version: 66.04
glider: 101
mission: 7
dive: 34
start: 11 12 108 10 28 2
data:
$ID,101
$MISSION,7
$DIVE,34
$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,-732494.88
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,102308,6124.197,-852.029,31,1.9,32,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-60.3
$GPS2,102738,6124.167,-852.013,8,1.9,13,-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,231.7,10483,-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,-61.25,0.000,2,0.000,0.000,25,2521,3056
$GC,83,-1.81,-146.6,3.3,-4.5,3,113,10.20,2.12,-13.50,0.000,4,0.127,0.070,1974,3685,3514
$GC,311,-1.65,-146.6,36.4,-16.2,13,316,0.20,2.00,0.00,0.000,6,0.094,0.034,2012,2507,3514
$GC,633,-1.65,-146.6,83.6,-12.4,29,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2507,3514
$GC,944,-1.65,-146.6,119.8,-11.0,44,947,0.00,2.12,0.00,0.000,4,0.000,0.055,2012,3690,3514
$GC,984,-1.59,-146.6,124.3,-9.9,45,990,0.00,2.03,0.00,0.000,6,0.000,0.035,2012,2497,3514
$GC,1300,-1.59,-146.6,157.1,-11.1,61,1304,0.00,2.15,0.00,0.000,4,0.000,0.055,2012,3693,3514
$GC,1347,-1.55,-146.6,161.9,-9.7,63,1351,0.12,2.00,0.00,0.000,6,0.095,0.035,2037,2514,3514
$GC,1680,-1.55,-146.6,183.0,-7.2,79,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2514,3514
$GC,1989,-1.55,-146.6,210.5,-10.3,94,1993,0.00,2.40,0.00,0.000,4,0.000,0.043,2037,1122,3514
$GC,2036,-1.59,-146.6,215.1,-10.1,96,2040,0.00,2.42,0.00,0.000,6,0.000,0.040,2037,2512,3514
$GC,2363,-1.59,-146.6,249.2,-10.4,112,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2512,3514
$GC,2672,-1.59,-146.6,282.3,-10.9,127,2676,0.00,2.10,0.00,0.000,4,0.000,0.058,2037,3699,3514
$GC,2696,-1.59,-146.6,285.0,-11.6,128,2699,0.00,2.00,0.00,0.000,6,0.000,0.035,2037,2514,3514
$GC,3029,-1.59,-146.6,319.7,-10.5,144,3033,0.00,2.42,0.00,0.000,4,0.000,0.045,2037,1113,3514
$GC,3053,-1.64,-146.6,322.2,-10.6,145,3057,0.00,2.45,0.00,0.000,6,0.000,0.041,2037,2517,3514
$STATE,3088,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3088,begin apogee
$GC,3096,-0.45,0.0,326.6,11.6,147,3225,1.12,0.00,124.82,0.972,6,0.072,0.000,2276,2315,2915
$STATE,3225,end apogee,CONTROL_FINISHED_OK
$STATE,3225,begin climb
$GC,3229,1.81,146.6,331.3,0.0,153,3362,2.22,2.55,123.65,0.933,4,0.051,0.048,2772,930,2317
$GC,3401,1.78,170.5,322.9,8.9,161,3427,0.00,2.47,21.55,0.875,6,0.000,0.038,2772,2326,2220
$GC,3749,1.78,170.5,286.8,10.6,178,3754,0.00,2.45,0.00,0.000,4,0.000,0.057,2772,3691,2219
$GC,3778,1.71,170.5,283.3,12.2,179,3783,0.12,2.35,0.00,0.000,6,0.112,0.034,2750,2325,2219
$GC,4099,1.71,170.5,251.3,10.3,195,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2325,2219
$GC,4409,1.72,180.9,221.0,9.5,210,4424,0.00,2.50,10.60,0.820,4,0.000,0.046,2750,917,2176
$GC,4486,1.72,180.9,212.7,11.0,212,4493,0.00,2.47,0.00,0.000,6,0.000,0.038,2750,2326,2176
$GC,4803,1.74,193.2,182.0,9.4,228,4824,0.00,2.60,11.93,0.820,4,0.000,0.044,2750,916,2127
$GC,4886,1.75,206.2,173.5,9.4,231,4906,0.00,2.47,12.73,0.815,6,0.000,0.037,2750,2326,2074
$GC,5224,1.77,221.5,142.0,9.3,248,5246,0.00,2.50,14.05,0.814,4,0.000,0.054,2750,3682,2011
$GC,5293,1.77,221.5,135.3,10.1,251,5298,0.00,2.38,0.00,0.000,6,0.000,0.033,2750,2306,2011
$GC,5621,1.77,221.5,99.6,11.8,267,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2306,2011
$GC,5932,1.77,221.5,61.1,11.6,282,5936,0.00,2.50,0.00,0.000,4,0.000,0.054,2750,3695,2011
$GC,6004,1.77,221.5,52.8,11.4,285,6009,0.00,2.38,0.00,0.000,6,0.000,0.033,2750,2306,2011
$GC,6321,1.82,221.5,12.3,12.2,300,6325,0.00,2.50,0.00,0.000,4,0.000,0.054,2750,3695,2011
$GC,6349,1.82,221.5,8.4,14.0,301,6353,0.00,2.35,0.00,0.000,6,0.000,0.032,2751,2317,2011
$STATE,6415,end climb,SURFACE_DEPTH_REACHED
$STATE,6415,begin surface coast
$FINISH,0.8,1.027368
$STATE,6437,end surface coast,CONTROL_FINISHED_OK
$STATE,6437,begin surface
$SM_CCo,6462,67.05,0.746,2,0,1692,300.00
$SM_GC,1.39,0.00,0.00,67.05,0.000,0.000,0.746,28,2531,1692,-10.80,0.40,300.00
$IRIDIUM_FIX,6059.36,-847.84,060298,080818
$TT8_MAMPS,0.029146
$HUMID,1986
$INTERNAL_PRESSURE,7.86163
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,275.8,60.5
$24V_AH,23.3,8.031
$10V_AH,10.1,3.182
$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,26.050,61.425,319.325,67.050,0.000,24.228,32.102,107.628,2.750,0.000,0.000,15.023,619.600,4629.177,462.170,777.423,338.201,0.000,888.561,0.000,753.766,0.000,22.298,0.000
$DEVICE_MAMPS,126.555,69.797,971.789,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,222.203,206.790,266.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15979,305
$CAP_FILE_SIZE,56405,0
$CFSIZE,260165632,256282624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,121108,121808,6122.717,-853.036,23,2.0,24,-9.1