000,0.000,2744,2323,2090
$GC,9874,1.79,216.3,446.3,9.3,473,9895,0.00,2.55,13.80,1.044,4,0.000,0.061,2744,3687,2032
$GC,10148,1.79,216.3,417.8,10.8,485,10152,0.00,2.40,0.00,0.000,6,0.000,0.037,2744,2301,2032
$GC,10470,1.84,223.4,386.8,9.7,501,10485,0.12,2.53,7.88,0.920,4,0.056,0.052,2779,916,2004
$GC,10676,1.84,223.4,362.4,11.4,510,10680,0.00,2.47,0.00,0.000,6,0.000,0.041,2779,2324,2004
$GC,10998,1.84,223.4,326.5,11.2,526,11002,0.00,2.45,0.00,0.000,4,0.000,0.059,2779,3695,2004
$GC,11078,1.76,223.4,316.4,13.1,529,11084,0.00,2.38,0.00,0.000,6,0.000,0.035,2779,2313,2004
$GC,11394,1.76,223.4,277.8,12.3,545,11395,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2313,2005
$GC,11703,1.76,223.4,241.8,11.3,560,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2312,2005
$GC,12012,1.76,223.4,209.0,10.6,575,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2312,2005
$GC,12322,1.76,223.4,172.6,12.1,590,12323,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2311,2006
$GC,12631,1.76,223.4,139.7,10.9,605,12633,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2311,2006
$GC,12941,1.76,223.4,98.7,14.3,620,12942,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2311,2006
$GC,13252,1.76,223.4,54.9,15.1,635,13256,0.00,2.45,0.00,0.000,4,0.000,0.048,2779,907,2007
$GC,13338,1.84,319.4,46.5,5.5,639,13425,0.00,2.45,81.03,0.826,6,0.000,0.038,2779,2320,1611
$STATE,13669,end climb,SURFACE_DEPTH_REACHED
$STATE,13669,begin surface coast
$FINISH,0.8,1.014201
$STATE,13691,end surface coast,CONTROL_FINISHED_OK
$STATE,13691,begin surface
$SM_CCo,13776,0.00,0.000,0,0,1610,320.12
$SM_GC,1.52,12.25,0.00,0.00,0.039,0.000,0.000,29,2524,1610,-10.74,0.17,320.12
$IRIDIUM_FIX,6144.36,-956.48,110298,121210
$TT8_MAMPS,0.029146
$HUMID,2004
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,627.3,109.3
$24V_AH,23.1,13.224
$10V_AH,10.1,5.330
$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,26.450,66.300,418.975,0.000,0.000,51.158,53.853,283.592,5.500,0.000,0.000,15.249,1210.662,10463.229,496.250,1522.957,659.457,0.000,1250.611,0.000,1493.807,0.000,36.463,0.000
$DEVICE_MAMPS,129.623,110.448,1278.589,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.433,447.622,379.136,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31598,656
$CAP_FILE_SIZE,96259,0
$CFSIZE,260165632,254640128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171108,155334,6211.021,-955.532,41,1.7,49,-10.0