version: 66.04
glider: 101
mission: 7
dive: 31
start: 11 12 108 4 16 46
data:
$ID,101
$MISSION,7
$DIVE,31
$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,-732430.81
$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,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
$GPS1,041053,6124.488,-849.526,8,5.1,28,-9.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-58.4
$GPS2,041623,6124.521,-849.552,35,2.8,54,-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,237.0,12501,-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,-60.62,0.000,2,0.000,0.000,28,2526,3033
$GC,82,-1.81,-146.6,3.2,-4.1,3,112,10.30,2.12,-14.52,0.000,4,0.133,0.072,1972,3684,3513
$GC,344,-1.66,-146.6,44.6,-18.3,14,351,0.15,2.03,0.00,0.000,6,0.087,0.035,2006,2512,3513
$GC,661,-1.62,-146.6,87.0,-12.8,30,664,0.00,2.12,0.00,0.000,4,0.000,0.054,2007,3696,3513
$GC,700,-1.54,-146.6,93.2,-15.2,31,707,0.15,2.03,0.00,0.000,6,0.094,0.035,2036,2504,3513
$GC,1018,-1.54,-146.6,134.9,-12.5,47,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2504,3514
$GC,1326,-1.54,-146.6,168.8,-11.0,62,1329,0.00,2.12,0.00,0.000,4,0.000,0.055,2036,3689,3513
$GC,1377,-1.54,-146.6,175.0,-12.9,64,1381,0.00,2.00,0.00,0.000,6,0.000,0.035,2036,2509,3513
$GC,1704,-1.54,-146.6,211.5,-11.4,80,1708,0.00,2.12,0.00,0.000,4,0.000,0.056,2036,3692,3513
$GC,1800,-1.54,-146.6,222.4,-10.9,84,1803,0.00,2.00,0.00,0.000,6,0.000,0.035,2036,2509,3513
$GC,2127,-1.54,-146.6,256.5,-10.7,100,2131,0.00,2.12,0.00,0.000,4,0.000,0.056,2036,3692,3513
$GC,2189,-1.54,-146.6,263.9,-12.1,102,2195,0.00,2.00,0.00,0.000,6,0.000,0.035,2036,2508,3514
$GC,2505,-1.54,-146.6,298.1,-10.8,118,2509,0.00,2.12,0.00,0.000,4,0.000,0.057,2036,3689,3513
$GC,2567,-1.54,-146.6,305.3,-11.8,120,2573,0.00,2.03,0.00,0.000,6,0.000,0.035,2036,2495,3513
$GC,2883,-1.54,-146.6,338.8,-10.7,136,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2495,3514
$STATE,2983,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2983,begin apogee
$GC,2992,-0.45,0.0,350.1,11.0,141,3121,1.12,0.00,125.20,0.985,6,0.071,0.000,2276,2325,2915
$STATE,3121,end apogee,CONTROL_FINISHED_OK
$STATE,3121,begin climb
$GC,3125,1.81,146.6,354.8,0.0,147,3258,2.20,2.55,124.30,0.945,4,0.051,0.057,2769,3689,2316
$GC,3346,1.74,146.6,339.9,10.1,157,3350,0.00,2.40,0.00,0.000,6,0.000,0.035,2769,2310,2316
$GC,3662,1.74,146.6,309.0,10.1,172,3666,0.00,2.47,0.00,0.000,4,0.000,0.049,2769,915,2316
$GC,3753,1.70,146.6,299.3,11.1,176,3758,0.12,2.45,0.00,0.000,6,0.129,0.038,2749,2315,2315
$GC,4081,1.71,160.0,267.7,9.4,192,4102,0.00,2.53,12.88,0.857,4,0.000,0.056,2749,3682,2262
$GC,4204,1.71,160.0,254.9,10.7,197,4208,0.00,2.38,0.00,0.000,6,0.000,0.034,2749,2306,2262
$GC,4526,1.74,177.8,225.9,9.2,213,4545,0.00,0.00,16.45,0.864,6,0.000,0.000,2749,2306,2190
$GC,4855,1.74,177.8,193.5,10.1,229,4859,0.00,2.50,0.00,0.000,4,0.000,0.054,2749,3690,2190
$GC,4894,1.74,182.4,189.9,9.8,230,4904,0.00,2.35,5.72,0.705,6,0.000,0.035,2749,2314,2171
$GC,5233,1.75,189.8,158.6,9.7,247,5247,0.00,2.55,7.78,0.758,4,0.000,0.053,2749,3692,2140
$GC,5265,1.75,189.8,154.9,11.6,248,5269,0.00,2.38,0.00,0.000,6,0.000,0.034,2749,2317,2140
$GC,5581,1.75,189.8,119.5,11.7,263,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2316,2140
$GC,5891,1.75,189.8,89.7,10.3,278,5895,0.00,2.47,0.00,0.000,4,0.000,0.054,2749,3691,2140
$GC,5918,1.75,189.8,86.3,12.4,279,5922,0.00,2.35,0.00,0.000,6,0.000,0.034,2749,2318,2140
$GC,6235,1.75,189.8,57.9,10.4,294,6239,0.00,2.45,0.00,0.000,4,0.000,0.047,2749,918,2140
$GC,6275,1.80,227.2,54.4,8.2,296,6317,0.00,2.42,32.08,0.802,6,0.000,0.036,2749,2319,1988
$GC,6632,1.86,227.2,17.5,11.1,313,6636,0.12,2.45,0.00,0.000,4,0.059,0.054,2782,3693,1988
$GC,6710,1.86,227.2,6.0,13.9,316,6716,0.00,2.38,0.00,0.000,6,0.000,0.033,2782,2307,1988
$STATE,6755,end climb,SURFACE_DEPTH_REACHED
$STATE,6755,begin surface coast
$FINISH,0.7,1.027467
$STATE,6778,end surface coast,CONTROL_FINISHED_OK
$STATE,6778,begin surface
$SM_CCo,6804,61.65,0.737,2,0,1691,300.00
$SM_GC,1.41,0.00,0.00,61.65,0.000,0.000,0.737,28,2524,1691,-10.79,0.20,300.00
$IRIDIUM_FIX,6059.36,-847.84,060298,020203
$TT8_MAMPS,0.029146
$HUMID,1969
$INTERNAL_PRESSURE,7.86163
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.9,84.0
$24V_AH,23.2,7.701
$10V_AH,10.1,3.061
$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,26.400,64.550,324.400,61.650,0.000,24.153,32.168,125.646,2.000,0.000,0.000,56.933,649.522,4850.575,468.958,889.299,363.592,0.000,932.279,0.000,828.561,0.000,16.443,0.000
$DEVICE_MAMPS,133.458,72.098,984.828,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,237.159,216.832,278.822,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15957,320
$CAP_FILE_SIZE,58955,0
$CFSIZE,260165632,256380928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,121108,061215,6124.882,-851.280,10,1.5,11,-9.1