version: 66.04
glider: 101
mission: 7
dive: 65
start: 11 16 108 4 24 27
data:
$ID,101
$MISSION,7
$DIVE,65
$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,-733117.81
$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,32
$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
$GPS1,041858,6152.548,-918.635,29,2.5,48,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-56.9
$GPS2,042407,6152.490,-918.674,11,1.7,27,-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,341.6,57632,-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,-60.90,0.000,2,0.000,0.000,25,2531,2927
$GC,83,-1.81,-146.6,3.2,-3.5,3,118,10.12,2.10,-19.65,0.000,4,0.123,0.072,1973,3682,3513
$GC,373,-1.69,-146.6,47.3,-14.9,16,378,0.17,2.00,0.00,0.000,6,0.096,0.035,2007,2501,3514
$GC,701,-1.69,-146.6,91.5,-13.8,32,704,0.00,2.12,0.00,0.000,4,0.000,0.055,2007,3685,3514
$GC,815,-1.64,-146.6,107.1,-13.9,37,819,0.00,1.98,0.00,0.000,6,0.000,0.035,2007,2518,3514
$GC,1149,-1.64,-146.6,150.4,-13.0,53,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2518,3514
$GC,1457,-1.64,-146.6,192.6,-13.2,68,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2518,3514
$GC,1767,-1.64,-146.6,233.7,-13.4,83,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2518,3514
$GC,2077,-1.64,-146.6,275.1,-13.9,98,2080,0.00,2.10,0.00,0.000,4,0.000,0.057,2007,3687,3515
$GC,2191,-1.57,-146.6,290.7,-13.3,103,2195,0.12,1.98,0.00,0.000,6,0.097,0.035,2031,2517,3514
$GC,2523,-1.57,-146.6,328.5,-10.8,119,2527,0.00,2.10,0.00,0.000,4,0.000,0.058,2030,3685,3514
$GC,2585,-1.57,-146.6,335.9,-11.5,121,2591,0.00,1.98,0.00,0.000,6,0.000,0.035,2030,2518,3515
$GC,2901,-1.57,-146.6,371.8,-11.9,137,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2517,3515
$GC,3211,-1.57,-146.6,409.0,-11.6,152,3214,0.00,2.12,0.00,0.000,4,0.000,0.063,2031,3685,3515
$GC,3302,-1.57,-146.6,419.8,-11.4,156,3306,0.00,2.00,0.00,0.000,6,0.000,0.035,2031,2513,3515
$GC,3636,-1.57,-146.6,454.8,-9.8,172,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2513,3515
$GC,3945,-1.57,-146.6,484.5,-10.6,187,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2513,3515
$GC,4254,-1.57,-146.6,523.4,-13.4,202,4258,0.00,2.60,0.00,0.000,4,0.000,0.081,2031,1120,3515
$GC,4322,-1.63,-146.6,532.3,-12.9,205,4326,0.00,2.60,0.00,0.000,6,0.000,0.077,2031,2499,3515
$GC,4644,-1.68,-146.6,566.9,-10.4,221,4648,0.00,2.45,0.00,0.000,4,0.000,0.127,2030,3701,3515
$GC,4857,-1.68,-146.6,592.6,-11.8,230,4863,0.00,2.12,0.00,0.000,6,0.000,0.056,2030,2535,3514
$STATE,5149,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5149,begin apogee
$GC,5158,-0.45,0.0,624.3,11.1,245,5292,1.15,0.00,130.75,1.205,6,0.078,0.000,2273,2307,2915
$STATE,5293,end apogee,CONTROL_FINISHED_OK
$STATE,5293,begin climb
$GC,5297,1.81,146.6,633.6,0.0,252,5435,2.25,2.78,128.70,1.170,4,0.053,0.087,2771,3705,2317
$GC,5528,1.70,163.6,628.0,9.2,262,5551,0.15,2.53,16.42,1.086,6,0.103,0.054,2745,2318,2248
$GC,5861,1.75,200.1,597.8,8.3,278,5902,0.00,2.72,33.28,1.152,4,0.000,0.074,2745,911,2099
$GC,5994,1.75,200.1,584.6,10.9,284,5998,0.00,2.62,0.00,0.000,6,0.000,0.060,2744,2329,2099
$GC,6321,1.75,200.1,548.2,10.1,300,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2331,2098
$GC,6630,1.87,297.2,524.7,5.5,315,6722,0.17,2.72,85.45,1.170,4,0.059,0.066,2786,908,1703
$GC,6975,1.87,297.2,478.8,15.3,330,6982,0.00,2.55,0.00,0.000,6,0.000,0.049,2786,2323,1703
$GC,7292,1.87,297.2,432.6,14.2,346,7296,0.00,2.58,0.00,0.000,4,0.000,0.054,2786,899,1702
$GC,7409,1.87,297.2,415.2,15.4,351,7414,0.00,2.55,0.00,0.000,6,0.000,0.044,2786,2331,1702
$GC,7726,1.87,297.2,368.5,14.3,366,7730,0.00,2.45,0.00,0.000,4,0.000,0.061,2786,3690,1702
$GC,7776,1.87,297.2,361.1,14.1,368,7780,0.00,2.40,0.00,0.000,6,0.000,0.037,2786,2303,1702
$GC,8092,1.87,297.2,321.5,12.3,383,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2303,1702
$GC,8401,1.87,297.2,277.7,15.4,398,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2303,1701
$GC,8711,1.87,297.2,230.5,15.0,413,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2303,1702
$GC,9020,1.87,297.2,182.2,15.2,428,9024,0.00,2.50,0.00,0.000,4,0.000,0.055,2787,3691,1702
$GC,9072,1.87,297.2,174.1,15.9,430,9076,0.00,2.38,0.00,0.000,6,0.000,0.034,2786,2306,1702
$GC,9394,1.87,297.2,119.6,16.9,446,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2304,1702
$GC,9704,1.87,297.2,70.6,14.4,461,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2304,1703
$GC,10012,1.87,297.2,25.2,16.1,476,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2304,1703
$STATE,10174,end climb,SURFACE_DEPTH_REACHED
$STATE,10174,begin surface coast
$FINISH,1.2,1.026200
$STATE,10196,end surface coast,CONTROL_FINISHED_OK
$STATE,10196,begin surface
$SM_CCo,10221,4.20,0.574,0,0,1692,300.00
$SM_GC,2.54,0.00,0.00,4.20,0.000,0.000,0.574,25,2531,1692,-10.81,0.40,300.00
$IRIDIUM_FIX,6126.23,-918.74,100298,010137
$TT8_MAMPS,0.029146
$HUMID,2026
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.6,107.0
$24V_AH,23.1,11.923
$10V_AH,10.1,4.783
$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,26.350,61.850,394.600,4.200,0.000,25.617,26.703,123.634,4.250,0.000,0.000,28.883,920.130,7539.570,449.010,1242.154,391.676,0.000,1082.205,0.000,1196.941,0.000,29.978,0.000
$DEVICE_MAMPS,123.487,126.555,1204.957,574.483,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.883,330.088,303.934,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25426,485
$CAP_FILE_SIZE,74865,0
$CFSIZE,260165632,255057920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,161108,071608,6153.342,-923.619,32,1.5,32,-9.6