version: 66.04
glider: 101
mission: 7
dive: 75
start: 11 17 108 16 0 36
data:
$ID,101
$MISSION,7
$DIVE,75
$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,-733317.75
$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,28
$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
$GPS1,155334,6211.021,-955.532,41,1.7,49,-10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-51.2
$GPS2,160015,6210.982,-955.462,13,1.7,13,-10.0
$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,25.7,17348,-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,-146.6,0.0,0.0,0,102,0.00,0.00,-81.15,0.000,2,0.000,0.000,29,2525,3416
$GC,106,-1.81,-146.6,5.1,-5.6,4,128,10.25,2.55,-2.12,0.000,4,0.130,0.054,1973,1114,3514
$GC,382,-1.74,-146.6,52.0,-14.9,16,387,0.10,2.45,0.00,0.000,6,0.111,0.039,1991,2515,3514
$GC,706,-1.67,-146.6,94.1,-13.6,32,707,0.10,0.00,0.00,0.000,6,0.103,0.000,2009,2515,3515
$GC,1013,-1.67,-146.6,128.3,-10.6,47,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2515,3515
$GC,1322,-1.67,-146.6,160.9,-11.5,62,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2515,3515
$GC,1631,-1.67,-146.6,197.7,-12.3,77,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2515,3515
$GC,1940,-1.67,-146.6,235.1,-12.3,92,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2515,3515
$GC,2250,-1.67,-146.6,277.4,-14.0,107,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2515,3515
$GC,2559,-1.67,-146.6,318.1,-12.5,122,2563,0.00,2.10,0.00,0.000,4,0.000,0.061,2009,3696,3515
$GC,2689,-1.62,-146.6,334.9,-12.4,127,2695,0.00,2.03,0.00,0.000,6,0.000,0.035,2010,2502,3515
$GC,3005,-1.62,-146.6,369.7,-10.3,143,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2501,3515
$GC,3315,-1.62,-146.6,400.1,-9.5,158,3319,0.00,2.15,0.00,0.000,4,0.000,0.063,2010,3686,3515
$GC,3385,-1.57,-146.6,407.2,-10.2,161,3389,0.10,2.00,0.00,0.000,6,0.101,0.036,2029,2513,3515
$GC,3718,-1.57,-146.6,437.2,-8.9,177,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2513,3515
$GC,4027,-1.57,-146.6,467.2,-10.4,192,4030,0.00,2.17,0.00,0.000,4,0.000,0.072,2029,3686,3515
$GC,4089,-1.57,-146.6,474.3,-11.5,194,4095,0.00,2.03,0.00,0.000,6,0.000,0.040,2028,2516,3515
$GC,4405,-1.57,-146.6,508.8,-10.5,210,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2516,3515
$GC,4714,-1.57,-146.6,541.3,-11.1,225,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2516,3515
$GC,5024,-1.57,-146.6,574.7,-9.9,240,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2516,3515
$GC,5333,-1.57,-146.6,603.9,-9.8,255,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2513,3515
$GC,5643,-1.61,-146.6,629.0,-5.8,270,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2513,3515
$GC,5952,-1.61,-146.6,653.7,-9.5,285,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2513,3515
$GC,6261,-1.66,-146.6,686.8,-10.7,300,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2513,3515
$GC,6570,-1.66,-146.6,717.0,-11.3,315,6574,0.00,2.25,0.00,0.000,4,0.000,0.091,2029,3690,3514
$STATE,6663,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6663,begin apogee
$GC,6673,-0.45,0.0,725.5,9.2,319,6811,1.12,0.00,131.48,1.280,6,0.079,0.000,2269,2316,2915
$STATE,6811,end apogee,CONTROL_FINISHED_OK
$STATE,6811,begin climb
$GC,6815,1.81,146.6,728.0,0.0,326,6950,2.25,0.00,130.15,1.238,6,0.051,0.000,2771,2316,2317
$GC,7249,1.76,150.1,697.5,9.8,347,7258,0.00,2.62,4.35,0.811,4,0.000,0.079,2771,3684,2303
$GC,7311,1.64,159.8,691.8,9.5,349,7327,0.20,2.47,10.60,1.101,6,0.102,0.049,2734,2312,2263
$GC,7644,1.64,159.8,662.8,10.2,366,7648,0.00,2.62,0.00,0.000,4,0.000,0.077,2734,3692,2262
$GC,7729,1.64,159.8,652.6,11.7,370,7733,0.00,2.47,0.00,0.000,6,0.000,0.048,2734,2312,2261
$GC,8056,1.71,214.2,623.5,7.5,386,8111,0.00,2.70,48.45,1.228,4,0.000,0.070,2733,912,2041
$GC,8300,1.79,240.0,603.9,8.8,397,8330,0.15,2.58,24.08,1.188,6,0.072,0.056,2765,2319,1935
$GC,8655,1.79,240.0,562.2,11.2,414,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2319,1934
$GC,8961,1.79,240.0,530.1,11.3,429,8965,0.00,2.60,0.00,0.000,4,0.000,0.059,2765,899,1934
$GC,9118,1.79,240.0,510.7,12.9,436,9122,0.00,2.55,0.00,0.000,6,0.000,0.048,2765,2326,1934
$GC,9439,1.79,240.0,476.1,10.5,452,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2326,1934
$GC,9748,1.79,240.0,440.3,12.3,467,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2326,1934
$GC,10057,1.79,240.0,399.2,13.6,482,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2326,1934
$GC,10367,1.79,240.0,358.1,13.4,497,10371,0.00,2.47,0.00,0.000,4,0.000,0.060,2765,3705,1934
$GC,10417,1.79,240.0,350.9,14.3,499,10421,0.00,2.42,0.00,0.000,6,0.000,0.036,2765,2297,1934
$GC,10733,1.79,240.0,310.5,13.0,514,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2297,1934
$GC,11043,1.79,240.0,271.5,13.0,529,11044,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2297,1935
$GC,11352,1.79,240.0,231.7,12.1,544,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2297,1935
$GC,11661,1.79,240.0,196.2,11.8,559,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2297,1935
$GC,11970,1.79,240.0,160.5,10.5,574,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2296,1936
$GC,12280,1.79,240.0,122.1,14.0,589,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2296,1936
$GC,12589,1.79,240.0,77.9,13.3,604,12593,0.00,2.53,0.00,0.000,4,0.000,0.055,2765,3703,1936
$GC,12668,1.79,240.0,66.3,14.6,607,12675,0.00,2.38,0.00,0.000,6,0.000,0.035,2764,2309,1936
$GC,12987,1.84,240.0,24.5,13.1,623,12988,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2307,1936
$STATE,13167,end climb,SURFACE_DEPTH_REACHED
$STATE,13167,begin surface coast
$FINISH,0.8,1.003152
$STATE,13189,end surface coast,CONTROL_FINISHED_OK
$STATE,13189,begin surface
$SM_CCo,13214,52.60,0.763,2,0,1692,300.00
$SM_GC,1.63,0.00,0.00,52.60,0.000,0.000,0.763,27,2541,1692,-10.80,0.68,300.00
$IRIDIUM_FIX,6139.81,-923.21,110298,121221
$TT8_MAMPS,0.029913
$HUMID,2017
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.5,109.7
$24V_AH,23.1,13.374
$10V_AH,10.1,5.392
$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,26.425,53.075,349.100,52.600,0.000,25.697,30.482,224.671,5.250,0.000,0.000,15.458,1143.857,10159.528,499.113,1351.230,531.204,0.000,1169.134,0.000,1327.562,0.000,36.460,0.000
$DEVICE_MAMPS,130.390,90.506,1280.123,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.870,432.411,369.181,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31578,633
$CAP_FILE_SIZE,86775,0
$CFSIZE,260165632,254599168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,171108,194308,6212.881,-957.920,31,1.4,31,-10.0