version: 66.04
glider: 101
mission: 7
dive: 77
start: 11 18 108 0 20 54
data:
$ID,101
$MISSION,7
$DIVE,77
$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,412.5
$T_MISSION,440
$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,-733346.19
$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,36
$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
$GPS1,001508,6216.761,-955.069,31,1.6,31,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-58.5
$GPS2,002033,6216.795,-955.024,10,2.0,10,-10.0
$SPEED_LIMITS,0.139,0.238
$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,46.0,7341,-14.7,-8.000
$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,-1.51,-146.6,0.0,0.0,0,78,0.00,0.00,-60.20,0.000,2,0.000,0.000,26,2531,2954
$GC,82,-1.51,-146.6,3.1,-3.6,3,119,10.50,2.50,-19.52,0.000,4,0.123,0.054,2040,1115,3512
$GC,170,-1.40,-146.6,11.1,-10.3,7,175,0.15,2.45,0.00,0.000,6,0.098,0.039,2069,2513,3512
$GC,494,-1.36,-146.6,40.9,-8.4,23,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2512,3513
$GC,801,-1.36,-146.6,69.4,-9.8,38,805,0.00,2.10,0.00,0.000,4,0.000,0.058,2069,3699,3513
$GC,909,-1.30,-146.6,80.7,-10.9,42,916,0.10,2.03,0.00,0.000,6,0.098,0.036,2088,2503,3513
$GC,1225,-1.30,-146.6,113.0,-8.5,58,1229,0.00,2.12,0.00,0.000,4,0.000,0.055,2088,3692,3513
$GC,1298,-1.30,-146.6,120.1,-9.4,61,1302,0.00,2.00,0.00,0.000,6,0.000,0.035,2088,2510,3513
$GC,1626,-1.30,-146.6,148.2,-8.3,77,1630,0.00,2.12,0.00,0.000,4,0.000,0.055,2088,3698,3513
$GC,1699,-1.30,-146.6,154.5,-8.2,80,1702,0.00,2.00,0.00,0.000,6,0.000,0.035,2088,2516,3513
$GC,2027,-1.30,-146.6,180.8,-8.5,96,2030,0.00,2.10,0.00,0.000,4,0.000,0.056,2088,3688,3513
$GC,2095,-1.30,-146.6,186.7,-8.5,99,2099,0.00,2.00,0.00,0.000,6,0.000,0.035,2088,2507,3513
$GC,2428,-1.30,-146.6,216.3,-8.9,115,2432,0.00,2.12,0.00,0.000,4,0.000,0.056,2088,3693,3512
$GC,2497,-1.30,-146.6,222.8,-9.2,118,2500,0.00,2.00,0.00,0.000,6,0.000,0.035,2088,2510,3513
$GC,2830,-1.30,-146.6,252.0,-8.5,134,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2510,3513
$GC,3139,-1.30,-146.6,280.5,-9.4,149,3143,0.00,2.10,0.00,0.000,4,0.000,0.057,2088,3689,3513
$GC,3245,-1.30,-146.6,291.4,-10.0,153,3251,0.00,2.00,0.00,0.000,6,0.000,0.035,2088,2505,3513
$GC,3561,-1.30,-146.6,322.1,-9.9,169,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2504,3513
$GC,3872,-1.30,-146.6,351.0,-9.3,184,3875,0.00,2.15,0.00,0.000,4,0.000,0.059,2088,3698,3513
$GC,3973,-1.30,-146.6,361.2,-10.6,188,3977,0.00,2.00,0.00,0.000,6,0.000,0.035,2088,2520,3513
$GC,4295,-1.30,-146.6,393.3,-9.7,204,4298,0.00,2.12,0.00,0.000,4,0.000,0.062,2088,3692,3513
$GC,4373,-1.30,-146.6,401.0,-9.7,207,4377,0.00,2.00,0.00,0.000,6,0.000,0.035,2088,2518,3513
$GC,4695,-1.30,-146.6,429.0,-8.6,223,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2518,3513
$GC,5004,-1.30,-146.6,456.5,-8.9,238,5007,0.00,2.15,0.00,0.000,4,0.000,0.069,2088,3686,3513
$GC,5128,-1.30,-146.6,467.8,-9.2,243,5131,0.00,2.00,0.00,0.000,6,0.000,0.038,2088,2525,3513
$GC,5450,-1.30,-146.6,493.5,-7.6,259,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2525,3513
$GC,5759,-1.30,-146.6,519.7,-8.6,274,5762,0.00,2.22,0.00,0.000,4,0.000,0.087,2088,3687,3513
$GC,5984,-1.30,-146.6,543.5,-10.5,284,5988,0.00,2.12,0.00,0.000,6,0.000,0.062,2088,2520,3513
$GC,6317,-1.30,-146.6,574.8,-9.3,300,6321,0.00,2.60,0.00,0.000,4,0.000,0.074,2088,1106,3513
$GC,6435,-1.36,-146.6,585.5,-8.9,305,6440,0.00,2.60,0.00,0.000,6,0.000,0.068,2088,2511,3513
$GC,6752,-1.41,-146.6,607.0,-6.7,320,6756,0.00,2.25,0.00,0.000,4,0.000,0.094,2088,3693,3513
$GC,6893,-1.41,-146.6,616.9,-7.7,326,6897,0.00,2.12,0.00,0.000,6,0.000,0.054,2088,2505,3513
$GC,7220,-1.41,-146.6,641.8,-8.0,342,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2505,3513
$STATE,7300,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7300,begin apogee
$GC,7308,-0.45,0.0,648.3,7.9,346,7443,0.88,0.00,130.23,1.218,6,0.069,0.000,2275,2317,2915
$STATE,7443,end apogee,CONTROL_FINISHED_OK
$STATE,7443,begin climb
$GC,7447,1.51,146.6,652.9,0.0,353,7583,1.98,0.00,129.80,1.176,6,0.051,0.000,2705,2317,2316
$GC,7893,1.45,148.3,623.5,7.9,375,7897,0.00,2.62,0.00,0.000,4,0.000,0.071,2705,904,2314
$GC,7984,1.38,148.3,615.4,9.2,379,7990,0.15,2.60,0.00,0.000,6,0.127,0.058,2679,2320,2314
$GC,8306,1.42,175.4,592.6,7.0,395,8335,0.00,0.00,26.48,1.155,6,0.000,0.000,2680,2320,2199
$GC,8636,1.42,175.4,564.4,9.3,411,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2322,2198
$GC,8945,1.42,175.4,537.2,8.1,426,8950,0.00,2.60,0.00,0.000,4,0.000,0.063,2679,907,2198
$GC,9098,1.43,185.1,524.8,7.6,433,9113,0.00,2.55,9.52,1.050,6,0.000,0.051,2679,2324,2160
$GC,9425,1.49,234.0,504.0,6.1,448,9471,0.00,0.00,44.22,1.145,6,0.000,0.000,2679,2324,1961
$GC,9774,1.53,234.0,477.2,8.3,465,9776,0.12,0.00,0.00,0.000,6,0.063,0.000,2710,2324,1960
$GC,10083,1.53,234.0,448.6,8.8,480,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1960
$GC,10393,1.53,234.0,421.1,9.3,495,10394,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2326,1960
$GC,10702,1.53,234.0,391.0,10.1,510,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1960
$GC,11011,1.53,234.0,358.1,10.7,525,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1960
$GC,11321,1.53,234.0,327.0,9.5,540,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1960
$GC,11630,1.53,234.0,295.1,10.8,555,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1960
$GC,11939,1.53,234.0,264.1,9.6,570,11940,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1960
$GC,12248,1.53,234.0,235.5,9.1,585,12250,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1960
$GC,12557,1.53,234.0,205.0,10.2,600,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1960
$GC,12867,1.53,234.0,174.7,10.3,615,12868,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1961
$GC,13177,1.53,234.0,144.4,9.7,630,13178,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1961
$GC,13486,1.53,234.0,112.7,9.6,645,13487,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2324,1961
$GC,13795,1.53,234.0,79.7,10.8,660,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1961
$GC,14104,1.53,234.0,49.5,10.0,675,14106,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1962
$GC,14415,1.53,234.0,21.1,9.7,690,14416,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2325,1962
$STATE,14616,end climb,SURFACE_DEPTH_REACHED
$STATE,14616,begin surface coast
$FINISH,0.9,1.026402
$STATE,14640,end surface coast,CONTROL_FINISHED_OK
$STATE,14640,begin surface
$SM_CCo,14665,61.50,0.697,6,0,1692,300.00
$SM_GC,1.57,0.00,0.00,61.50,0.000,0.000,0.697,24,2534,1692,-10.81,0.51,300.00
$IRIDIUM_FIX,6148.92,-1002.62,110298,191940
$TT8_MAMPS,0.029146
$HUMID,1990
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.60
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,552.0,105.4
$24V_AH,23.1,13.665
$10V_AH,10.1,5.534
$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,25.750,67.050,340.250,61.500,0.000,22.373,30.636,147.792,11.750,0.000,0.000,11.670,1279.209,11275.123,550.323,1512.944,469.876,0.000,1274.439,0.000,1492.520,0.000,31.597,0.000
$DEVICE_MAMPS,126.555,93.574,1217.996,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,528.147,479.408,448.583,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34842,701
$CAP_FILE_SIZE,94936,0
$CFSIZE,260165632,254492672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,181108,042808,6218.498,-948.926,33,1.9,33,-10.0