version: 66.04
glider: 101
mission: 7
dive: 22
start: 11 11 108 1 19 5
data:
$ID,101
$MISSION,7
$DIVE,22
$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,-732169.12
$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,18
$R_STBD_OVSHOOT,27
$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
$GPS1,011137,6130.060,-827.654,38,1.4,44,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-55.2
$GPS2,011844,6129.974,-827.757,11,1.8,15,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$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,97.8,2436,-27.6,-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,16,-2.59,-61.8,0.0,0.0,0,79,0.00,0.00,-60.78,0.000,2,0.000,0.000,29,2519,3016
$GC,83,-2.66,-121.8,3.0,-3.4,3,110,9.40,2.53,-11.95,0.000,4,0.136,0.054,1790,1093,3411
$GC,363,-2.61,-121.8,55.7,-17.1,15,370,0.00,2.50,0.00,0.000,6,0.000,0.041,1790,2515,3411
$GC,682,-2.56,-121.8,117.7,-21.0,31,686,0.12,2.50,0.00,0.000,4,0.117,0.042,1813,1100,3411
$GC,907,-2.56,-121.8,163.7,-20.6,41,911,0.00,2.50,0.00,0.000,6,0.000,0.040,1813,2524,3411
$GC,1230,-2.56,-121.8,227.3,-20.0,57,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2524,3411
$GC,1537,-2.56,-121.8,287.3,-19.1,72,1542,0.00,2.53,0.00,0.000,4,0.000,0.044,1813,1092,3411
$GC,1582,-2.56,-121.8,295.8,-18.5,74,1587,0.00,2.53,0.00,0.000,6,0.000,0.041,1813,2528,3411
$GC,1904,-2.56,-121.8,356.0,-18.2,90,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2529,3412
$GC,2213,-2.56,-121.8,415.5,-19.8,105,2218,0.00,2.58,0.00,0.000,4,0.000,0.053,1813,1094,3412
$GC,2331,-2.56,-121.8,440.1,-20.8,110,2336,0.00,2.55,0.00,0.000,6,0.000,0.050,1813,2518,3412
$GC,2648,-2.56,-121.8,503.8,-19.3,125,2653,0.00,2.62,0.00,0.000,4,0.000,0.069,1813,1103,3411
$GC,2760,-2.56,-121.8,526.1,-19.9,130,2765,0.00,2.65,0.00,0.000,6,0.000,0.071,1813,2520,3412
$GC,3083,-2.56,-121.8,586.2,-16.9,146,3087,0.00,2.62,0.00,0.000,4,0.000,0.067,1813,1101,3412
$GC,3150,-2.56,-121.8,597.3,-16.0,149,3154,0.00,2.62,0.00,0.000,6,0.000,0.066,1813,2518,3412
$GC,3471,-2.56,-121.8,659.0,-18.2,165,3475,0.00,2.65,0.00,0.000,4,0.000,0.071,1813,1101,3411
$GC,3729,-2.56,-121.8,698.4,-13.3,176,3735,0.00,2.65,0.00,0.000,6,0.000,0.069,1812,2524,3411
$GC,4045,-2.56,-121.8,745.9,-18.0,192,4049,0.00,2.67,0.00,0.000,4,0.000,0.078,1813,1109,3411
$GC,4301,-2.56,-121.8,790.7,-16.7,203,4308,0.00,2.65,0.00,0.000,6,0.000,0.074,1813,2519,3411
$STATE,4532,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4532,begin apogee
$GC,4540,-0.45,0.0,828.5,15.7,215,4656,2.22,0.00,110.15,1.344,6,0.083,0.000,2276,2309,2915
$STATE,4656,end apogee,CONTROL_FINISHED_OK
$STATE,4656,begin climb
$GC,4660,2.66,121.8,833.6,0.0,221,4779,3.05,2.75,109.35,1.302,4,0.047,0.084,2958,3694,2418
$GC,5035,2.50,121.8,796.1,20.7,237,5040,0.20,2.53,0.00,0.000,6,0.137,0.052,2925,2306,2417
$GC,5356,2.50,121.8,749.4,12.6,253,5361,0.00,2.70,0.00,0.000,4,0.000,0.083,2925,3705,2415
$GC,5615,2.44,121.8,711.2,15.3,264,5621,0.00,2.53,0.00,0.000,6,0.000,0.053,2925,2314,2414
$GC,5931,2.44,121.8,670.6,13.5,280,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2315,2413
$GC,6240,2.44,121.8,640.2,10.9,295,6244,0.00,2.60,0.00,0.000,4,0.000,0.070,2925,899,2411
$GC,6374,2.44,121.8,625.3,11.3,301,6379,0.00,2.58,0.00,0.000,6,0.000,0.054,2924,2323,2411
$GC,6696,2.44,128.2,593.1,9.3,317,6704,0.00,0.00,5.95,1.016,6,0.000,0.000,2925,2324,2392
$GC,7005,2.44,128.2,559.2,11.9,332,7009,0.00,2.60,0.00,0.000,4,0.000,0.061,2925,897,2392
$GC,7264,2.44,128.2,527.6,12.7,343,7270,0.00,2.55,0.00,0.000,6,0.000,0.049,2925,2320,2392
$GC,7580,2.44,128.2,487.6,12.9,359,7584,0.00,2.58,0.00,0.000,4,0.000,0.056,2925,900,2392
$GC,7837,2.44,128.2,453.9,13.2,370,7844,0.00,2.53,0.00,0.000,6,0.000,0.044,2925,2326,2392
$GC,8154,2.44,128.2,413.2,13.0,386,8158,0.00,2.55,0.00,0.000,4,0.000,0.051,2925,904,2393
$GC,8411,2.44,128.2,378.7,13.6,397,8417,0.00,2.50,0.00,0.000,6,0.000,0.041,2925,2329,2393
$GC,8728,2.44,128.2,338.1,12.5,413,8731,0.00,2.55,0.00,0.000,4,0.000,0.048,2924,897,2394
$GC,8986,2.44,128.2,306.0,11.7,424,8991,0.00,2.47,0.00,0.000,6,0.000,0.039,2925,2325,2394
$GC,9303,2.48,128.2,268.7,11.6,439,9307,0.00,2.53,0.00,0.000,4,0.000,0.046,2924,900,2396
$GC,9560,2.48,128.2,240.2,11.0,450,9566,0.00,2.47,0.00,0.000,6,0.000,0.038,2925,2324,2396
$GC,9877,2.52,128.2,205.2,11.8,466,9881,0.00,2.53,0.00,0.000,4,0.000,0.045,2925,894,2397
$GC,9995,2.52,128.2,190.7,11.8,471,9999,0.00,2.47,0.00,0.000,6,0.000,0.038,2924,2319,2396
$GC,10312,2.57,128.2,153.2,12.4,486,10316,0.00,2.50,0.00,0.000,4,0.000,0.044,2925,901,2398
$GC,10412,2.57,128.2,139.9,12.7,490,10419,0.00,2.47,0.00,0.000,6,0.000,0.037,2925,2329,2398
$GC,10730,2.62,128.2,100.0,12.6,506,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2329,2398
$GC,11038,2.62,128.2,61.3,13.9,521,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2329,2398
$GC,11347,2.62,128.2,15.8,12.5,536,11352,0.00,2.53,0.00,0.000,4,0.000,0.044,2925,894,2398
$STATE,11445,end climb,SURFACE_DEPTH_REACHED
$STATE,11445,begin surface coast
$FINISH,1.3,1.027292
$STATE,11454,end surface coast,CONTROL_FINISHED_OK
$STATE,11454,begin surface
$SM_CCo,11482,111.85,0.755,3,0,1692,300.00
$SM_GC,1.56,0.00,0.00,111.85,0.000,0.000,0.755,28,2530,1692,-10.80,0.37,300.00
$IRIDIUM_FIX,6103.81,-826.28,050298,010106
$TT8_MAMPS,0.029146
$HUMID,1978
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.7,87.5
$24V_AH,23.0,6.573
$10V_AH,10.1,2.592
$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,28.125,98.150,225.450,111.850,0.000,48.278,72.550,127.299,6.750,0.000,0.000,16.896,1109.227,8284.054,475.607,1681.191,494.918,0.000,1272.803,0.000,1627.323,0.000,50.115,0.000
$DEVICE_MAMPS,136.526,84.370,1343.784,755.495,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.234,369.701,312.893,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28476,541
$CAP_FILE_SIZE,93473,0
$CFSIZE,260165632,256716800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,111108,043356,6131.178,-827.932,38,1.9,38,-8.9