version: 66.04
glider: 101
mission: 7
dive: 50
start: 11 13 108 19 6 35
data:
$ID,101
$MISSION,7
$DIVE,50
$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,-732823.81
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,190107,6128.946,-903.054,34,1.6,40,-9.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.3
$GPS2,190614,6128.961,-902.975,11,1.8,16,-9.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$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,355.9,45741,-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,16,-1.81,-146.6,0.0,0.0,0,79,0.00,0.00,-60.80,0.000,2,0.000,0.000,26,2526,3015
$GC,83,-1.81,-146.6,3.2,-4.4,3,114,10.25,2.08,-15.45,0.000,4,0.131,0.071,1971,3686,3513
$GC,367,-1.64,-146.6,45.8,-15.5,15,374,0.22,2.03,0.00,0.000,6,0.094,0.034,2014,2496,3513
$GC,685,-1.64,-146.6,86.5,-12.4,31,688,0.00,2.15,0.00,0.000,4,0.000,0.055,2014,3692,3514
$GC,943,-1.58,-146.6,119.7,-11.7,42,946,0.00,2.00,0.00,0.000,6,0.000,0.034,2014,2512,3513
$GC,1265,-1.58,-146.6,156.6,-11.7,58,1268,0.00,2.12,0.00,0.000,4,0.000,0.054,2014,3696,3514
$GC,1368,-1.51,-146.6,168.9,-12.0,62,1372,0.15,2.00,0.00,0.000,6,0.093,0.034,2042,2514,3513
$GC,1689,-1.51,-146.6,202.4,-10.2,78,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2514,3513
$GC,1998,-1.51,-146.6,233.3,-10.2,93,2002,0.00,2.10,0.00,0.000,4,0.000,0.055,2043,3684,3514
$GC,2077,-1.51,-146.6,242.0,-11.2,96,2081,0.00,1.98,0.00,0.000,6,0.000,0.034,2043,2515,3514
$GC,2400,-1.55,-146.6,276.8,-11.1,112,2403,0.00,2.10,0.00,0.000,4,0.000,0.056,2043,3686,3514
$GC,2456,-1.55,-146.6,283.6,-11.8,114,2460,0.00,1.98,0.00,0.000,6,0.000,0.034,2043,2509,3513
$GC,2777,-1.55,-146.6,318.5,-10.6,130,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2508,3513
$GC,3087,-1.55,-146.6,351.8,-10.6,145,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2508,3513
$GC,3396,-1.55,-146.6,383.2,-10.0,160,3399,0.00,2.12,0.00,0.000,4,0.000,0.060,2043,3685,3513
$GC,3491,-1.55,-146.6,393.6,-10.7,164,3495,0.00,1.98,0.00,0.000,6,0.000,0.035,2043,2525,3514
$GC,3826,-1.59,-146.6,425.7,-9.9,180,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2525,3514
$GC,4129,-1.64,-146.6,457.2,-10.2,195,4130,0.12,0.00,0.00,0.000,6,0.055,0.000,2008,2525,3513
$GC,4437,-1.64,-146.6,493.1,-11.6,210,4441,0.00,2.17,0.00,0.000,4,0.000,0.080,2008,3680,3513
$GC,4545,-1.58,-146.6,507.1,-12.4,214,4551,0.12,2.03,0.00,0.000,6,0.097,0.048,2031,2531,3513
$STATE,4569,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4569,begin apogee
$GC,4578,-0.45,0.0,510.4,12.5,216,4712,1.15,0.00,126.12,1.097,6,0.080,0.000,2273,2313,2915
$STATE,4712,end apogee,CONTROL_FINISHED_OK
$STATE,4712,begin climb
$GC,4716,1.81,146.6,516.6,0.0,223,4854,2.28,2.75,125.90,1.058,4,0.051,0.075,2769,905,2317
$GC,4920,1.78,163.4,506.5,9.2,232,4941,0.00,2.60,15.80,0.966,6,0.000,0.058,2769,2310,2249
$GC,5252,1.75,169.0,473.0,9.7,248,5265,0.00,2.65,6.45,0.825,4,0.000,0.071,2769,3696,2226
$GC,5352,1.66,169.0,462.0,11.7,252,5357,0.17,2.45,0.00,0.000,6,0.104,0.038,2737,2299,2226
$GC,5668,1.68,184.7,432.9,9.3,267,5687,0.00,0.00,15.05,0.970,6,0.000,0.000,2738,2299,2162
$GC,5997,1.68,184.7,399.5,10.7,283,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2299,2162
$GC,6307,1.68,184.7,366.9,10.7,298,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2298,2162
$GC,6616,1.72,184.7,333.3,10.6,313,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2299,2161
$GC,6925,1.77,184.7,300.2,10.6,328,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2299,2161
$GC,7235,1.81,184.7,266.2,10.8,343,7237,0.15,0.00,0.00,0.000,6,0.049,0.000,2781,2299,2162
$GC,7544,1.77,184.7,228.0,12.3,358,7546,0.10,0.00,0.00,0.000,6,0.101,0.000,2762,2298,2161
$GC,7853,1.77,184.7,193.0,11.3,373,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2298,2162
$GC,8162,1.77,184.7,158.0,11.2,388,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2298,2162
$GC,8472,1.77,184.7,124.2,10.9,403,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2298,2161
$GC,8781,1.77,184.7,90.9,10.8,418,8785,0.00,2.53,0.00,0.000,4,0.000,0.054,2762,3706,2162
$GC,8837,1.73,184.7,84.5,11.9,420,8844,0.00,2.40,0.00,0.000,6,0.000,0.034,2763,2297,2162
$GC,9154,1.73,184.7,51.3,10.2,436,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2296,2161
$GC,9464,1.73,184.7,19.2,10.4,451,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2296,2162
$STATE,9645,end climb,SURFACE_DEPTH_REACHED
$STATE,9645,begin surface coast
$FINISH,0.7,1.014090
$STATE,9667,end surface coast,CONTROL_FINISHED_OK
$STATE,9667,begin surface
$SM_CCo,9693,81.95,0.745,3,0,1692,300.00
$SM_GC,1.54,0.00,0.00,81.95,0.000,0.000,0.745,27,2540,1692,-10.80,0.65,300.00
$IRIDIUM_FIX,6059.36,-901.86,070298,161651
$TT8_MAMPS,0.029146
$HUMID,1998
$INTERNAL_PRESSURE,7.86163
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.7,92.9
$24V_AH,23.2,9.746
$10V_AH,10.1,3.831
$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,26.800,45.025,289.325,81.950,0.000,33.197,25.985,135.064,3.250,0.000,0.000,18.075,869.873,7302.699,482.012,1061.103,393.138,0.000,1003.441,0.000,1036.457,0.000,23.469,0.000
$DEVICE_MAMPS,131.157,79.768,1096.810,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.149,314.390,330.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22207,461
$CAP_FILE_SIZE,68800,0
$CFSIZE,260165632,255754240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,131108,215108,6130.492,-901.973,40,1.8,40,-9.2