version: 66.04
glider: 101
mission: 7
dive: 28
start: 11 11 108 21 50 50
data:
$ID,101
$MISSION,7
$DIVE,28
$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,-732318.5
$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,36
$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
$GPS1,214547,6126.627,-840.015,39,2.0,48,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.1
$GPS2,215026,6126.616,-840.038,10,1.9,15,-9.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$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,244.4,21556,-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,-60.30,0.000,2,0.000,0.000,26,2528,3022
$GC,82,-1.81,-146.6,3.4,-4.6,3,112,10.32,2.10,-14.40,0.000,4,0.133,0.071,1974,3677,3513
$GC,366,-1.68,-146.6,45.1,-15.3,15,373,0.17,2.03,0.00,0.000,6,0.096,0.035,2007,2490,3514
$GC,683,-1.68,-146.6,85.2,-12.3,31,686,0.00,2.15,0.00,0.000,4,0.000,0.056,2007,3683,3514
$GC,784,-1.62,-146.6,98.8,-13.3,35,788,0.00,2.00,0.00,0.000,6,0.000,0.035,2007,2505,3514
$GC,1108,-1.62,-146.6,136.2,-11.1,51,1111,0.00,2.12,0.00,0.000,4,0.000,0.055,2007,3686,3514
$GC,1170,-1.56,-146.6,143.9,-12.1,53,1177,0.15,2.03,0.00,0.000,6,0.095,0.035,2036,2495,3513
$GC,1486,-1.56,-146.6,173.7,-8.5,69,1490,0.00,2.12,0.00,0.000,4,0.000,0.055,2036,3688,3514
$GC,1533,-1.56,-146.6,178.0,-9.8,71,1537,0.00,2.00,0.00,0.000,6,0.000,0.035,2036,2506,3514
$GC,1867,-1.56,-146.6,208.6,-9.2,87,1870,0.00,2.10,0.00,0.000,4,0.000,0.056,2036,3677,3514
$GC,1895,-1.56,-146.6,211.3,-10.2,88,1899,0.00,1.95,0.00,0.000,6,0.000,0.035,2036,2518,3514
$GC,2222,-1.56,-146.6,240.9,-9.3,104,2226,0.00,2.10,0.00,0.000,4,0.000,0.056,2036,3686,3514
$GC,2262,-1.56,-146.6,244.9,-10.2,105,2268,0.00,2.03,0.00,0.000,6,0.000,0.035,2036,2491,3514
$GC,2580,-1.56,-146.6,276.0,-10.5,121,2583,0.00,2.15,0.00,0.000,4,0.000,0.056,2036,3688,3514
$GC,2641,-1.56,-146.6,283.3,-12.0,123,2648,0.00,2.00,0.00,0.000,6,0.000,0.035,2036,2505,3514
$GC,2958,-1.60,-146.6,316.1,-10.5,139,2961,0.00,2.12,0.00,0.000,4,0.000,0.058,2036,3685,3514
$GC,3027,-1.60,-146.6,323.8,-11.7,142,3030,0.00,1.98,0.00,0.000,6,0.000,0.035,2036,2518,3514
$GC,3360,-1.60,-146.6,358.4,-9.9,158,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2517,3514
$GC,3670,-1.64,-146.6,388.9,-9.8,173,3673,0.00,2.08,0.00,0.000,4,0.000,0.062,2036,3676,3514
$GC,3761,-1.64,-146.6,398.6,-10.4,177,3765,0.00,1.98,0.00,0.000,6,0.000,0.035,2036,2518,3514
$STATE,4091,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4091,begin apogee
$GC,4099,-0.45,0.0,431.5,10.1,193,4233,1.10,0.00,126.47,1.038,6,0.061,0.000,2276,2315,2915
$STATE,4234,end apogee,CONTROL_FINISHED_OK
$STATE,4234,begin climb
$GC,4238,1.81,146.6,431.4,0.0,200,4371,2.20,2.60,124.55,0.999,4,0.049,0.058,2771,915,2317
$GC,4389,1.83,215.4,426.4,6.8,207,4454,0.00,2.50,58.97,0.963,6,0.000,0.043,2771,2302,2037
$GC,4777,1.83,215.4,382.6,11.9,226,4781,0.00,2.53,0.00,0.000,4,0.000,0.060,2771,3696,2037
$GC,4839,1.83,215.4,374.5,13.3,229,4844,0.00,2.42,0.00,0.000,6,0.000,0.035,2771,2307,2037
$GC,5167,1.83,215.4,335.4,11.8,245,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2306,2037
$GC,5476,1.83,215.4,297.7,12.6,260,5480,0.00,2.47,0.00,0.000,4,0.000,0.049,2771,907,2036
$GC,5504,1.83,215.4,293.9,13.3,261,5509,0.00,2.50,0.00,0.000,6,0.000,0.039,2771,2329,2036
$GC,5821,1.83,215.4,253.7,12.7,276,5825,0.00,2.45,0.00,0.000,4,0.000,0.058,2771,3698,2036
$GC,5843,1.83,215.4,250.7,13.1,277,5847,0.00,2.40,0.00,0.000,6,0.000,0.034,2771,2303,2036
$GC,6164,1.83,215.4,208.9,13.8,293,6168,0.00,2.45,0.00,0.000,4,0.000,0.048,2771,911,2036
$GC,6208,1.83,215.4,202.8,13.5,295,6213,0.00,2.47,0.00,0.000,6,0.000,0.038,2771,2325,2036
$GC,6531,1.83,215.4,161.5,12.2,311,6535,0.00,2.45,0.00,0.000,4,0.000,0.056,2771,3699,2036
$GC,6593,1.83,215.4,153.2,13.6,314,6598,0.00,2.38,0.00,0.000,6,0.000,0.034,2771,2313,2036
$GC,6922,1.83,215.4,111.8,12.0,330,6926,0.00,2.45,0.00,0.000,4,0.000,0.047,2771,915,2036
$GC,6972,1.83,215.4,105.6,11.7,332,6977,0.00,2.45,0.00,0.000,6,0.000,0.037,2771,2323,2036
$GC,7290,1.84,219.6,70.0,9.8,347,7301,0.00,2.45,5.40,0.660,4,0.000,0.055,2771,3693,2018
$GC,7363,1.87,247.5,61.5,8.7,350,7396,0.00,2.38,24.67,0.809,6,0.000,0.033,2771,2306,1904
$GC,7707,1.87,247.5,13.1,15.4,367,7711,0.00,2.50,0.00,0.000,4,0.000,0.054,2771,3692,1904
$GC,7751,1.87,247.5,6.1,15.7,369,7756,0.00,2.38,0.00,0.000,6,0.000,0.033,2771,2305,1904
$STATE,7802,end climb,SURFACE_DEPTH_REACHED
$STATE,7802,begin surface coast
$FINISH,0.8,1.017464
$STATE,7824,end surface coast,CONTROL_FINISHED_OK
$STATE,7824,begin surface
$SM_CCo,7850,46.15,0.711,3,0,1692,300.00
$SM_GC,1.60,0.00,0.00,46.15,0.000,0.000,0.711,29,2516,1692,-10.80,-0.03,300.00
$IRIDIUM_FIX,6103.81,-835.19,050298,191930
$TT8_MAMPS,0.028379
$HUMID,1995
$INTERNAL_PRESSURE,7.85186
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,350.3,91.1
$24V_AH,23.2,7.377
$10V_AH,10.1,2.937
$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,26.225,81.975,340.075,46.150,0.000,26.299,31.446,112.775,2.750,0.000,0.000,17.132,748.178,5644.039,470.845,973.923,368.250,0.000,1001.073,0.000,946.172,0.000,18.607,0.000
$DEVICE_MAMPS,132.691,70.564,1037.751,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,272.062,254.415,283.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19166,373
$CAP_FILE_SIZE,67292,0
$CFSIZE,260165632,256466944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,121108,000402,6125.279,-842.621,38,1.2,39,-9.0