version: 66.04
glider: 101
mission: 7
dive: 64
start: 11 16 108 1 2 55
data:
$ID,101
$MISSION,7
$DIVE,64
$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,-733088.31
$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,19
$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
$GPS1,005708,6152.639,-914.713,35,1.1,35,-9.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-53.1
$GPS2,010233,6152.598,-914.596,13,1.2,13,-9.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$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,338.5,59180,-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,-60.45,0.000,2,0.000,0.000,30,2522,3009
$GC,82,-1.81,-146.6,3.0,-3.1,3,117,10.25,2.12,-18.17,0.000,4,0.130,0.068,1973,3685,3513
$GC,218,-1.64,-146.6,22.0,-14.3,9,223,0.22,2.03,0.00,0.000,6,0.093,0.035,2017,2495,3513
$GC,545,-1.64,-146.6,59.8,-11.5,25,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2495,3513
$GC,854,-1.64,-146.6,97.9,-12.8,40,858,0.00,2.15,0.00,0.000,4,0.000,0.056,2017,3693,3513
$GC,972,-1.64,-146.6,113.7,-10.9,45,976,0.00,2.00,0.00,0.000,6,0.000,0.034,2017,2512,3513
$GC,1300,-1.64,-146.6,148.4,-11.8,61,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2512,3513
$GC,1610,-1.64,-146.6,185.9,-12.1,76,1613,0.00,2.10,0.00,0.000,4,0.000,0.056,2017,3693,3514
$GC,1706,-1.64,-146.6,199.7,-15.2,80,1710,0.00,2.00,0.00,0.000,6,0.000,0.035,2017,2512,3514
$GC,2033,-1.64,-146.6,237.8,-11.7,96,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2512,3513
$GC,2342,-1.64,-146.6,272.6,-11.2,111,2346,0.00,2.10,0.00,0.000,4,0.000,0.057,2017,3686,3514
$GC,2433,-1.64,-146.6,283.4,-11.9,115,2437,0.00,1.98,0.00,0.000,6,0.000,0.035,2017,2517,3514
$GC,2767,-1.64,-146.6,318.8,-10.5,131,2770,0.00,2.10,0.00,0.000,4,0.000,0.058,2017,3686,3514
$GC,2830,-1.64,-146.6,326.1,-11.8,133,2836,0.00,1.98,0.00,0.000,6,0.000,0.035,2017,2518,3514
$GC,3146,-1.64,-146.6,360.7,-10.6,149,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2517,3514
$GC,3455,-1.64,-146.6,394.6,-11.2,164,3459,0.00,2.10,0.00,0.000,4,0.000,0.062,2017,3688,3514
$GC,3643,-1.64,-146.6,417.9,-13.4,172,3647,0.00,2.00,0.00,0.000,6,0.000,0.035,2017,2517,3514
$GC,3971,-1.64,-146.6,456.7,-10.8,188,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2517,3514
$GC,4281,-1.64,-146.6,485.2,-7.5,203,4285,0.00,2.55,0.00,0.000,4,0.000,0.071,2017,1120,3514
$GC,4382,-1.64,-146.6,493.8,-8.7,207,4388,0.00,2.58,0.00,0.000,6,0.000,0.067,2017,2514,3514
$GC,4699,-1.64,-146.6,526.6,-11.7,223,4703,0.00,2.33,0.00,0.000,4,0.000,0.109,2017,3699,3514
$GC,4889,-1.64,-146.6,550.1,-14.1,231,4893,0.00,2.20,0.00,0.000,6,0.000,0.081,2017,2537,3514
$GC,5210,-1.64,-146.6,583.5,-10.2,247,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2534,3513
$GC,5520,-1.64,-146.6,609.4,-5.1,262,5524,0.00,2.25,0.00,0.000,4,0.000,0.093,2017,3699,3513
$GC,5655,-1.64,-146.6,619.2,-10.4,268,5659,0.00,2.12,0.00,0.000,6,0.000,0.054,2017,2508,3512
$STATE,5944,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5944,begin apogee
$GC,5952,-0.45,0.0,652.7,8.5,282,6087,1.23,0.00,129.70,1.264,6,0.077,0.000,2274,2318,2915
$STATE,6088,end apogee,CONTROL_FINISHED_OK
$STATE,6088,begin climb
$GC,6091,1.81,146.6,660.6,0.0,289,6229,2.22,2.78,128.48,1.212,4,0.052,0.079,2770,907,2317
$GC,6491,1.71,146.6,631.2,12.5,307,6496,0.12,2.62,0.00,0.000,6,0.137,0.061,2750,2325,2316
$GC,6819,1.64,146.6,595.2,10.7,323,6823,0.00,2.67,0.00,0.000,4,0.000,0.069,2750,899,2315
$GC,7077,1.60,149.2,570.2,9.9,334,7084,0.15,2.62,0.00,0.000,6,0.140,0.058,2725,2330,2314
$GC,7394,1.71,237.2,547.4,5.9,350,7481,0.10,2.75,79.53,1.210,4,0.074,0.067,2748,907,1947
$GC,7734,1.67,237.2,506.2,19.2,365,7739,0.00,2.58,0.00,0.000,6,0.000,0.053,2748,2322,1947
$GC,8050,1.70,258.2,469.0,9.0,380,8075,0.00,2.72,19.45,1.131,4,0.000,0.061,2748,901,1862
$GC,8330,1.70,258.2,432.3,13.7,392,8334,0.00,2.55,0.00,0.000,6,0.000,0.048,2748,2319,1862
$GC,8646,1.75,258.2,392.8,12.7,407,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2320,1862
$GC,8956,1.80,258.2,356.1,12.1,422,8960,0.00,2.50,0.00,0.000,4,0.000,0.063,2749,3700,1862
$GC,9040,1.80,258.2,345.1,12.3,425,9047,0.00,2.42,0.00,0.000,6,0.000,0.038,2748,2300,1861
$GC,9357,1.86,258.2,309.9,10.6,441,9359,0.15,0.00,0.00,0.000,6,0.051,0.000,2789,2300,1861
$GC,9666,1.86,258.2,271.2,12.4,456,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2300,1862
$GC,9975,1.86,258.2,229.8,14.3,471,9979,0.00,2.53,0.00,0.000,4,0.000,0.057,2789,3699,1862
$GC,10027,1.81,258.2,221.8,15.7,473,10031,0.00,2.38,0.00,0.000,6,0.000,0.035,2789,2314,1862
$GC,10348,1.81,258.2,174.3,14.7,489,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2314,1863
$GC,10658,1.81,258.2,128.4,15.2,504,10659,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2313,1864
$GC,10969,1.89,326.7,91.5,6.8,519,11035,0.00,2.60,58.95,0.858,4,0.000,0.055,2789,3693,1583
$GC,11103,1.89,326.7,73.3,17.1,525,11108,0.00,2.38,0.00,0.000,6,0.000,0.033,2789,2316,1583
$GC,11426,1.89,326.7,26.2,15.7,541,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2315,1583
$STATE,11566,end climb,SURFACE_DEPTH_REACHED
$STATE,11567,begin surface coast
$FINISH,1.1,1.026078
$STATE,11589,end surface coast,CONTROL_FINISHED_OK
$STATE,11589,begin surface
$SM_CCo,11674,0.00,0.000,0,0,1582,326.98
$SM_GC,1.68,12.18,0.00,0.00,0.034,0.000,0.000,26,2530,1582,-10.74,0.37,326.98
$IRIDIUM_FIX,6126.23,-913.51,090298,212117
$TT8_MAMPS,0.029146
$HUMID,2031
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.2,85.2
$24V_AH,23.1,11.782
$10V_AH,10.1,4.730
$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,26.625,75.500,416.100,0.000,0.000,22.374,29.211,157.722,4.750,0.000,0.000,14.577,1066.007,8535.929,468.591,1490.082,444.319,0.000,1219.390,0.000,1448.303,0.000,35.767,0.000
$DEVICE_MAMPS,139.594,108.914,1264.016,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.193,374.013,345.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28528,549
$CAP_FILE_SIZE,87198,0
$CFSIZE,260165632,255086592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,161108,041858,6152.548,-918.635,29,2.5,48,-9.5