version: 66.04
glider: 101
mission: 7
dive: 29
start: 11 12 108 0 9 9
data:
$ID,101
$MISSION,7
$DIVE,29
$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,-732337.31
$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,26
$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
$GPS1,000402,6125.279,-842.621,38,1.2,39,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-59.1
$GPS2,000845,6125.253,-842.642,16,1.2,16,-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,246.8,18234,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.22,0.000,2,0.000,0.000,28,2517,3052
$GC,83,-1.81,-146.6,3.3,-4.6,3,113,10.18,2.12,-13.73,0.000,4,0.127,0.069,1972,3685,3514
$GC,366,-1.68,-146.6,41.6,-12.9,15,373,0.17,2.03,0.00,0.000,6,0.100,0.035,2005,2495,3514
$GC,683,-1.68,-146.6,80.9,-12.8,31,686,0.00,2.15,0.00,0.000,4,0.000,0.054,2005,3690,3514
$GC,801,-1.61,-146.6,96.4,-12.0,36,805,0.00,2.00,0.00,0.000,6,0.000,0.035,2005,2512,3514
$GC,1129,-1.61,-146.6,135.5,-12.0,52,1133,0.00,2.12,0.00,0.000,4,0.000,0.054,2005,3696,3514
$GC,1176,-1.55,-146.6,141.5,-12.9,54,1180,0.15,2.03,0.00,0.000,6,0.093,0.035,2034,2505,3514
$GC,1508,-1.55,-146.6,179.6,-11.6,70,1512,0.00,2.12,0.00,0.000,4,0.000,0.055,2034,3689,3514
$GC,1622,-1.55,-146.6,193.0,-11.1,75,1626,0.00,2.00,0.00,0.000,6,0.000,0.035,2033,2508,3514
$GC,1956,-1.55,-146.6,227.0,-10.2,91,1960,0.00,2.12,0.00,0.000,4,0.000,0.056,2034,3690,3514
$GC,2018,-1.55,-146.6,234.0,-11.1,93,2024,0.00,2.00,0.00,0.000,6,0.000,0.035,2034,2510,3514
$GC,2335,-1.55,-146.6,265.4,-9.5,109,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2510,3515
$GC,2644,-1.55,-146.6,296.1,-9.8,124,2648,0.00,2.12,0.00,0.000,4,0.000,0.058,2033,3691,3514
$GC,2673,-1.55,-146.6,299.0,-9.9,125,2677,0.00,1.98,0.00,0.000,6,0.000,0.035,2034,2516,3514
$GC,3000,-1.55,-146.6,332.4,-10.6,141,3004,0.00,2.12,0.00,0.000,4,0.000,0.058,2034,3693,3514
$GC,3040,-1.55,-146.6,337.2,-11.5,142,3046,0.00,2.00,0.00,0.000,6,0.000,0.035,2034,2514,3514
$STATE,3332,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3332,begin apogee
$GC,3341,-0.45,0.0,365.1,3.9,157,3469,1.10,0.00,125.05,0.996,6,0.055,0.000,2277,2320,2915
$STATE,3470,end apogee,CONTROL_FINISHED_OK
$STATE,3470,begin climb
$GC,3474,1.81,146.6,364.8,0.0,163,3606,2.17,2.58,123.95,0.954,4,0.044,0.053,2774,917,2316
$GC,3740,1.77,162.3,347.1,9.3,175,3760,0.00,2.47,14.80,0.872,6,0.000,0.040,2774,2314,2253
$GC,4088,1.78,172.1,314.0,9.5,192,4103,0.00,2.53,9.93,0.837,4,0.000,0.058,2773,3693,2213
$GC,4138,1.70,172.1,308.9,10.3,193,4143,0.15,2.40,0.00,0.000,6,0.099,0.034,2747,2310,2213
$GC,4454,1.73,194.3,279.8,9.0,208,4480,0.00,2.53,20.50,0.898,4,0.000,0.048,2746,911,2122
$GC,4525,1.73,194.3,272.8,10.3,211,4529,0.00,2.50,0.00,0.000,6,0.000,0.039,2747,2327,2122
$GC,4847,1.73,194.3,239.5,10.6,227,4851,0.00,2.45,0.00,0.000,4,0.000,0.057,2747,3694,2122
$GC,4897,1.73,194.3,233.5,11.7,229,4901,0.00,2.38,0.00,0.000,6,0.000,0.034,2746,2316,2122
$GC,5213,1.73,194.3,199.6,10.5,244,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2316,2122
$GC,5523,1.77,197.8,168.8,9.8,259,5530,0.00,0.00,4.72,0.651,6,0.000,0.000,2746,2315,2108
$GC,5832,1.77,197.8,139.2,10.0,274,5836,0.00,2.47,0.00,0.000,4,0.000,0.054,2746,3689,2108
$GC,5905,1.77,197.8,130.9,10.9,277,5909,0.00,2.38,0.00,0.000,6,0.000,0.035,2746,2306,2108
$GC,6223,1.77,197.8,98.9,10.7,292,6227,0.00,2.50,0.00,0.000,4,0.000,0.054,2746,3696,2108
$GC,6273,1.77,197.8,93.4,10.8,294,6277,0.00,2.38,0.00,0.000,6,0.000,0.034,2746,2309,2108
$GC,6591,1.81,197.8,59.3,11.6,309,6593,0.10,0.00,0.00,0.000,6,0.063,0.000,2774,2307,2108
$GC,6898,1.81,197.8,22.8,13.2,324,6903,0.00,2.47,0.00,0.000,4,0.000,0.054,2774,3689,2108
$GC,6940,1.76,197.8,17.3,14.5,326,6944,0.00,2.35,0.00,0.000,6,0.000,0.034,2774,2309,2108
$STATE,7078,end climb,SURFACE_DEPTH_REACHED
$STATE,7078,begin surface coast
$FINISH,0.8,1.014358
$STATE,7100,end surface coast,CONTROL_FINISHED_OK
$STATE,7100,begin surface
$SM_CCo,7125,83.95,0.754,2,0,1691,300.00
$SM_GC,1.75,0.00,0.00,83.95,0.000,0.000,0.754,22,2519,1691,-10.82,0.06,300.00
$IRIDIUM_FIX,6103.81,-843.40,050298,212111
$TT8_MAMPS,0.029146
$HUMID,1988
$INTERNAL_PRESSURE,7.86163
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.9,99.2
$24V_AH,23.2,7.485
$10V_AH,10.1,2.978
$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,26.200,64.000,298.950,83.950,0.000,25.215,29.763,115.361,1.750,0.000,0.000,18.191,683.810,5133.628,462.226,888.753,350.209,0.000,932.494,0.000,865.904,0.000,13.779,0.000
$DEVICE_MAMPS,127.322,69.030,996.333,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,243.826,227.738,282.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15990,334
$CAP_FILE_SIZE,60212,0
$CFSIZE,260165632,256446464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,121108,021042,6124.514,-846.262,10,3.8,30,-9.1