version: 66.04
glider: 101
mission: 7
dive: 51
start: 11 13 108 21 59 9
data:
$ID,101
$MISSION,7
$DIVE,51
$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,-732839.19
$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,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
$GPS1,215108,6130.492,-901.973,40,1.8,40,-9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.5
$GPS2,215845,6130.493,-901.898,13,1.8,13,-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,353.9,43223,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-81.00,0.000,6,0.000,0.000,27,2541,3513
$GC,102,-1.81,-146.6,5.1,-5.7,4,117,10.20,2.53,0.00,0.000,4,0.129,0.044,1971,1110,3514
$GC,348,-1.71,-146.6,47.4,-14.4,14,353,0.15,2.47,0.00,0.000,6,0.104,0.039,1999,2522,3514
$GC,670,-1.64,-146.6,87.7,-12.5,30,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2522,3514
$GC,980,-1.58,-146.6,125.4,-13.0,45,984,0.15,2.08,0.00,0.000,4,0.094,0.057,2029,3689,3514
$GC,1052,-1.58,-146.6,135.2,-12.7,48,1056,0.00,2.00,0.00,0.000,6,0.000,0.034,2029,2508,3514
$GC,1375,-1.58,-146.6,175.3,-12.5,64,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2508,3514
$GC,1683,-1.58,-146.6,211.8,-11.4,79,1687,0.00,2.12,0.00,0.000,4,0.000,0.056,2029,3690,3514
$GC,1797,-1.58,-146.6,224.7,-10.7,84,1802,0.00,1.98,0.00,0.000,6,0.000,0.035,2029,2513,3515
$GC,2129,-1.58,-146.6,258.8,-10.3,100,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2513,3514
$GC,2439,-1.58,-146.6,292.9,-11.4,115,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2513,3514
$GC,2748,-1.58,-146.6,328.7,-11.8,130,2751,0.00,2.12,0.00,0.000,4,0.000,0.058,2029,3693,3514
$GC,2884,-1.58,-146.6,345.6,-12.4,136,2888,0.00,2.00,0.00,0.000,6,0.000,0.035,2029,2515,3514
$GC,3217,-1.58,-146.6,386.1,-12.4,152,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2513,3514
$GC,3528,-1.58,-146.6,425.0,-12.7,167,3531,0.00,2.15,0.00,0.000,4,0.000,0.065,2029,3686,3514
$GC,3596,-1.58,-146.6,434.2,-13.5,170,3600,0.00,2.00,0.00,0.000,6,0.000,0.035,2029,2521,3515
$GC,3930,-1.58,-146.6,476.6,-12.7,186,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2521,3514
$GC,4239,-1.58,-146.6,515.1,-12.3,201,4243,0.00,2.22,0.00,0.000,4,0.000,0.087,2029,3685,3514
$GC,4353,-1.58,-146.6,530.1,-13.6,206,4357,0.00,2.08,0.00,0.000,6,0.000,0.055,2029,2529,3514
$GC,4686,-1.58,-146.6,572.8,-13.5,222,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2529,3514
$STATE,4703,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4704,begin apogee
$GC,4712,-0.45,0.0,575.2,13.1,223,4846,1.15,0.00,127.78,1.136,6,0.072,0.000,2274,2313,2915
$STATE,4847,end apogee,CONTROL_FINISHED_OK
$STATE,4847,begin climb
$GC,4851,1.81,146.6,581.9,0.0,230,4983,2.20,0.00,127.07,1.095,6,0.048,0.000,2771,2313,2317
$GC,5285,1.85,181.9,553.8,8.3,251,5326,0.00,2.85,31.75,1.054,4,0.000,0.089,2771,898,2173
$GC,5436,1.86,185.1,539.5,9.9,257,5446,0.00,2.67,4.72,0.741,6,0.000,0.070,2771,2313,2160
$GC,5774,1.86,186.9,506.2,9.9,274,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2313,2160
$GC,6083,1.86,186.9,473.5,10.8,289,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2313,2160
$GC,6393,1.86,186.9,439.0,11.3,304,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2313,2160
$GC,6702,1.86,186.9,403.5,11.4,319,6706,0.00,2.55,0.00,0.000,4,0.000,0.053,2771,900,2159
$GC,6787,1.86,186.9,393.6,12.1,323,6791,0.00,2.53,0.00,0.000,6,0.000,0.041,2771,2332,2159
$GC,7114,1.86,186.9,356.6,11.1,339,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2332,2160
$GC,7423,1.86,187.0,324.1,10.0,354,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2332,2160
$GC,7732,1.86,187.0,291.6,10.5,369,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2332,2160
$GC,8041,1.86,187.0,255.7,11.8,384,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2332,2160
$GC,8351,1.86,187.0,220.4,11.4,399,8355,0.00,2.55,0.00,0.000,4,0.000,0.046,2771,894,2159
$GC,8418,1.86,187.0,212.9,11.5,402,8422,0.00,2.50,0.00,0.000,6,0.000,0.038,2771,2330,2159
$GC,8739,1.86,187.0,179.9,10.3,418,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2330,2159
$GC,9049,1.86,187.0,147.5,10.2,433,9053,0.00,2.55,0.00,0.000,4,0.000,0.045,2771,886,2160
$GC,9150,1.86,187.0,137.0,10.4,437,9156,0.00,2.47,0.00,0.000,6,0.000,0.038,2771,2319,2160
$GC,9466,1.86,187.0,106.3,10.0,453,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2318,2160
$GC,9775,1.86,187.0,73.8,10.8,468,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2319,2160
$GC,10085,1.86,187.0,40.7,10.6,483,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2318,2159
$GC,10395,1.86,187.0,7.4,10.6,498,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2318,2160
$STATE,10452,end climb,SURFACE_DEPTH_REACHED
$STATE,10452,begin surface coast
$FINISH,0.6,1.010989
$STATE,10474,end surface coast,CONTROL_FINISHED_OK
$STATE,10474,begin surface
$SM_CCo,10500,81.70,0.757,2,0,1691,300.00
$SM_GC,1.52,0.00,0.00,81.70,0.000,0.000,0.757,30,2522,1691,-10.79,0.17,300.00
$IRIDIUM_FIX,6108.28,-903.28,070298,222229
$TT8_MAMPS,0.029146
$HUMID,1994
$INTERNAL_PRESSURE,7.85186
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,502.4,81.1
$24V_AH,23.2,9.869
$10V_AH,10.1,3.885
$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,26.225,47.175,291.325,81.700,0.000,50.118,54.912,179.958,4.000,0.000,0.000,14.763,925.823,8036.737,470.147,1134.464,496.929,0.000,1029.358,0.000,1109.632,0.000,28.301,0.000
$DEVICE_MAMPS,128.856,88.972,1135.927,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.342,343.563,345.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25328,502
$CAP_FILE_SIZE,71744,0
$CFSIZE,260165632,255709184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,141108,005701,6131.287,-902.010,36,1.1,36,-9.2