version: 66.04
glider: 101
mission: 7
dive: 30
start: 11 12 108 2 16 4
data:
$ID,101
$MISSION,7
$DIVE,30
$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,-732373.25
$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,37
$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
$GPS1,021042,6124.514,-846.262,10,3.8,30,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-56.8
$GPS2,021541,6124.505,-846.323,13,3.2,32,-9.1
$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,244.6,14740,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.81,-146.6,0.0,0.0,0,78,0.00,0.00,-60.62,0.000,2,0.000,0.000,22,2520,3037
$GC,82,-1.81,-146.6,3.4,-4.7,3,112,10.20,2.12,-13.98,0.000,4,0.127,0.071,1974,3684,3514
$GC,365,-1.67,-146.6,45.1,-15.3,15,372,0.17,2.03,0.00,0.000,6,0.095,0.035,2008,2495,3514
$GC,682,-1.67,-146.6,89.6,-13.6,31,686,0.00,2.15,0.00,0.000,4,0.000,0.055,2008,3691,3514
$GC,859,-1.62,-146.6,110.8,-10.4,38,865,0.00,2.03,0.00,0.000,6,0.000,0.035,2008,2501,3514
$GC,1176,-1.62,-146.6,145.0,-10.8,54,1179,0.00,2.15,0.00,0.000,4,0.000,0.054,2008,3699,3514
$GC,1238,-1.55,-146.6,152.6,-12.3,56,1245,0.12,2.00,0.00,0.000,6,0.097,0.035,2033,2518,3514
$GC,1554,-1.55,-146.6,184.3,-10.2,72,1558,0.00,2.10,0.00,0.000,4,0.000,0.055,2033,3699,3514
$GC,1611,-1.55,-146.6,190.8,-11.4,74,1614,0.00,2.00,0.00,0.000,6,0.000,0.035,2033,2517,3514
$GC,1933,-1.55,-146.6,225.2,-10.7,90,1937,0.00,2.10,0.00,0.000,4,0.000,0.056,2033,3690,3514
$GC,1967,-1.55,-146.6,229.1,-11.3,91,1971,0.00,2.00,0.00,0.000,6,0.000,0.035,2033,2509,3514
$GC,2289,-1.55,-146.6,266.2,-12.1,107,2292,0.00,2.12,0.00,0.000,4,0.000,0.057,2033,3692,3514
$GC,2323,-1.55,-146.6,270.6,-12.6,108,2326,0.00,2.00,0.00,0.000,6,0.000,0.035,2033,2512,3514
$GC,2644,-1.55,-146.6,310.8,-12.5,124,2648,0.00,2.12,0.00,0.000,4,0.000,0.058,2034,3695,3514
$GC,2701,-1.55,-146.6,318.6,-13.6,126,2704,0.00,2.00,0.00,0.000,6,0.000,0.035,2033,2516,3514
$STATE,2999,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2999,begin apogee
$GC,3007,-0.45,0.0,352.4,10.7,141,3140,1.15,0.00,125.32,0.990,6,0.074,0.000,2277,2320,2915
$STATE,3141,end apogee,CONTROL_FINISHED_OK
$STATE,3141,begin climb
$GC,3145,1.81,146.6,357.3,0.0,148,3282,2.25,2.62,124.57,0.948,4,0.049,0.051,2770,912,2316
$GC,3319,1.78,163.4,348.3,9.2,156,3340,0.00,2.47,15.60,0.868,6,0.000,0.039,2770,2316,2249
$GC,3656,1.78,163.4,312.2,10.3,173,3661,0.00,2.53,0.00,0.000,4,0.000,0.048,2770,912,2249
$GC,3758,1.74,163.4,301.4,10.1,177,3764,0.00,2.47,0.00,0.000,6,0.000,0.038,2770,2319,2248
$GC,4074,1.75,171.0,271.4,9.6,193,4088,0.00,2.58,8.27,0.805,4,0.000,0.048,2770,919,2217
$GC,4119,1.75,171.0,266.8,10.1,195,4124,0.00,2.47,0.00,0.000,6,0.000,0.038,2770,2323,2217
$GC,4447,1.75,171.0,233.0,10.4,211,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2323,2217
$GC,4757,1.75,172.7,202.3,9.9,226,4761,0.00,2.50,0.00,0.000,4,0.000,0.046,2770,918,2217
$GC,4847,1.76,178.1,193.0,9.7,230,4864,0.00,2.45,7.95,0.782,6,0.000,0.038,2770,2321,2187
$GC,5174,1.78,199.3,162.4,9.0,246,5198,0.00,2.53,19.05,0.850,4,0.000,0.054,2770,3685,2102
$GC,5264,1.73,199.3,153.2,10.8,250,5268,0.00,2.38,0.00,0.000,6,0.000,0.034,2770,2309,2102
$GC,5591,1.73,199.3,118.3,11.0,266,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2307,2102
$GC,5900,1.73,199.3,83.5,11.6,281,5904,0.00,2.50,0.00,0.000,4,0.000,0.054,2770,3696,2102
$GC,5946,1.70,217.0,79.1,9.2,283,5968,0.12,2.38,16.33,0.798,6,0.107,0.033,2748,2307,2030
$GC,6294,1.75,217.0,45.0,12.5,300,6298,0.00,2.45,0.00,0.000,4,0.000,0.047,2748,913,2030
$GC,6334,1.75,217.0,39.1,14.7,302,6338,0.00,2.45,0.00,0.000,6,0.000,0.037,2748,2323,2030
$GC,6668,1.84,238.9,5.8,9.0,318,6691,0.12,0.00,19.52,0.764,6,0.061,0.000,2780,2323,1941
$STATE,6708,end climb,SURFACE_DEPTH_REACHED
$STATE,6708,begin surface coast
$FINISH,0.8,1.014217
$STATE,6730,end surface coast,CONTROL_FINISHED_OK
$STATE,6730,begin surface
$SM_CCo,6755,51.95,0.727,2,0,1692,300.00
$SM_GC,1.50,0.00,0.00,51.95,0.000,0.000,0.727,28,2526,1692,-10.80,0.25,300.00
$IRIDIUM_FIX,6059.36,-842.72,060298,000023
$TT8_MAMPS,0.028379
$HUMID,1971
$INTERNAL_PRESSURE,7.86163
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,277.2,84.7
$24V_AH,23.2,7.593
$10V_AH,10.1,3.019
$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,26.650,64.350,336.625,51.950,0.000,25.984,28.208,119.241,1.750,0.000,0.000,35.318,648.100,4780.678,480.964,870.303,352.289,0.000,936.152,0.000,830.749,0.000,16.348,0.000
$DEVICE_MAMPS,126.555,70.564,990.197,727.116,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,235.531,217.961,280.520,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15955,321
$CAP_FILE_SIZE,58385,0
$CFSIZE,260165632,256413696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,121108,041053,6124.488,-849.526,8,5.1,28,-9.1