version: 66.04
glider: 101
mission: 7
dive: 76
start: 11 17 108 19 48 36
data:
$ID,101
$MISSION,7
$DIVE,76
$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,-733333.88
$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,35
$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
$GPS1,194308,6212.881,-957.920,31,1.4,31,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-57.9
$GPS2,194815,6212.854,-957.932,13,1.4,13,-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,37.3,14890,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.51,-146.6,0.0,0.0,0,78,0.00,0.00,-60.58,0.000,2,0.000,0.000,27,2541,2993
$GC,82,-1.51,-146.6,3.3,-4.1,3,116,10.43,2.53,-16.73,0.000,4,0.123,0.054,2039,1106,3512
$GC,342,-1.42,-146.6,33.1,-9.5,14,349,0.12,2.47,0.00,0.000,6,0.102,0.040,2062,2520,3512
$GC,659,-1.37,-146.6,65.3,-10.2,30,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2521,3512
$GC,968,-1.32,-146.6,99.0,-11.2,45,973,0.12,2.08,0.00,0.000,4,0.094,0.057,2087,3690,3512
$GC,1058,-1.32,-146.6,109.5,-12.0,49,1062,0.00,2.00,0.00,0.000,6,0.000,0.035,2087,2510,3512
$GC,1387,-1.32,-146.6,141.5,-8.7,65,1391,0.00,2.12,0.00,0.000,4,0.000,0.056,2087,3695,3512
$GC,1460,-1.32,-146.6,147.9,-8.2,68,1464,0.00,2.00,0.00,0.000,6,0.000,0.035,2087,2516,3512
$GC,1788,-1.32,-146.6,175.0,-8.6,84,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2515,3512
$GC,2097,-1.32,-146.6,201.9,-8.7,99,2100,0.00,2.12,0.00,0.000,4,0.000,0.057,2087,3699,3512
$GC,2215,-1.32,-146.6,214.0,-11.0,104,2219,0.00,2.03,0.00,0.000,6,0.000,0.035,2087,2506,3512
$GC,2543,-1.32,-146.6,247.0,-10.4,120,2546,0.00,2.12,0.00,0.000,4,0.000,0.057,2087,3690,3512
$GC,2627,-1.32,-146.6,255.9,-10.4,123,2633,0.00,2.00,0.00,0.000,6,0.000,0.035,2087,2508,3512
$GC,2943,-1.32,-146.6,287.2,-10.2,139,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2508,3512
$GC,3252,-1.32,-146.6,317.0,-9.8,154,3256,0.00,2.12,0.00,0.000,4,0.000,0.058,2087,3691,3512
$GC,3321,-1.32,-146.6,323.8,-10.4,157,3325,0.00,2.00,0.00,0.000,6,0.000,0.035,2087,2510,3513
$GC,3654,-1.32,-146.6,354.3,-9.0,173,3658,0.00,2.12,0.00,0.000,4,0.000,0.059,2087,3688,3512
$GC,3733,-1.32,-146.6,361.7,-8.9,176,3737,0.00,2.00,0.00,0.000,6,0.000,0.035,2087,2512,3512
$GC,4055,-1.32,-146.6,387.2,-8.2,192,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2512,3512
$GC,4364,-1.32,-146.6,412.6,-8.1,207,4367,0.00,2.15,0.00,0.000,4,0.000,0.064,2087,3692,3513
$GC,4522,-1.32,-146.6,426.0,-8.1,214,4526,0.00,2.00,0.00,0.000,6,0.000,0.036,2087,2519,3513
$GC,4855,-1.32,-146.6,452.1,-8.0,230,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2519,3512
$GC,5164,-1.32,-146.6,477.5,-8.5,245,5168,0.00,2.15,0.00,0.000,4,0.000,0.074,2087,3685,3512
$GC,5277,-1.32,-146.6,487.9,-9.1,250,5281,0.00,2.03,0.00,0.000,6,0.000,0.041,2087,2520,3512
$GC,5611,-1.32,-146.6,519.0,-8.8,266,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2520,3512
$GC,5920,-1.32,-146.6,539.6,-5.7,281,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2520,3512
$GC,6230,-1.32,-146.6,562.8,-9.1,296,6234,0.00,2.70,0.00,0.000,4,0.000,0.093,2087,1106,3512
$GC,6476,-1.32,-146.6,582.6,-7.6,307,6481,0.00,2.62,0.00,0.000,6,0.000,0.072,2087,2512,3512
$GC,6797,-1.32,-146.6,609.3,-10.2,323,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2512,3512
$GC,7107,-1.32,-146.6,636.5,-6.9,338,7111,0.00,2.25,0.00,0.000,4,0.000,0.094,2087,3695,3512
$GC,7279,-1.32,-146.6,647.5,-6.5,345,7285,0.00,2.10,0.00,0.000,6,0.000,0.054,2086,2516,3512
$GC,7595,-1.32,-146.6,672.2,-8.4,361,7599,0.00,2.28,0.00,0.000,4,0.000,0.091,2087,3696,3511
$GC,7680,-1.32,-146.6,680.5,-10.3,365,7684,0.00,2.10,0.00,0.000,6,0.000,0.053,2087,2516,3511
$GC,8014,-1.32,-146.6,709.2,-7.7,381,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2516,3510
$STATE,8092,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8092,begin apogee
$GC,8100,-0.45,0.0,716.2,8.4,385,8235,0.88,0.00,130.65,1.289,6,0.070,0.000,2273,2313,2915
$STATE,8236,end apogee,CONTROL_FINISHED_OK
$STATE,8236,begin climb
$GC,8240,1.51,146.6,722.6,0.0,392,8375,1.98,0.00,130.62,1.239,6,0.053,0.000,2713,2313,2317
$GC,8676,1.42,153.7,693.7,7.7,413,8691,0.15,0.00,7.75,1.035,6,0.100,0.000,2685,2313,2288
$GC,9001,1.44,167.8,668.4,7.5,429,9019,0.00,0.00,14.27,1.161,6,0.000,0.000,2686,2313,2229
$GC,9330,1.44,167.8,641.8,8.2,445,9334,0.00,2.62,0.00,0.000,4,0.000,0.077,2685,3696,2229
$GC,9461,1.39,167.8,629.8,9.4,451,9465,0.00,2.47,0.00,0.000,6,0.000,0.048,2685,2315,2228
$GC,9788,1.39,167.8,601.1,8.1,467,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2314,2228
$GC,10097,1.39,167.8,575.2,8.5,482,10101,0.00,2.60,0.00,0.000,4,0.000,0.067,2685,901,2227
$GC,10186,1.39,167.8,567.9,8.4,486,10191,0.00,2.60,0.00,0.000,6,0.000,0.054,2685,2329,2227
$GC,10508,1.42,192.2,544.1,7.1,502,10532,0.00,0.00,22.17,1.189,6,0.000,0.000,2685,2330,2131
$GC,10837,1.56,305.8,525.4,3.7,518,10944,0.12,2.72,100.35,1.180,4,0.064,0.060,2716,909,1667
$GC,11154,1.56,305.8,497.7,10.6,532,11158,0.00,2.55,0.00,0.000,6,0.000,0.048,2716,2326,1667
$GC,11470,1.56,305.8,462.3,11.1,547,11474,0.00,2.50,0.00,0.000,4,0.000,0.064,2716,3699,1667
$GC,11514,1.56,305.8,457.1,12.0,549,11519,0.00,2.45,0.00,0.000,6,0.000,0.038,2715,2298,1667
$GC,11836,1.56,305.8,422.5,10.8,565,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2299,1666
$GC,12145,1.56,305.8,388.6,11.0,580,12150,0.00,2.55,0.00,0.000,4,0.000,0.060,2716,3692,1667
$GC,12196,1.56,305.8,382.6,11.7,582,12200,0.00,2.40,0.00,0.000,6,0.000,0.036,2716,2307,1667
$GC,12512,1.56,305.8,346.2,11.5,597,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2307,1667
$GC,12821,1.56,305.8,313.2,10.3,612,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2307,1667
$GC,13131,1.56,305.8,285.7,9.0,627,13135,0.00,2.53,0.00,0.000,4,0.000,0.058,2716,3701,1667
$GC,13199,1.56,305.8,279.3,9.2,630,13204,0.00,2.40,0.00,0.000,6,0.000,0.037,2716,2308,1667
$GC,13528,1.56,305.8,250.7,8.6,646,13529,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2307,1667
$GC,13837,1.56,305.8,221.1,10.0,661,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2307,1668
$GC,14146,1.56,305.8,189.6,9.7,676,14150,0.00,2.50,0.00,0.000,4,0.000,0.055,2716,3696,1669
$GC,14201,1.56,305.8,182.8,11.9,678,14208,0.00,2.38,0.00,0.000,6,0.000,0.035,2716,2310,1669
$GC,14518,1.56,305.8,149.0,10.5,694,14519,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2309,1669
$GC,14829,1.56,305.8,114.1,10.6,709,14830,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2309,1669
$GC,15137,1.56,305.8,79.3,10.5,724,15141,0.00,2.50,0.00,0.000,4,0.000,0.053,2716,3706,1669
$GC,15200,1.56,305.8,71.7,11.8,727,15205,0.00,2.38,0.00,0.000,6,0.000,0.035,2716,2314,1669
$GC,15530,1.56,305.8,34.5,11.3,743,15531,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2314,1669
$STATE,15815,end climb,SURFACE_DEPTH_REACHED
$STATE,15815,begin surface coast
$FINISH,1.0,1.027407
$STATE,15835,end surface coast,CONTROL_FINISHED_OK
$STATE,15835,begin surface
$SM_CCo,15921,0.00,0.000,0,0,1670,305.40
$SM_GC,1.54,11.90,0.00,0.00,0.039,0.000,0.000,27,2530,1670,-10.75,0.34,305.40
$IRIDIUM_FIX,6144.36,-956.48,110298,161609
$TT8_MAMPS,0.028379
$HUMID,2021
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.60
$XPDR_PINGS,83
$ALTIM_BOTTOM_PING,625.6,99.4
$24V_AH,23.1,13.527
$10V_AH,10.1,5.466
$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,25.700,93.000,405.825,0.000,0.000,23.976,26.884,131.576,26.000,0.000,0.000,15.484,1404.617,12065.546,501.086,1784.205,476.857,0.000,1379.892,0.000,1745.307,0.000,36.429,0.000
$DEVICE_MAMPS,122.720,94.341,1288.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,563.721,518.232,445.041,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38061,758
$CAP_FILE_SIZE,107692,0
$CFSIZE,260165632,254529536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181108,001508,6216.761,-955.069,31,1.6,31,-10.0