version: 66.04
glider: 101
mission: 7
dive: 73
start: 11 17 108 8 9 2
data:
$ID,101
$MISSION,7
$DIVE,73
$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,-733285.81
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,080155,6205.322,-954.558,26,1.4,43,-9.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-56.2
$GPS2,080839,6205.346,-954.586,11,1.4,11,-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,18.2,27425,-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,15,-1.81,-146.6,0.0,0.0,0,78,0.00,0.00,-60.40,0.000,2,0.000,0.000,29,2524,3009
$GC,82,-1.81,-146.6,3.1,-3.2,3,113,10.15,2.50,-15.70,0.000,4,0.126,0.055,1973,1106,3512
$GC,368,-1.73,-146.6,44.0,-14.0,16,373,0.12,2.47,0.00,0.000,6,0.107,0.041,1995,2517,3513
$GC,696,-1.67,-146.6,87.6,-12.7,32,700,0.00,2.47,0.00,0.000,4,0.000,0.044,1995,1110,3513
$GC,769,-1.67,-146.6,96.9,-12.1,35,774,0.00,2.47,0.00,0.000,6,0.000,0.040,1995,2523,3513
$GC,1088,-1.62,-146.6,137.6,-13.7,50,1090,0.12,0.00,0.00,0.000,6,0.094,0.000,2020,2523,3513
$GC,1396,-1.62,-146.6,176.7,-12.3,65,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2524,3513
$GC,1704,-1.62,-146.6,212.8,-12.1,80,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2524,3513
$GC,2015,-1.62,-146.6,250.0,-12.3,95,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2524,3513
$GC,2323,-1.62,-146.6,287.3,-11.8,110,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2524,3513
$GC,2632,-1.62,-146.6,323.7,-11.9,125,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2524,3513
$GC,2941,-1.62,-146.6,359.4,-11.3,140,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2524,3513
$GC,3251,-1.62,-146.6,394.0,-11.2,155,3254,0.00,2.10,0.00,0.000,4,0.000,0.065,2020,3692,3513
$GC,3346,-1.62,-146.6,406.3,-12.5,159,3350,0.00,2.03,0.00,0.000,6,0.000,0.035,2020,2508,3513
$GC,3674,-1.62,-146.6,444.6,-11.7,175,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2508,3513
$GC,3983,-1.62,-146.6,481.7,-12.1,190,3986,0.00,2.20,0.00,0.000,4,0.000,0.077,2020,3685,3513
$GC,4084,-1.62,-146.6,495.1,-13.7,194,4088,0.00,2.03,0.00,0.000,6,0.000,0.044,2020,2528,3513
$GC,4406,-1.62,-146.6,532.7,-11.2,210,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2528,3513
$GC,4715,-1.62,-146.6,564.7,-9.5,225,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2528,3513
$GC,5024,-1.62,-146.6,595.5,-11.3,240,5028,0.00,2.38,0.00,0.000,4,0.000,0.123,2020,3679,3513
$GC,5136,-1.62,-146.6,610.4,-12.9,245,5140,0.00,2.08,0.00,0.000,6,0.000,0.051,2020,2512,3513
$GC,5465,-1.62,-146.6,646.5,-9.3,261,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2511,3513
$GC,5774,-1.62,-146.6,674.0,-9.0,276,5778,0.00,2.25,0.00,0.000,4,0.000,0.094,2020,3682,3513
$GC,6015,-1.62,-146.6,701.7,-11.4,286,6022,0.00,2.10,0.00,0.000,6,0.000,0.055,2020,2507,3513
$GC,6332,-1.62,-146.6,734.7,-10.1,302,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2506,3512
$STATE,6349,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6349,begin apogee
$GC,6357,-0.45,0.0,736.9,10.3,303,6493,1.20,0.00,131.48,1.285,6,0.074,0.000,2274,2319,2915
$STATE,6494,end apogee,CONTROL_FINISHED_OK
$STATE,6494,begin climb
$GC,6497,1.81,146.6,740.7,0.0,310,6633,2.28,0.00,130.48,1.239,6,0.049,0.000,2770,2319,2317
$GC,6948,1.75,150.8,704.4,9.8,332,6954,0.00,0.00,5.07,0.887,6,0.000,0.000,2770,2319,2300
$GC,7253,1.72,159.9,674.4,9.6,347,7268,0.00,2.67,9.85,1.106,4,0.000,0.072,2770,907,2263
$GC,7337,1.64,159.9,665.9,10.1,350,7342,0.20,2.60,0.00,0.000,6,0.133,0.058,2736,2318,2263
$GC,7665,1.67,183.1,636.5,8.9,366,7692,0.00,2.65,21.85,1.203,4,0.000,0.079,2736,3694,2168
$GC,7755,1.68,185.9,627.9,9.9,370,7765,0.00,2.50,4.25,0.820,6,0.000,0.047,2736,2302,2157
$GC,8083,1.72,185.9,591.4,12.7,386,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2302,2156
$GC,8392,1.77,185.9,547.7,15.2,401,8394,0.10,0.00,0.00,0.000,6,0.064,0.000,2762,2301,2155
$GC,8701,1.77,185.9,509.2,10.8,416,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2301,2155
$GC,9010,1.77,185.9,475.7,10.6,431,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2302,2155
$GC,9320,1.77,185.9,443.0,10.3,446,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2301,2155
$GC,9629,1.77,193.0,413.1,9.7,461,9639,0.00,0.00,7.75,0.941,6,0.000,0.000,2763,2301,2128
$GC,9939,1.78,198.4,382.8,9.7,476,9952,0.00,2.62,6.60,0.884,4,0.000,0.058,2763,3699,2106
$GC,10005,1.78,198.4,375.8,11.3,479,10009,0.00,2.42,0.00,0.000,6,0.000,0.036,2763,2299,2106
$GC,10338,1.79,209.9,343.5,9.5,495,10356,0.00,0.00,12.07,0.960,6,0.000,0.000,2763,2298,2059
$GC,10667,1.79,209.9,310.2,10.4,511,10671,0.00,2.45,0.00,0.000,4,0.000,0.049,2763,907,2059
$GC,10740,1.79,209.9,302.3,10.8,514,10744,0.00,2.50,0.00,0.000,6,0.000,0.040,2763,2333,2059
$GC,11061,1.79,209.9,267.8,10.7,530,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2333,2059
$GC,11370,1.82,231.8,236.1,9.0,545,11392,0.00,0.00,19.85,0.927,6,0.000,0.000,2763,2333,1970
$GC,11700,1.82,231.8,199.5,11.2,561,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2333,1970
$GC,12009,1.82,231.8,161.1,13.3,576,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2333,1970
$GC,12318,1.82,231.8,118.5,14.1,591,12319,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2333,1970
$GC,12628,1.82,231.8,75.7,13.2,606,12629,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2333,1970
$GC,12937,1.86,231.8,35.8,12.5,621,12939,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2333,1970
$STATE,13202,end climb,SURFACE_DEPTH_REACHED
$STATE,13202,begin surface coast
$FINISH,0.9,1.005597
$STATE,13223,end surface coast,CONTROL_FINISHED_OK
$STATE,13224,begin surface
$SM_CCo,13249,61.72,0.729,4,0,1692,300.00
$SM_GC,1.64,0.00,0.00,61.72,0.000,0.000,0.729,28,2528,1692,-10.80,0.31,300.00
$IRIDIUM_FIX,6139.81,-950.38,110298,040423
$TT8_MAMPS,0.028379
$HUMID,2001
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,650.0,95.1
$24V_AH,23.1,13.068
$10V_AH,10.1,5.263
$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,26.475,48.150,349.250,61.725,0.000,25.776,33.784,227.358,5.750,0.000,0.000,13.246,1153.807,10210.479,524.972,1325.298,529.583,0.000,1167.257,0.000,1299.589,0.000,38.041,0.000
$DEVICE_MAMPS,133.458,123.487,1285.492,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.240,433.814,369.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31757,635
$CAP_FILE_SIZE,86224,0
$CFSIZE,260165632,254693376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,171108,115237,6208.781,-955.084,40,1.0,40,-9.9