version: 66.04
glider: 101
mission: 7
dive: 68
start: 11 16 108 13 36 2
data:
$ID,101
$MISSION,7
$DIVE,68
$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,-733168.38
$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,32
$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
$GPS1,133055,6158.121,-930.127,25,1.4,42,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-56.4
$GPS2,133539,6158.131,-930.109,14,1.4,14,-9.7
$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,346.8,43965,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.33,0.000,2,0.000,0.000,24,2539,3028
$GC,82,-1.81,-146.6,3.7,-4.5,3,112,10.12,2.55,-14.50,0.000,4,0.123,0.056,1972,1121,3512
$GC,254,-1.73,-146.6,26.6,-13.6,10,261,0.12,2.45,0.00,0.000,6,0.103,0.040,1995,2517,3513
$GC,572,-1.68,-146.6,66.8,-13.2,26,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2517,3513
$GC,880,-1.62,-146.6,108.5,-13.6,41,882,0.12,0.00,0.00,0.000,6,0.094,0.000,2020,2516,3513
$GC,1189,-1.62,-146.6,146.0,-12.2,56,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2517,3513
$GC,1498,-1.62,-146.6,181.6,-11.0,71,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2516,3513
$GC,1807,-1.62,-146.6,217.4,-11.9,86,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2517,3514
$GC,2119,-1.62,-146.6,250.7,-9.8,101,2123,0.00,2.10,0.00,0.000,4,0.000,0.059,2020,3699,3514
$GC,2181,-1.62,-146.6,258.0,-10.9,103,2187,0.00,2.03,0.00,0.000,6,0.000,0.035,2020,2502,3513
$GC,2497,-1.62,-146.6,289.8,-10.5,119,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2502,3514
$GC,2807,-1.62,-146.6,324.3,-11.5,134,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2502,3514
$GC,3116,-1.62,-146.6,363.2,-13.0,149,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2502,3513
$GC,3425,-1.62,-146.6,399.6,-11.4,164,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2502,3514
$GC,3735,-1.62,-146.6,438.8,-13.3,179,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2502,3514
$GC,4044,-1.62,-146.6,472.7,-9.9,194,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2502,3514
$GC,4353,-1.62,-146.6,511.8,-12.4,209,4357,0.00,2.28,0.00,0.000,4,0.000,0.091,2020,3687,3514
$GC,4502,-1.62,-146.6,527.4,-9.6,215,4508,0.00,2.08,0.00,0.000,6,0.000,0.061,2020,2544,3514
$GC,4819,-1.62,-146.6,553.9,-7.8,231,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2543,3514
$GC,5128,-1.62,-146.6,585.4,-11.5,246,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2543,3514
$GC,5437,-1.62,-146.6,620.8,-11.1,261,5441,0.00,2.20,0.00,0.000,4,0.000,0.096,2020,3683,3514
$GC,5696,-1.62,-146.6,652.4,-11.2,272,5700,0.00,2.10,0.00,0.000,6,0.000,0.057,2020,2515,3512
$STATE,5767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5767,begin apogee
$GC,5776,-0.45,0.0,660.1,11.0,276,5910,1.17,0.00,130.93,1.234,6,0.057,0.000,2278,2314,2915
$STATE,5911,end apogee,CONTROL_FINISHED_OK
$STATE,5911,begin climb
$GC,5915,1.81,146.6,659.9,0.0,283,6053,2.17,2.72,128.52,1.190,4,0.044,0.084,2772,3680,2317
$GC,6209,1.71,146.6,636.0,12.1,296,6215,0.12,2.47,0.00,0.000,6,0.112,0.050,2750,2312,2316
$GC,6526,1.72,153.5,606.7,9.7,311,6536,0.00,0.00,7.47,1.003,6,0.000,0.000,2751,2312,2289
$GC,6835,1.72,153.5,575.7,10.2,326,6840,0.00,2.60,0.00,0.000,4,0.000,0.076,2751,3684,2288
$GC,7095,1.68,162.5,548.7,9.6,337,7110,0.00,2.45,9.45,1.076,6,0.000,0.048,2750,2314,2251
$GC,7433,1.77,236.7,523.1,6.5,354,7505,0.00,2.65,66.10,1.183,4,0.000,0.069,2750,3692,1949
$GC,7758,1.77,236.7,490.6,11.9,369,7762,0.00,2.45,0.00,0.000,6,0.000,0.042,2750,2305,1947
$GC,8092,1.82,236.7,453.7,10.7,385,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2305,1947
$GC,8401,1.89,258.3,425.4,9.0,400,8424,0.15,0.00,19.85,1.065,6,0.051,0.000,2792,2304,1862
$GC,8730,1.89,258.3,383.6,13.2,416,8734,0.00,2.53,0.00,0.000,4,0.000,0.058,2792,3689,1861
$GC,8815,1.84,258.3,372.1,13.1,419,8821,0.00,2.40,0.00,0.000,6,0.000,0.036,2792,2301,1862
$GC,9131,1.84,258.3,332.0,13.3,435,9135,0.00,2.45,0.00,0.000,4,0.000,0.050,2792,916,1862
$GC,9216,1.84,258.3,320.0,14.6,438,9222,0.00,2.47,0.00,0.000,6,0.000,0.040,2792,2326,1862
$GC,9532,1.84,258.3,275.5,14.0,454,9533,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2326,1862
$GC,9841,1.84,258.3,230.5,14.7,469,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2326,1863
$GC,10151,1.84,258.3,186.5,13.6,484,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2326,1863
$GC,10460,1.84,258.3,144.9,13.6,499,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2326,1864
$GC,10769,1.84,258.3,101.3,14.7,514,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2326,1864
$GC,11078,1.84,258.3,54.5,14.2,529,11083,0.00,2.50,0.00,0.000,4,0.000,0.045,2792,912,1865
$GC,11119,1.84,258.3,48.4,14.8,531,11124,0.00,2.45,0.00,0.000,6,0.000,0.038,2792,2323,1865
$STATE,11450,end climb,SURFACE_DEPTH_REACHED
$STATE,11450,begin surface coast
$FINISH,1.1,1.017400
$STATE,11473,end surface coast,CONTROL_FINISHED_OK
$STATE,11476,begin surface
$SM_CCo,11501,40.53,0.693,4,0,1692,300.00
$SM_GC,1.94,0.00,0.00,40.53,0.000,0.000,0.693,29,2531,1692,-10.79,0.40,300.00
$IRIDIUM_FIX,6130.75,-928.49,100298,101017
$TT8_MAMPS,0.029146
$HUMID,2005
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.8,94.1
$24V_AH,23.1,12.324
$10V_AH,10.1,4.947
$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,26.325,48.625,362.325,40.525,0.000,23.693,30.547,119.868,4.750,0.000,0.000,15.889,1017.881,8679.054,483.090,1282.004,397.194,0.000,1122.455,0.000,1251.660,0.000,33.183,0.000
$DEVICE_MAMPS,123.487,95.875,1234.103,693.368,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.310,373.177,335.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28588,548
$CAP_FILE_SIZE,77797,0
$CFSIZE,260165632,254939136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,4,0
$GPS,161108,165007,6158.374,-936.670,39,1.4,39,-9.7